NanjingForestryUniversity/lowermachine
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fix bug at resuming operation

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The START command following a STOP command can cause misplaced counters. This commit fixes the bug by setting counter variables to their initial value as soon as STOP command reaches.
This commit is contained in:
Miaow 2022-03-10 15:30:21 +08:00
parent 657cdf2691
commit d6e22519d5
2 changed files with 38 additions and 50 deletions
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source/main.c
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@ -12,11 +12,8 @@
*/ */
typedef enum typedef enum
{ {
NOT_INITIALIZED = 0, SLEEPING = 0,
INITIALIZED = 1, RUNNING = 1,
RUNNING = 2,
SLEEPING = 3,
STOPPED = 4
} status_enum_t; } status_enum_t;
valvedata_t valvedata = {0}; valvedata_t valvedata = {0};
@ -25,11 +22,11 @@ queue_uint64_msg_t cmd_queue = {0};
static int count_valve = 1, count_camera = 0, count_valve_should_be = 2; static int count_valve = 1, count_camera = 0, count_valve_should_be = 2;
static uint64_t count_continues = 0UL, count_valve_continues = 0UL, count_camera_continues = 0UL; static uint64_t count_continues = 0UL, count_valve_continues = 0UL, count_camera_continues = 0UL;
static status_enum_t status = NOT_INITIALIZED; static status_enum_t status = SLEEPING;
static int camera_trigger_pulse_count = 0; static int camera_trigger_pulse_count = 500;
static int valve_should_trigger_pulse_count = 0; static int valve_should_trigger_pulse_count = 1;
static int valve_trigger_pulse_count = 0; static int valve_trigger_pulse_count = 10;
static int camera_to_valve_pulse_count = 0; static int camera_to_valve_pulse_count = 3015;
#define ROTATE_UINT64_RIGHT(x, n) ((x) >> (n)) | ((x) << ((64) - (n))) #define ROTATE_UINT64_RIGHT(x, n) ((x) >> (n)) | ((x) << ((64) - (n)))
#define ROTATE_UINT64_LEFT(x, n) ((x) << (n)) | ((x) >> ((64) - (n))) #define ROTATE_UINT64_LEFT(x, n) ((x) << (n)) | ((x) >> ((64) - (n)))
@ -50,11 +47,15 @@ int main(int argc, char *argv[])
// fflush(stdout); // fflush(stdout);
// valve_test3(100.0f); // valve_test3(100.0f);
// valve_test2(200.0f, 0); // valve_test2(200.0f, 0);
// valve_test(200.0f); // for (int i = 0; i < 999; i++)
// {
// valve_test(200.0f);
// }
// printf("OK\r\n"); // printf("OK\r\n");
// valve_deinit(); // valve_deinit();
hostcomputer_init(&data_queue, &cmd_queue); hostcomputer_init(&data_queue, &cmd_queue);
printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n");
uint64_t cmd; uint64_t cmd;
int TRUE = 1; int TRUE = 1;
while (TRUE) while (TRUE)
@ -62,12 +63,25 @@ int main(int argc, char *argv[])
if (queue_uint64_get(&cmd_queue, &cmd) == 0) if (queue_uint64_get(&cmd_queue, &cmd) == 0)
{ {
process_cmd(&cmd); process_cmd(&cmd);
usleep(100000);
} }
usleep(100000);
} }
hostcomputer_deinit(); hostcomputer_deinit();
queue_uint64_deinit(&data_queue); queue_uint64_deinit(&data_queue);
queue_uint64_deinit(&cmd_queue); queue_uint64_deinit(&cmd_queue);
// encoder_init(on_encoder);
// sleep(100);
// encoder_deinit();
// cameratrigger_init();
// for (int i = 0; i < 100; i++)
// {
// sleep(1);
// cameratrigger_trig();
// }
// cameratrigger_deinit();
return 0; return 0;
} }
@ -79,14 +93,16 @@ void process_cmd(uint64_t *cmd)
{ {
if (tmp_cmd == HOSTCOMPUTER_CMD_START) if (tmp_cmd == HOSTCOMPUTER_CMD_START)
{ {
queue_uint64_clear(&data_queue);
valve_should_trigger_pulse_count = camera_trigger_pulse_count / HOST_COMPUTER_PICTURE_ROW_NUM; valve_should_trigger_pulse_count = camera_trigger_pulse_count / HOST_COMPUTER_PICTURE_ROW_NUM;
for (int i = 0; i < camera_to_valve_pulse_count * HOST_COMPUTER_PICTURE_ROW_NUM / camera_trigger_pulse_count; i++) for (int i = 0; i < camera_to_valve_pulse_count * HOST_COMPUTER_PICTURE_ROW_NUM / camera_trigger_pulse_count; i++)
queue_uint64_put(&data_queue, 0); queue_uint64_put(&data_queue, 0L);
valve_init(); valve_init();
cameratrigger_init(); cameratrigger_init();
encoder_init(on_encoder); encoder_init(on_encoder);
printf("\r\n>>>>>\r\nstatus==RUNNING\r\ncamera_trigger_pulse_count=%d\r\nvalve_trigger_pulse_count=%d\r\ncamera_to_valve_pulse_count=%d\r\n<<<<<\r\n\r\n", camera_trigger_pulse_count, valve_trigger_pulse_count, camera_to_valve_pulse_count);
status = RUNNING; status = RUNNING;
printf("\r\n>>>>>\r\nstatus==RUNNING\r\n<<<<<\r\n\r\n");
} }
else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST) else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
{ {
@ -94,10 +110,7 @@ void process_cmd(uint64_t *cmd)
valve_test(500.0f); valve_test(500.0f);
valve_deinit(); valve_deinit();
} }
} else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT)
else if (status == NOT_INITIALIZED)
{
if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT)
{ {
camera_trigger_pulse_count = tmp_data; camera_trigger_pulse_count = tmp_data;
} }
@ -109,38 +122,6 @@ void process_cmd(uint64_t *cmd)
{ {
camera_to_valve_pulse_count = tmp_data; camera_to_valve_pulse_count = tmp_data;
} }
else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
{
valve_init();
valve_test(500.0f);
valve_deinit();
}
if (camera_trigger_pulse_count != 0 && valve_trigger_pulse_count != 0 && camera_to_valve_pulse_count != 0)
{
status = INITIALIZED;
printf("\r\n>>>>>\r\nstatus==INITIALIZED\r\ncamera_trigger_pulse_count=%d\r\nvalve_trigger_pulse_count=%d\r\ncamera_to_valve_pulse_count=%d\r\n<<<<<\r\n\r\n", camera_trigger_pulse_count, valve_trigger_pulse_count, camera_to_valve_pulse_count);
}
}
else if (status == INITIALIZED)
{
if (tmp_cmd == HOSTCOMPUTER_CMD_START)
{
valve_should_trigger_pulse_count = camera_trigger_pulse_count / HOST_COMPUTER_PICTURE_ROW_NUM;
printf("valve_should_trigger_pulse_count=%d", valve_should_trigger_pulse_count);
for (int i = 0; i < camera_to_valve_pulse_count * HOST_COMPUTER_PICTURE_ROW_NUM / camera_trigger_pulse_count; i++)
queue_uint64_put(&data_queue, 0);
valve_init();
cameratrigger_init();
encoder_init(on_encoder);
status = RUNNING;
printf("\r\n>>>>>\r\nstatus==RUNNING\r\n<<<<<\r\n\r\n");
}
else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
{
valve_init();
valve_test(500.0f);
valve_deinit();
}
} }
else if (status == RUNNING) else if (status == RUNNING)
{ {
@ -150,6 +131,12 @@ void process_cmd(uint64_t *cmd)
cameratrigger_deinit(); cameratrigger_deinit();
valve_deinit(); valve_deinit();
queue_uint64_clear(&data_queue); queue_uint64_clear(&data_queue);
count_continues = 0UL;
count_valve_continues = 0UL;
count_camera_continues = 0UL;
count_valve = 1;
count_camera = 0;
count_valve_should_be = 2;
status = SLEEPING; status = SLEEPING;
printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n"); printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n");
} }
@ -159,6 +146,7 @@ void process_cmd(uint64_t *cmd)
void valve_test(float ms_for_each_channel) void valve_test(float ms_for_each_channel)
{ {
uint64_t valve_data = 1ul; uint64_t valve_data = 1ul;
for (int i = 0; i < 48; i++) for (int i = 0; i < 48; i++)
{ {
usleep((useconds_t)(ms_for_each_channel * 500.0f)); usleep((useconds_t)(ms_for_each_channel * 500.0f));