599 lines
12 KiB
C
599 lines
12 KiB
C
#include "board.h"
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#include "rtthread.h"
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#include "debug.h"
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#include "string.h"
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#include "dev_flash.h"
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#include "prot_uc.h"
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#include "input.h"
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#include "mystdlib.h"
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#include "transmit.h"
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#include "mymisc.h"
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#include "process.h"
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#include "tran_for_coder2ch.h"
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#include "coder_judge.h"
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/*
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赋码操作流程控制
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*/
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// 定义输入通道别名
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#define INPUT_STOP_KEY 0
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#define INPUT_CHECK_KEY 1
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#define INPUT_MARK_END 2
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#define INPUT_POS_LEFT 6
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#define INPUT_POS_RIGHT 7
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// 调试用输入通道别名
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//#define INPUT_STOP_KEY 0
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//#define INPUT_CHECK_KEY 1
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//#define INPUT_MARK_END 2
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//#define INPUT_POS_LEFT 3
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//#define INPUT_POS_RIGHT 4
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// 定义输出通道别名
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#define OUTPUT_PUSH_CYLINDER 0
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#define OUTPUT_SHELL_BAFFLE 1
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#define OUTPUT_CLAMP_CYLINDER 2
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#define OUTPUT_LED_OK 3
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#define OUTPUT_LED_ERR 4
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#define OUTPUT_MARK 9
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// 定义总线选择
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#define BUS_SELECT_LEFT 0
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#define BUS_SELECT_RIGHT 1
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// 定义推料气缸方向
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#define PUSH_DIR_TO_RIGHT 1
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#define PUSH_DIR_TO_LEFT 0
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// 定义输出通道数量
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#define OUTPUT_CHANNEL_NUM 10
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// 急停时不动作
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#define SAFE_CHECK(s)\
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if(s->stop_state) return
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// 设置当前步骤
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#define SET_STEP(s,d)\
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if(s/right_idle){s=right_##d;}else{s=left_##d;}
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// 校验当前步骤是返回1，不是返回0
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#define CHECK_STEP(s,d)\
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(s/right_idle)?(s==right_##d):(s==left_##d)
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// 获取到位传感器通道
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#define GET_POS_CHANNEL(s) \
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(s/right_idle)?INPUT_POS_RIGHT:INPUT_POS_LEFT
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// 获取当前使用的总线
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#define GET_BUS_CHANNEL(s)\
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(s/right_idle)?BUS_SELECT_RIGHT:BUS_SELECT_LEFT
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// 获取当前推料气缸的方向
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#define GET_PUSH_DIR(s)\
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(s/right_idle)?PUSH_DIR_TO_LEFT:PUSH_DIR_TO_RIGHT
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// 重置状态
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#define RESET_STEP(s)\
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if(s<right_idle){s=right_idle;}else{s=left_idle;}
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// 设置指示灯状态
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#define SET_LED_OK()\
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{output_set(&s->output[OUTPUT_LED_ERR],0);\
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output_set(&s->output[OUTPUT_LED_OK],1);}
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#define SET_LED_ERR()\
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{output_set(&s->output[OUTPUT_LED_ERR],1);\
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output_set(&s->output[OUTPUT_LED_OK],0);}
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#define SET_LED_OFF()\
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{output_set(&s->output[OUTPUT_LED_ERR],0);\
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output_set(&s->output[OUTPUT_LED_OK],0);}
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// 设置输出通道状态
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#define SET_OUTPUT(c,p)\
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output_set(&s->output[c],p);
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// 复位输出状态
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#define RESET_OUTPUT()\
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{output_set(&s->output[OUTPUT_SHELL_BAFFLE],0);\
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output_set(&s->output[OUTPUT_CLAMP_CYLINDER],0);\
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output_set(&s->output[OUTPUT_MARK],0);}
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// 设置异常报警次数
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#define SET_ERR_TIMES(t)\
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{if(s->lederr_times>0){\
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s->lederr_times=t;\
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}else{\
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s->lederr_times=t;\
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later_execute(process_err,s,500);}\
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}
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typedef struct{
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gpioout_def *dev;
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int state;
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}output_def;
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// 设置输出状态
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static int output_set(output_def *s,int state)
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{
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s->dev->set(s->dev,state);
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s->state=state;
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return 0;
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}
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typedef enum{
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left_idle=0,
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left_push,
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left_requst,
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left_code,
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right_idle,
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right_push,
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right_requst,
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right_code,
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}process_step;
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typedef struct{
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int inited;
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int run;
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void *tran;
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array_def *code_data;// 赋码数据
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rt_timer_t timer;
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int lederr_times;// 异常闪烁次数
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int busy;// 忙，此时不再响应启动按键
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process_step step;// 流程步数0为空闲
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int stop_state;// 急停标志，值1时不运行
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output_def output[OUTPUT_CHANNEL_NUM];
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output_def led;
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output_def mod1_use;
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output_def bus_sel;
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output_def mod_sel;
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}self_def;
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static self_def g_self;
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static const char *g_errinfo_table[]={
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"",
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"左侧到位检测失败",
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"左侧请求三码数据失败",
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"左侧赋码失败",
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"",
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"右侧到位检测失败",
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"右侧请求三码数据失败",
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"右侧赋码失败",
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};
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//static const char *g_errinfo_table[]={
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// "",
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// "left pos check failed",
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// "left 3code request failed",
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// "left code failed",
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// "",
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// "right pos check failed",
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// "right 3code request failed",
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// "right code failed",
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//};
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// 异常报警
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static void process_err(void *arg)
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{
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self_def *s=arg;
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if(s->lederr_times%2==1)
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{
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SET_LED_ERR();
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}else{
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SET_LED_OFF();
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}
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if(s->lederr_times>0){
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s->lederr_times--;
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later_execute(process_err,s,500);
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}
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}
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// 急停按钮响应函数
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static void process_stop(void *arg)
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{
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self_def *s=arg;
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s->stop_state=1;
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// 管壳挡板，0是挡住
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SET_OUTPUT(OUTPUT_SHELL_BAFFLE,0);
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SET_ERR_TIMES(3);
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DBG_LOG("stop key pressed.");
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}
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static void process_run(void *arg)
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{
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self_def *s=arg;
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s->stop_state=0;
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s->busy=0;
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SET_LED_OFF();
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DBG_LOG("stop key unpressed.");
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}
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// 异常上报函数
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static void process_send_errinfo(void *arg)
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{
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self_def *s=arg;
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const char *err_info=g_errinfo_table[s->step];
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int errlen=strlen(err_info);
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array_def *a=arr_creat();
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arr_append(a,s->step);
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arr_appends(a,err_info,errlen);
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process_send_signal(s,0x8c,arr_temp(a));
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}
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// 超时响应函数
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static void process_timeout(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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// 上报异常信息
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process_send_errinfo(s);
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DBG_WARN("timeout,errcode=%d",s->step);
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if(CHECK_STEP(s->step,push)){
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// 取消到位回调
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input_set_callback_once(GET_POS_CHANNEL(s->step),1,0,0);
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}
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// 重置状态
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RESET_STEP(s->step);
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// 复位输出状态
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RESET_OUTPUT();
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s->busy=0;
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SET_ERR_TIMES(3);
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}
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// 重置定时器
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static void process_timer_start(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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if(s->timer==0)
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{
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s->timer=rt_timer_create("proc_tim",process_timeout,s,
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rt_tick_from_millisecond(5000),
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RT_TIMER_FLAG_ONE_SHOT|RT_TIMER_FLAG_SOFT_TIMER);
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}
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rt_timer_start(s->timer);
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}
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// 停止定时器
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static void process_timer_stop(void *arg)
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{
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self_def *s=arg;
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if(s->timer){
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rt_timer_stop(s->timer);
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}
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}
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// 检测按键响应函数
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static void process_check_start(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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if(s->busy) {
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DBG_WARN("check is running.");
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return;
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}
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s->busy=1;
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SET_LED_OFF();
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process_timer_start(s);
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SET_STEP(s->step,push);
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// 启动推料气缸
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SET_OUTPUT(OUTPUT_PUSH_CYLINDER,GET_PUSH_DIR(s->step));
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// 设置到位回调
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void process_pos(void *arg);
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input_set_callback_once(GET_POS_CHANNEL(s->step),1,process_pos,s);
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// 选择当前使用的总线
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output_set(&s->bus_sel,GET_BUS_CHANNEL(s->step));
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DBG_LOG("check_start key pressed.");
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}
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// 到位响应函数
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static void process_pos(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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int chip=coder_extract_chip(0);
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// 请求三码数据
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array_def *a=arr_creat();
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arr_append(a,chip);
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emit process_send_signal(s,0x8b,arr_temp(a));
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SET_STEP(s->step,requst);
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process_timer_start(s);
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// 打开线夹
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SET_OUTPUT(OUTPUT_CLAMP_CYLINDER,1);
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DBG_LOG("pos in place.");
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}
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// 开始注码响应函数
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static void process_start_slot(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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SET_STEP(s->step,code);
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process_timer_stop(s);
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DBG_LOG("start code.");
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}
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// 赋码结束响应函数
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static void process_end_slot(void *obj,int ack,array_def *data)
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{
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self_def *s=obj;
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SAFE_CHECK(s);
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if(ack){
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SET_ERR_TIMES(3);
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// 发送异常信息
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process_send_errinfo(s);
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// 发送赋码结果
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emit tran_send_signal(s->tran,0x82,data);
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// 复位输出状态
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RESET_OUTPUT();
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// 复位步骤
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RESET_STEP(s->step);
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s->busy=0;
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return;
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}else{
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SET_LED_OK();
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}
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// 保存到内部存储
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if(s->code_data){
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arr_delete(s->code_data);
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}
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s->code_data=arr_duplicate(data);
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// 关闭线夹
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SET_OUTPUT(OUTPUT_CLAMP_CYLINDER,0);
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// 打开挡板
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SET_OUTPUT(OUTPUT_SHELL_BAFFLE,1);
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// 400ms 后开始打标
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void process_mark_start(void *arg);
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later_execute(process_mark_start,s,400);
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// 5s 后打标结束
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void process_mark_end(void *arg);
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later_execute(process_mark_end,s,5000);
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}
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// 开始打标回调函数
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static void process_mark_start(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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SET_OUTPUT(OUTPUT_MARK,1);
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DBG_LOG("mark start.");
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}
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// 打标结束回调函数
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static void process_mark_end(void *arg)
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{
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self_def *s=arg;
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SAFE_CHECK(s);
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// 关闭挡板
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SET_OUTPUT(OUTPUT_SHELL_BAFFLE,0);
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SET_OUTPUT(OUTPUT_MARK,0);
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// 发送注码结果
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if(s->code_data){
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emit tran_send_signal(s->tran,0x82,s->code_data);
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}
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// 复位输出状态
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RESET_OUTPUT();
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// 复位步骤
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RESET_STEP(s->step);
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s->busy=0;
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DBG_LOG("mark end.");
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}
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// 线程初始化
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static void process_init(void *arg)
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{
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self_def *s=arg;
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// 初始化输出通道
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char gpioout_name[]="gpioout0";
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for(int i=0;i<OUTPUT_CHANNEL_NUM;i++)
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{
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gpioout_name[7]='0'+i;
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s->output[i].dev=dev_get(gpioout_name);
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s->output[i].dev->init(s->output[i].dev);
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}
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// 初始化led
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s->led.dev=dev_get("led");
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s->led.dev->init(s->led.dev);
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// 初始化模块1使用，0把模块1连接到总线1，1不连接到总线1
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// 如果要两个总线同时使用，则模块0必须连接到总线2
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s->mod1_use.dev=dev_get("mod1_use");
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s->mod1_use.dev->init(s->mod1_use.dev);
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output_set(&s->mod1_use,1);
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// 初始化总线选择，0选择bus1，1选择bus2
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s->bus_sel.dev=dev_get("bus_sel");
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s->bus_sel.dev->init(s->bus_sel.dev);
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output_set(&s->bus_sel,0);
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// 初始化模块选择,0选择模块0，1选择模块1
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s->mod_sel.dev=dev_get("mod_sel");
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s->mod_sel.dev->init(s->mod_sel.dev);
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output_set(&s->mod_sel,0);
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// 设置急停按钮
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input_set_callback_always(INPUT_STOP_KEY,1,process_stop,s);
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input_set_callback_always(INPUT_STOP_KEY,0,process_run,s);
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// 设置启动按钮
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input_set_callback_always(INPUT_CHECK_KEY,1,process_check_start,s);
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}
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static void process_thread(void *arg)
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{
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self_def *s=arg;
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process_init(s);
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while (s->run)
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{
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rt_thread_mdelay(200);
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output_set(&s->led,1);
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rt_thread_mdelay(200);
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output_set(&s->led,0);
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}
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}
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static void init_later(void *t)
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{
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void *protu=app_variable("protu",0,0);
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if(protu){
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protu_codec_set(protu,protu_find_codec("ym_checker"));
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connect(t,process_send_signal,0,protu,protu_send_call);
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DBG_LOG("process thread created");
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}else{
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DBG_WARN("can not fond variable \"protu\"");
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}
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}
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static void init_tran(void *t)
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{
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self_def *s=t;
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s->tran=app_variable("tran",0,0);
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if(s->tran){
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connect(s->tran,code2_end_signal,0, t,process_end_slot);
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connect(s->tran,code2_start_signal,0,t,process_start_slot);
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}else{
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DBG_WARN("can not fond variable \"tran\"");
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}
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}
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static int init_thread(void)
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{
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self_def *s=&g_self;
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s->inited=1;
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s->run=1;
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rt_thread_t rt_t=rt_thread_create("process_t",process_thread,s,1024,15,20);
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rt_thread_startup(rt_t);
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app_valid_call("protu",init_later,s);
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app_valid_call("tran",init_tran,s);
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return 0;
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}
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app_init_export(init_thread)
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// 定义接收上位机命令用于模拟输入通道触发
|
||
|
||
typedef struct{
|
||
ucport_def u;
|
||
}pccmd_def;
|
||
|
||
|
||
|
||
void (*g_input_fun_table[])(void *t)={
|
||
process_stop,
|
||
process_run,
|
||
process_check_start,
|
||
process_pos,
|
||
};
|
||
|
||
|
||
|
||
|
||
static ucport_def *process_pccmd(tran_def *t, uint8_t cmd,array_def *data)
|
||
{
|
||
if(arr_length(data)<1){
|
||
DBG_WARN("cmd format err.");
|
||
return 0;
|
||
}
|
||
int ret=0;
|
||
pccmd_def *u=calloc(1,sizeof(pccmd_def));
|
||
|
||
int table_len=LENGTH(g_input_fun_table);
|
||
int index=arr_get(data,0);
|
||
if(index>=0&&index<table_len){
|
||
DBG_LOG("call the pccmd fun.index=%d",index);
|
||
g_input_fun_table[index](&g_self);
|
||
}else{
|
||
DBG_WARN("can not find the pccmd fun.index=%d",index);
|
||
}
|
||
|
||
return (ucport_def *)u;
|
||
}
|
||
|
||
|
||
transmit_export(ym_checker,0x90,process_pccmd)
|
||
|
||
|
||
|
||
|