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╤сюЁър 1901301648

This commit is contained in:
Иван Мокротоваров 2019-01-30 16:48:38 +03:00
parent 39d899aca1
commit 659bcc8ed4
6 changed files with 61 additions and 36 deletions
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34
KSM-Line-2.2.tprusr
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@ -1,13 +1,13 @@
[project] [project]
watch=works[i].Count, portVector, works[i].WorkPort, len(port), pinState, z, works[i], EncoderCfg.reinitInterval, works watch=works[i].Count, portVector, works[i].WorkPort, len(port), pinState, z, works[i], EncoderCfg.reinitInterval, works
[file1] [file1]
line=0 line=60
cursor=263 cursor=465
opened=active opened=yes
breakpoints= breakpoints=
[file2] [file2]
line=62 line=68
cursor=1455 cursor=1100
opened=yes opened=yes
breakpoints= breakpoints=
[file3] [file3]
@ -26,13 +26,13 @@ cursor=161
opened=no opened=no
breakpoints= breakpoints=
[file6] [file6]
line=0 line=108
cursor=190 cursor=1395
opened=yes opened=yes
breakpoints= breakpoints=
[file7] [file7]
line=100 line=0
cursor=2644 cursor=2450
opened=yes opened=yes
breakpoints= breakpoints=
[file8] [file8]
@ -45,8 +45,8 @@ line=0
cursor=0 cursor=0
opened=no opened=no
[file10] [file10]
line=22 line=168
cursor=5043 cursor=5269
opened=yes opened=yes
breakpoints= breakpoints=
[file11] [file11]
@ -70,8 +70,8 @@ cursor=93
opened=no opened=no
breakpoints= breakpoints=
[file15] [file15]
line=0 line=7
cursor=294 cursor=20
opened=yes opened=yes
breakpoints= breakpoints=
[file16] [file16]
@ -86,7 +86,7 @@ opened=no
breakpoints= breakpoints=
[file18] [file18]
line=0 line=0
cursor=334 cursor=295
opened=yes opened=yes
breakpoints= breakpoints=
[file19] [file19]
@ -95,9 +95,9 @@ cursor=93
opened=yes opened=yes
breakpoints= breakpoints=
[file20] [file20]
line=0 line=48
cursor=2782 cursor=2344
opened=yes opened=active
breakpoints= breakpoints=
[file21] [file21]
line=0 line=0

27
command.tc
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@ -21,15 +21,13 @@ void on_sock_inband() // обработка поступивших команд
cmdlen = instr(1,cmdline,chr('&'),1); cmdlen = instr(1,cmdline,chr('&'),1);
string cmd = left(cmdline,cmdlen-1); string cmd = left(cmdline,cmdlen-1);
string params = mid(cmdline,cmdlen+1,position-cmdlen-1); string params = mid(cmdline,cmdlen+1,position-cmdlen-1);
d("{cmd}: "+cmd); // d("{cmd}: "+cmd);
d("{cmd}.params: "+params); // d("{cmd}.params: "+params);
if (cmd =="systeminfo"){ if (cmd =="systeminfo"){
cmd_replay(cmd_systeminfo()); cmd_replay(cmd_systeminfo());
}else if (cmd == "reset" || cmd == "reboot"){ }else if (cmd == "reset" || cmd == "reboot"){
// cmd_replay(cmd_reset());
cmd_replay("{cmd} Rebooting..."); cmd_replay("{cmd} Rebooting...");
cmd_reset(); cmd_reset();
}else if (cmd == "ip"){ }else if (cmd == "ip"){
cmd_replay(cmd_ip(params)); cmd_replay(cmd_ip(params));
}else if (cmd == "setbraker"){ }else if (cmd == "setbraker"){
@ -38,6 +36,10 @@ void on_sock_inband() // обработка поступивших команд
cmd_replay(cmd_setencoder(params)); cmd_replay(cmd_setencoder(params));
}else if (cmd == "enc_calibrate_start"){ }else if (cmd == "enc_calibrate_start"){
cmd_replay(cmd_enc_calibre(params)); cmd_replay(cmd_enc_calibre(params));
}else if (cmd == "enc_set_windows"){
cmd_replay(cmd_enc_set_windows(params));
}else if (cmd == "debug_enc_level"){
cmd_replay(cmd_debug_enc_level(params));
}else if (cmd == "debug_sensors"){ }else if (cmd == "debug_sensors"){
cmd_replay(cmd_debug_sensors(params)); cmd_replay(cmd_debug_sensors(params));
}else if (cmd == "debug_showtime"){ }else if (cmd == "debug_showtime"){
@ -55,15 +57,28 @@ void on_sock_inband() // обработка поступивших команд
string cmd_debug_sensors(string params){ string cmd_debug_sensors(string params){
getParams(params); getParams(params);
config.debug.SensorsLook = val(pars[0])>0; config.debug.SensorsLook = val(pars[0])>0;
return "Debug sensors SET="+config.debug.SensorsLook? "TRUE":"FALSE"; return "Debug sensors SET="+(config.debug.SensorsLook? "TRUE":"FALSE");
} }
string cmd_debug_enc_level(string params){
getParams(params);
config.debug.EncoderDebug= val(pars[0]);
return "Debug encoder level SET="+str(config.debug.EncoderDebug);
}
string cmd_debug_showtime(string params){ string cmd_debug_showtime(string params){
getParams(params); getParams(params);
config.debug.ShowTime = val(pars[0])>0; config.debug.ShowTime = val(pars[0])>0;
return "Debug show time SET="+config.debug.ShowTime? "TRUE":"FALSE"; return "Debug show time SET="+(config.debug.ShowTime? "TRUE":"FALSE");
}
string cmd_enc_set_windows(string params){
getParams(params);
config.EncoderCfg.windowWidth = val(pars[0]);
return "Encoder window SET="+str(config.EncoderCfg.windowWidth);
} }
void cmd_replay(string message){ void cmd_replay(string message){
d(message);
sock.setsendinband(chr(sock.escchar)+" "+message+chr(sock.endchar)+chr(13)+chr(10)); sock.setsendinband(chr(sock.escchar)+" "+message+chr(sock.endchar)+chr(13)+chr(10));
} }

2
command.th
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@ -6,6 +6,8 @@ string cmd_ip(string params);
string cmd_setbraker(string params); string cmd_setbraker(string params);
string cmd_setencoder(string params); string cmd_setencoder(string params);
string cmd_enc_calibre(string params); string cmd_enc_calibre(string params);
string cmd_enc_set_windows(string params);
string cmd_debug_enc_level(string params);
string cmd_debug_sensors(string params); string cmd_debug_sensors(string params);
string cmd_debug_showtime(string params); string cmd_debug_showtime(string params);
void getParams(string params); void getParams(string params);

2
config_work.tc
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@ -195,5 +195,7 @@ void config_create(){
config.EncoderCfg.windowWidth= 40; config.EncoderCfg.windowWidth= 40;
config.EncoderCfg.reinitInterval = 3; config.EncoderCfg.reinitInterval = 3;
config.EncoderCfg.workedPorts = ""; config.EncoderCfg.workedPorts = "";
config.debug.EncoderDebug=0;
} }

25
encoder.tc
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@ -62,30 +62,35 @@ bool getEncEnabled(unsigned char port,bool value){
if (works[portVector[port]].Inited == false){ if (works[portVector[port]].Inited == false){
works[portVector[port]].Count = interval/2; works[portVector[port]].Count = interval/2;
works[portVector[port]].Inited =true; works[portVector[port]].Inited =true;
d(str(port)+" выравнивание по первой "); if (config.debug.EncoderDebug>0) d(str(port)+" выравнивание по первой ");
z[portVector[port]]=0; z[portVector[port]]=0;
} }
int point = (works[portVector[port]].Point + works[portVector[port]].Count) /2;
int sdvig = center - point;
if (config.debug.EncoderDebug>3) d(str(port)+ " count:"+str(works[portVector[port]].Count)+" center:"+str(center)+" point:"+str(point)+" diff:"+str(diff)+" sdvig:"+stri(sdvig));
if (works[portVector[port]].Count >= (interval/2 - diff) && works[portVector[port]].Count <= (interval/2+diff)){ if (works[portVector[port]].Count >= (interval/2 - diff) && works[portVector[port]].Count <= (interval/2+diff)){
works[portVector[port]].State = true; works[portVector[port]].State = true;
d(str(port)+" попал о окно "+str(works[portVector[port]].Count)); if (config.debug.EncoderDebug>2) d(str(port)+" попал о окно "+str(works[portVector[port]].Count));
works[portVector[port]].Point = (works[portVector[port]].Point + works[portVector[port]].Count) /2; works[portVector[port]].Point = (works[portVector[port]].Point + works[portVector[port]].Count) /2;
int sdvig = center - works[portVector[port]].Point; //int point = works[portVector[port]].Point;
//int sdvig = center - point;
int d1=diff/2; int d1=diff/2;
if (sdvig > d1 || sdvig < 0-d1 ){ if (sdvig > d1 || sdvig < 0-d1 ){
int nc = center;
d(str(port)+" "+ str(works[portVector[port]].Count)+" "+str(sdvig)+" "+(sdvig < 0 ? "<<" : ">>")); if (config.debug.EncoderDebug>1) d(str(port)+" "+ str(works[portVector[port]].Count)+" "+stri(sdvig)+" "+(sdvig < 0 ? " << " : " >> ")+" new "+str(nc));
works[portVector[port]].Count = works[portVector[port]].Count + (sdvig < 0 ? 0-d1: d1); works[portVector[port]].Count = nc;
} }
}else{ }else{
d(str(port)+" не попал о окно "+str(works[portVector[port]].Count)); if (config.debug.EncoderDebug>2) d(str(port)+" не попал о окно "+str(works[portVector[port]].Count));
} }
return works[portVector[port]].State; return works[portVector[port]].State;
} }
else{ else{
if (works[portVector[port]].Enabled && works[portVector[port]].State == true && value){ if (works[portVector[port]].Enabled && works[portVector[port]].State == true && value){
d(str(port)+" Повторное срабатывание "+str(works[portVector[port]].Count)); if (config.debug.EncoderDebug>1) d(str(port)+" Повторное срабатывание "+str(works[portVector[port]].Count));
} }
return false; return false;
} }
@ -103,7 +108,7 @@ void on_io_int(unsigned char linestate){
{ {
calibrate_buff[i][z[i]]=calibrate_count[i]; calibrate_buff[i][z[i]]=calibrate_count[i];
cmd_replay("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i])); cmd_replay("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i]));
d("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i])); if (config.debug.EncoderDebug>0) d("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i]));
} }
z[i]++; z[i]++;
calibrate_count[i]=0; calibrate_count[i]=0;

7
global.th
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@ -60,7 +60,7 @@ typedef struct BrakerProcess{
typedef struct EncoderConfig{ typedef struct EncoderConfig{
unsigned char encoderPort; unsigned char encoderPort;
unsigned char encoderMode; unsigned char encoderMode;
unsigned long encoderInterval; unsigned int encoderInterval;
unsigned char reinitInterval; unsigned char reinitInterval;
unsigned char windowWidth; unsigned char windowWidth;
string workedPorts; string workedPorts;
@ -71,14 +71,15 @@ typedef struct EncoderProcess{
EncoderConfig *config; EncoderConfig *config;
bool Inited; bool Inited;
bool State; bool State;
unsigned long Count; unsigned int Count;
unsigned long Point; unsigned int Point;
unsigned char WorkPort; unsigned char WorkPort;
}; };
typedef struct DebugConf{ typedef struct DebugConf{
bool SensorsLook; bool SensorsLook;
bool ShowTime; bool ShowTime;
int EncoderDebug;
}; };
typedef struct Configuration{ typedef struct Configuration{