From a838d01d60b3b76ba3a38b6e3d0c1b90c5c9bd2a Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 9 Nov 2023 20:44:27 +0800
Subject: [PATCH] update

---
 src/iflytop/components/zcanreceiver/zcanhost.cpp | 42 ++++++++++++++++++++++++
 src/iflytop/components/zcanreceiver/zcanhost.hpp | 30 +++++++++++++++--
 2 files changed, 69 insertions(+), 3 deletions(-)

diff --git a/src/iflytop/components/zcanreceiver/zcanhost.cpp b/src/iflytop/components/zcanreceiver/zcanhost.cpp
index d3553dc..00b2e4d 100644
--- a/src/iflytop/components/zcanreceiver/zcanhost.cpp
+++ b/src/iflytop/components/zcanreceiver/zcanhost.cpp
@@ -154,6 +154,20 @@ void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback)
     std::this_thread::sleep_for(std::chrono::milliseconds(ms));
     return true;
   };
+
+  m_cmdMap["call"] = [this](int argc, char** argv, string& retval) {
+    if (argc == 1 + 1) {
+      call(atoi(argv[1]));
+      return true;
+    } else if (argc == 2 + 1) {
+      call(atoi(argv[1]), atoi(argv[2]));
+      return true;
+    } else if (argc == 3 + 1) {
+      call(atoi(argv[1]), atoi(argv[2]), atoi(argv[3]));
+      return true;
+    }
+    return false;
+  };
 }
 
 static void prase_cmd(char* input, int inputlen, int& argc, char* argv[]) {
@@ -440,3 +454,31 @@ int32_t ZCanHost::hpp272_read_c1000(int sensorid, hpp272_data_t& value) {
   memcpy(&value, &rx->data[2], sizeof(hpp272_data_t));
   return 0;
 }
+
+int32_t ZCanHost::call(int32_t cmdid, int32_t* val0, int32_t nval) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = cmdid;
+  cmd->subcmdid                   = 0;
+  int32_t* p                      = (int32_t*)&cmd->data[0];
+  for (int i = 0; i < nval; i++) {
+    p[i] = val0[i];
+  }
+  cmd->len = 4 * nval;
+
+  auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  if (!rx) {
+    return err::zecode(err::knoack);
+  }
+
+  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 val0, int32_t val1) {
+  int32_t val[2] = {val0, val1};
+  return call(cmdid, val, 2);
+}
\ No newline at end of file
diff --git a/src/iflytop/components/zcanreceiver/zcanhost.hpp b/src/iflytop/components/zcanreceiver/zcanhost.hpp
index ab855a4..eaf1b11 100644
--- a/src/iflytop/components/zcanreceiver/zcanhost.hpp
+++ b/src/iflytop/components/zcanreceiver/zcanhost.hpp
@@ -13,10 +13,27 @@ namespace iflytop {
 using namespace std;
 using namespace zcr;
 using namespace core;
+typedef enum {
+  kcmd_ping        = 0,
+  kcmd_read_io     = 1,
+  kcmd_set_io      = 2,
+  kcmd_readadc_raw = 3,
+
+  kcmd_m211887_operation             = 1000,  // 维萨拉压力传感器
+  kcmd_read_presure_sensor           = 1001,
+  kcmd_triple_warning_light_ctl      = 1002,
+  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}
+} CmdID_t;
 
 class ZCanHost {
   ENABLE_LOGGER(ZCanHost);
 
+ public:
+ private:
   shared_ptr<ZCanReceiverHost> m_zcanReceiverHost;
 
   map<string, function<bool(int argc, char** argv, string& retval)>> m_cmdMap;
@@ -96,18 +113,25 @@ class ZCanHost {
   } huacheng_pressure_sensor_read_c1005_t;
   int32_t huacheng_pressure_sensor_get_pa(huacheng_pressure_sensor_read_c1005_t* rawdata) {
     if (rawdata->unit == 0) {
-      int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) ) * 1000000;
+      int32_t pa = (int32_t)rawdata->value / (pow(10.0, rawdata->precision)) * 1000000;
       return pa;
     } else if (rawdata->unit == 1) {
-      int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) ) * 1000;
+      int32_t pa = (int32_t)rawdata->value / (pow(10.0, rawdata->precision)) * 1000;
       return pa;
     } else if (rawdata->unit == 2) {
-      int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) );
+      int32_t pa = (int32_t)rawdata->value / (pow(10.0, rawdata->precision));
       return pa;
     }
     return -1;
   }
   int32_t huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value);
+
+  int32_t call(int32_t cmdid);
+  int32_t call(int32_t cmdid, int32_t val0);
+  int32_t call(int32_t cmdid, int32_t val0, int32_t val1);
+
+ private:
+  int32_t call(int32_t cmdid, int32_t* val0, int32_t nval);
 };
 
 }  // namespace iflytop
\ No newline at end of file