Слияние кода из проекта для ПЛК с этим проектом
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@ -7,3 +7,4 @@ set(CMAKE_CXX_STANDARD 17)
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add_executable(sdp_sheduler scheduler.c emulator.cpp emulator.h robot.cpp robot.h utils.c utils.h)
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add_executable(remote_listener remote_listener.cpp)
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add_definitions(-DEMULATOR=1)
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16
emulator.cpp
16
emulator.cpp
@ -12,11 +12,15 @@ struct robot_regs robot1;
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struct robot_regs robot2;
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char schedulerSoftwareTimer = 0;
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char schedulerUnloadButton = 0;
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char schedulerLoadButton1 = 0;
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char schedulerLoadButton2 = 0;
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char schedulerOneRobotMode = 1;
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// кнопка загрузки в зоне 0, означает что барабан надо изъять из этой загрузки (а перед этим создать)
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char button_load = 0;
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char button_unload = 0;
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char button_unload_end = 0;
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char button_unload_remove = 0;
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static const int ROWS = 10;
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static const int COLS = 23 * 5 + 1;
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static char buffer[ROWS][COLS];
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@ -227,13 +231,13 @@ int main() {
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message = "Continue...";
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} else {
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if (in == "u") {
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schedulerUnloadButton = 1;
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button_unload = 1;
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message = "Нажата кнопка выгрузки";
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} else if (in == "1") {
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schedulerLoadButton1 = 1;
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button_unload_end = 1;
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message = "Нажата кнопка загрузки 1";
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} else if (in == "2") {
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schedulerLoadButton2 = 1;
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button_load = 1;
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message = "Нажата кнопка загрузки 2";
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} else {
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message = "Неизвестная команда. q - выход, u - выгрузка, 1 - загрузка 1, 2 - загрузка 2";
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@ -11,9 +11,6 @@ extern struct robot_regs robot1;
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extern struct robot_regs robot2;
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extern char schedulerSoftwareTimer;
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extern char schedulerUnloadButton;
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extern char schedulerLoadButton1;
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extern char schedulerLoadButton2;
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extern char schedulerOneRobotMode;
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extern short etching_zone, galvanizing_zone;
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@ -159,7 +159,7 @@ short can_move(struct barrel* bar) {
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case ZONE_UNLOAD:
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// последняя промывка, нужно разрешение на выгрузку
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if (schedulerOneRobotMode && schedulerUnloadButton) {
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if (schedulerOneRobotMode && button_unload) {
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// нужно промывку загрузку 0
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if (!zone_is_busy(ZONE_LOAD_1)) {
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return ZONE_LOAD_1;
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@ -668,8 +668,8 @@ void scheduler_main() {
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// }
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// тут возможна только вставка барабанов
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if (schedulerLoadButton2) {
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schedulerLoadButton2 = create_barrel_in_load();
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if (button_load) {
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button_load = create_barrel_in_load();
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}
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if (schedulerSoftwareTimer) {
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63
utils.h
63
utils.h
@ -132,8 +132,11 @@ struct robot_regs {
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extern "C" {
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#endif
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#ifdef EMULATOR
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extern struct barrel barrels[BARRELS_COUNT];
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#else
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#define barrels ((struct barrel*)&barrels_array)
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#endif
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// почему-то компилер говорит что размер структуру сраный
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//extern struct robot robot1;
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@ -214,7 +217,65 @@ struct robot_code {
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};
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/* ======================== IO DEFS ======================== */
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#define ROBOT1_X 1
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#define ROBOT1_Z 2
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#define ROBOT2_X 3
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#define ROBOT2_Z 4
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#define VFD_REG_D0_ADDR 4096
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#define VFD_REG_M0_ADDR 2048
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/* ======================== ROBOT DEFS ======================== */
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#define MB_CMD_WRITE_FLAG 5
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#define MB_CMD_WRITE_REG 6
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#define VFD_REG_D0_ADDR 4096
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#define VFD_REG_M0_ADDR 2048
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// смещение регистров M относительно M0
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#define ROBOT_Z_CORRECT_STATUS_OFFSET 0
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#define ROBOT_Z_CMD_EXECUTED_OFFSET 1
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#define ROBOT_Z_CMD_UP_OFFSET 3
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#define ROBOT_Z_CMD_DOWN_OFFSET 4
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#define ROBOT_Z_CMD_CORRECT_OFFSET 5
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#define ROBOT_X_CORRECT_STATUS_OFFSET 0
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#define ROBOT_X_CMD_EXECUTED_OFFSET 1
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#define ROBOT_X_CORRECT_SENSOR_OFFSET 2
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#define ROBOT_X_CMD_MOVE_TO_ZONE_OFFSET 3
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#define ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET 4 // встать в смещенную позицию
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#define ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET 5 // встать в точную позицию
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#define ROBOT_X_CMD_CORRECT_OFFSET 6
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#define ROBOT_X_CMD_CMD_PARKING_OFFSET 7
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// смещение регистров D относительно D0
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#define ROBOT_X_TARGET_ZONE_OFFSET 2
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// адреса регистров в частотнике
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#define ROBOT_Z_CORRECT_STATUS_ADDR VFD_REG_M0_ADDR
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#define ROBOT_Z_CMD_EXECUTED_ADDR (VFD_REG_M0_ADDR + 1)
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#define ROBOT_Z_CMD_UP_ADDR (VFD_REG_M0_ADDR + 3)
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#define ROBOT_Z_CMD_DOWN_ADDR (VFD_REG_M0_ADDR + 4)
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#define ROBOT_Z_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + 5)
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#define ROBOT_X_CORRECT_STATUS_ADDR VFD_REG_M0_ADDR
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#define ROBOT_X_CMD_EXECUTED_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_EXECUTED_OFFSET)
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#define ROBOT_X_CORRECT_SENSOR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CORRECT_SENSOR_OFFSET)
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#define ROBOT_X_CMD_MOVE_TO_ZONE_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_ZONE_OFFSET)
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#define ROBOT_X_CMD_MOVE_TO_OFF_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET)
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#define ROBOT_X_CMD_MOVE_TO_COR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET)
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#define ROBOT_X_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CORRECT_OFFSET)
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#define ROBOT_X_CMD_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET)
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#define ROBOT_X_TARGET_ZONE_ADDR (VFD_REG_D0_ADDR + ROBOT_X_TARGET_ZONE_OFFSET)
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#ifdef __cplusplus
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}
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