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Generated
+13
-36
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@@ -4617,7 +4609,6 @@
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@@ -6905,7 +6893,6 @@
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@@ -9710,7 +9697,6 @@
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@@ -9720,7 +9706,6 @@
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"license": "MIT",
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"peer": true,
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"dependencies": {
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"scheduler": "^0.27.0"
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@@ -9733,7 +9718,6 @@
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"resolved": "https://registry.npmjs.org/react-hook-form/-/react-hook-form-7.68.0.tgz",
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@@ -9777,7 +9761,8 @@
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@@ -10291,7 +10276,6 @@
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@@ -10833,8 +10817,7 @@
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@@ -10926,7 +10909,6 @@
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@@ -11636,7 +11615,6 @@
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@@ -12076,7 +12054,6 @@
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@@ -549,6 +549,30 @@ export const ip20TestMachine: MachineProperties = {
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],
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};
|
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|
||||
export const testmachinestepper: MachineProperties = {
|
||||
name: "TestMachineStepper",
|
||||
version: "V1",
|
||||
slug: "testmachinestepper",
|
||||
icon: "lu:Disc3",
|
||||
machine_identification: {
|
||||
vendor: VENDOR_QITECH,
|
||||
machine: 0x0037,
|
||||
},
|
||||
device_roles: [
|
||||
{
|
||||
role: 0,
|
||||
role_label: "Bus Coupler",
|
||||
allowed_devices: [
|
||||
{
|
||||
vendor_id: 0x00000021,
|
||||
product_id: 0x07500354,
|
||||
revision: 0x2,
|
||||
},
|
||||
],
|
||||
},
|
||||
],
|
||||
};
|
||||
|
||||
export const TestMotor: MachineProperties = {
|
||||
name: "TestMotor",
|
||||
version: "V1",
|
||||
@@ -623,6 +647,7 @@ export const machineProperties: MachineProperties[] = [
|
||||
digitalInputTestMachine,
|
||||
ip20TestMachine,
|
||||
TestMotor,
|
||||
testmachinestepper,
|
||||
];
|
||||
|
||||
export const getMachineProperties = (
|
||||
|
||||
@@ -0,0 +1,130 @@
|
||||
import { ControlCard } from "@/control/ControlCard";
|
||||
import { Page } from "@/components/Page";
|
||||
import React from "react";
|
||||
import { ControlGrid } from "@/control/ControlGrid";
|
||||
import { useTestMachineStepper } from "./useTestMachineStepper";
|
||||
import { Label } from "@/control/Label";
|
||||
import { EditValue } from "@/control/EditValue";
|
||||
import { roundToDecimals } from "@/lib/decimal";
|
||||
import { TouchButton } from "@/components/touch/TouchButton";
|
||||
|
||||
export function TestMachineStepperControlPage() {
|
||||
const { state, setTargetSpeed, setEnabled, setFreq, setAccFreq } =
|
||||
useTestMachineStepper();
|
||||
|
||||
return (
|
||||
<Page>
|
||||
<ControlGrid columns={2}>
|
||||
<ControlCard title="Stepper Speed">
|
||||
<Label label="Target Speed">
|
||||
<EditValue
|
||||
value={state?.target_speed}
|
||||
unit="rpm"
|
||||
title="Target Speed"
|
||||
defaultValue={0}
|
||||
min={-25000}
|
||||
max={25000}
|
||||
step={1}
|
||||
renderValue={(value) => roundToDecimals(value, 0)}
|
||||
onChange={setTargetSpeed}
|
||||
/>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setEnabled(true)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Enable
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setEnabled(false)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Disable
|
||||
</TouchButton>
|
||||
</Label>
|
||||
</ControlCard>
|
||||
<ControlCard height={2} title="Frequency Prescaler">
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setFreq(0)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Default (00)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setFreq(1)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Low (01)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setFreq(2)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Mid (10)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setFreq(3)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
High (11)
|
||||
</TouchButton>
|
||||
<ControlCard height={2} title="Acceleration Factor">
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setAccFreq(0)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Default (00)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setAccFreq(1)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Low (01)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setAccFreq(2)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
Mid (10)
|
||||
</TouchButton>
|
||||
<TouchButton
|
||||
variant="outline"
|
||||
icon="lu:CirclePower"
|
||||
onClick={() => setAccFreq(3)}
|
||||
disabled={false}
|
||||
isLoading={false}
|
||||
>
|
||||
High (11)
|
||||
</TouchButton>
|
||||
</ControlCard>
|
||||
</ControlCard>
|
||||
</ControlGrid>
|
||||
</Page>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
import { Topbar } from "@/components/Topbar";
|
||||
import { testMachineStepperSerialRoute } from "@/routes/routes";
|
||||
import React from "react";
|
||||
|
||||
export function TestMachineStepperPage() {
|
||||
const { serial } = testMachineStepperSerialRoute.useParams();
|
||||
return (
|
||||
<Topbar
|
||||
pathname={`/_sidebar/machines/testmachinestepper/${serial}`}
|
||||
items={[
|
||||
{
|
||||
link: "control",
|
||||
activeLink: "control",
|
||||
title: "Control",
|
||||
icon: "lu:CirclePlay",
|
||||
},
|
||||
]}
|
||||
/>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,81 @@
|
||||
import { StoreApi } from "zustand";
|
||||
import { create } from "zustand";
|
||||
import { z } from "zod";
|
||||
import {
|
||||
EventHandler,
|
||||
eventSchema,
|
||||
Event,
|
||||
handleUnhandledEventError,
|
||||
NamespaceId,
|
||||
createNamespaceHookImplementation,
|
||||
ThrottledStoreUpdater,
|
||||
} from "@/client/socketioStore";
|
||||
import { MachineIdentificationUnique } from "@/machines/types";
|
||||
|
||||
// ========== Event Schema ==========
|
||||
|
||||
export const stateEventDataSchema = z.object({
|
||||
target_speed: z.number(),
|
||||
enabled: z.boolean(),
|
||||
freq: z.number(),
|
||||
acc_freq: z.number(),
|
||||
});
|
||||
|
||||
export const stateEventSchema = eventSchema(stateEventDataSchema);
|
||||
|
||||
export type StateEvent = z.infer<typeof stateEventDataSchema>;
|
||||
|
||||
// ========== Store ==========
|
||||
export type TestMachineStepperNamespaceStore = {
|
||||
state: StateEvent | null;
|
||||
};
|
||||
|
||||
export const createTestMachineStepperNamespaceStore =
|
||||
(): StoreApi<TestMachineStepperNamespaceStore> =>
|
||||
create<TestMachineStepperNamespaceStore>(() => ({
|
||||
state: null,
|
||||
}));
|
||||
|
||||
// ========== Message Handler ==========
|
||||
export function testMachineStepperMessageHandler(
|
||||
store: StoreApi<TestMachineStepperNamespaceStore>,
|
||||
throttledUpdater: ThrottledStoreUpdater<TestMachineStepperNamespaceStore>,
|
||||
): EventHandler {
|
||||
return (event: Event<any>) => {
|
||||
const updateStore = (
|
||||
updater: (
|
||||
state: TestMachineStepperNamespaceStore,
|
||||
) => TestMachineStepperNamespaceStore,
|
||||
) => throttledUpdater.updateWith(updater);
|
||||
|
||||
try {
|
||||
if (event.name === "StateEvent") {
|
||||
const parsed = stateEventSchema.parse(event);
|
||||
updateStore(() => ({ state: parsed.data }));
|
||||
} else {
|
||||
handleUnhandledEventError(event.name);
|
||||
}
|
||||
} catch (error) {
|
||||
console.error(`Error processing ${event.name}:`, error);
|
||||
throw error;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
// ========== Namespace Hook ==========
|
||||
const useTestMachineStepperNamespaceImplementation =
|
||||
createNamespaceHookImplementation<TestMachineStepperNamespaceStore>({
|
||||
createStore: createTestMachineStepperNamespaceStore,
|
||||
createEventHandler: testMachineStepperMessageHandler,
|
||||
});
|
||||
|
||||
export function useTestMachineStepperNamespace(
|
||||
machine_identification_unique: MachineIdentificationUnique,
|
||||
): TestMachineStepperNamespaceStore {
|
||||
const namespaceId: NamespaceId = {
|
||||
type: "machine",
|
||||
machine_identification_unique,
|
||||
};
|
||||
|
||||
return useTestMachineStepperNamespaceImplementation(namespaceId);
|
||||
}
|
||||
@@ -0,0 +1,126 @@
|
||||
import { toastError } from "@/components/Toast";
|
||||
import { useStateOptimistic } from "@/lib/useStateOptimistic";
|
||||
import { testMachineStepperSerialRoute } from "@/routes/routes";
|
||||
import { MachineIdentificationUnique } from "@/machines/types";
|
||||
import {
|
||||
useTestMachineStepperNamespace,
|
||||
StateEvent,
|
||||
} from "./testMachineStepperNamespace";
|
||||
import { useMachineMutate } from "@/client/useClient";
|
||||
import { current, produce } from "immer";
|
||||
import { useEffect, useMemo } from "react";
|
||||
import { testmachinestepper } from "@/machines/properties";
|
||||
import { z } from "zod";
|
||||
export function useTestMachineStepper() {
|
||||
const { serial: serialString } = testMachineStepperSerialRoute.useParams();
|
||||
|
||||
// Memoize machine identification
|
||||
const machineIdentification: MachineIdentificationUnique = useMemo(() => {
|
||||
const serial = parseInt(serialString);
|
||||
|
||||
if (isNaN(serial)) {
|
||||
toastError(
|
||||
"Invalid Serial Number",
|
||||
`"${serialString}" is not a valid serial number.`,
|
||||
);
|
||||
|
||||
return {
|
||||
machine_identification: { vendor: 0, machine: 0 },
|
||||
serial: 0,
|
||||
};
|
||||
}
|
||||
|
||||
return {
|
||||
machine_identification: testmachinestepper.machine_identification,
|
||||
serial,
|
||||
};
|
||||
}, [serialString]);
|
||||
|
||||
// Namespace state from backend
|
||||
const { state } = useTestMachineStepperNamespace(machineIdentification);
|
||||
|
||||
// Optimistic state
|
||||
const stateOptimistic = useStateOptimistic<StateEvent>();
|
||||
|
||||
useEffect(() => {
|
||||
if (state) stateOptimistic.setReal(state);
|
||||
}, [state, stateOptimistic]);
|
||||
|
||||
// Generic mutation sender
|
||||
const { request: sendMutation } = useMachineMutate(
|
||||
z.object({
|
||||
action: z.string(),
|
||||
value: z.any(),
|
||||
}),
|
||||
);
|
||||
|
||||
const updateStateOptimistically = (
|
||||
producer: (current: StateEvent) => void,
|
||||
serverRequest?: () => void,
|
||||
) => {
|
||||
const currentState = stateOptimistic.value;
|
||||
if (currentState)
|
||||
stateOptimistic.setOptimistic(produce(currentState, producer));
|
||||
serverRequest?.();
|
||||
};
|
||||
|
||||
const setTargetSpeed = (target: number) => {
|
||||
updateStateOptimistically(
|
||||
(current) => {
|
||||
current.target_speed = target;
|
||||
},
|
||||
() =>
|
||||
sendMutation({
|
||||
machine_identification_unique: machineIdentification,
|
||||
data: { action: "SetTargetSpeed", value: { target } },
|
||||
}),
|
||||
);
|
||||
};
|
||||
|
||||
const setEnabled = (enabled: boolean) => {
|
||||
updateStateOptimistically(
|
||||
(current) => {
|
||||
current.enabled = enabled;
|
||||
},
|
||||
() =>
|
||||
sendMutation({
|
||||
machine_identification_unique: machineIdentification,
|
||||
data: { action: "SetEnabled", value: { enabled } },
|
||||
}),
|
||||
);
|
||||
};
|
||||
|
||||
const setFreq = (factor: number) => {
|
||||
updateStateOptimistically(
|
||||
(current) => {
|
||||
current.freq = factor;
|
||||
},
|
||||
() =>
|
||||
sendMutation({
|
||||
machine_identification_unique: machineIdentification,
|
||||
data: { action: "SetFreq", value: { factor } },
|
||||
}),
|
||||
);
|
||||
};
|
||||
|
||||
const setAccFreq = (factor: number) => {
|
||||
updateStateOptimistically(
|
||||
(current) => {
|
||||
current.acc_freq = factor;
|
||||
},
|
||||
() =>
|
||||
sendMutation({
|
||||
machine_identification_unique: machineIdentification,
|
||||
data: { action: "SetAccFreq", value: { factor } },
|
||||
}),
|
||||
);
|
||||
};
|
||||
|
||||
return {
|
||||
state: stateOptimistic.value,
|
||||
setTargetSpeed,
|
||||
setEnabled,
|
||||
setFreq,
|
||||
setAccFreq,
|
||||
};
|
||||
}
|
||||
@@ -57,6 +57,8 @@ import { Aquapath1SettingsPage } from "@/machines/aquapath/aquapath1/Aquapath1Se
|
||||
import { TestMachinePage } from "@/machines/testmachine/TestMachinePage";
|
||||
import { TestMachineControlPage } from "@/machines/testmachine/TestMachineControlPage";
|
||||
|
||||
import { TestMachineStepperPage } from "@/machines/testmachinestepper/TestMachineStepperPage";
|
||||
import { TestMachineStepperControlPage } from "@/machines/testmachinestepper/TestMachineStepperControlPage";
|
||||
import { AnalogInputTestMachine } from "@/machines/analoginputtestmachine/AnalogInputTestMachinePage";
|
||||
import { AnalogInputTestMachineControl } from "@/machines/analoginputtestmachine/AnalogInputTestMachineControlPage";
|
||||
import { WagoAiTestMachine } from "@/machines/wagoaitestmachine/WagoAiTestMachinePage";
|
||||
@@ -156,6 +158,19 @@ export const testMotorControlRoute = createRoute({
|
||||
component: () => <TestMotorControlPage />,
|
||||
});
|
||||
|
||||
export const testMachineStepperSerialRoute = createRoute({
|
||||
getParentRoute: () => machinesRoute,
|
||||
path: "testmachinestepper/$serial",
|
||||
component: () => <TestMachineStepperPage />,
|
||||
});
|
||||
|
||||
export const testMachineStepperControlRoute = createRoute({
|
||||
getParentRoute: () => testMachineStepperSerialRoute,
|
||||
path: "control",
|
||||
component: () => <TestMachineStepperControlPage />,
|
||||
});
|
||||
|
||||
// Leaf route: control page
|
||||
export const sidebarRoute = createRoute({
|
||||
getParentRoute: () => RootRoute,
|
||||
path: "_sidebar",
|
||||
@@ -487,6 +502,10 @@ export const rootTree = RootRoute.addChildren([
|
||||
|
||||
testMachineSerialRoute.addChildren([testMachineControlRoute]),
|
||||
|
||||
testMachineStepperSerialRoute.addChildren([
|
||||
testMachineStepperControlRoute,
|
||||
]),
|
||||
|
||||
analogInputTestMachineSerialRoute.addChildren([
|
||||
analogInputTestMachineControlRoute,
|
||||
]),
|
||||
|
||||
@@ -15,6 +15,7 @@ use crate::{
|
||||
wago_750_501::{WAGO_750_501_MODULE_IDENT, WAGO_750_501_PRODUCT_ID},
|
||||
wago_750_530::{WAGO_750_530_MODULE_IDENT, WAGO_750_530_PRODUCT_ID},
|
||||
wago_750_652::{WAGO_750_652_MODULE_IDENT, WAGO_750_652_PRODUCT_ID},
|
||||
wago_750_671::{WAGO_750_671_MODULE_IDENT, WAGO_750_671_PRODUCT_ID},
|
||||
wago_750_1506::{WAGO_750_1506_MODULE_IDENT, WAGO_750_1506_PRODUCT_ID},
|
||||
},
|
||||
},
|
||||
@@ -62,7 +63,6 @@ impl EthercatDevice for Wago750_354 {
|
||||
None => break,
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
@@ -153,14 +153,29 @@ impl std::fmt::Debug for Wago750_354 {
|
||||
impl Wago750_354 {
|
||||
pub fn calculate_module_index(pdo_mapping: u32, is_tx: bool) -> u32 {
|
||||
let start_index = match is_tx {
|
||||
true => 0x6000 as u32,
|
||||
false => 0x7000 as u32,
|
||||
true => 0x6000,
|
||||
false => 0x7000,
|
||||
};
|
||||
let index_in_hex = ((pdo_mapping & 0xFFFF0000) >> 16) - start_index;
|
||||
|
||||
let pdo_index = (pdo_mapping & 0xFFFF0000) >> 16;
|
||||
|
||||
// Check if the PDO index is in the expected range
|
||||
if pdo_index < start_index {
|
||||
tracing::warn!(
|
||||
"PDO mapping 0x{:08X} has index 0x{:04X} < expected start 0x{:04X}",
|
||||
pdo_mapping,
|
||||
pdo_index,
|
||||
start_index
|
||||
);
|
||||
return 0; // Treat as coupler/module 0
|
||||
}
|
||||
|
||||
let index_in_hex = pdo_index - start_index;
|
||||
|
||||
if index_in_hex < 16 {
|
||||
return 0;
|
||||
0
|
||||
} else {
|
||||
return index_in_hex / 16;
|
||||
index_in_hex / 16
|
||||
}
|
||||
}
|
||||
|
||||
@@ -191,7 +206,7 @@ impl Wago750_354 {
|
||||
}
|
||||
|
||||
let mut mappings_without_coupler: Vec<u32> = vec![];
|
||||
for i in start_subindex..count_mappings {
|
||||
for i in start_subindex..=count_mappings {
|
||||
let pdo_index = device.sdo_read(index.0, i).await?;
|
||||
let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
|
||||
for j in 0..pdo_map_count {
|
||||
@@ -303,6 +318,11 @@ impl Wago750_354 {
|
||||
module.has_rx = false;
|
||||
module.name = "750-430".to_string();
|
||||
}
|
||||
WAGO_750_671_PRODUCT_ID => {
|
||||
module.has_tx = true;
|
||||
module.has_rx = true;
|
||||
module.name = "750-671".to_string();
|
||||
}
|
||||
_ => println!(
|
||||
"Wago-750-354 found Unknown/Unimplemented Module: {}",
|
||||
ident_iom
|
||||
@@ -383,7 +403,9 @@ impl Wago750_354 {
|
||||
WAGO_750_430_MODULE_IDENT => {
|
||||
Arc::new(RwLock::new(wago_750_430::Wago750_430::new()))
|
||||
}
|
||||
|
||||
WAGO_750_671_MODULE_IDENT => {
|
||||
Arc::new(RwLock::new(wago_750_671::Wago750_671::new()))
|
||||
}
|
||||
_ => {
|
||||
println!(
|
||||
"{} Missing Implementation for Module Identification: vendor_id: {:?}, module ident: {:?} !",
|
||||
|
||||
@@ -6,3 +6,4 @@ pub mod wago_750_455;
|
||||
pub mod wago_750_501;
|
||||
pub mod wago_750_530;
|
||||
pub mod wago_750_652;
|
||||
pub mod wago_750_671;
|
||||
@@ -143,7 +143,7 @@ pub struct Wago750_1506 {
|
||||
is_used: bool,
|
||||
tx_bit_offset: usize,
|
||||
rx_bit_offset: usize,
|
||||
// Should always have on but not when calling constructor
|
||||
// Should always have one but not when calling constructor
|
||||
module: Option<Module>,
|
||||
rx_pdo: Wago750_1506RxPdo,
|
||||
tx_pdo: Wago750_1506TxPdo,
|
||||
|
||||
@@ -0,0 +1,355 @@
|
||||
/*
|
||||
* Wago Stepper Controller 750-671
|
||||
* 24 VDC / 1.5 A
|
||||
*/
|
||||
|
||||
use anyhow::Ok;
|
||||
use bitvec::field::BitField;
|
||||
|
||||
use crate::{
|
||||
devices::{
|
||||
DynamicEthercatDevice, EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed,
|
||||
EthercatDynamicPDO, Module, NewEthercatDevice, SubDeviceProductTuple,
|
||||
},
|
||||
helpers::counter_wrapper_u16_i128::CounterWrapperU16U128,
|
||||
io::stepper_velocity_wago_750_671::{
|
||||
C1Flag, C1Mode, C2Flag, C3Flag, ControlByteC1, ControlByteC2, ControlByteC3, StatusByteS1,
|
||||
StatusByteS2, StatusByteS3,
|
||||
},
|
||||
};
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct Wago750_671 {
|
||||
is_used: bool,
|
||||
tx_bit_offset: usize,
|
||||
rx_bit_offset: usize,
|
||||
pub rxpdo: Wago750_671RxPdo,
|
||||
pub txpdo: Wago750_671TxPdo,
|
||||
module: Option<Module>,
|
||||
pub state: InitState,
|
||||
pub initialized: bool,
|
||||
}
|
||||
|
||||
// unfortunately we need to track and set bits over multiple cycles
|
||||
// and wait for their acknowledgement so we have to use a state machine
|
||||
// inside of our loop.
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum InitState {
|
||||
Off,
|
||||
Enable,
|
||||
SetMode,
|
||||
StartPulseStart,
|
||||
StartPulseEnd,
|
||||
Running,
|
||||
ErrorQuit,
|
||||
ResetQuit,
|
||||
}
|
||||
|
||||
/*
|
||||
* Wago has two different kind of applications when it comes to
|
||||
* running the Stepper Controller.
|
||||
* - Positioning
|
||||
* - Frequency/Speed Control
|
||||
* we always want to use the latter one so the following
|
||||
* process images are for that usecase.
|
||||
*/
|
||||
|
||||
#[derive(Clone, Debug, Default)]
|
||||
pub struct Wago750_671RxPdo {
|
||||
pub c0: u8, // C0
|
||||
pub velocity: i16, // D0/D1
|
||||
pub acceleration: u16, // D2/D3
|
||||
pub c3: u8, // C3
|
||||
pub c2: u8, // C2
|
||||
pub c1: u8, // C1
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, Default)]
|
||||
pub struct Wago750_671TxPdo {
|
||||
pub s0: u8, // S0
|
||||
pub actual_velocity: i16, // D0/D1
|
||||
pub position_l: u8, // D4
|
||||
pub position_m: u8, // D5
|
||||
pub position_h: u8, // D6
|
||||
pub s3: u8, // S3
|
||||
pub s2: u8, // S2
|
||||
pub s1: u8, // S1
|
||||
}
|
||||
|
||||
impl EthercatDeviceUsed for Wago750_671 {
|
||||
fn is_used(&self) -> bool {
|
||||
self.is_used
|
||||
}
|
||||
fn set_used(&mut self, used: bool) {
|
||||
self.is_used = used;
|
||||
}
|
||||
}
|
||||
|
||||
impl DynamicEthercatDevice for Wago750_671 {}
|
||||
|
||||
impl EthercatDynamicPDO for Wago750_671 {
|
||||
fn get_tx_offset(&self) -> usize {
|
||||
self.tx_bit_offset
|
||||
}
|
||||
fn get_rx_offset(&self) -> usize {
|
||||
self.rx_bit_offset
|
||||
}
|
||||
fn set_tx_offset(&mut self, offset: usize) {
|
||||
self.tx_bit_offset = offset
|
||||
}
|
||||
fn set_rx_offset(&mut self, offset: usize) {
|
||||
self.rx_bit_offset = offset
|
||||
}
|
||||
}
|
||||
|
||||
impl EthercatDeviceProcessing for Wago750_671 {
|
||||
fn input_post_process(&mut self) -> Result<(), anyhow::Error> {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn output_pre_process(&mut self) -> Result<(), anyhow::Error> {
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl EthercatDevice for Wago750_671 {
|
||||
fn input(
|
||||
&mut self,
|
||||
input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
||||
) -> Result<(), anyhow::Error> {
|
||||
let base = self.tx_bit_offset;
|
||||
|
||||
let mut b = [0u8; 12];
|
||||
for i in 0..12 {
|
||||
b[i] = input[base + i * 8..base + (i + 1) * 8].load_le();
|
||||
}
|
||||
|
||||
self.txpdo = Wago750_671TxPdo {
|
||||
s0: b[0],
|
||||
actual_velocity: i16::from_le_bytes([b[2], b[3]]),
|
||||
position_l: b[6],
|
||||
position_m: b[7],
|
||||
position_h: b[8],
|
||||
s3: b[9],
|
||||
s2: b[10],
|
||||
s1: b[11],
|
||||
};
|
||||
|
||||
// Yes this statemachine is unfortunately needed in here to make sure
|
||||
// bits are correctly set and reset in the correct cycle.
|
||||
match self.state {
|
||||
InitState::Off => {
|
||||
// Do nothing
|
||||
self.initialized = false;
|
||||
}
|
||||
InitState::Enable => {
|
||||
// set the specific bits of Control Byte C1
|
||||
let c1 = ControlByteC1::new()
|
||||
.with_flag(C1Flag::Enable)
|
||||
.with_flag(C1Flag::Stop2N)
|
||||
.bits();
|
||||
self.rxpdo.c1 = c1;
|
||||
|
||||
// Switch state if ENABLE and STOP2_N are acknowledged
|
||||
// since S1 mirrors C1 with acknowledgements we can reuse c1 to compare
|
||||
if self.txpdo.s1 == c1 {
|
||||
self.state = InitState::SetMode;
|
||||
}
|
||||
}
|
||||
InitState::SetMode => {
|
||||
// set the specific bits of Control Byte C1 and also the mode
|
||||
let c1 = ControlByteC1::new()
|
||||
.with_flag(C1Flag::Enable)
|
||||
.with_flag(C1Flag::Stop2N)
|
||||
.with_mode(C1Mode::SpeedControl)
|
||||
.bits();
|
||||
self.rxpdo.c1 = c1;
|
||||
|
||||
// Switch state if SPEED MODE is acknowledged
|
||||
if self.txpdo.s1 == c1 {
|
||||
self.initialized = true;
|
||||
self.state = InitState::StartPulseStart;
|
||||
}
|
||||
}
|
||||
InitState::StartPulseStart => {
|
||||
let c1 = ControlByteC1::new()
|
||||
.with_flag(C1Flag::Enable)
|
||||
.with_flag(C1Flag::Stop2N)
|
||||
.with_flag(C1Flag::Start)
|
||||
.with_mode(C1Mode::SpeedControl)
|
||||
.bits();
|
||||
self.rxpdo.c1 = c1;
|
||||
|
||||
// Switch state after StartPulse is acknowledged
|
||||
if self.txpdo.s1 == c1 {
|
||||
self.state = InitState::StartPulseEnd;
|
||||
}
|
||||
}
|
||||
InitState::StartPulseEnd => {
|
||||
let c1 = ControlByteC1::new()
|
||||
.with_flag(C1Flag::Enable)
|
||||
.with_flag(C1Flag::Stop2N)
|
||||
.with_mode(C1Mode::SpeedControl)
|
||||
.bits();
|
||||
self.rxpdo.c1 = c1;
|
||||
|
||||
// Switch state after StartPulse is over
|
||||
if self.txpdo.s1 == c1 {
|
||||
self.state = InitState::Running;
|
||||
}
|
||||
}
|
||||
InitState::Running => {
|
||||
let c2 = ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
|
||||
let c3 = ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
|
||||
|
||||
// Check for Error
|
||||
if self.txpdo.s2 & c2 != 0 {
|
||||
self.state = InitState::ErrorQuit;
|
||||
} else {
|
||||
self.rxpdo.c2 |= c2;
|
||||
}
|
||||
|
||||
// Check for Reset
|
||||
if self.txpdo.s3 & c3 != 0 {
|
||||
self.state = InitState::ResetQuit;
|
||||
} else {
|
||||
self.rxpdo.c3 |= c3;
|
||||
}
|
||||
}
|
||||
InitState::ErrorQuit => {
|
||||
self.rxpdo.c2 |= ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
|
||||
tracing::error!("Stepper Controller Errored. Trying to reenable...");
|
||||
self.state = InitState::Enable;
|
||||
}
|
||||
InitState::ResetQuit => {
|
||||
self.rxpdo.c3 |= ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
|
||||
tracing::error!("Stepper Controller Reset not Quit. Trying to reenable...");
|
||||
self.state = InitState::Enable;
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn input_len(&self) -> usize {
|
||||
12 * 8
|
||||
}
|
||||
|
||||
fn output(
|
||||
&self,
|
||||
output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
||||
) -> Result<(), anyhow::Error> {
|
||||
let base = self.rx_bit_offset;
|
||||
|
||||
let b = [
|
||||
self.rxpdo.c0,
|
||||
0,
|
||||
self.rxpdo.velocity.to_le_bytes()[0],
|
||||
self.rxpdo.velocity.to_le_bytes()[1],
|
||||
self.rxpdo.acceleration.to_le_bytes()[0],
|
||||
self.rxpdo.acceleration.to_le_bytes()[1],
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
self.rxpdo.c3,
|
||||
self.rxpdo.c2,
|
||||
self.rxpdo.c1,
|
||||
];
|
||||
|
||||
for i in 0..12 {
|
||||
output[base + i * 8..base + (i + 1) * 8].store_le(b[i]);
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn output_len(&self) -> usize {
|
||||
12 * 8
|
||||
}
|
||||
|
||||
fn as_any(&self) -> &dyn std::any::Any {
|
||||
self
|
||||
}
|
||||
|
||||
fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
|
||||
self
|
||||
}
|
||||
|
||||
fn is_module(&self) -> bool {
|
||||
true
|
||||
}
|
||||
|
||||
fn input_checked(
|
||||
&mut self,
|
||||
input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
||||
) -> Result<(), anyhow::Error> {
|
||||
let expected = self.input_len();
|
||||
let actual = input.len();
|
||||
if actual != expected {
|
||||
return Err(anyhow::anyhow!(
|
||||
"[{}::Device::input_checked] Input length is {} ({} bytes) and must be {} bits ({} bytes)",
|
||||
module_path!(),
|
||||
actual,
|
||||
actual / 8,
|
||||
expected,
|
||||
expected / 8
|
||||
));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn output_checked(
|
||||
&self,
|
||||
output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
||||
) -> Result<(), anyhow::Error> {
|
||||
let expected = self.output_len();
|
||||
let actual = output.len();
|
||||
if actual != expected {
|
||||
return Err(anyhow::anyhow!(
|
||||
"[{}::Device::output_checked] Output length is {} ({} bytes) and must be {} bits ({} bytes)",
|
||||
module_path!(),
|
||||
actual,
|
||||
actual / 8,
|
||||
expected,
|
||||
expected / 8
|
||||
));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn get_module(&self) -> Option<crate::devices::Module> {
|
||||
self.module.clone()
|
||||
}
|
||||
|
||||
fn set_module(&mut self, module: crate::devices::Module) {
|
||||
self.tx_bit_offset = module.tx_offset;
|
||||
self.rx_bit_offset = module.rx_offset;
|
||||
self.module = Some(module)
|
||||
}
|
||||
}
|
||||
|
||||
impl NewEthercatDevice for Wago750_671 {
|
||||
fn new() -> Self {
|
||||
Self {
|
||||
is_used: false,
|
||||
tx_bit_offset: 0,
|
||||
rx_bit_offset: 0,
|
||||
module: None,
|
||||
rxpdo: Wago750_671RxPdo::default(),
|
||||
txpdo: Wago750_671TxPdo::default(),
|
||||
state: InitState::Off,
|
||||
initialized: false,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl std::fmt::Debug for Wago750_671 {
|
||||
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
|
||||
write!(f, "Wago750_671")
|
||||
}
|
||||
}
|
||||
|
||||
pub const WAGO_750_671_VENDOR_ID: u32 = 0x00000021;
|
||||
pub const WAGO_750_671_PRODUCT_ID: u32 = 108074216;
|
||||
pub const WAGO_750_671_MODULE_IDENT: SubDeviceProductTuple =
|
||||
(WAGO_750_671_VENDOR_ID, WAGO_750_671_PRODUCT_ID);
|
||||
@@ -5,7 +5,7 @@ const U16_MAX: i128 = std::u16::MAX as i128;
|
||||
/// We convert the overflows and underflows to an i128 value for easier calculations.
|
||||
///
|
||||
/// When overriding the counter we don't set the valeu direclty but schedula it wiht the [`push_override`] so it can be synced with [`pop_override`] to an EtherCAT device.
|
||||
#[derive(Debug)]
|
||||
#[derive(Clone, Debug)]
|
||||
pub struct CounterWrapperU16U128 {
|
||||
counter: i128,
|
||||
last_counter: u16,
|
||||
|
||||
@@ -7,4 +7,5 @@ pub mod encoder_input;
|
||||
pub mod pulse_train_output;
|
||||
pub mod serial_interface;
|
||||
pub mod stepper_velocity_el70x1;
|
||||
pub mod stepper_velocity_wago_750_671;
|
||||
pub mod temperature_input;
|
||||
@@ -0,0 +1,355 @@
|
||||
use std::sync::Arc;
|
||||
|
||||
use smol::{block_on, lock::RwLock};
|
||||
|
||||
use crate::devices::wago_modules::wago_750_671::{InitState, Wago750_671};
|
||||
|
||||
/*
|
||||
* Wago Stepper Velocity Wrapper around Stepper Controller
|
||||
*
|
||||
*/
|
||||
#[derive(Debug)]
|
||||
pub struct StepperVelocityWago750671 {
|
||||
pub device: Arc<RwLock<Wago750_671>>,
|
||||
pub state: InitState,
|
||||
pub target_velocity: i16,
|
||||
pub target_acceleration: u16,
|
||||
pub enabled: bool,
|
||||
pub freq_range_sel: u8,
|
||||
pub acc_range_sel: u8,
|
||||
}
|
||||
|
||||
impl StepperVelocityWago750671 {
|
||||
pub fn new(device: Arc<RwLock<Wago750_671>>) -> Self {
|
||||
Self {
|
||||
device,
|
||||
state: InitState::Off,
|
||||
target_velocity: 1000,
|
||||
target_acceleration: 10000,
|
||||
enabled: false,
|
||||
freq_range_sel: 0,
|
||||
acc_range_sel: 0,
|
||||
}
|
||||
}
|
||||
pub fn set_enabled(&mut self, enabled: bool) {
|
||||
if self.enabled && enabled {
|
||||
return;
|
||||
}
|
||||
|
||||
self.enabled = enabled;
|
||||
if enabled {
|
||||
self.change_init_state(InitState::Enable);
|
||||
} else {
|
||||
self.change_init_state(InitState::Off);
|
||||
self.write_control_byte(ControlByte::C1, 0b00000000);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_velocity(&mut self, velocity: i16) {
|
||||
self.target_velocity = velocity;
|
||||
|
||||
let mut dev = block_on(self.device.write());
|
||||
|
||||
dev.rxpdo.velocity = velocity;
|
||||
dev.rxpdo.acceleration = 10000; // hardcoded for now
|
||||
|
||||
if dev.initialized {
|
||||
dev.state = InitState::StartPulseStart;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_acceleration(&mut self, acceleration: u16) {
|
||||
self.target_acceleration = acceleration;
|
||||
|
||||
let mut dev = block_on(self.device.write());
|
||||
|
||||
dev.rxpdo.acceleration = acceleration;
|
||||
}
|
||||
|
||||
pub fn set_freq_range_sel(&mut self, factor: u8) {
|
||||
if self.enabled || factor > 3 {
|
||||
return;
|
||||
}
|
||||
self.freq_range_sel = factor;
|
||||
let mut dev = block_on(self.device.write());
|
||||
let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
|
||||
.with_freq_range(factor)
|
||||
.bits();
|
||||
dev.rxpdo.c2 = c2;
|
||||
}
|
||||
|
||||
pub fn set_acc_range_sel(&mut self, factor: u8) {
|
||||
if self.enabled || factor > 3 {
|
||||
return;
|
||||
}
|
||||
self.acc_range_sel = factor;
|
||||
let mut dev = block_on(self.device.write());
|
||||
let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
|
||||
.with_acc_range(factor)
|
||||
.bits();
|
||||
dev.rxpdo.c2 = c2;
|
||||
}
|
||||
|
||||
fn change_init_state(&mut self, state: InitState) {
|
||||
self.state = state.clone();
|
||||
let mut dev = block_on(self.device.write());
|
||||
dev.state = state;
|
||||
}
|
||||
|
||||
fn write_control_byte(&self, control_byte: ControlByte, value: u8) {
|
||||
let mut dev = block_on(self.device.write());
|
||||
|
||||
match control_byte {
|
||||
ControlByte::C0 => dev.rxpdo.c0 = value,
|
||||
ControlByte::C1 => dev.rxpdo.c1 = value,
|
||||
ControlByte::C2 => dev.rxpdo.c2 = value,
|
||||
ControlByte::C3 => dev.rxpdo.c3 = value,
|
||||
}
|
||||
}
|
||||
|
||||
fn read_status_byte(&self, status_byte: StatusByte) -> u8 {
|
||||
let dev = block_on(self.device.write());
|
||||
|
||||
match status_byte {
|
||||
StatusByte::S0 => dev.txpdo.s0,
|
||||
StatusByte::S1 => dev.txpdo.s1,
|
||||
StatusByte::S2 => dev.txpdo.s2,
|
||||
StatusByte::S3 => dev.txpdo.s3,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// The Different Control Bytes set control the stepper controller
|
||||
// by setting and resetting specific bits.
|
||||
//
|
||||
// There are some construction functions provided to create the
|
||||
// control bytes correctly.
|
||||
|
||||
/// Control Byte C1
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct ControlByteC1(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum C1Flag {
|
||||
Enable = 0b0000_0001,
|
||||
Stop2N = 0b0000_0010,
|
||||
Start = 0b0000_0100,
|
||||
}
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum C1Mode {
|
||||
SpeedControl = 0b0000_1000,
|
||||
Program = 0b0001_0000,
|
||||
Reference = 0b0010_0000,
|
||||
JogMode = 0b0100_0000,
|
||||
Mailbox = 0b1000_0000,
|
||||
}
|
||||
|
||||
impl ControlByteC1 {
|
||||
pub const fn new() -> Self {
|
||||
Self(0)
|
||||
}
|
||||
|
||||
pub const fn with_flag(mut self, flag: C1Flag) -> Self {
|
||||
self.0 |= flag as u8;
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn with_mode(mut self, cmd: C1Mode) -> Self {
|
||||
self.0 = (self.0 & 0b0000_0111) | (cmd as u8);
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn bits(self) -> u8 {
|
||||
self.0
|
||||
}
|
||||
}
|
||||
|
||||
/// Control Byte C2
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct ControlByteC2(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum C2Flag {
|
||||
FreqRangeSelL = 0b0000_0001,
|
||||
FreqRangeSelH = 0b0000_0010,
|
||||
AccRangeSelL = 0b0000_0100,
|
||||
AccRangeSelH = 0b0000_1000,
|
||||
PreCalc = 0b0100_0000,
|
||||
ErrorQuit = 0b1000_0000,
|
||||
}
|
||||
|
||||
impl ControlByteC2 {
|
||||
pub const fn new() -> Self {
|
||||
Self(0)
|
||||
}
|
||||
|
||||
pub const fn from_bits(bits: u8) -> Self {
|
||||
Self(bits)
|
||||
}
|
||||
|
||||
pub const fn with_freq_range(mut self, sel: u8) -> Self {
|
||||
self.0 = (self.0 & 0b1111_1100) | (sel & 0b0000_0011);
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn with_acc_range(mut self, sel: u8) -> Self {
|
||||
self.0 = (self.0 & 0b1111_0011) | ((sel & 0b0000_0011) << 2);
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn with_flag(mut self, flag: C2Flag) -> Self {
|
||||
self.0 |= flag as u8;
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn bits(self) -> u8 {
|
||||
self.0
|
||||
}
|
||||
}
|
||||
|
||||
/// Control Byte C3
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct ControlByteC3(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum C3Flag {
|
||||
SetActualPos = 0b0000_0001,
|
||||
DirectionPos = 0b0000_0010,
|
||||
DirectionNeg = 0b0000_0100,
|
||||
ResetQuit = 0b1000_0000,
|
||||
}
|
||||
|
||||
impl ControlByteC3 {
|
||||
pub const fn new() -> Self {
|
||||
Self(0)
|
||||
}
|
||||
|
||||
pub const fn with_flag(mut self, flag: C3Flag) -> Self {
|
||||
self.0 |= flag as u8;
|
||||
self
|
||||
}
|
||||
|
||||
pub const fn bits(self) -> u8 {
|
||||
self.0
|
||||
}
|
||||
}
|
||||
|
||||
// The status bytes are similar to the control bytes but are only readable
|
||||
// and most of the time provide corresponding acknoledgements to the diffrent
|
||||
// Control bytes.
|
||||
//
|
||||
// There are also helper functions to construct the diffrent Status bytes for
|
||||
// compoarison.
|
||||
|
||||
/// Status Byte S1
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct StatusByteS1(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum S1Flag {
|
||||
Ready = 0b0000_0001,
|
||||
Stop2NAck = 0b0000_0010,
|
||||
StartAck = 0b0000_0100,
|
||||
}
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum S1CommandAck {
|
||||
Idle = 0b0000_0000,
|
||||
SinglePosition = 0b0000_1000,
|
||||
RunProgram = 0b0001_0000,
|
||||
SpeedControl = 0b0001_1000,
|
||||
Reference = 0b0010_0000,
|
||||
JogMode = 0b0010_1000,
|
||||
Mailbox = 0b0011_0000,
|
||||
}
|
||||
|
||||
impl StatusByteS1 {
|
||||
pub const fn from_bits(bits: u8) -> Self {
|
||||
Self(bits)
|
||||
}
|
||||
|
||||
pub const fn has_flag(self, flag: S1Flag) -> bool {
|
||||
(self.0 & flag as u8) != 0
|
||||
}
|
||||
|
||||
pub const fn bits(self) -> u8 {
|
||||
self.0
|
||||
}
|
||||
}
|
||||
|
||||
/// Status Byte S2
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct StatusByteS2(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum S2Flag {
|
||||
OnTarget = 0b0000_0001,
|
||||
Busy = 0b0000_0010,
|
||||
StandStill = 0b0000_0100,
|
||||
OnSpeed = 0b0000_1000,
|
||||
Direction = 0b0001_0000,
|
||||
ReferenceOk = 0b0010_0000,
|
||||
PreCalcAck = 0b0100_0000,
|
||||
Error = 0b1000_0000,
|
||||
}
|
||||
|
||||
impl StatusByteS2 {
|
||||
pub const fn from_bits(bits: u8) -> Self {
|
||||
Self(bits)
|
||||
}
|
||||
|
||||
pub const fn has_flag(self, flag: S2Flag) -> bool {
|
||||
(self.0 & flag as u8) != 0
|
||||
}
|
||||
}
|
||||
|
||||
/// Status Byte S3
|
||||
#[derive(Clone, Copy, Default)]
|
||||
pub struct StatusByteS3(u8);
|
||||
|
||||
#[repr(u8)]
|
||||
#[derive(Clone, Copy)]
|
||||
pub enum S3Flag {
|
||||
Input1 = 0b0000_0001,
|
||||
Input2 = 0b0000_0010,
|
||||
Input3 = 0b0000_0100,
|
||||
Input4 = 0b0000_1000,
|
||||
Input5 = 0b0001_0000,
|
||||
Input6 = 0b0010_0000,
|
||||
Warning = 0b0100_0000,
|
||||
Reset = 0b1000_0000,
|
||||
}
|
||||
|
||||
impl StatusByteS3 {
|
||||
pub const fn from_bits(bits: u8) -> Self {
|
||||
Self(bits)
|
||||
}
|
||||
|
||||
pub const fn has_flag(self, flag: S3Flag) -> bool {
|
||||
(self.0 & flag as u8) != 0
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
pub enum ControlByte {
|
||||
C0,
|
||||
C1,
|
||||
C2,
|
||||
C3,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
pub enum StatusByte {
|
||||
S0,
|
||||
S1,
|
||||
S2,
|
||||
S3,
|
||||
}
|
||||
+2
-1
@@ -32,6 +32,7 @@ pub mod motor_test_machine;
|
||||
pub mod registry;
|
||||
pub mod serial;
|
||||
pub mod test_machine;
|
||||
pub mod test_machine_stepper;
|
||||
pub mod wago_ai_test_machine;
|
||||
pub mod wago_power;
|
||||
pub mod winder2;
|
||||
@@ -50,8 +51,8 @@ pub const IP20_TEST_MACHINE: u16 = 0x0034;
|
||||
pub const ANALOG_INPUT_TEST_MACHINE: u16 = 0x0035;
|
||||
pub const WAGO_AI_TEST_MACHINE: u16 = 0x0036;
|
||||
pub const DIGITAL_INPUT_TEST_MACHINE: u16 = 0x0040;
|
||||
|
||||
pub const MOTOR_TEST_MACHINE: u16 = 0x0011;
|
||||
pub const TEST_MACHINE_STEPPER: u16 = 0x0037;
|
||||
|
||||
use serde_json::Value;
|
||||
use smol::lock::RwLock;
|
||||
|
||||
@@ -20,7 +20,7 @@ use crate::{
|
||||
winder2::Winder2,
|
||||
};
|
||||
|
||||
use crate::test_machine::TestMachine;
|
||||
use crate::{test_machine::TestMachine, test_machine_stepper::TestMachineStepper};
|
||||
|
||||
use lazy_static::lazy_static;
|
||||
|
||||
@@ -137,6 +137,7 @@ lazy_static! {
|
||||
|
||||
mc.register::<DigitalInputTestMachine>(DigitalInputTestMachine::MACHINE_IDENTIFICATION);
|
||||
|
||||
mc.register::<TestMachineStepper>(TestMachineStepper::MACHINE_IDENTIFICATION);
|
||||
mc
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
use smol::block_on;
|
||||
|
||||
use super::TestMachineStepper;
|
||||
use crate::{MachineAct, MachineMessage};
|
||||
use std::time::{Duration, Instant};
|
||||
|
||||
impl MachineAct for TestMachineStepper {
|
||||
fn act(&mut self, now: Instant) {
|
||||
if let Ok(msg) = self.api_receiver.try_recv() {
|
||||
self.act_machine_message(msg);
|
||||
}
|
||||
|
||||
if now.duration_since(self.last_state_emit) > Duration::from_secs_f64(1.0 / 30.0) {
|
||||
self.emit_state();
|
||||
self.last_state_emit = now;
|
||||
}
|
||||
}
|
||||
|
||||
fn act_machine_message(&mut self, msg: MachineMessage) {
|
||||
match msg {
|
||||
MachineMessage::SubscribeNamespace(namespace) => {
|
||||
self.namespace.namespace = Some(namespace);
|
||||
self.emit_state();
|
||||
}
|
||||
MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
|
||||
MachineMessage::HttpApiJsonRequest(value) => {
|
||||
use crate::MachineApi;
|
||||
let _res = self.api_mutate(value);
|
||||
}
|
||||
MachineMessage::ConnectToMachine(_machine_connection) => {}
|
||||
MachineMessage::DisconnectMachine(_machine_connection) => {}
|
||||
MachineMessage::RequestValues(sender) => {}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,87 @@
|
||||
use super::TestMachineStepper;
|
||||
use crate::{MachineApi, MachineMessage};
|
||||
use control_core::socketio::{
|
||||
event::{Event, GenericEvent},
|
||||
namespace::{
|
||||
CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
|
||||
},
|
||||
};
|
||||
use serde::{Deserialize, Serialize};
|
||||
use serde_json::Value;
|
||||
use std::sync::Arc;
|
||||
|
||||
#[derive(Serialize, Debug, Clone)]
|
||||
pub struct StateEvent {
|
||||
pub target_speed: i16,
|
||||
pub enabled: bool,
|
||||
pub freq: u8,
|
||||
pub acc_freq: u8,
|
||||
}
|
||||
|
||||
impl StateEvent {
|
||||
pub fn build(&self) -> Event<Self> {
|
||||
Event::new("StateEvent", self.clone())
|
||||
}
|
||||
}
|
||||
|
||||
pub enum TestMachineStepperEvents {
|
||||
State(Event<StateEvent>),
|
||||
}
|
||||
|
||||
#[derive(Deserialize)]
|
||||
#[serde(tag = "action", content = "value")]
|
||||
pub enum Mutation {
|
||||
SetTargetSpeed { target: i16 },
|
||||
SetEnabled { enabled: bool },
|
||||
SetFreq { factor: u8 },
|
||||
SetAccFreq { factor: u8 },
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct TestMachineStepperNamespace {
|
||||
pub namespace: Option<Namespace>,
|
||||
}
|
||||
|
||||
impl NamespaceCacheingLogic<TestMachineStepperEvents> for TestMachineStepperNamespace {
|
||||
fn emit(&mut self, events: TestMachineStepperEvents) {
|
||||
let event = Arc::new(events.event_value());
|
||||
let buffer_fn = events.event_cache_fn();
|
||||
if let Some(ns) = &mut self.namespace {
|
||||
ns.emit(event, &buffer_fn);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl CacheableEvents<TestMachineStepperEvents> for TestMachineStepperEvents {
|
||||
fn event_value(&self) -> GenericEvent {
|
||||
match self {
|
||||
TestMachineStepperEvents::State(event) => event.clone().into(),
|
||||
}
|
||||
}
|
||||
|
||||
fn event_cache_fn(&self) -> CacheFn {
|
||||
cache_first_and_last_event()
|
||||
}
|
||||
}
|
||||
|
||||
impl MachineApi for TestMachineStepper {
|
||||
fn api_get_sender(&self) -> smol::channel::Sender<MachineMessage> {
|
||||
self.api_sender.clone()
|
||||
}
|
||||
|
||||
fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
|
||||
let mutation: Mutation = serde_json::from_value(request_body)?;
|
||||
match mutation {
|
||||
Mutation::SetTargetSpeed { target } => self.set_target_speed(target),
|
||||
Mutation::SetEnabled { enabled } => self.set_enabled(enabled),
|
||||
Mutation::SetFreq { factor } => self.set_freq(factor),
|
||||
Mutation::SetAccFreq { factor } => self.set_acc_freq(factor),
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn api_event_namespace(&mut self) -> Option<Namespace> {
|
||||
self.namespace.namespace.clone()
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,76 @@
|
||||
use crate::machine_identification::{MachineIdentification, MachineIdentificationUnique};
|
||||
use crate::test_machine_stepper::api::{StateEvent, TestMachineStepperEvents};
|
||||
use crate::{AsyncThreadMessage, Machine, MachineMessage};
|
||||
use control_core::socketio::namespace::NamespaceCacheingLogic;
|
||||
use ethercat_hal::io::stepper_velocity_wago_750_671::StepperVelocityWago750671;
|
||||
use smol::channel::{Receiver, Sender};
|
||||
use std::time::Instant;
|
||||
pub mod act;
|
||||
pub mod api;
|
||||
pub mod new;
|
||||
use crate::test_machine_stepper::api::TestMachineStepperNamespace;
|
||||
use crate::{TEST_MACHINE_STEPPER, VENDOR_QITECH};
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct TestMachineStepper {
|
||||
pub api_receiver: Receiver<MachineMessage>,
|
||||
pub api_sender: Sender<MachineMessage>,
|
||||
pub machine_identification_unique: MachineIdentificationUnique,
|
||||
pub namespace: TestMachineStepperNamespace,
|
||||
pub last_state_emit: Instant,
|
||||
pub main_sender: Option<Sender<AsyncThreadMessage>>,
|
||||
pub stepper: StepperVelocityWago750671,
|
||||
}
|
||||
|
||||
impl Machine for TestMachineStepper {
|
||||
fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
|
||||
self.machine_identification_unique.clone()
|
||||
}
|
||||
|
||||
fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
|
||||
self.main_sender.clone()
|
||||
}
|
||||
}
|
||||
impl TestMachineStepper {
|
||||
pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
|
||||
vendor: VENDOR_QITECH,
|
||||
machine: TEST_MACHINE_STEPPER,
|
||||
};
|
||||
}
|
||||
|
||||
impl TestMachineStepper {
|
||||
pub fn get_state(&self) -> StateEvent {
|
||||
StateEvent {
|
||||
target_speed: self.stepper.target_velocity,
|
||||
enabled: self.stepper.enabled,
|
||||
freq: self.stepper.freq_range_sel,
|
||||
acc_freq: self.stepper.acc_range_sel,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn emit_state(&mut self) {
|
||||
let event = self.get_state().build();
|
||||
|
||||
self.namespace.emit(TestMachineStepperEvents::State(event));
|
||||
}
|
||||
|
||||
pub fn set_target_speed(&mut self, speed: i16) {
|
||||
self.stepper.set_velocity(speed);
|
||||
self.emit_state();
|
||||
}
|
||||
|
||||
pub fn set_enabled(&mut self, enabled: bool) {
|
||||
self.stepper.set_enabled(enabled);
|
||||
self.emit_state();
|
||||
}
|
||||
|
||||
pub fn set_freq(&mut self, factor: u8) {
|
||||
self.stepper.set_freq_range_sel(factor);
|
||||
self.emit_state();
|
||||
}
|
||||
|
||||
pub fn set_acc_freq(&mut self, factor: u8) {
|
||||
self.stepper.set_acc_range_sel(factor);
|
||||
self.emit_state();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,86 @@
|
||||
use crate::test_machine_stepper::{TestMachineStepper, api::TestMachineStepperNamespace};
|
||||
use ethercat_hal::{
|
||||
devices::{
|
||||
EthercatDevice, downcast_device,
|
||||
wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354},
|
||||
wago_modules::wago_750_671::Wago750_671,
|
||||
},
|
||||
io::stepper_velocity_wago_750_671::StepperVelocityWago750671,
|
||||
};
|
||||
use smol::{block_on, lock::RwLock};
|
||||
use std::{sync::Arc, time::Instant};
|
||||
|
||||
use crate::{
|
||||
MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
|
||||
validate_no_role_dublicates, validate_same_machine_identification_unique,
|
||||
};
|
||||
|
||||
use anyhow::Error;
|
||||
|
||||
impl MachineNewTrait for TestMachineStepper {
|
||||
fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
|
||||
// validate general stuff
|
||||
let device_identification = params
|
||||
.device_group
|
||||
.iter()
|
||||
.map(|device_identification| device_identification.clone())
|
||||
.collect::<Vec<_>>();
|
||||
validate_same_machine_identification_unique(&device_identification)?;
|
||||
validate_no_role_dublicates(&device_identification)?;
|
||||
|
||||
let hardware = match ¶ms.hardware {
|
||||
MachineNewHardware::Ethercat(x) => x,
|
||||
_ => {
|
||||
return Err(anyhow::anyhow!(
|
||||
"[{}::MachineNewTrait/TestMachineStepper::new] MachineNewHardware is not Ethercat",
|
||||
module_path!()
|
||||
));
|
||||
}
|
||||
};
|
||||
block_on(async {
|
||||
let _wago_750_354 = get_ethercat_device::<Wago750_354>(
|
||||
hardware,
|
||||
params,
|
||||
0,
|
||||
[WAGO_750_354_IDENTITY_A].to_vec(),
|
||||
)
|
||||
.await?;
|
||||
|
||||
let modules = Wago750_354::initialize_modules(_wago_750_354.1).await?;
|
||||
|
||||
let mut coupler = _wago_750_354.0.write().await;
|
||||
|
||||
for module in modules {
|
||||
coupler.set_module(module);
|
||||
}
|
||||
|
||||
coupler.init_slot_modules(_wago_750_354.1);
|
||||
let dev = coupler.slot_devices.first().unwrap().clone().unwrap();
|
||||
|
||||
// change uncomment this to change to different stepper driver
|
||||
//
|
||||
let wago_750_671: Arc<RwLock<Wago750_671>> =
|
||||
downcast_device::<Wago750_671>(dev).await?;
|
||||
// let wago_750_672: Arc<RwLock<Wago750_672>> =
|
||||
// downcast_device::<Wago750_672>(dev).await?;
|
||||
drop(coupler);
|
||||
|
||||
let stepper = StepperVelocityWago750671::new(wago_750_671);
|
||||
|
||||
let (sender, receiver) = smol::channel::unbounded();
|
||||
let mut my_test = Self {
|
||||
api_receiver: receiver,
|
||||
api_sender: sender,
|
||||
machine_identification_unique: params.get_machine_identification_unique(),
|
||||
namespace: TestMachineStepperNamespace {
|
||||
namespace: params.namespace.clone(),
|
||||
},
|
||||
last_state_emit: Instant::now(),
|
||||
main_sender: params.main_thread_channel.clone(),
|
||||
stepper,
|
||||
};
|
||||
my_test.emit_state();
|
||||
Ok(my_test)
|
||||
})
|
||||
}
|
||||
}
|
||||
@@ -10,7 +10,7 @@ buildNpmPackage rec {
|
||||
ELECTRON_SKIP_BINARY_DOWNLOAD = 1;
|
||||
|
||||
makeCacheWritable = true;
|
||||
npmDepsHash = "sha256-rnaAsSkoTRoBgLCTF8ZFpi7uUQ+8W+u3qoMxsptX6NU=";
|
||||
npmDepsHash = "sha256-izbpayf659KJUAfdNwQ8rKBULNZLzsgTWSs1sGOj00A=";
|
||||
npmFlags = [ "--no-audit" "--no-fund" ];
|
||||
|
||||
installPhase = ''
|
||||
|
||||
Reference in new issue
Block a user