iflytoplinuxsdk_ptdv1/src/iflytop/components/zcanreceiver/zcanhost.hpp

//
// Created by zwsd
//

#pragma once

#include "cmd.hpp"
#include "iflytop/core/core.hpp"
#include "zcanreceiverhost.hpp"

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,  // 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 {
  ENABLE_LOGGER(ZCanHost);

 public:
 private:
  shared_ptr<ZCanReceiverHost> m_zcanReceiverHost;

  map<string, function<bool(int argc, char** argv, string& retval)>> m_cmdMap;

  bool m_writeio_cache[255];

  int16_t m_pumpc1004_speed_cache[255];

 public:
  void initialize(string can_if_name, int baudrate, bool enablLoopback);
  bool execcmd(string cmd, string& retval);

  /*******************************************************************************
   *                                     CMD                                     *
   *******************************************************************************/
  /**
   * @brief 0-1000 Command support
   */
  int32_t ping(int board_id);

  int32_t readio(int id, bool& value);

  int32_t writeio(int id, bool value);
  bool    read_writeio_state_cache(int id);

  int32_t readadc(int id, int& value);

  // 读取M211887(维萨拉)传感器信息

  typedef struct {
    int16_t hydrogen_peroxide_volume;                  // ppm            0x0100 过氧化氢浓度
    int16_t h2o_h2o2_rs;                               // %RS * 100      0x0101 过氧化氢相对饱和度
    int16_t temperature1;                              // °C * 100       0x0102 温度
    int16_t relative_humidity;                         // %RH * 100      0x0103 相对湿度
    int16_t absolute_hydrogen_peroxide;                // mg/m3          0x0104
    int16_t h2o_h2o2dew_point_temperature;             // °C * 100
    int16_t reserved1;                                 //
    int16_t water_volume;                              // ppm
    int16_t water_vapor_pressure;                      // hpa
    int16_t absolute_humidity;                         // g/m3
    int16_t water_vapor_saturation_pressure_h2o;       // hpa
    int16_t temperature2;                              // °C * 100
    int16_t h2o2_vapor_pressure;                       // hpa
    int16_t water_vapor_saturation_pressure_h2o_h2o2;  // hpa
  } hpp272_data_t;

  int32_t hpp272_read_c1000(int sensorid, hpp272_data_t& value);

  /**
   * @brief 报警三色指示灯控制
   *
   * @param sensorid
   * @param r
   * @param g
   * @param b
   * @param w
   */
  int32_t warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w);
  // 1004
  int32_t pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm);
  int32_t pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm, int8_t idlepower, int8_t power);

  int16_t pumpctrl_c1004_get_speed_cache(int id);

  /**
   * @brief 读取华成压力传感器数值
   *
   * @param sensorid
   * @param value
   */
  typedef struct {
    uint8_t precision;  // 0，1，2，3
    uint8_t unit;       // 0-Mpa ,1-Kpa ,2-Pa ,3-Bar ,4-Mbar ,5-kg/cm2 ,6-psi ,7-mh2o ,8-mmh2o
    int16_t value;      // value,  realvalue = value / 10^precision unit
    int16_t zero;       // 零点
    int16_t full;       // 满量程
  } 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;
      return pa;
    } else if (rawdata->unit == 1) {
      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));
      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);

  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* ack, int32_t* acknum);
};

}  // namespace iflytop