瀹夎椹卞姩
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motoman 鏈烘鑷傞┍鍔ㄦ枃浠跺垪琛�
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  -- inform 瀹夊窛鏈烘鑷傚墠鍙扮▼搴�
    -- xyz_master 鏈烘鑷備富鎺х▼搴�
      - XYZCartMoveBasicTpl.JBI 鍧愭爣绉诲姩鍩虹妯℃澘绋嬪簭
      - XYZCartMoveRepoTpl.JBI 鍧愭爣绉诲姩浜屾瀹氫綅妯℃澘绋嬪簭
      - XYZMasterCheckError.JBI 妫€鏌rrorCode绋嬪簭
      - XYZMasterConnect.JBI 閫氳杩炴帴绋嬪簭
      - XYZMasterExecPickIn.JBI 鎵цPickIn杞ㄨ抗绋嬪簭
      - XYZMasterExecPickOut.JBI 鎵цPickOut杞ㄨ抗绋嬪簭
      - XYZMasterExecTraj.JBI 閫氱敤鎵ц杞ㄨ抗绋嬪簭
      - XYZMasterInit.JBI 鍒濆鍖栫▼搴�
      - XYZMasterProcCmd.JBI 鎸囦护璋冪敤绋嬪簭
      - XYZMasterTaskTest.JBI 鍐呴儴娴嬭瘯绋嬪簭
      - XYZSendScanPose 鍙戦€佹媿鐓т綅濮跨▼搴�
      - XYZTrajMoveAsyncTpl.JBI 杞ㄨ抗绉诲姩寮傛妯℃澘绋嬪簭
      - XYZTrajMoveSyncTpl.JBI 杞ㄨ抗绉诲姩鍚屾妯℃澘绋嬪簭
    -- xyz_motion 宸ユ帶鏈轰富鎺х▼搴�
      - XYZMotionConnect.JBI motion閫氳杩炴帴绋嬪簭
      - XYZMotionExecTraj.JBI 杞ㄨ抗鎵ц绋嬪簭
      - XYZMotionInit.JBI 鍒濆鍖栫▼搴�
      - XYZMotionTask.JBI 宸ユ帶鏈轰富鎺т富绋嬪簭
      - XYZStatusConnect.JBI status閫氳杩炴帴鍑芥暟
  -- motoplus_out 缂栬瘧濂界殑 motoplus .out 鏂囦欢
    - xyz_main_master.out 鏈烘鑷備富鎺� .out鏂囦欢
    - xyz_main_motion.out 宸ユ帶鏈轰富鎺� .out鏂囦欢
  -- motoplus_source_code motoplus 婧愮爜
    - xyz_const.h 鍏ㄥ眬鍙橀噺瀹氫箟鍖�
    - xyz_main_master.c 鏈烘鑷備富鎺х殑涓荤▼搴�
    - xyz_main_master.yrcProj 鏈烘鑷備富鎺х殑MotoPlus椤圭洰鏂囦欢
    - xyz_main_motion.c 宸ユ帶鏈轰富鎺х殑涓荤▼搴�
    - xyz_main_motion.yrcProj 宸ユ帶鏈轰富鎺х殑MotoPlus椤圭洰鏂囦欢
    - xyz_master.c 鏈烘鑷備富鎺pi鍑芥暟瀹炵幇
    - xyz_master.h 鏈烘鑷備富鎺pi鍑芥暟澶存枃浠�
    - xyz_motion.c 宸ユ帶鏈轰富鎺pi鍑芥暟瀹炵幇
    - xyz_motion.h 宸ユ帶鏈轰富鎺pi鍑芥暟澶存枃浠�
    - xyz_sock_lib.c socket鐩稿叧瀹炵幇
    - xyz_sock_lib.h socket澶存枃浠�
    - xyz_utils.c 瀹炵敤鍑芥暟瀹炵幇
    - xyz_utils.h 瀹炵敤鍑芥暟澶存枃浠�


缁存姢妯″紡涓嬶細缃戠粶璁惧畾鍜岀儳褰� .out 鏂囦欢
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1. 杩涘叆缁存姢妯″紡锛氬垏鎹㈠埌鎵嬪姩妯″紡 -> 鎺у埗鏌滃叧鏈� -> 闀挎寜绀烘暀鍣ㄧ殑 "涓昏彍鍗�"鎸夐挳 -> 鎺у埗鏌滀笂鐢� -> 杩涘叆鍒扳€滅淮鎶ゆā寮忊€濆悗鏉惧紑鎸夐挳

2. 鐧诲綍鍒扳€滅鐞嗘ā寮忊€濓細 ``涓昏彍鍗昤` ->  ``绯荤粺``-> ``瀹夊叏妯″紡``锛屽湪涓嬫媺鑿滃崟涓€夋嫨 ``绠＄悊妯″紡``锛屽瘑鐮佷负鈥�99999999999999鈥濊緭鍒板ご -> 鈥滃洖杞︹€�

3. 缃戠粶璁剧疆

  - ``涓昏彍鍗昤` ->  ``绯荤粺`` ->  ``璁剧疆`` -> ``閫夐」鍔熻兘`` -> ``LAN鎺ュ彛璁剧疆``锛屾寜涓� ``閫夋嫨`` 鎸夐挳銆�
  - 灏� ``涓绘満璁剧疆`` 鏀逛负 ``鎵嬪姩璁剧疆`` , ``IP鍦板潃`` 鏀逛负 ``鎵嬪姩璁剧疆``锛屼慨鏀� IP 鍜屽瓙缃戝睆钄� -> 鎸� ``鍥炶溅``锛屽湪鎵€鏄剧ず鐨勭‘璁ゅ璇濇涓€夋嫨 ``鏄痐`
 
    - IP鍦板潃锛� 192.168.37.100 
    - 瀛愮綉灞忚斀锛� 255.255.255.0 
  
    .. figure:: img/motoman_ip.png
        :width: 673px
        :align: center

        ip璁剧疆

4. 鍚敤Motoplus鍔熻兘 

  ``涓昏彍鍗昤` ->  ``璁剧疆`` -> ``閫夐」鍔熻兘`` -> ``MotoPlus鍔熻兘`` -> 璁剧疆涓衡€滀娇鐢ㄢ€� -> 鍦ㄦ墍鏄剧ず鐨勫悇纭瀵硅瘽妗嗕腑閫夋嫨 ``鏄痐` 鍗冲彲

5. 灏嗗畨宸濋┍鍔ㄧ▼搴忔枃浠舵嫹璐濆埌鍒癠SB鏍圭洰褰曚笅锛屽皢USB瀛樺偍鍣ㄦ彃鍏ョず鏁欏櫒鐨刄SB绔彛
   
  娉細涓嶆嫹璐濆埌鏍圭洰褰曚笅涔熷彲浠ワ紝浣嗗悗缁渶瑕佸湪瀹夊窛绀烘暀鍣ㄤ笂鍏堝垏鎹㈡枃浠跺す

6. Motoplus(.out)绋嬪簭瀵煎叆

  - ``涓昏彍鍗昤` ->  ``MotoPlus搴旂敤`` -> ``瑁呯疆`` -> ``USB:绀烘暀缂栫▼鍣╜`
  - 濡傚凡瀛樺湪.out锛屽垯闇€鍏堝垹闄わ細 ``涓昏彍鍗昤`-> ``MotoPlus搴旂敤`` -> ``鍒犻櫎`` -> 閫夋嫨瀵瑰簲鐨�.out -> ``鍥炶溅`` -> 纭鍒犻櫎
  - ``涓昏彍鍗昤`-> ``MotoPlus搴旂敤`` -> ``瀹夎锛堢敤鎴峰簲鐢ㄧ▼搴�)`` -> 閫夋嫨瀵瑰簲鐨�.out骞舵寜 ``閫夋嫨`` 鎸夐挳杩涜瀹夎

7. 閲嶅惎锛� ``涓昏彍鍗昤` -> ``CPU閲嶇疆`` -> ``澶嶄綅`` -> ``鏄痐`
   
  鎴栬€呯洿鎺ユ帶鍒舵煖鐢垫簮寮€鍏抽噸鍚篃鍙互


瀵煎叆 INFORM 鏂囦欢
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1. 浠ユ甯告柟寮忓紑鏈猴紙涓嶆寜浣� ``涓昏彍鍗昤`锛�

2. 灏嗗畨宸濋┍鍔ㄧ▼搴忔枃浠舵嫹璐濆埌鍒癠SB鏍圭洰褰曚笅锛屽皢USB瀛樺偍鍣ㄦ彃鍏ョず鏁欏櫒鐨刄SB绔彛

3. ``涓昏彍鍗昤`-> ``澶栭儴鍌ㄥ瓨`` -> ``瑁呯疆`` -> ``閫夋嫨瑁呯疆`` -> ``USB:绀烘暀缂栫▼鍣╜`

4. ``涓昏彍鍗昤` -> ``澶栭儴鍌ㄥ瓨`` -> ``瀹夎``-> ``绋嬪簭``-> 閫夋嫨鎵€鏈夌殑.JBI-> ``鍥炶溅`` -> 瑕嗙洊鏂瑰紡閫夋嫨 ``寮哄埗鎵ц`` -> ``鎵ц``

姝ゆ椂锛岀▼搴忓凡缁忓叏閮ㄥ鍏ャ€�