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任立新
2021-12-23 14:45:25 +08:00
parent 2f4b1b5a71 a811677952
commit df059ea72d
12 changed files with 182 additions and 70 deletions
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154
source/LinearShutter/VSMD12XControl.cpp
View File

@ -80,22 +80,65 @@ void CVSMD12XControl::ILMES_SetPosition(int *piPositionInPulse, size_t szSize)
bool CVSMD12XControl::ILMES_MoveToPos(int iPositionIndex)
{
bool bFlagFailed = true;
bool bRes = false;
bRes = CVSMD12XControl::StartBackZero();
if (!bRes)
int iCount = 0;
for (int i=0;i<3;i++)
{
if (CVSMD12XControl::StartBackZero())
{
bFlagFailed = false;
break;
}
while (!bRes)
{
iCount++;
bRes = StopBackZero();
if (iCount>10)
{
qDebug() << "StopBackZero Err.Give up...";
bRes = true;
}
}
}
if (bFlagFailed)
{
qDebug() << "StartBackZero Err";
return false;
}
bRes = CVSMD12XControl::MoveTo(m_piPositionInPulses[iPositionIndex]);
if (!bRes)
bFlagFailed = true;
for (int i = 0; i < 3; i++)
{
if (MoveTo(m_piPositionInPulses[iPositionIndex]))
{
bFlagFailed = false;
break;
}
}
if (bFlagFailed)
{
qDebug() << "MoveTo Err";
return false;
}
return bRes;
return true;
// bool bRes = false;
// bRes = CVSMD12XControl::StartBackZero();
// if (!bRes)
// {
// qDebug() << "StartBackZero Err";
// return false;
// }
// bRes = CVSMD12XControl::MoveTo(m_piPositionInPulses[iPositionIndex]);
// if (!bRes)
// {
// qDebug() << "MoveTo Err";
// return false;
// }
// return bRes;
}
void CVSMD12XControl::SetProtocolType(int iProtocolType /*= 0*/)
@ -306,20 +349,20 @@ bool CVSMD12XControl::MoveTo(int iAbsPulse)
return false;
}
bool bFlagIsStopped = false;
while (!bFlagIsStopped)
{
QThread::msleep(200);
//Delay_MSec(200);
GetStatus(m_stuMSInfo);
ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
ucFlag = ucFlag & 0x10;
if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
{
bFlagIsStopped = true;
}
}
return true;
// bool bFlagIsStopped = false;
// while (!bFlagIsStopped)
// {
// QThread::msleep(200);
// //Delay_MSec(200);
// GetStatus(m_stuMSInfo);
// ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
// ucFlag = ucFlag & 0x10;
// if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
// {
// bFlagIsStopped = true;
// }
// }
return IsMotionFinished();
}
else
{
@ -382,20 +425,21 @@ bool CVSMD12XControl::StartBackZero()
return false;
}
bool bFlagIsStopped = false;
while (!bFlagIsStopped)
{
QThread::msleep(200);
//Delay_MSec(200);
GetStatus(m_stuMSInfo);
ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
ucFlag = ucFlag & 0x10;
if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
{
bFlagIsStopped = true;
}
}
return true;
return IsMotionFinished();
// bool bFlagIsStopped = false;
// while (!bFlagIsStopped)
// {
// QThread::msleep(200);
// //Delay_MSec(200);
// GetStatus(m_stuMSInfo);
// ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
// ucFlag = ucFlag & 0x10;
// if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
// {
// bFlagIsStopped = true;
// }
// }
// return true;
// return ParseReturnedString(strRecv, -1);
}
@ -1374,6 +1418,50 @@ char* CVSMD12XControl::VSMD_Split(char* cStr, char cSplit)
return NULL;
}
bool CVSMD12XControl::IsMotionFinished()
{
//true means stopped
//false means unknown status
int iCountTotal = 0;
int iCountStopped = 0;
bool bFlagIsStopped = false;
while (!bFlagIsStopped)
{
iCountTotal++;
QThread::msleep(200);
//Delay_MSec(200);
GetStatus(m_stuMSInfo);
ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
ucFlag = ucFlag & 0x10;
if (m_stuMSInfo.fVelocity == 0)
{
iCountStopped++;
}
if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
{
bFlagIsStopped = true;
return true;
}
if (iCountStopped>=50)
{
qDebug() <<"Warning.Motion Err,should be stopped already.checking register and retry...";
qDebug() <<"motion status:"<<ucFlag<<"all status:"<<QString::number(m_stuMSInfo.uiFlags,2);
bFlagIsStopped = true;
return false;
}
if (iCountTotal>1000)
{
qDebug() << "Err.Motor Hardware Err,should be stopped already";
qDebug() << "motion status:" << ucFlag << "all status:" << QString::number(m_stuMSInfo.uiFlags, 2);
bFlagIsStopped = true;
return false;
}
}
return false;
}
void CVSMD12XControl::Delay_MSec(ZZ_U16 usMS)
{
QEventLoop qeLoop;

3
source/LinearShutter/VSMD12XControl.h
View File

@ -139,7 +139,8 @@ private:
bool ParseReturnedParam(std::string &strRecv);
void VSMD_BitShift(ZZ_U8* src, unValue* dst);
char* VSMD_Split(char* cStr, char cSplit);
//////////////////////////////////////////////////////////////////////////sync
bool IsMotionFinished();
//////////////////////////////////////////////////////////////////////////qt
void Delay_MSec(ZZ_U16 usMS);
};