Sub_Spray_STM32/User/BSP/LED/exti_key_manager.cpp

//
// Created by iflyt on 2025/3/2.
//
#include "exti_key_manager.h"

#include <stm32f4xx_hal.h>
#include <base/apphardware.hpp>
#include <base/zbasic.h>
#include <status/motor_manager.h>
#include <LED/timer_key_manager.h>

#include "led.h"

#define TAG "EXTI_KEY"

ExtiKeyManager* ExtiKeyManager::s_instance = nullptr;

EXITKeyInfo ExtiKeyManager::exit_key_info_ = EXITKeyInfo();

const B_PinInfo ExtiKeyManager::pinInfos[EXTI_PIN_COUNT] = {
    {X_PORT, X_ORIGIN_PIN, GPIO_PIN_RESET},
    {X_PORT, X_LIMIT_PIN, GPIO_PIN_RESET},
    {Y_PORT, Y_ORIGIN_PIN, GPIO_PIN_RESET},
    {Y_PORT, Y_LIMIT_PIN, GPIO_PIN_RESET},
    {Z_PORT, Z_ORIGIN_PIN, GPIO_PIN_RESET},
    {Z_PORT, Z_LIMIT_PIN, GPIO_PIN_RESET},
    {SYSTEM_POWER_PORT, SYSTEM_POWER_PIN, GPIO_PIN_SET},
    {E_STOP_PORT, E_STOP_PIN, GPIO_PIN_RESET}
};


ExtiKeyManager* ExtiKeyManager::ins() {
    if (s_instance == nullptr) {
        s_instance = new ExtiKeyManager();
    }
    return s_instance;
}

ExtiKeyManager::ExtiKeyManager() {
    keyQueue_ = osMessageQueueNew(10, sizeof(EXITKeyInfo), nullptr);
    if (keyQueue_ == nullptr) {
    }
    osThreadNew(ExtiKeyManager::handleKeyInterrupts, this, nullptr);
}

ExtiKeyManager::~ExtiKeyManager() {
    if(keyQueue_ != nullptr) {
        osMessageQueueDelete(keyQueue_);
    }
}

bool ExtiKeyManager::isPinStateTriggered(const uint16_t targetPin, const bool state) {
    for (int i = 0; i < sizeof(pinInfos) / sizeof(B_PinInfo); i++) {
        if (pinInfos[i].pin == targetPin) {
            GPIO_PinState currentLevel = state ? GPIO_PIN_SET : GPIO_PIN_RESET;
            // 检查当前电平是否等于有效电平，并且输入的电平也等于有效电平
            return (currentLevel == pinInfos[i].activeLevel);
        }
    }
    return false;  // 如果未找到对应的引脚，返回 false
}

bool ExtiKeyManager::isPinTriggered(uint16_t targetPin) {
    for (int i = 0; i < sizeof(pinInfos) / sizeof(pinInfos[0]); i++) {
        if (pinInfos[i].pin == targetPin) {
            GPIO_PinState currentLevel = HAL_GPIO_ReadPin(pinInfos[i].port, pinInfos[i].pin);
            return (currentLevel == pinInfos[i].activeLevel);
        }
    }
    return false;  // 如果未找到对应的引脚，返回 false
}

GPIO_TypeDef* ExtiKeyManager::getPortByPin(uint16_t pin) {
    for(int i = 0; i < EXTI_PIN_COUNT; i++) {
        if(pin == pinInfos[i].pin) {
            return pinInfos[i].port;
        }
    }
    return nullptr;
}

extern "C" void HAL_GPIO_EXTI_Callback(uint16_t gpio_pin) {
    GPIO_PinState pin_state = GPIO_PIN_RESET;
    GPIO_TypeDef *gpio_port =  ExtiKeyManager::getPortByPin(gpio_pin);
    if(gpio_port != nullptr) {
        pin_state = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
        ExtiKeyManager::handleInterrupt(gpio_pin, pin_state);
    }
}

void ExtiKeyManager::handleInterrupt(uint16_t gpio_pin, GPIO_PinState pin_state) {
    if (s_instance && s_instance->keyQueue_) {
        exit_key_info_.gpio_pin = gpio_pin;
        exit_key_info_.pin_state = pin_state;
        osMessageQueuePut(s_instance->keyQueue_, &exit_key_info_, 0, 0);
    }
}

void ExtiKeyManager::handleKeyInterrupts(void* arg) {
    ExtiKeyManager* manager = static_cast<ExtiKeyManager*>(arg);
    EXITKeyInfo exit_key_info = EXITKeyInfo();
    while (true) {
        osStatus os_status = osMessageQueueGet(manager->keyQueue_, &exit_key_info, nullptr, osWaitForever);
        if (os_status == osOK) {
            if(exit_key_info.gpio_pin == SYSTEM_POWER_PIN || exit_key_info.gpio_pin == E_STOP_PIN) {
                osDelay(50);
                GPIO_TypeDef* port = getPortByPin(exit_key_info.gpio_pin);
                GPIO_PinState pin_state = HAL_GPIO_ReadPin(port, exit_key_info.gpio_pin);
                if(pin_state == exit_key_info.pin_state) {
                    const bool is_triggerd = manager->isPinStateTriggered(exit_key_info.gpio_pin, exit_key_info.pin_state);
                    manager->processKeyEvent(exit_key_info.gpio_pin, is_triggerd);
                }
            }
            else {
                const bool is_triggerd = manager->isPinStateTriggered(exit_key_info.gpio_pin, exit_key_info.pin_state);
                manager->processKeyEvent(exit_key_info.gpio_pin, is_triggerd);
            }
        }
        else {
            ZLOGI(TAG, "key queue get failed error code %d", os_status);
        }
    }
}

void ExtiKeyManager::processKeyEvent(const uint16_t gpio_pin, const bool is_triggerd) {
    switch (gpio_pin) {
        case E_STOP_PIN: {
            // 处理急停按键事件
            if (is_triggerd) {
                ZLOGI(TAG, "E_STOP_PIN Pressed");
                iflytop::AppHardware::ins()->setE_Stop(true);
                iflytop::AppHardware::ins()->SystemPowerOff(true);
                tri_color_light(COLOR_RED);  // 开启红灯
            } else {
                ZLOGI(TAG, "E_STOP_PIN Released");
                iflytop::AppHardware::ins()->setE_Stop(false);
                bool isLaunched = iflytop::AppHardware::ins()->isLaunched();
                if(isLaunched) {
                    iflytop::AppHardware::ins()->SystemPowerOn();
                }
                else {
                    tri_color_light(COLOR_OFF);  // 开启绿灯
                }
            }
            break;
        }
        case SYSTEM_POWER_PIN: {
            // 处理开解按键事件
            if(is_triggerd) {
                ZLOGI(TAG, "SYSTEM_POWER_PIN Pressed");
                RK3588_POWER_TOGGLE;
                LED_KEY_TOGGLE;
                // bool
                const bool isLaunched = iflytop::AppHardware::ins()->isLaunched();
                if(!isLaunched) {
                    iflytop::AppHardware::ins()->SystemPowerOn();
                }
                else {
                    iflytop::AppHardware::ins()->SystemPowerOff();
                }
                iflytop::AppHardware::ins()->toggleLaunched();
            }
            else {
                ZLOGI(TAG, "SYSTEM POWER PIN Released");
            }

            break;
        }
        case X_ORIGIN_PIN: {
            // 处理X轴原点传感器事件
            MotorManager::ins()->motors[0].runZeroLimit(is_triggerd);
            if (is_triggerd) {
                ZLOGI(TAG, "X_ORIGIN_PIN ENTER");
            } else {
                ZLOGI(TAG, "X_ORIGIN_PIN LEAVE");
            }
            break;
        }
        case X_LIMIT_PIN: {
            // 处理X轴限位传感器事件
            MotorManager::ins()->motors[0].runEndLimit(is_triggerd);

            if (isPinStateTriggered(X_LIMIT_PIN, is_triggerd)) {
                ZLOGI(TAG, "X_LIMIT_PIN ENTER");
            } else {
                ZLOGI(TAG, "X_LIMIT_PIN LEAVE");
            }
            break;
        }
        case Y_ORIGIN_PIN: {
            // 处理Y轴原点传感器事件
            MotorManager::ins()->motors[1].runZeroLimit(is_triggerd);

            if (is_triggerd) {
                ZLOGI(TAG, "Y_ORIGIN_PIN ENTER");

            } else {
                ZLOGI(TAG, "Y_ORIGIN_PIN LEAVE");
            }
            break;
        }
        case Y_LIMIT_PIN: {
            // 处理Y轴限位传感器事件
            MotorManager::ins()->motors[1].runEndLimit(is_triggerd);

            if (is_triggerd) {
                ZLOGI(TAG, "Y_LIMIT_PIN ENTER");
            } else {
                ZLOGI(TAG, "Y_LIMIT_PIN LEAVE");
            }
            break;
        }
        case Z_ORIGIN_PIN: {
            // 处理Z轴原点传感器事件
            MotorManager::ins()->motors[2].runZeroLimit(is_triggerd);

            if (is_triggerd) {
                ZLOGI(TAG, "Z_ORIGIN_PIN ENTER");
            } else {
                ZLOGI(TAG, "Z_ORIGIN_PIN LEAVE");
            }
            break;
        }
        case Z_LIMIT_PIN: {
            // 处理Z轴限位传感器事件
            MotorManager::ins()->motors[2].runEndLimit(is_triggerd);

            if (is_triggerd) {
                ZLOGI(TAG, "Z_LIMIT_PIN ENTER");

            } else {
                ZLOGI(TAG, "Z_LIMIT_PIN LEAVE");
            }
            break;
        }
        default:
            break;
    }
}

// 初始化 GPIO 引脚
void EX_GPIO_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct = {0};

    // 使能 GPIO 时钟
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_GPIOF_CLK_ENABLE();

    // 配置 X 轴传感器引脚
    GPIO_InitStruct.Pin = X_ORIGIN_PIN | X_LIMIT_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(X_PORT, &GPIO_InitStruct);

    // 配置 Y 轴传感器引脚
    GPIO_InitStruct.Pin = Y_ORIGIN_PIN | Y_LIMIT_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(Y_PORT, &GPIO_InitStruct);

    // 配置 Z 轴传感器引脚
    GPIO_InitStruct.Pin = Z_ORIGIN_PIN | Z_LIMIT_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(Z_PORT, &GPIO_InitStruct);

    // 配置 KEY1 引脚
    GPIO_InitStruct.Pin = SYSTEM_POWER_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;  // 上升沿触发中断
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(SYSTEM_POWER_PORT, &GPIO_InitStruct);

    // 配置 JT 引脚
    GPIO_InitStruct.Pin = E_STOP_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(E_STOP_PORT, &GPIO_InitStruct);

    // 配置中断优先级
    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

    HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);

    HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(EXTI0_IRQn);

}

extern "C" void EXTI0_IRQHandler(void) {
    HAL_GPIO_EXTI_IRQHandler(SYSTEM_POWER_PIN);
}

extern "C" void EXTI9_5_IRQHandler(void) {
	HAL_GPIO_EXTI_IRQHandler(X_ORIGIN_PIN);
	HAL_GPIO_EXTI_IRQHandler(X_LIMIT_PIN);
	HAL_GPIO_EXTI_IRQHandler(Y_ORIGIN_PIN);
}

extern "C" void EXTI15_10_IRQHandler(void) {
	HAL_GPIO_EXTI_IRQHandler(Y_LIMIT_PIN);
	HAL_GPIO_EXTI_IRQHandler(Z_ORIGIN_PIN);
	HAL_GPIO_EXTI_IRQHandler(Z_LIMIT_PIN);
    // HAL_GPIO_EXTI_IRQHandler(E_STOP_PIN);
}

extern "C" uint16_t getORIGINPin(uint32_t motor_index) {
    switch (motor_index) {
        case 0:
            return X_ORIGIN_PIN;
        case 1:
            return Y_ORIGIN_PIN;
        case 2:
            return Z_ORIGIN_PIN;
        default:
            return 0xFFFF;
    }
}

uint16_t getAxisLimitPin(uint32_t motor_index) {
    switch (motor_index) {
        case 0:
            return X_LIMIT_PIN;
        case 1:
            return Y_LIMIT_PIN;
        case 2:
            return Z_LIMIT_PIN;
        default:
            return 0xFFFF;
    }
}