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广播命令已接收的回复不再触发回调

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检测命令0x0c只能使用单播方式，广播方式因为不能即时回复停止信号，回复会出错
  添加电阻测试命令，添加自检命令
This commit is contained in:
ranchuan
2023-12-13 18:29:46 +08:00
parent fe11c52253
commit cc5b1b7458
13 changed files with 606 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

308
prot_cmd/cmd_pc.cpp
View File

@@ -126,6 +126,8 @@ static myarray tran_slave_to_selfdev_check(myarray &data)
int paramerr_num=(return_num+7)/8;
// 每个通道占用的长度
int len_for_each=1+8+paramerr_num+return_num*2;
// 去掉应答位
data.remove(0,1);
myarray r;
if(data.size()<17){
r.append(char(208));
@@ -169,6 +171,77 @@ protpc_export(0x30, get_selfdev_check);
// 自研批检仪检测
int selfdev_check2::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
prot_slave *slave=protSlave();
mycfg *cfg=syscfg();
busy=1;
connect(this, &selfdev_check2::send_to_m4_signal, m4, &prot_m4::send_data_slot);
moter_down_cb_fun=[=](myarray data)
{
m4->del_irq_fun(moter_down_cb_fun,"moter down");
{
// 这里开始检测
qDebug("start check.");
emit send_data_signal(cmd,myarray(1,0));
QList<int> addrs=cfg->calc_slave_addrs();
HandleBoardCast *s=new slave_check2();
bool ack=slave->set_boardcast_handle(addrs,s);
if(ack==false){
qWarning("handle is busy.");
}else{
connect(s,&HandleBoardCast::end_signal,this,&selfdev_check2::slave_end_slot);
s->start(myarray());
}
}
};
myarray moter_cmd=moter_ctrl("down");
if(moter_cmd.size()==0){
busy=0;
qWarning("moter failed.");
}else{
m4->set_irq_fun(moter_down_cb_fun,"moter down");
emit send_to_m4_signal(moter_cmd);
}
slave_acked.clear();
for(int i=0;i<cfg->slave_num;i++){
slave_acked.append(myarray());
}
slave_acked_num=0;
return 0;
}
void selfdev_check2::timeout()
{
busy=0;
}
void selfdev_check2::slave_end_slot(int addr,int ack, slave_data data)
{
for(int i=0;i<data.size();i++){
slave_ret slave=data.at(i);
slave_acked.replace(slave.addr-1,slave.data);
slave_acked_num++;
}
myarray r;
r.append(char(0));
for(int i=0;i<slave_acked.size();i++){
r.append(tran_slave_to_selfdev_check(slave_acked[i]));
}
emit send_data_signal(0x31,r);
busy=0;
}
//static HandlePc *get_selfdev_check2(){
// return new selfdev_check2();
//}
//protpc_export(0x30, get_selfdev_check2);
// 检测结束 电机上升
@@ -274,7 +347,7 @@ void selfdev_slaveupdate::timeout(){
void selfdev_slaveupdate::slave_end_slot(int addr,int ack, slave_data data)
{
qDebug("slave update end,ack=%d",ack);
qDebug("slave update end,ack=%s",ack?"failed":"success");
busy=0;
}
@@ -331,7 +404,8 @@ int selfdev_update_scheme::dolater(int cmd, myarray data)
busy=0;
}else{
connect(b,&HandleBoardCast::end_signal,this,&selfdev_update_scheme::slave_end_slot);
b->start(data);
myarray scheme=myarray((const char *)ccfg_->check_scheme(),ccfg_->check_scheme_size());
b->start(scheme);
}
}
else{
@@ -350,7 +424,7 @@ void selfdev_update_scheme::timeout(){
void selfdev_update_scheme::slave_end_slot(int addr,int ack, slave_data data)
{
qDebug("slave update end,ack=%d",ack);
qDebug("slave update end,ack=%s",ack?"failed":"success");
busy=0;
}
@@ -449,24 +523,23 @@ protpc_export(0x27, get_selfdev_jwtupdate);
int selfdev_bootinfo::dolater(int cmd, myarray data)
{
prot_slave *slave=protSlave();
mycfg *cfg=syscfg();
mycfg *cfg_=syscfg();
busy=1;
// 这里开始检测
qDebug("get bootinfo.");
emit send_data_signal(cmd,myarray(1,0));
QList<int> addrs=cfg->calc_slave_addrs();
foreach(int addr, addrs){
HandleSlave *s=new slave_check();
bool ack=slave->set_slave_handle(addr,s);
if(ack==false){
qWarning("addr %d handle is busy.",addr);
}else{
connect(s,&HandleSlave::end_signal,this,&selfdev_bootinfo::slave_end_slot);
s->start(myarray());
}
HandleBoardCast *b=new slave_cmd();
bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
if(ack==false){
qWarning("handle is busy.");
busy=0;
}else{
connect(b,&HandleBoardCast::end_signal,this,&selfdev_bootinfo::slave_end_slot);
b->cmd=0x13;
b->start(data);
}
slave_acked.clear();
for(int i=0;i<cfg->slave_num;i++){
for(int i=0;i<cfg_->slave_num;i++){
slave_acked.append(myarray());
}
slave_acked_num=0;
@@ -523,12 +596,13 @@ myarray bootinfo_fill_local(void)
QStringList iplist;
mycfg *cfg_=syscfg();
check_cfg *ccfg_=check_plan();
uint8_t *d=(uint8_t *)calloc(1,sizeof(local_bootinfo));
memcpy(d,cfg_->build_date.toLocal8Bit(),cfg_->build_date.size()+1);d+=20;
memcpy(d,cfg_->soft_version.toLocal8Bit(),cfg_->soft_version.size()+1);d+=8;
uint8_t *d=(uint8_t *)calloc(1,sizeof(local_bootinfo)+1);
uint8_t *d_free=d;
memcpy(d,cfg_->build_date.data(),cfg_->build_date.size()+1);d+=20;
memcpy(d,cfg_->soft_version.data(),cfg_->soft_version.size()+1);d+=8;
memcpy(d,&tick,4);d+=4;
memcpy(d,&wdog,1);d+=1;
memcpy(d,cfg_->device_type.toLocal8Bit(),cfg_->device_type.size()+1);d+=12;
memcpy(d,cfg_->device_type.data(),cfg_->device_type.size()+1);d+=12;
iplist=cfg_->local_ip.split('.');
ip[0]=iplist[0].toInt();
ip[1]=iplist[1].toInt();
@@ -552,60 +626,44 @@ myarray bootinfo_fill_local(void)
temp32|=1<<i;
}
memcpy(d,&temp32,4);d+=4;
myarray arry((char *)d,sizeof(local_bootinfo));
free(d);
myarray arry((char *)d_free,sizeof(local_bootinfo));
free(d_free);
qDebug()<<"local data="<<arry.toHex(' ');
return arry;
}
static myarray slave_to_bootinfo_byte(myarray data){
data.append(sizeof(bootinfo_data)-data.size(),0);
data.remove(0,1);
int size_slave=sizeof(bootinfo_data);
int data_size=data.size();
if(size_slave>data_size){
data.append(size_slave-data_size,0);
}
return data;
}
//void selfdev_bootinfo::slave_end_slot(int addr,int ack, slave_data data)
//{
// if(addr<=0||addr>slave_acked.size()){
// qWarning("slave addr err:%d",addr);
// return;
// }
// for(int i=0;i<data.size();i++){
// slave_ret slave=data.at(i);
// slave_acked.replace(slave.addr-1,slave.data);
// slave_acked_num++;
// myarray r;
// r.append(char(0));
// r+=bootinfo_fill_local();
// for(int i=0;i<slave_acked.size();i++){
// r.append(slave_to_bootinfo_byte(slave_acked[i]));
// }
// emit send_data_signal(0x34,r);
// busy=0;
// }
//}
void selfdev_bootinfo::slave_end_slot(int addr,int ack, myarray data)
void selfdev_bootinfo::slave_end_slot(int addr,int ack, slave_data data)
{
if(addr<=0||addr>slave_acked.size()){
qWarning("slave addr err:%d",addr);
return;
qDebug("selfdev get bootinfo end.");
myarray r;
r.append(char(0));
r+=bootinfo_fill_local();
for(int i=0;i<data.size();i++){
slave_ret slave=data.at(i);
slave_acked.replace(slave.addr-1,slave.data);
slave_acked_num++;
}
slave_acked.replace(addr-1,data);
slave_acked_num++;
if(slave_acked_num>=slave_acked.size()){
myarray r;
r.append(char(0));
r+=bootinfo_fill_local();
for(int i=0;i<slave_acked.size();i++){
r.append(slave_to_bootinfo_byte(slave_acked[i]));
}
emit send_data_signal(0x34,r);
busy=0;
for(int i=0;i<slave_acked.size();i++){
r.append(slave_to_bootinfo_byte(slave_acked[i]));
}
emit send_data_signal(0x35,r);
busy=0;
}
static HandlePc *get_selfdev_bootinfo(){
return new selfdev_bootinfo();
}
@@ -617,3 +675,137 @@ protpc_export(0x34, get_selfdev_bootinfo);
// 测量电阻
int selfdev_measure_rescv::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
prot_slave *slave=protSlave();
mycfg *cfg=syscfg();
busy=1;
connect(this, &selfdev_measure_rescv::send_to_m4_signal, m4, &prot_m4::send_data_slot);
moter_down_cb_fun=[=](myarray data)
{
m4->del_irq_fun(moter_down_cb_fun,"moter down");
{
// 这里开始检测
qDebug("start check.");
QList<int> addrs=cfg->calc_slave_addrs();
HandleBoardCast *s=new slave_cmd();
bool ack=slave->set_boardcast_handle(addrs,s);
if(ack==false){
qWarning("handle is busy.");
}else{
connect(s,&HandleBoardCast::end_signal,this,&selfdev_measure_rescv::slave_end_slot);
s->cmd=0x05;
s->start(data);
}
}
};
myarray moter_cmd=moter_ctrl("down");
if(moter_cmd.size()==0){
busy=0;
qWarning("moter failed.");
}else{
m4->set_irq_fun(moter_down_cb_fun,"moter down");
emit send_to_m4_signal(moter_cmd);
}
slave_acked.clear();
for(int i=0;i<cfg->slave_num;i++){
slave_acked.append(myarray());
}
slave_acked_num=0;
return 0;
}
void selfdev_measure_rescv::timeout()
{
busy=0;
}
void selfdev_measure_rescv::slave_end_slot(int addr,int ack, slave_data data)
{
qDebug("selfdev measure_rescv end.");
emit send_to_m4_signal(moter_ctrl("up"));
myarray r;
r.append(char(0));
for(int i=0;i<data.size();i++){
slave_ret slave=data.at(i);
slave_acked.replace(slave.addr-1,slave.data);
slave_acked_num++;
}
for(int i=0;i<slave_acked.size();i++){
r.append(char(i+1));
r.append(slave_acked[i].right(2));
}
QTimer::singleShot(0, this, [=](){
emit send_data_signal(0x42,r);
});
busy=0;
}
static HandlePc *get_selfdev_measure_rescv(){
return new selfdev_measure_rescv();
}
protpc_export(0x42, get_selfdev_measure_rescv);
// 设置电阻校准
int selfdev_set_rescv::dolater(int cmd, myarray data)
{
prot_slave *slave=protSlave();
mycfg *cfg_=syscfg();
busy=1;
// 这里开始检测
qDebug("set_rescv.");
emit send_data_signal(cmd,myarray(1,0));
HandleBoardCast *b=new slave_cmd();
bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
if(ack==false){
qWarning("handle is busy.");
busy=0;
}else{
connect(b,&HandleBoardCast::end_signal,this,&selfdev_set_rescv::slave_end_slot);
// 广播设置校准值，需使用新增命令
b->cmd=0x13;
b->start(data);
}
slave_acked.clear();
for(int i=0;i<cfg_->slave_num;i++){
slave_acked.append(myarray());
}
slave_acked_num=0;
return 0;
}
void selfdev_set_rescv::timeout()
{
busy=0;
}
void selfdev_set_rescv::slave_end_slot(int addr,int ack, slave_data data)
{
qDebug("selfdev set_rescv end.");
myarray r;
r.append(char(0));
emit send_data_signal(0x41,r);
busy=0;
}
static HandlePc *get_selfdev_set_rescv(){
return new selfdev_set_rescv();
}
protpc_export(0x41, get_selfdev_set_rescv);