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解决赋码未结束时打开急停会导致一直忙的bug

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ranchuan
2023-09-14 18:01:54 +08:00
parent 9f7ac06880
commit 9f9f6db125
5 changed files with 46 additions and 10 deletions
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40
source/task/process.c
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@@ -41,7 +41,7 @@
#define OUTPUT_CLAMP_CYLINDER 2
#define OUTPUT_LED_OK 3
#define OUTPUT_LED_ERR 4
#define OUTPUT_MARK 7
#define OUTPUT_MARK 9
// 定义总线选择
#define BUS_SELECT_LEFT 0
@@ -104,6 +104,15 @@
output_set(&s->output[OUTPUT_CLAMP_CYLINDER],0);\
output_set(&s->output[OUTPUT_MARK],0);}
// 设置异常报警次数
#define SET_ERR_TIMES(t)\
{if(s->lederr_times>0){\
s->lederr_times=t;\
}else{\
s->lederr_times=t;\
later_execute(process_err,s,500);}\
}
typedef struct{
@@ -141,6 +150,7 @@ typedef struct{
void *tran;
array_def *code_data;// 赋码数据
rt_timer_t timer;
int lederr_times;// 异常闪烁次数
int busy;// 忙，此时不再响应启动按键
process_step step;// 流程步数0为空闲
int stop_state;// 急停标志，值1时不运行
@@ -182,20 +192,38 @@ static const char *g_errinfo_table[]={
// 异常报警
static void process_err(void *arg)
{
self_def *s=arg;
if(s->lederr_times%2==1)
{
SET_LED_ERR();
}else{
SET_LED_OFF();
}
if(s->lederr_times>0){
s->lederr_times--;
later_execute(process_err,s,500);
}
}
// 急停按钮响应函数
static void process_stop(void *arg)
{
self_def *s=arg;
s->stop_state=1;
SET_OUTPUT(OUTPUT_SHELL_BAFFLE,1);
SET_LED_ERR();
// 管壳挡板，0是挡住
SET_OUTPUT(OUTPUT_SHELL_BAFFLE,0);
SET_ERR_TIMES(3);
DBG_LOG("stop key pressed.");
}
static void process_run(void *arg)
{
self_def *s=arg;
s->stop_state=0;
s->busy=0;
SET_LED_OFF();
DBG_LOG("stop key unpressed.");
}
@@ -236,7 +264,7 @@ static void process_timeout(void *arg)
RESET_OUTPUT();
s->busy=0;
SET_LED_ERR();
SET_ERR_TIMES(3);
}
// 重置定时器
static void process_timer_start(void *arg)
@@ -333,7 +361,7 @@ static void process_end_slot(void *obj,int ack,array_def *data)
self_def *s=obj;
SAFE_CHECK(s);
if(ack){
SET_LED_ERR();
SET_ERR_TIMES(3);
// 发送异常信息
process_send_errinfo(s);
// 发送赋码结果
@@ -387,7 +415,7 @@ static void process_mark_end(void *arg)
SAFE_CHECK(s);
// 关闭挡板
SET_OUTPUT(OUTPUT_SHELL_BAFFLE,1);
SET_OUTPUT(OUTPUT_SHELL_BAFFLE,0);
SET_OUTPUT(OUTPUT_MARK,0);