update

src/iflytop/components/zcanreceiver/zcanhost.cpp

@@ -156,14 +156,18 @@ void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback)
   };
 
   m_cmdMap["call"] = [this](int argc, char** argv, string& retval) {
+    int32_t ack = 0;
     if (argc == 1 + 1) {
-      call(atoi(argv[1]));
+      call(atoi(argv[1]), &ack);
+      retval = fmt::format("ACK:{}", ack);
       return true;
     } else if (argc == 2 + 1) {
-      call(atoi(argv[1]), atoi(argv[2]));
+      call(atoi(argv[1]), atoi(argv[2]), &ack);
+      retval = fmt::format("ACK:{}", ack);
       return true;
     } else if (argc == 3 + 1) {
-      call(atoi(argv[1]), atoi(argv[2]), atoi(argv[3]));
+      call(atoi(argv[1]), atoi(argv[2]), atoi(argv[3]), &ack);
+      retval = fmt::format("ACK:{}", ack);
       return true;
     }
     return false;
@@ -455,7 +459,7 @@ int32_t ZCanHost::hpp272_read_c1000(int sensorid, hpp272_data_t& value) {
   return 0;
 }
 
-int32_t ZCanHost::call(int32_t cmdid, int32_t* val0, int32_t nval) {
+int32_t ZCanHost::call(int32_t cmdid, int32_t* val0, int32_t nval, int32_t* ack, int32_t* acknum) {
   shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
   cmd->cmdid                      = cmdid;
   cmd->subcmdid                   = 0;
@@ -470,15 +474,40 @@ int32_t ZCanHost::call(int32_t cmdid, int32_t* val0, int32_t nval) {
     return err::zecode(err::knoack);
   }
 
+  if (ack != nullptr && acknum != nullptr && rx->packetType == kpt_ack) {
+    int32_t rxdatasize = rx->len / 4;
+    for (int32_t i = 0; i < *acknum; i++) {
+      ack[i] = *(int32_t*)&(rx->data[i * 4]);
+      if (i >= rxdatasize) {
+        ack[i] = 0;
+      }
+    }
+    *acknum = rxdatasize;
+  }
+
   if (rx->packetType == kpt_error_ack) {
     logger->error("call error ack,{}", *zuint16p(&rx->data[0]));
     return err::zecode(err::kfail);
   }
   return 0;
 }
-int32_t ZCanHost::call(int32_t cmdid) { return call(cmdid, (int32_t*)nullptr, 0); }
-int32_t ZCanHost::call(int32_t cmdid, int32_t val0) { return call(cmdid, &val0, 1); }
+int32_t ZCanHost::call(int32_t cmdid, int32_t* ack) {
+  int32_t acknum = 1;
+  return call(cmdid, (int32_t*)nullptr, 0, ack, &acknum);
+}
+int32_t ZCanHost::call(int32_t cmdid, int32_t val0, int32_t* ack) {
+  int32_t val[1] = {val0};
+  int32_t acknum = 1;
+  return call(cmdid, val, 1, ack, &acknum);
+}
+int32_t ZCanHost::call(int32_t cmdid, int32_t val0, int32_t val1, int32_t* ack) {
+  int32_t val[2] = {val0, val1};
+  int32_t acknum = 1;
+  return call(cmdid, val, 2, ack, &acknum);
+}
+int32_t ZCanHost::call(int32_t cmdid) { return call(cmdid, (int32_t*)nullptr, 0, nullptr, nullptr); }
+int32_t ZCanHost::call(int32_t cmdid, int32_t val0) { return call(cmdid, &val0, 1, nullptr, nullptr); }
 int32_t ZCanHost::call(int32_t cmdid, int32_t val0, int32_t val1) {
   int32_t val[2] = {val0, val1};
-  return call(cmdid, val, 2);
+  return call(cmdid, val, 2, nullptr, nullptr);
 }

src/iflytop/components/zcanreceiver/zcanhost.hpp

@@ -25,8 +25,11 @@ typedef enum {
   kcmd_high_power_electrical_ctl     = 1003,
   kcmd_peristaltic_pump_ctl          = 1004,
   kcmd_read_huacheng_pressure_sensor = 1005,
-  kcmd_set_proportional_valve        = 1006,  // {4:valveId,4:valveValue}
-  kcmd_air_compressor_ch_ctrl        = 1007,  // {4:chstate}
+  kcmd_set_proportional_valve        = 1006,  // 设置比例阀      {4:valveId,4:valveValue}  
+  kcmd_air_compressor_ch_select      = 1007,  // 空压机通道选择   {4:val}
+  kcmd_air_compressor_valve1_set     = 1008,  // 空压机阀门1控制  {4:val}
+  kcmd_air_compressor_valve2_set     = 1009,  // 空压机阀门2控制  {4:val}
+  kcmd_air_compressor_read_pressure  = 1010,  // 空压机阀读取压力  {}{4:val}
 } CmdID_t;
 
 class ZCanHost {
@@ -130,8 +133,12 @@ class ZCanHost {
   int32_t call(int32_t cmdid, int32_t val0);
   int32_t call(int32_t cmdid, int32_t val0, int32_t val1);
 
+  int32_t call(int32_t cmdid, int32_t* ack);
+  int32_t call(int32_t cmdid, int32_t val0, int32_t* ack);
+  int32_t call(int32_t cmdid, int32_t val0, int32_t val1, int32_t* ack);
+
  private:
-  int32_t call(int32_t cmdid, int32_t* val0, int32_t nval);
+  int32_t call(int32_t cmdid, int32_t* val0, int32_t nval, int32_t* ack, int32_t* acknum);
 };
 
 }  // namespace iflytop