From bc21bc20bbcafb76ad294500f67c77518ee8447d Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 28 Apr 2024 21:16:53 +0800
Subject: [PATCH] V3

---
 README.md                                    |  2 ++
 usrc/project_configs.h                       |  2 +-
 usrc/protocol_impl/protocol_impl_service.cpp | 40 +++++++++++++++++++++-------
 3 files changed, 33 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index cb025b5..4332492 100644
--- a/README.md
+++ b/README.md
@@ -6,4 +6,6 @@
 
     V2:
         完成需求
+    V3:
+        1.当控制电机时，会重置电机异常标志位
 ```
\ No newline at end of file
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index ea93f39..237c65f 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -9,7 +9,7 @@
  * @brief 基础配置
  *
  */
-#define SOFTWARE_VERSION 2
+#define SOFTWARE_VERSION 3
 #define HARDWARE_VERSION 1
 #define PROJECT          "dbdb_liquid_path_control"
 #define SN_HEADER        "SN"
diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp
index e1ee1a1..24f0dfa 100644
--- a/usrc/protocol_impl/protocol_impl_service.cpp
+++ b/usrc/protocol_impl/protocol_impl_service.cpp
@@ -37,9 +37,26 @@ static osThreadId PacketRxThreadId;
 static osTimerId PressureSensorDataReportTimerId;  // 压力传感器数值上报
 static uint32_t  m_pressureSensorDataReportPeriodMs = 3000;
 
-static osTimerId MotorMonitorTimerId;  // 压力传感器数值上报
+static osTimerId MotorMonitorTimerId;      // 压力传感器数值上报
+static bool      motorErrorFlagCache[10];  // 电机异常状态上报标志位
+static zmutex    motorErrorFlagCacheLock;
+static uint8_t   m_dflag;
+
+static bool motorErrorFlag_get(int subindex) {
+  bool ret;
+  {
+    zlock_guard guard(motorErrorFlagCacheLock);
+    ret = motorErrorFlagCache[subindex];
+  }
+  return ret;
+}
 
-static uint8_t m_dflag;
+static void motorErrorFlag_set(int subindex, bool val) {
+  {
+    zlock_guard guard(motorErrorFlagCacheLock);
+    motorErrorFlagCache[subindex] = val;
+  }
+}
 
 /***********************************************************************************************************************
  *                                                    FUNCTION_IMPL                                                    *
@@ -126,7 +143,9 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     Hardware::ins().motor(subindex)->enableIC(false);
     Hardware::ins().motor(subindex)->enableIC(true);
     Hardware::ins().motor(subindex)->rotate(velocity);
+
     zcanbus_send_ack(packet, NULL, 0);
+    motorErrorFlag_set(subindex, false);
   }
 
   // 泵机停止
@@ -365,26 +384,26 @@ static void onPressureSensorDataReportTimer(void const* argument) {
 
 static void onMotorMonitorTimer(void const* argument) {
   // 电机异常检查
-  static bool motorErrorFlagCache[10];
 
   report_exeception_data_t data;
   for (size_t i = 0; i < Hardware::ins().motorNum(); i++) {
+    bool estate = motorErrorFlag_get(i);
+
     if (!Hardware::ins().motor(i)->ping()) {
       data.subid = i;
       data.ecode = kerr_motor_subdevice_offline;
 
-      if (!motorErrorFlagCache[i]) {
-        motorErrorFlagCache[i] = true;
+      if (!estate) {
+        motorErrorFlag_set(i, true);
         ZLOGE(TAG, "motor %d offline error", i);
         zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
       }
     } else {
       auto gstate = Hardware::ins().motor(i)->getGState();
       bool flag   = gstate.reset || gstate.drv_err || gstate.uv_cp;
-      // flag        = true;
-      if (!flag && motorErrorFlagCache[i]) {
-        motorErrorFlagCache[i] = false;
-      } else if (flag && !motorErrorFlagCache[i]) {
+      if (!flag && estate) {
+        motorErrorFlag_set(i, false);
+      } else if (flag && !estate) {
         ZLOGE(TAG, "motor %d error, reset %d, drv_err %d, uv_cp %d", i, gstate.reset, gstate.drv_err, gstate.uv_cp);
         if (gstate.reset) {
           data.ecode = kerr_motor_reset_error;
@@ -396,7 +415,7 @@ static void onMotorMonitorTimer(void const* argument) {
           data.ecode = kerr_motor_unkown_error;
         }
         data.subid = i;
-        motorErrorFlagCache[i] = true;
+        motorErrorFlag_set(i, true);
         zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
       }
     }
@@ -410,6 +429,7 @@ static void onMotorMonitorTimer(void const* argument) {
 void protocol_impl_service_init() {  //
   Hardware::ins().init();
   ForceReportFlagMgr::ins()->init();
+  motorErrorFlagCacheLock.init();
   m_dflag = 0x00;
   SET_BIT(m_dflag, 0);