From a22c5ddae2c9709d1119d2aa66f8c79d66170fe3 Mon Sep 17 00:00:00 2001 From: VladislavOstapov Date: Mon, 5 Dec 2022 18:21:09 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9C=D0=B5=D0=BB=D0=BA=D0=B8=D0=B5=20=D0=B8?= =?UTF-8?q?=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB=D0=B5=D0=BD=D0=B8=D1=8F=20?= =?UTF-8?q?=D0=BF=D1=80=D0=BE=D0=B5=D0=BA=D1=82=D0=B0,=20=D0=BF=D0=BE?= =?UTF-8?q?=D1=8F=D0=B2=D0=B8=D0=B2=D1=88=D0=B8=D0=B5=D1=81=D1=8F=20=D0=BF?= =?UTF-8?q?=D0=BE=D1=81=D0=BB=D0=B5=20=D0=BF=D1=80=D0=BE=D1=86=D0=B5=D1=81?= =?UTF-8?q?=D1=81=D0=B0=20=D1=81=D0=BB=D0=B8=D1=8F=D0=BD=D0=B8=D1=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 2 +- emulator.cpp | 2 ++ utils.c | 4 ---- utils.h | 8 +++----- 4 files changed, 6 insertions(+), 10 deletions(-) delete mode 100644 utils.c diff --git a/CMakeLists.txt b/CMakeLists.txt index 71befb1..ef2fad6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,7 @@ project(sdp_sheduler C CXX) set(CMAKE_C_STANDARD 17) set(CMAKE_CXX_STANDARD 17) -add_executable(sdp_sheduler scheduler.c emulator.cpp emulator.h robot.cpp robot.h utils.c utils.h) +add_executable(sdp_sheduler scheduler.c emulator.cpp emulator.h robot.cpp robot.h utils.h) add_executable(remote_listener remote_listener.cpp) add_definitions(-DEMULATOR=1) diff --git a/emulator.cpp b/emulator.cpp index cbf415d..9713949 100644 --- a/emulator.cpp +++ b/emulator.cpp @@ -8,6 +8,8 @@ #include "emulator.h" #include "robot.h" +struct barrel barrels[BARRELS_COUNT]; + struct robot_regs robot1; struct robot_regs robot2; diff --git a/utils.c b/utils.c deleted file mode 100644 index 8a52049..0000000 --- a/utils.c +++ /dev/null @@ -1,4 +0,0 @@ -#include "utils.h" - -struct barrel barrels[BARRELS_COUNT]; - diff --git a/utils.h b/utils.h index a7b0506..3de4800 100644 --- a/utils.h +++ b/utils.h @@ -163,8 +163,8 @@ extern struct robot_code robot1_code; extern struct robot_code robot2_code; #else #define barrels ((struct barrel*)&barrels_array) -#define robot1 (*((struct robot_regs*)&robot1_reg_dx)) -#define robot2 (*((struct robot_regs*)&robot2_reg_dz)) +#define robot1 (*((struct robot_regs*)&robot1_reg_mx)) +#define robot2 (*((struct robot_regs*)&robot2_reg_mx)) #define robot1_code (*((struct robot_code*)&_robot1_code_struct)) #define robot2_code (*((struct robot_code*)&_robot2_code_struct)) #endif @@ -184,7 +184,6 @@ extern struct robot_code robot2_code; #define ROBOT_CMD_DOWN_code (short)0x5000 #define ROBOT_CMD_WAIT_code (short)0x6000 #define ROBOT_CMD_TMR_SET_code (short)0x7000 -#define ROBOT_CMD_SET_LOCK_ZONE_code (short)0x8000 #define ROBOT_CMD_CORRECT_AXIS_code (short)0x9000 #define ROBOT_CMD_INC_ZONE_code (short)0xA000 @@ -220,7 +219,6 @@ extern struct robot_code robot2_code; #define ROBOT_CMD_WAIT(time) ((ROBOT_CMD_WAIT_code) | (short)(time & 0x0FFF)) #define ROBOT_CMD_TMR_SET(time) ((ROBOT_CMD_TMR_SET_code) | (short)(time & 0x0FFF)) -#define ROBOT_CMD_SET_LOCK_ZONE(zone) ((short)(ROBOT_CMD_SET_LOCK_ZONE_code) | (short)(zone)) #define ROBOT_CMD_CORRECT_AXIS(axis) ((short)(ROBOT_CMD_CORRECT_AXIS_code) | (short)axis) #define ROBOT_CMD_INC_ZONE(arg) ((ROBOT_CMD_INC_ZONE_code) | (short)(arg)) @@ -281,7 +279,7 @@ extern struct robot_code robot2_code; #define ROBOT_X_CMD_MOVE_TO_OFF_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET) #define ROBOT_X_CMD_MOVE_TO_COR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET) #define ROBOT_X_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CORRECT_OFFSET) -#define ROBOT_X_CMD_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET) +#define ROBOT_X_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET) #define ROBOT_X_TARGET_ZONE_ADDR (VFD_REG_D0_ADDR + ROBOT_X_TARGET_ZONE_OFFSET)