Sub_Spray_STM32/User/BSP/base/apphardware.hpp

#pragma once

#include "can_control/can_controller.h"
#include "LED/pump_controller.h"
#include "LED/air_valve.h"
#include "LED/three_way_valve.h"
#include "LED/high_voltage_pack.h"
#include "LED/laser_control.h"

#include "zgpio.hpp"
#include "appcfg.h"
#include "stm32components.hpp"

namespace iflytop {

class ID {
 public:
  ZGPIO ID0;
  ZGPIO ID1;
  ZGPIO ID2;
  ZGPIO ID3;
  ZGPIO ID4;
};

class AppHardware {
 private:
  /* data */
 public:
  ZGPIO MOTO_POWER_EN;
  ZGPIO MOTO1_CSN;
  ZGPIO MOTO2_CSN;
  ZGPIO MOTO3_CSN;
  ZGPIO MOTO4_CSN;
  ZGPIO MOTO1_DRV_ENN;
  ZGPIO MOTO2_DRV_ENN;
  ZGPIO MOTO3_DRV_ENN;
  ZGPIO MOTO4_DRV_ENN;

  ZGPIO MOTOR1_REF_L;
  ZGPIO MOTOR1_REF_R;
  ZGPIO MOTOR2_REF_L;
  ZGPIO MOTOR2_REF_R;
  ZGPIO MOTOR3_REF_L;
  ZGPIO MOTOR3_REF_R;
  ZGPIO MOTOR4_REF_L;
  ZGPIO MOTOR4_REF_R;

  TMC51X0 MOTO1;
  TMC51X0 MOTO2;
  TMC51X0 MOTO3;
//  TMC51X0 MOTO4;

  ID id;

  ZGPIO IO_OUT1;
  ZGPIO IO_OUT2;

  ZGPIO BLE_CONNECTED_STATE;

  UART_HandleTypeDef* tjcUart;
  ZGPIO               TJC_UART_CH_SEL;
  ZGPIO               TJC_UART_CH_EN;

  UART_HandleTypeDef* remoteContolerUart;

  CanController can0Controller; // CAN 收发控制

  AirValve valve_controller; // 阀门控制
  ThreeWayValve three_way_valve; // 三通阀控制
  PumpController pump_controller;   // 电机泵
  HighVoltagePack high_voltage_pack;     // 注射泵
    LaserControl laser_control;   // 激光

  bool hardwareInitedOK = false;

  static AppHardware* ins() {
    static AppHardware instance;
    return &instance;
  }

  AppHardware();

  void     initialize();
  TMC51X0* getPump(int32_t index) {
    if (index == 0) return &MOTO1;
    if (index == 1) return &MOTO2;
    if (index == 2) return &MOTO3;
    ZASSERT(false);
    return nullptr;
  }

  bool isHardInitOk();

  void SystemPowerOn();

  void SystemPowerOff();

  void setTJCScreenInDownloadMode();

  void setE_Stop(bool isE_Stop);
  bool isE_Stop();

  void toggleLaunched();
  bool isLaunched();

  bool isStarted();

private:
  bool isLaunched_ { false };
  bool isE_Stop_ { false };

  bool isStarted_;
};

}  // namespace iflytop