1133 lines
26 KiB
C++
1133 lines
26 KiB
C++
#include "cmd_pc.h"
|
|
#include "cmd_slave.h"
|
|
#include "prot/prot_m4.h"
|
|
#include "prot/prot_pc.h"
|
|
#include "prot/prot_slave.h"
|
|
#include "base/mycfg.h"
|
|
#include "base/check_cfg.h"
|
|
#include "QDebug"
|
|
#include "elec/elec_judge.h"
|
|
#include "QDateTime"
|
|
#include "prot_cmd/cmd_m4.h"
|
|
|
|
typedef struct
|
|
{
|
|
int moter_count;
|
|
int moter_run;
|
|
} moter_def;
|
|
static moter_def g_moter;
|
|
|
|
|
|
// 电机控制
|
|
myarray moter_ctrl(myarray op)
|
|
{
|
|
mycfg *cfg_ = syscfg();
|
|
moter_def *moter = &g_moter;
|
|
myarray r;
|
|
if (op == "up")
|
|
{
|
|
int count = 0;
|
|
if (moter->moter_count > 0)
|
|
{
|
|
moter->moter_run = 1;
|
|
count = -moter->moter_count - 100;
|
|
moter->moter_count = 0;
|
|
mystring s = mystring("moter %1").arg(count);
|
|
r = myarray(s.data());
|
|
}
|
|
else
|
|
{
|
|
qWarning("moter count out of range.");
|
|
return r;
|
|
}
|
|
}
|
|
else if (op == "down")
|
|
{
|
|
int count = 0;
|
|
if (moter->moter_count < cfg_->moter_count)
|
|
{
|
|
moter->moter_run = 1;
|
|
count = cfg_->moter_count - moter->moter_count;
|
|
moter->moter_count += count;
|
|
mystring s = mystring("moter %1").arg(count);
|
|
r = myarray(s.data());
|
|
qDebug("moter down:%s",s.data());
|
|
}
|
|
else
|
|
{
|
|
qWarning("moter count out of range.") ;
|
|
return r;
|
|
}
|
|
}
|
|
qDebug("moter ctrl:%s",op.data());
|
|
return r;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 自研批检仪检测
|
|
int selfdev_check::dolater(int cmd, myarray data)
|
|
{
|
|
prot_m4 *m4 = protM4();
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg=syscfg();
|
|
busy=1;
|
|
connect(this, &selfdev_check::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();
|
|
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_check::slave_end_slot);
|
|
s->start(myarray());
|
|
}
|
|
}
|
|
}
|
|
};
|
|
slave_acked.clear();
|
|
for(int i=0;i<cfg->slave_num;i++){
|
|
slave_acked.append(myarray());
|
|
}
|
|
slave_acked_num=0;
|
|
myarray moter_cmd=moter_ctrl("down");
|
|
if(moter_cmd.size()==0){
|
|
busy=0;
|
|
qWarning("moter failed.");
|
|
return 1;
|
|
}
|
|
if(cmd_m4_key_pressed()!=0){
|
|
m4->set_irq_fun(moter_down_cb_fun,"moter down");
|
|
emit send_to_m4_signal(moter_cmd);
|
|
}else{
|
|
qWarning("key not pressed,check will not start.");
|
|
busy=0;
|
|
return 2;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_check::timeout()
|
|
{
|
|
busy=0;
|
|
}
|
|
|
|
// 把小板的返回数据转化为自研批检仪上位机的格式
|
|
myarray tran_slave_to_selfdev_check(myarray &data)
|
|
{
|
|
check_cfg *ccfg_=check_plan();
|
|
// 返回值个数
|
|
int return_num=ccfg_->get_return_num();
|
|
// 参数错误字节数
|
|
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;
|
|
myarray r;
|
|
if(data.size()<17){
|
|
// 无返回则填充为异常
|
|
r.append(char(208));
|
|
r.append((len_for_each-1),char(0xff));
|
|
}else{
|
|
// 去掉应答位
|
|
uint8_t slave_err=data[0];
|
|
data.remove(0,1);
|
|
myarray paramerr=ccfg_->returns_to_paramerr(data.right(return_num*2));
|
|
r=data.left(8)+paramerr+data.right(return_num*2);
|
|
uint8_t marerr=0,suberr=0;
|
|
uint8_t *d=(uint8_t *)data.data();
|
|
elec_judge(ccfg_->check_scheme(),ccfg_->get_check_task_num(),
|
|
d,d+8,d+16,&marerr,&suberr);
|
|
if(marerr==0){
|
|
marerr=slave_err;
|
|
}
|
|
r.insert(0,uint8_t(marerr));
|
|
}
|
|
return r;
|
|
}
|
|
|
|
void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
|
|
{
|
|
if(addr<=0||addr>slave_acked.size()){
|
|
qWarning("slave addr err:%d",addr);
|
|
return;
|
|
}
|
|
slave_acked.replace(addr-1,data);
|
|
slave_acked_num++;
|
|
if(slave_acked_num>=slave_acked.size()){
|
|
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]));
|
|
r.append(4,uint8_t(0));
|
|
}
|
|
emit send_data_signal(0x31,r);
|
|
busy=0;
|
|
}
|
|
}
|
|
|
|
static HandlePc *get_selfdev_check(){
|
|
return new selfdev_check();
|
|
}
|
|
// protpc_export(0x49, 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
|
|
int selfdev_checkend::dolater(int cmd, myarray data)
|
|
{
|
|
prot_m4 *m4 = protM4();
|
|
connect(this, &selfdev_checkend::send_to_m4_signal, m4, &prot_m4::send_data_slot);
|
|
emit send_to_m4_signal(moter_ctrl("up"));
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_checkend::timeout(){
|
|
|
|
}
|
|
|
|
static HandlePc *get_selfdev_checkend(){
|
|
return new selfdev_checkend();
|
|
}
|
|
|
|
protpc_export(0x31, get_selfdev_checkend);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 电机控制
|
|
int selfdev_moter::dolater(int cmd, myarray data)
|
|
{
|
|
prot_m4 *m4 = protM4();
|
|
mycfg *cfg_=syscfg();
|
|
connect(this, &selfdev_moter::send_to_m4_signal, m4, &prot_m4::send_data_slot);
|
|
if(cmd==0x40)
|
|
{
|
|
if(data[0]==0x02){
|
|
emit send_to_m4_signal(moter_ctrl("up"));
|
|
}else if(data[0]==0x03){
|
|
emit send_to_m4_signal(moter_ctrl("down"));
|
|
}else if(data[0]==0x01){
|
|
if(data.size()>=3){
|
|
int count=(data[1])|(data[2]<<8);
|
|
cfg_->moter_count=20000+count;
|
|
qDebug("moter count=%d",cfg_->moter_count);
|
|
cfg_->save();
|
|
}
|
|
}
|
|
emit send_data_signal(cmd,myarray(1,char(0)));
|
|
return 0;
|
|
}else if(cmd==0x47){
|
|
myarray r;
|
|
r.append(uint8_t(0));
|
|
int count=cfg_->moter_count-20000;
|
|
if(count<0) count=0;
|
|
r.append(uint8_t(count&0xff));
|
|
r.append(uint8_t((count>>8)&0xff));
|
|
emit send_data_signal(cmd,r);
|
|
return 0;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_moter::timeout(){
|
|
|
|
}
|
|
|
|
static HandlePc *get_selfdev_moter(){
|
|
return new selfdev_moter();
|
|
}
|
|
|
|
protpc_export(0x40, get_selfdev_moter);
|
|
protpc_export(0x47, get_selfdev_moter);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 从机升级
|
|
int selfdev_slaveupdate::dolater(int cmd, myarray data)
|
|
{
|
|
myarray r;
|
|
int len_filename=data[0];
|
|
mystring name=data.mid(1,len_filename);
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
busy=1;
|
|
qInfo()<<"slave_app name:"<<name<<endl;
|
|
data.remove(0,len_filename+1);
|
|
|
|
// TODO 校验小板程序
|
|
|
|
r.append(uint8_t(0));
|
|
cfg_->save_file(name,data);
|
|
emit send_data_signal(0xfe,myarray(1,char(0)));
|
|
|
|
// 自动给小板升级
|
|
HandleBoardCast *b=new boardcast_updata();
|
|
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_slaveupdate::slave_end_slot);
|
|
connect(b,&HandleBoardCast::rate_signal,this,&selfdev_slaveupdate::rate_slot);
|
|
handle_start_time=QDateTime::currentDateTime().toTime_t();
|
|
b->start(data);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_slaveupdate::timeout(){
|
|
busy=0;
|
|
qDebug("slave update timeout");
|
|
}
|
|
|
|
void selfdev_slaveupdate::rate_slot(int rate, mystring str)
|
|
{
|
|
qint64 now_time=QDateTime::currentDateTime().toTime_t();
|
|
now_time=now_time-handle_start_time;
|
|
myarray data;
|
|
data.append(char(rate&0xff));
|
|
data.append(uint8_t(now_time&0xff));
|
|
data.append(uint8_t((now_time>>8)&0xff));
|
|
data.append(str.toLocal8Bit());
|
|
emit send_data_signal(0x46,data);
|
|
}
|
|
|
|
void selfdev_slaveupdate::slave_end_slot(int addr,int ack, slave_data data)
|
|
{
|
|
qDebug("slave update end,ack=%s",ack?"failed":"success");
|
|
busy=0;
|
|
}
|
|
|
|
static HandlePc *get_selfdev_slaveupdate(){
|
|
return new selfdev_slaveupdate();
|
|
}
|
|
|
|
protpc_export(0xfe, get_selfdev_slaveupdate);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 方案升级
|
|
int selfdev_update_scheme::dolater(int cmd, myarray data)
|
|
{
|
|
myarray r;
|
|
int len_filename=data[0];
|
|
mystring name=data.mid(1,len_filename);
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
check_cfg *ccfg_=check_plan();
|
|
uint8_t rw=data[0];
|
|
data.remove(0,1);
|
|
|
|
busy=1;
|
|
if(rw==0)
|
|
{
|
|
// 读方案
|
|
r.append(char(0));
|
|
r.append(rw);
|
|
r.append(ccfg_->scheme_to_jstring());
|
|
emit send_data_signal(0x22,r);
|
|
busy=0;
|
|
}
|
|
else
|
|
{
|
|
// 写方案
|
|
bool ack=ccfg_->updata(QString(data));
|
|
r.append(ack?char(0):char(1));
|
|
r.append(rw);
|
|
if(ack){
|
|
// 自动给小板升级
|
|
HandleBoardCast *b=new boardcast_updata_scheme();
|
|
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_update_scheme::slave_end_slot);
|
|
connect(b,&HandleBoardCast::rate_signal,this,&selfdev_update_scheme::rate_slot);
|
|
handle_start_time=QDateTime::currentDateTime().toTime_t();
|
|
myarray scheme=myarray((const char *)ccfg_->check_scheme(),ccfg_->check_scheme_size());
|
|
b->start(scheme);
|
|
}
|
|
}
|
|
else{
|
|
r.append("方案解析失败");
|
|
qWarning("scheme check failed.");
|
|
}
|
|
emit send_data_signal(0x22,r);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_update_scheme::timeout(){
|
|
busy=0;
|
|
qDebug("slave update timeout");
|
|
}
|
|
void selfdev_update_scheme::rate_slot(int rate, mystring str)
|
|
{
|
|
qint64 now_time=QDateTime::currentDateTime().toTime_t();
|
|
now_time=now_time-handle_start_time;
|
|
myarray data;
|
|
data.append(char(rate&0xff));
|
|
data.append(uint8_t(now_time&0xff));
|
|
data.append(uint8_t((now_time>>8)&0xff));
|
|
data.append(str.toLocal8Bit());
|
|
emit send_data_signal(0x46,data);
|
|
}
|
|
|
|
void selfdev_update_scheme::slave_end_slot(int addr,int ack, slave_data data)
|
|
{
|
|
qDebug("slave update end,ack=%s",ack?"failed":"success");
|
|
busy=0;
|
|
}
|
|
|
|
static HandlePc *get_selfdev_update_scheme(){
|
|
return new selfdev_update_scheme();
|
|
}
|
|
|
|
protpc_export(0x22, get_selfdev_update_scheme);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 本机升级
|
|
int selfdev_hostupdate::dolater(int cmd, myarray data)
|
|
{
|
|
myarray r;
|
|
int len_filename=data[0];
|
|
mystring name=data.mid(1,len_filename);
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
busy=1;
|
|
qInfo()<<"host_app name:"<<name<<endl;
|
|
data.remove(0,len_filename+1);
|
|
|
|
// TODO 校验主板程序
|
|
|
|
r.append(uint8_t(0));
|
|
cfg_->save_file(name,data);
|
|
emit send_data_signal(0xfd,myarray(1,char(0)));
|
|
|
|
return 0;
|
|
}
|
|
|
|
static HandlePc *get_selfdev_hostupdata(){
|
|
return new selfdev_hostupdate();
|
|
}
|
|
|
|
protpc_export(0xfd, get_selfdev_hostupdata);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// jwt升级
|
|
int selfdev_jwtupdate::dolater(int cmd, myarray data)
|
|
{
|
|
myarray r;
|
|
int len_filename=data[0];
|
|
mystring name=data.mid(1,len_filename);
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
busy=1;
|
|
qInfo()<<"jwt_app name:"<<name<<endl;
|
|
data.remove(0,len_filename+1);
|
|
|
|
// TODO 校验小板程序
|
|
|
|
r.append(uint8_t(0));
|
|
cfg_->save_file(name,data);
|
|
emit send_data_signal(0xfe,myarray(1,char(0)));
|
|
|
|
// 自动给小板升级
|
|
// start_updata_mcu(cfg_->config_path+name,slave_addrs);
|
|
HandleBoardCast *b=new boardcast_updata_jwt();
|
|
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_slaveupdate::slave_end_slot);
|
|
connect(b,&HandleBoardCast::rate_signal,this,&selfdev_slaveupdate::rate_slot);
|
|
handle_start_time=QDateTime::currentDateTime().toTime_t();
|
|
b->start(data);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static HandlePc *get_selfdev_jwtupdate(){
|
|
return new selfdev_jwtupdate();
|
|
}
|
|
|
|
protpc_export(0x27, get_selfdev_jwtupdate);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 自研批检仪自检
|
|
int selfdev_bootinfo::dolater(int cmd, myarray data)
|
|
{
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
busy=1;
|
|
// 这里开始检测
|
|
qDebug("get bootinfo.");
|
|
emit send_data_signal(cmd,myarray(1,0));
|
|
HandleBoardCast *b=new slave_cmd2();
|
|
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++){
|
|
slave_acked.append(myarray());
|
|
}
|
|
slave_acked_num=0;
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_bootinfo::timeout()
|
|
{
|
|
busy=0;
|
|
}
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
char build_time[20];
|
|
char softverion[8];
|
|
int runtime;
|
|
uint8_t wdog;
|
|
char devicetype[12];
|
|
uint8_t localip[4];
|
|
uint8_t hostip[4];
|
|
uint16_t hostport;
|
|
uint8_t localid;
|
|
uint32_t schemeid;
|
|
uint32_t slave_online;
|
|
}local_bootinfo;
|
|
#pragma pack()
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
uint8_t app_state;
|
|
uint8_t slaver_addr;
|
|
uint16_t chip_tmper;
|
|
uint16_t ad_2v5;
|
|
uint16_t ad_1v25;
|
|
uint16_t ad_wave;
|
|
uint16_t ad_5v5_just;
|
|
uint16_t ad_26v_just;
|
|
uint16_t hard_version;
|
|
uint16_t soft_version;
|
|
uint16_t res_just;
|
|
uint32_t scheme_id;
|
|
}bootinfo_data;
|
|
#pragma pack()
|
|
|
|
// 填充本机自检信息
|
|
myarray bootinfo_fill_local(void)
|
|
{
|
|
int tick=-1;
|
|
uint8_t wdog=0;
|
|
uint32_t temp32=0;
|
|
uint16_t temp16=0;
|
|
uint8_t temp8=0;
|
|
uint8_t ip[4]={0};
|
|
QStringList iplist;
|
|
mycfg *cfg_=syscfg();
|
|
check_cfg *ccfg_=check_plan();
|
|
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.data(),cfg_->device_type.size()+1);d+=12;
|
|
iplist=cfg_->local_ip.split('.');
|
|
ip[0]=iplist[0].toInt();
|
|
ip[1]=iplist[1].toInt();
|
|
ip[2]=iplist[2].toInt();
|
|
ip[3]=iplist[3].toInt();
|
|
memcpy(d,ip,4);d+=4;
|
|
iplist=cfg_->server_ip.split('.');
|
|
ip[0]=iplist[0].toInt();
|
|
ip[1]=iplist[1].toInt();
|
|
ip[2]=iplist[2].toInt();
|
|
ip[3]=iplist[3].toInt();
|
|
memcpy(d,ip,4);d+=4;
|
|
temp16=cfg_->server_port;
|
|
memcpy(d,&temp16,2);d+=2;
|
|
temp8=cfg_->local_id;
|
|
memcpy(d,&temp8,1);d+=1;
|
|
temp32=ccfg_->get_plan_id();
|
|
memcpy(d,&temp32,4);d+=4;
|
|
temp32=0;
|
|
for(int i=0;i<cfg_->slave_num;i++){
|
|
temp32|=1<<i;
|
|
}
|
|
memcpy(d,&temp32,4);d+=4;
|
|
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.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)
|
|
{
|
|
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++;
|
|
}
|
|
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();
|
|
}
|
|
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 str)
|
|
{
|
|
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_cmd2();
|
|
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,这个只能每个板子设置一样的校准值
|
|
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_cmd2();
|
|
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);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// 执行任务
|
|
int selfdev_runtask::dolater(int cmd, myarray data)
|
|
{
|
|
prot_slave *slave=protSlave();
|
|
mycfg *cfg_=syscfg();
|
|
busy=1;
|
|
// 这里开始检测
|
|
qDebug("runtask.");
|
|
// emit send_data_signal(cmd,myarray(1,0));
|
|
HandleBoardCast *b=new slave_cmd();
|
|
addrs=cmd_pc_to_addrs(data);
|
|
bool ack=slave->set_boardcast_handle(addrs,b);
|
|
if(ack==false){
|
|
qWarning("handle is busy.");
|
|
busy=0;
|
|
}else{
|
|
connect(b,&HandleBoardCast::end_signal,this,&selfdev_runtask::slave_end_slot);
|
|
// 广播设置校准值，需使用新增命令
|
|
b->cmd=cmd_slave();
|
|
b->start(cmd_pc_to_slave(data));
|
|
if(cmd_pc_recv()!=0){
|
|
emit send_data_signal(cmd_pc_recv(),cmd_pc_recv_to_pc());
|
|
}
|
|
}
|
|
slave_acked.clear();
|
|
for(int i=0;i<addrs.size();i++){
|
|
slave_acked.append(myarray());
|
|
}
|
|
slave_acked_num=0;
|
|
return 0;
|
|
}
|
|
|
|
void selfdev_runtask::timeout()
|
|
{
|
|
busy=0;
|
|
}
|
|
|
|
// 排序,再接收了从机数据之后
|
|
void selfdev_runtask::slave_sort(){
|
|
myarray temp;
|
|
int slave_num=slave_acked.size();
|
|
if(slave_num==0) return;
|
|
for(int i=0;i<slave_num;i++){
|
|
temp=slave_acked[i];
|
|
for(int j=i+1;j<slave_num;j++){
|
|
if(slave_acked[i][0]>slave_acked[j][0]){
|
|
slave_acked[i]=slave_acked[j];
|
|
slave_acked[j]=temp;
|
|
temp=slave_acked[i];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void selfdev_runtask::slave_end_slot(int addr,int ack, slave_data data)
|
|
{
|
|
int cmd;
|
|
myarray da;
|
|
qDebug("selfdev runtask end.");
|
|
for(int i=0;i<addrs.size();i++){
|
|
int addr=addrs[i];
|
|
myarray sdata=data[addr-1];
|
|
// 数据的第一位是来源的地址
|
|
sdata.insert(0,addr);
|
|
slave_acked.replace(addr-1,sdata);
|
|
slave_acked_num++;
|
|
}
|
|
|
|
slave_sort();
|
|
cmd=cmd_pc_ret();
|
|
da=ret_slave_to_pc(slave_acked);
|
|
if(cmd!=0){
|
|
emit send_data_signal(cmd,da);
|
|
}
|
|
busy=0;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
char devicetype[12];
|
|
char hostif[8];
|
|
uint8_t localip[4];
|
|
uint8_t hostip[4];
|
|
uint16_t hostport;
|
|
uint8_t localid;
|
|
int uartbsp;
|
|
uint8_t coder_return_mode;
|
|
uint8_t slave_addr_start;
|
|
}paraminfo_def;
|
|
#pragma pack()
|
|
|
|
static void ip_fill(QString str,uint8_t *ip){
|
|
QStringList snums = str.split('.');
|
|
for(int i=0;i<snums.size();i++){
|
|
ip[i]=snums[i].toInt(nullptr, 10);
|
|
}
|
|
}
|
|
|
|
// 填充配置项
|
|
static void paraminfo_fill(paraminfo_def *p)
|
|
{
|
|
mycfg *cfg_=syscfg();
|
|
memcpy(p->devicetype,cfg_->device_type.toLocal8Bit(),cfg_->device_type.size()+1);
|
|
if(cfg_->tcp_enable==true){
|
|
memcpy(p->hostif,"utcp",5);
|
|
}else{
|
|
memcpy(p->hostif,"uart4",6);
|
|
}
|
|
ip_fill(cfg_->local_ip,p->localip);
|
|
ip_fill(cfg_->server_ip,p->hostip);
|
|
p->hostport=cfg_->server_port;
|
|
p->localid=cfg_->local_id;
|
|
p->uartbsp=cfg_->uart_bsp;
|
|
p->coder_return_mode=cfg_->coder_return_mode;
|
|
p->slave_addr_start=cfg_->slave_addr_start;
|
|
}
|
|
|
|
// 保存配置项
|
|
static int paraminfo_save(paraminfo_def *p)
|
|
{
|
|
int ret=0;
|
|
mycfg *cfg_=syscfg();
|
|
uint8_t ip_zero[4]={0,0,0,0};
|
|
if(strcmp("coder",p->devicetype)==0||strcmp("checker",p->devicetype)==0)
|
|
cfg_->device_type=QString(p->devicetype);
|
|
else {
|
|
qWarning()<<"devicetype param must be \"coder\" or \"checker\"."<<p->devicetype;
|
|
ret=1;return ret;}
|
|
if(strcmp("utcp",p->hostif)==0){
|
|
cfg_->tcp_enable=true;
|
|
}else{
|
|
cfg_->tcp_enable=false;
|
|
}
|
|
if(memcmp(p->localip,ip_zero,4)!=0){
|
|
cfg_->local_ip=QString("%1.%2.%3.%4").arg(p->localip[0]).arg(p->localip[1]).arg(p->localip[2]).arg(p->localip[3]);
|
|
}else {
|
|
qWarning()<<"localip param must not be all zero";
|
|
ret=3;return ret;}
|
|
if(memcmp(p->hostip,ip_zero,4)!=0){
|
|
cfg_->server_ip=QString("%1.%2.%3.%4").arg(p->hostip[0]).arg(p->hostip[1]).arg(p->hostip[2]).arg(p->hostip[3]);
|
|
}else {
|
|
qWarning()<<"hostip param must not be all zero";
|
|
ret=4;return ret;}
|
|
cfg_->server_port=p->hostport;
|
|
cfg_->local_id=p->localid;
|
|
if(p->uartbsp==115200||p->uartbsp==9600)
|
|
cfg_->uart_bsp=p->uartbsp;
|
|
else {
|
|
qWarning()<<"uartbsp param must be 115200 or 9600";
|
|
ret=5;return ret;}
|
|
if(p->coder_return_mode==0||p->coder_return_mode==1)
|
|
cfg_->coder_return_mode=p->coder_return_mode;
|
|
else {
|
|
qWarning()<<"coder_return_mode param must be 0 or 1";
|
|
ret=6;return ret;}
|
|
if(p->slave_addr_start==0||p->slave_addr_start==1)
|
|
cfg_->slave_addr_start=p->slave_addr_start;
|
|
else {
|
|
qWarning()<<"slave_addr_start param must be 0 or 1";
|
|
ret=7;return ret;}
|
|
cfg_->save();
|
|
return ret;
|
|
}
|
|
|
|
// 赋码仪配置参数
|
|
int coder_sysparam::dolater(int cmd, myarray data)
|
|
{
|
|
uint8_t op=data[1];
|
|
paraminfo_def par={{0},{0},{0},{0},{0},{0},{0},{0},{0}};
|
|
// 1是写,0是读
|
|
if(op==0)
|
|
{
|
|
paraminfo_fill(&par);
|
|
uint8_t *d=(uint8_t *)(&par);
|
|
QByteArray arr;
|
|
// 赋码仪添加通道数
|
|
arr.append(data[0]);
|
|
// 赋码仪添加读写位
|
|
arr.append(op);
|
|
arr.append(uint8_t(0));
|
|
QByteArray temp=QByteArray::fromRawData((const char *)d,sizeof(paraminfo_def));
|
|
arr.append(temp);
|
|
emit send_data_signal(cmd,arr);
|
|
}else if(op==1)
|
|
{
|
|
QByteArray arr;
|
|
// 赋码仪添加通道数
|
|
arr.append(data[0]);
|
|
// 赋码仪添加读写位
|
|
arr.append(op);
|
|
|
|
if(data.size()<1+1+sizeof(paraminfo_def)){
|
|
arr.append(uint8_t(0xff));
|
|
emit send_data_signal(cmd,arr);
|
|
}else{
|
|
qDebug()<<"param:"<<data.toHex(' ')<<endl;
|
|
memcpy(&par,data.data()+1+1,sizeof(paraminfo_def));
|
|
int ret=paraminfo_save(&par);
|
|
arr.append(uint8_t(ret));
|
|
emit send_data_signal(cmd,arr);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
void coder_sysparam::timeout()
|
|
{
|
|
|
|
}
|
|
static HandlePc *get_coder_sysparam(){
|
|
return new coder_sysparam();
|
|
}
|
|
protpc_export(0x08, get_coder_sysparam);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void coder_bootinfo::slave_end_slot(int addr,int ack, slave_data data)
|
|
{
|
|
qDebug("selfdev get bootinfo end.");
|
|
myarray r;
|
|
r.append(uint8_t(syscfg()->slave_num));
|
|
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++;
|
|
}
|
|
for(int i=0;i<slave_acked.size();i++){
|
|
r.append(slave_to_bootinfo_byte(slave_acked[i]));
|
|
}
|
|
emit send_data_signal(0x84,r);
|
|
busy=0;
|
|
}
|
|
static HandlePc *get_coder_bootinfo(){
|
|
return new coder_bootinfo();
|
|
}
|
|
protpc_export(0x04, get_coder_bootinfo);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|