取消急停时如果不在空闲状态才跳到另一侧

心跳数据在收到回复之后也会继续发送
    芯片异常时不检测电容
    str_is_print_str 函数中，len为0时返回0
    改版本号为0.03

source/task/process.c

@@ -208,6 +208,16 @@ static void process_err(void *arg)
   }
 }
 
+// 上报异常字符串
+static void process_send_errstr(void *arg,int errcode,const char *errstr)
+{
+  self_def *s=arg;
+  int errlen=strlen(errstr);
+  array_def *a=arr_creat();
+  arr_append(a,errcode);
+  arr_appends(a,errstr,errlen);
+  process_send_signal(s,0x8c,arr_temp(a));
+}
 
 // 急停按钮响应函数
 static void process_stop(void *arg)
@@ -217,6 +227,7 @@ static void process_stop(void *arg)
   // 管壳挡板，0是挡住
   SET_OUTPUT(OUTPUT_SHELL_BAFFLE,0);
   SET_ERR_TIMES(3);
+  process_send_errstr(s,8,"急停");
   DBG_LOG("stop key pressed.");
 }
 static void process_run(void *arg)
@@ -225,6 +236,11 @@ static void process_run(void *arg)
   s->stop_state=0;
   s->busy=0;
   SET_LED_OFF();
+  // 不在空闲状态时跳转到另一侧
+  if(CHECK_STEP(s->step,idle)==0){
+    RESET_STEP(s->step);
+  }
+  process_send_errstr(s,9,"取消急停");
   DBG_LOG("stop key unpressed.");
 }
 
@@ -389,11 +405,13 @@ static void process_end_slot(void *obj,int ack,array_def *data)
   
   // 400ms 后开始打标
   void process_mark_start(void *arg);
-  later_execute(process_mark_start,s,400);
+  later_execute(process_mark_start,s,300);
   
   // 5s 后打标结束
   void process_mark_end(void *arg);
-  later_execute(process_mark_end,s,5000);
+  later_execute(process_mark_end,s,2300);
+  
+  process_send_errstr(s,10,"开始打标");
 }
 
 
@@ -403,7 +421,6 @@ static void process_mark_start(void *arg)
 {
   self_def *s=arg;
   SAFE_CHECK(s);
-  
   SET_OUTPUT(OUTPUT_MARK,1);
   DBG_LOG("mark start.");
 }