p_transmit_disinfection
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large_space_disinfection__linux_backend_v1
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zhaohe 1 year ago
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11 changed files with 282 additions and 278 deletions
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  1. 1
      src/api/cmds/setting_page_cmd_impl.cpp
  2. 1
      src/configs/gconfig.hpp
  3. 4
      src/configs/project_setting.hpp
  4. 21
      src/main.cpp
  5. 35
      src/main_control_service.cpp
  6. 38
      src/service/device_io_control_service_test.cpp
  7. 377
      src/service/disfection_ctl/disinfection_service.cpp
  8. 21
      src/service/disfection_ctl/disinfection_state.hpp
  9. 28
      src/service/disfection_ctl/disinfection_state_machine.cpp
  10. 8
      src/service/disfection_ctl/disinfection_state_machine.hpp
  11. 26
      src/service/disinfection_ctl_service.cpp

1
src/api/cmds/setting_page_cmd_impl.cpp
View File

@ -112,7 +112,6 @@ void SettingPageCmdImpl::initialize() {
GET_TO_SERVICE(m_frontMsgProcesser);
m_msgProcesser->registerMsgProcesser("getAllSetting", BIND(SettingPageCmdImpl::getAllSetting));
m_msgProcesser->registerMsgProcesser("getAllSetting", BIND(SettingPageCmdImpl::getAllSetting));
m_msgProcesser->registerMsgProcesser("setSettingVal", BIND(SettingPageCmdImpl::setSettingVal));
m_msgProcesser->registerMsgProcesser("getAllFormula", BIND(SettingPageCmdImpl::getAllFormula));
m_msgProcesser->registerMsgProcesser("addFormula", BIND(SettingPageCmdImpl::addFormula));

1
src/configs/gconfig.hpp
View File

@ -22,6 +22,7 @@
marco(int32_t /* */, pipettingRobotCanBitrate, 500000) /*移液臂Can设备波特率*/ \
marco(float /* */, dvalueCoefficient, 1) /*数值越小，相对消毒时间越长*/ \
marco(float /* */, disinfectantWeightCorrectionFactor, 0.9) /*数值越小，相对消毒时间越长*/ \
marco(bool /* */, testMode, false) /*数值越小，相对消毒时间越长*/
configTemplateDEFILE_CONFIG_SERVICE2( //
GConfig, //

4
src/configs/project_setting.hpp
View File

@ -9,10 +9,10 @@
#define REG_DEVICE_ID 0x0001 // 重启标识
#define REG_EXCEPTION_FLAG 0x0100 // 异常标志位
// #define PROJECT_TYPE_LARGE_SPACE_DISINFECTION 1 // 大空间
#define PROJECT_TYPE_LARGE_SPACE_DISINFECTION 1 // 大空间
// #define PROJECT_TYPE_SMALL_SPACE_DISINFECTION 1 // 小空间
// #define PROJECT_TYPE_PIPE_DISINFECTION 1 // 管道消毒机
#define PROJECT_TYPE_DRAW_BAR_BOX 1 // 拉感箱
// #define PROJECT_TYPE_DRAW_BAR_BOX 1 // 拉感箱
// #if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)

21
src/main.cpp
View File

@ -2,6 +2,7 @@
#include <signal.h>
#include <sqlite3.h>
#include "iflytop/components/uart_printer/uart_printer.hpp"
using namespace iflytop;
@ -29,24 +30,6 @@ void Main::run(int argc, char *argv[]) {
}
int Main::main(int argc, char *argv[]) {
/**
* @brief 解析命令行参数
*/
string test_mode = "false";
auto cli = ((required("--test_mode") & value("test_mode", test_mode)).doc("test_mode"));
if (!parse(argc, argv, cli)) {
test_mode = "false";
// cout << make_man_page(cli, argv[0]);
// exit(-1);
}
if (test_mode == "false") {
g_in_test = false;
} else {
g_in_test = true;
}
// g_in_test = false;
// logger->info("test_mode:{}:{}", test_mode, g_in_test);
/**
* @brief 系统初始化
*/
logger->info("system setup start.");
@ -61,6 +44,8 @@ int Main::main(int argc, char *argv[]) {
BUILD_AND_REG_SERRVICE(GConfig);
GET_SERVICE(GConfig)->initialize();
g_in_test = GET_SERVICE(GConfig)->get_testMode();
BUILD_AND_REG_SERRVICE(UartPrinter);
GET_SERVICE(UartPrinter)->initialize("/dev/ttyS5", "9600");

35
src/main_control_service.cpp
View File

@ -55,6 +55,12 @@ void MainControlService::initialize() {
BUILD_AND_REG_SERRVICE(FrontMsgProcesser);
GET_SERVICE(FrontMsgProcesser)->initialize();
BUILD_AND_REG_SERRVICE(DisinfectionPrinterService);
GET_SERVICE(DisinfectionPrinterService)->initialize();
BUILD_AND_REG_SERRVICE(DisinfectionCtrlService);
GET_SERVICE(DisinfectionCtrlService)->initialize();
BUILD_AND_REG_SERRVICE(IflytopFrontEndService);
GET_SERVICE(IflytopFrontEndService)->initialize("0.0.0.0");
GET_SERVICE(IflytopFrontEndService)->onMessage.connect([this](weak_ptr<WebSocket> webSocket, json& cmd, json& receipt) {
@ -62,23 +68,6 @@ void MainControlService::initialize() {
if (cmdstr != "getState") logger->info("rx:{}", cmd.dump());
m_frontMsgProcesser->processMsg(cmd, receipt);
});
GET_SERVICE(IflytopFrontEndService)->startListen();
BUILD_AND_REG_SERRVICE(DisinfectionPrinterService);
GET_SERVICE(DisinfectionPrinterService)->initialize();
BUILD_AND_REG_SERRVICE(DisinfectionCtrlService);
GET_SERVICE(DisinfectionCtrlService)->initialize();
GET_TO_SERVICE(m_dbService);
GET_TO_SERVICE(m_deviceStateService);
GET_TO_SERVICE(m_zcanhost);
GET_TO_SERVICE(m_disinfectionLogsManager);
GET_TO_SERVICE(m_deviceIoControlService);
GET_TO_SERVICE(m_dataExportService);
GET_TO_SERVICE(m_frontMsgProcesser);
GET_TO_SERVICE(m_iflytopwsService);
GET_TO_SERVICE(m_disinfectionCtrlService);
BUILD_AND_REG_SERRVICE(DeviceStateCmdImpl);
BUILD_AND_REG_SERRVICE(DisinfectionCmdImpl);
@ -104,6 +93,16 @@ void MainControlService::initialize() {
GET_SERVICE(PipelineDisinfectionCmdAppend)->initialize();
#endif
GET_TO_SERVICE(m_dbService);
GET_TO_SERVICE(m_deviceStateService);
GET_TO_SERVICE(m_zcanhost);
GET_TO_SERVICE(m_disinfectionLogsManager);
GET_TO_SERVICE(m_deviceIoControlService);
GET_TO_SERVICE(m_dataExportService);
GET_TO_SERVICE(m_frontMsgProcesser);
GET_TO_SERVICE(m_iflytopwsService);
GET_TO_SERVICE(m_disinfectionCtrlService);
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->warningLightCtrl(0, 1, 0, 0); // 绿色灯亮
m_deviceIoControlService->airCompressor_setState(0);
@ -116,4 +115,6 @@ void MainControlService::initialize() {
m_deviceIoControlService->AirOutletProportionalValve_setState(0);
#endif
#endif
GET_SERVICE(IflytopFrontEndService)->startListen();
};

38
src/service/device_io_control_service_test.cpp
View File

@ -13,10 +13,10 @@ void DeviceIoControlServiceTest::printerPrintf(string str) { //
GET_SERVICE(UartPrinter)->print(ZIconv::utf8_to_gb2312(str));
}
int32_t DeviceIoControlServiceTest::H2O2Sensor_readH2O2PPM(int32_t sensorid) { return 300 + rand() % 1000; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readHumid(int32_t sensorid) { return 20 + rand() % 30; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readTemperature(int32_t sensorid) { return rand() % 30; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readSaturation(int32_t sensorid) { return 50 + rand() % 30; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readH2O2PPM(int32_t sensorid) { return rand() % 1000; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readHumid(int32_t sensorid) { return rand() % 100; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readTemperature(int32_t sensorid) { return rand() % 40; }
int32_t DeviceIoControlServiceTest::H2O2Sensor_readSaturation(int32_t sensorid) { return rand() % 100; }
// int32_t DeviceIoControlServiceTest::H2O2Sensor_readH2O2PPM(int32_t sensorid) { return 1; }
// int32_t DeviceIoControlServiceTest::H2O2Sensor_readHumid(int32_t sensorid) { return 2; }
@ -38,6 +38,7 @@ int DeviceIoControlServiceTest::heatingStrip_getio2() { return heatingStrip_io2
int DeviceIoControlServiceTest::heatingStrip_getstate() { return heatingStrip_state; }
int DeviceIoControlServiceTest::heatingStrip_getcurrentValue() { return heatingStrip_currentValue; }
void DeviceIoControlServiceTest::heartingPlate_setPower(bool val) {
logger->info("heartingPlate_setPower:{}", val);
heatingStrip_state = val;
heatingStrip_currentValue = val ? 10 : 0;
heatingStrip_io1 = 1;
@ -57,6 +58,7 @@ int DeviceIoControlServiceTest::airBlower_getio2() { return airBlower_io2; }
int DeviceIoControlServiceTest::airBlower_getstate() { return airBlower_state; }
int DeviceIoControlServiceTest::airBlower_getcurrentValue() { return airBlower_currentValue; }
int DeviceIoControlServiceTest::airBlower_setState(bool state) {
logger->info("airBlower_setState:{}", state);
airBlower_state = state;
airBlower_currentValue = state ? 11 : 0;
airBlower_io1 = 1;
@ -72,6 +74,7 @@ static int airCompressor_io2;
static int airCompressor_state;
static int airCompressor_currentValue;
void DeviceIoControlServiceTest::airCompressor_setState(bool val) {
logger->info("airCompressor_setState:{}", val);
airCompressor_state = val;
airCompressor_currentValue = val ? 12 : 0;
airCompressor_io1 = 1;
@ -98,13 +101,19 @@ void DeviceIoControlServiceTest::replenishingFluidsPump_open_for_test(int speed)
void DeviceIoControlServiceTest::replenishingFluidsPump_close_for_test() { drainingPump_rpm = 0; }
// 喷液泵
static int sprayLiquidPump_rpm;
void DeviceIoControlServiceTest::sprayLiquidPump_open(int gpm) { sprayLiquidPump_rpm = 123; }
void DeviceIoControlServiceTest::sprayLiquidPump_close() { sprayLiquidPump_rpm = 0; }
int DeviceIoControlServiceTest::sprayLiquidPump_getState() { return sprayLiquidPump_rpm; }
int DeviceIoControlServiceTest::sprayLiquidPump_getRPM() { return sprayLiquidPump_rpm; }
int DeviceIoControlServiceTest::sprayLiquidPump_getGPM() { return sprayLiquidPump_rpm * 2; }
void DeviceIoControlServiceTest::sprayLiquidPump_open_for_test(int gpm) { sprayLiquidPump_rpm = gpm; }
void DeviceIoControlServiceTest::sprayLiquidPump_close_for_test() { sprayLiquidPump_rpm = 0; }
void DeviceIoControlServiceTest::sprayLiquidPump_open(int gpm) {
logger->info("sprayLiquidPump_open:{}", gpm);
sprayLiquidPump_rpm = 123;
}
void DeviceIoControlServiceTest::sprayLiquidPump_close() {
logger->info("sprayLiquidPump_close");
sprayLiquidPump_rpm = 0;
}
int DeviceIoControlServiceTest::sprayLiquidPump_getState() { return sprayLiquidPump_rpm; }
int DeviceIoControlServiceTest::sprayLiquidPump_getRPM() { return sprayLiquidPump_rpm; }
int DeviceIoControlServiceTest::sprayLiquidPump_getGPM() { return sprayLiquidPump_rpm * 2; }
void DeviceIoControlServiceTest::sprayLiquidPump_open_for_test(int gpm) { sprayLiquidPump_rpm = gpm; }
void DeviceIoControlServiceTest::sprayLiquidPump_close_for_test() { sprayLiquidPump_rpm = 0; }
/******************************************************************************
* 水浸传感器 *
@ -181,11 +190,10 @@ int32_t DeviceIoControlServiceTest::AirProportionalValve_isBusy(int32_t* isbusy)
int32_t DBDB__sprayLiquidPump_state;
void DeviceIoControlServiceTest::DBDB__sprayLiquidPump_run(int gpm) {
logger->info("DBDB__sprayLiquidPump_run gpm:{}", gpm);
DBDB__sprayLiquidPump_state = 1; }
DBDB__sprayLiquidPump_state = 1;
}
int32_t DeviceIoControlServiceTest::DBDB__readPressureSensor(int index) {
return index; }
int32_t DeviceIoControlServiceTest::DBDB__readPressureSensor(int index) { return index; }
int32_t DeviceIoControlServiceTest::DBDB__sprayAirCompressorPowerCtrl(int power) {
logger->info("DBDB__sprayAirCompressorPowerCtrl power:{}", power);
return 0;

377
src/service/disfection_ctl/disinfection_service.cpp
View File

@ -13,6 +13,7 @@ using namespace std;
#define DVALUE_COMPUTEPERIOD_TIME_S (10.0)
#define DUMP_LOG_PERIOD (5 * 60.0)
#define DBDB_MINI_PWM_BLOWER_VAL 50
namespace iflytop {
extern bool g_in_test;
@ -36,7 +37,6 @@ void DisinfectionService::initialize() {
m_deviceIoControlService->airBlower_setState(false);
m_deviceIoControlService->airCompressor_setState(false);
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#else
#endif
sm.regStateProcesser(kstate_idle, bind(&DisinfectionService::processStateIdle, this, placeholders::_1));
@ -46,6 +46,8 @@ void DisinfectionService::initialize() {
sm.regStateProcesser(kstate_finished, bind(&DisinfectionService::processStateFinished, this, placeholders::_1));
sm.regStateProcesser(kstate_dehumidification_before_disinfection, bind(&DisinfectionService::processStateDehumidification_before_disinfection, this, placeholders::_1));
sm.regStateProcesser(kstate_dehumidification_after_disinfection, bind(&DisinfectionService::processStateDehumidification_after_disinfection, this, placeholders::_1));
sm.regBfStateProcess(bind(&DisinfectionService::beforeStateProcess, this));
sm.startProcess();
}
@ -100,47 +102,37 @@ static bool zfeq(float a, float b, float eps = 0.01) {
shared_ptr<DisinfectionLogger> DisinfectionService::createCSVLogger(string log_file_name) {
shared_ptr<DisinfectionLogger> _logger = m_disinfectionLogsManager->createNewLogger(log_file_name);
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
_logger->write(
fmt::format("{},"
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
#else
" {} , {} , {} , {} ,"
#endif
" {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {}"
"\n",
ZIconv::noChange("时间"), //
ZIconv::noChange("时间"),
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
ZIconv::noChange("仓内-气化过氧化氢浓度"), ZIconv::noChange("仓内-温度"), ZIconv::noChange("仓内-相对湿度"), ZIconv::noChange("仓内-相对饱和度"), //
ZIconv::noChange("环境1-气化过氧化氢浓度"), ZIconv::noChange("环境1-温度"), ZIconv::noChange("环境1-相对湿度"), ZIconv::noChange("环境1-相对饱和度"), //
ZIconv::noChange("环境2-气化过氧化氢浓度"), ZIconv::noChange("环境2-温度"), ZIconv::noChange("环境2-相对湿度"), ZIconv::noChange("环境2-相对饱和度"), //
ZIconv::noChange("D值"), ZIconv::noChange("当前LOG"), ZIconv::noChange("目标LOG"), //
ZIconv::noChange("加热器电源"), ZIconv::noChange("风机电源"), ZIconv::noChange("空压机电源"), ZIconv::noChange("喷液泵(g/min)"), //
ZIconv::noChange("消毒剩余剂量(g)"), ZIconv::noChange("剩余时间(s)")));
#endif
#ifdef PROJECT_TYPE_PIPE_DISINFECTION
_logger->write(
fmt::format(" {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} "
"\n",
ZIconv::noChange("时间"), //
#else
ZIconv::noChange("仓内-气化过氧化氢浓度"), ZIconv::noChange("仓内-温度"), ZIconv::noChange("仓内-相对湿度"), ZIconv::noChange("仓内-相对饱和度"), //
ZIconv::noChange("D值"), ZIconv::noChange("当前LOG"), ZIconv::noChange("目标LOG"), //
ZIconv::noChange("加热器电源"), ZIconv::noChange("风机电源"), ZIconv::noChange("空压机电源"), ZIconv::noChange("喷液泵(g/min)"), //
ZIconv::noChange("消毒剩余剂量(g)"), ZIconv::noChange("剩余时间(s)")));
#endif
ZIconv::noChange("D值"), ZIconv::noChange("当前LOG"), ZIconv::noChange("目标LOG"), //
ZIconv::noChange("加热器电源"), ZIconv::noChange("风机电源"), ZIconv::noChange("空压机电源"), ZIconv::noChange("喷液泵(g/min)"), //
ZIconv::noChange("消毒剩余剂量(g)"), ZIconv::noChange("剩余时间(s)")));
return _logger;
}
void DisinfectionService::logstate() {
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
auto& cx = context;
auto ds = m_deviceIoControlService;
float dvalue = 0;
@ -154,56 +146,37 @@ void DisinfectionService::logstate() {
logger->info(
fmt::format("{},"
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
"s0({},{},{},{}),"
"s1({},{},{},{}),"
"s2({},{},{},{}),"
"min_h2o2:{},max_h2o2:{},max_hum:{},max_sa:{},"
"dv:{},log:{},tlog:{},"
"h:{},airB:{},airC:{},pump:{},"
"g:{},remainS:{}"
"\n",
getTime(), //
cx.h2o2[0], cx.temp[0], cx.humid[0], cx.saturation[0], //
cx.h2o2[1], cx.temp[1], cx.humid[1], cx.saturation[1], //
cx.h2o2[2], cx.temp[2], cx.humid[2], cx.saturation[2], //
context.min_h2o2, context.max_h2o2, context.max_humid, context.max_saturation, //
(int32_t)dvalue, context.now_loglevel, (int32_t)cfg.targetLoglevel, //
ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(), //
m_deviceIoControlService->getDisinfectantVolume_g(), formattimeS(remaintime)));
#endif
#ifdef PROJECT_TYPE_PIPE_DISINFECTION
auto& cx = context;
auto ds = m_deviceIoControlService;
float dvalue = 0;
if (context.dvalue <= 0) {
dvalue = 0;
} else {
dvalue = context.dvalue;
}
int remaintime = getEstimatedRemainingTimeS();
#else
"s2({},{},{},{}),"
logger->info(
fmt::format("{},"
"s0({},{},{},{}),"
#endif
"min_h2o2:{},max_h2o2:{},max_hum:{},max_sa:{},"
"dv:{},log:{},tlog:{},"
"h:{},airB:{},airC:{},pump:{},"
"g:{},remainS:{}"
"\n",
getTime(), //
cx.h2o2[0], cx.temp[0], cx.humid[0], cx.saturation[0], //
"g:{},remainS:{}",
getTime(), //
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
cx.h2o2[0], cx.temp[0], cx.humid[0], cx.saturation[0], //
cx.h2o2[1], cx.temp[1], cx.humid[1], cx.saturation[1], //
cx.h2o2[2], cx.temp[2], cx.humid[2], cx.saturation[2], //
#else
cx.h2o2[0], cx.temp[0], cx.humid[0], cx.saturation[0], //
#endif
context.min_h2o2, context.max_h2o2, context.max_humid, context.max_saturation, //
(int32_t)dvalue, context.now_loglevel, (int32_t)cfg.targetLoglevel, //
ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(), //
m_deviceIoControlService->getDisinfectantVolume_g(), formattimeS(remaintime)));
#endif
}
void DisinfectionService::dumpDisinfectionLogsToCSV() {
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
static_assert(MAX_H2O2_SENSOR_NUM == 3, "MAX_H2O2_SENSOR_NUM must be 3");
#endif
auto& cx = context;
string h2o2str[MAX_H2O2_SENSOR_NUM];
@ -234,73 +207,51 @@ void DisinfectionService::dumpDisinfectionLogsToCSV() {
}
int remaintime = getEstimatedRemainingTimeS();
context.csvlogger->write(
fmt::format(" {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} "
"\n",
getTime(), //
h2o2str[0], tempstr[0], humidstr[0], satstr[0], //
h2o2str[1], tempstr[1], humidstr[1], satstr[1], //
h2o2str[2], tempstr[2], humidstr[2], satstr[2], //
(int32_t)dvalue, (int32_t)context.now_loglevel, (int32_t)cfg.targetLoglevel, //
ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(), //
m_deviceIoControlService->getDisinfectantVolume_g(), formattimeS(remaintime)));
if (context.csvlogger)
context.csvlogger->write(
fmt::format(" {} ,"
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} , {} ,"
#else
" {} , {} , {} , {} ,"
#endif
" {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} "
"\n",
getTime(), //
#ifdef PROJECT_TYPE_PIPE_DISINFECTION
static_assert(MAX_H2O2_SENSOR_NUM == 1, "MAX_H2O2_SENSOR_NUM must be 1");
auto& cx = context;
string h2o2str[MAX_H2O2_SENSOR_NUM];
string tempstr[MAX_H2O2_SENSOR_NUM];
string humidstr[MAX_H2O2_SENSOR_NUM];
string satstr[MAX_H2O2_SENSOR_NUM];
for (int i = 0; i < MAX_H2O2_SENSOR_NUM; i++) {
h2o2str[i] = fmt::format("{}", cx.h2o2[i]);
tempstr[i] = fmt::format("{}", cx.temp[i]);
humidstr[i] = fmt::format("{}", cx.humid[i]);
satstr[i] = fmt::format("{}", cx.saturation[i]);
}
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
h2o2str[0], tempstr[0], humidstr[0], satstr[0], //
h2o2str[1], tempstr[1], humidstr[1], satstr[1], //
h2o2str[2], tempstr[2], humidstr[2], satstr[2], //
#else
h2o2str[0], tempstr[0], humidstr[0], satstr[0], //
#endif
for (int i = 0; i < MAX_H2O2_SENSOR_NUM; i++) {
if (cx.h2o2[i] < 0) h2o2str[i] = "N/A";
if (cx.temp[i] < 0) tempstr[i] = "N/A";
if (cx.humid[i] < 0) humidstr[i] = "N/A";
if (cx.saturation[i] < 0) satstr[i] = "N/A";
}
(int32_t)dvalue, (int32_t)context.now_loglevel, (int32_t)cfg.targetLoglevel, //
ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(), //
m_deviceIoControlService->getDisinfectantVolume_g(), formattimeS(remaintime)));
}
auto ds = m_deviceIoControlService;
float dvalue = 0;
if (context.dvalue <= 0) {
dvalue = 0;
} else {
dvalue = context.dvalue;
}
void DisinfectionService::pushDisinfectionPrinterTask() { //
shared_ptr<DisinfectionPrinterTask> task = make_shared<DisinfectionPrinterTask>();
auto ds = GET_SERVICE(DeviceStateService);
auto dio = m_deviceIoControlService;
int remaintime = getEstimatedRemainingTimeS();
task->start_tp = context.start_tp;
task->complete_tp = context.complete_tp;
task->stateSnapshotList = context.stateSnapshotList;
task->disinfectantUsage = context.beforeDisinfectantVolume_g - context.afterDisinfectantVolume_g;
task->disinfection_id = context.id;
task->usr = ds->getLoginUid();
context.csvlogger->write(
fmt::format(" {} ,"
" {} , {} , {} , {} ,"
" {} , {} , {} ,"
" {} , {} , {} , {} ,"
" {} , {} "
"\n",
getTime(), //
h2o2str[0], tempstr[0], humidstr[0], satstr[0], //
(int32_t)dvalue, (int32_t)context.now_loglevel, (int32_t)cfg.targetLoglevel, //
ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(), //
m_deviceIoControlService->getDisinfectantVolume_g(), formattimeS(remaintime)));
task->targetLog = cfg.targetLoglevel;
task->actualLog = context.now_loglevel;
#endif
m_disinfectionPrinterService->pushPrintTask(task);
}
void DisinfectionService::takeStateSnapshot() {
@ -398,11 +349,22 @@ void DisinfectionService::startDisinfection() {
disinfection_event_t event;
event.event = kdisinfection_event_start;
sm.pushEvent(event);
while (sm.getState() == kstate_finished) {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
void DisinfectionService::stopDisinfection() {
if (sm.getState() == kstate_finished) return;
if (sm.getState() == kstate_idle) return;
disinfection_event_t event;
event.event = kdisinfection_event_stop;
sm.pushEvent(event);
while (sm.getState() != kstate_finished) {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
void DisinfectionService::updateDisinfectionCfg() {
disinfection_event_t event;
@ -522,58 +484,6 @@ float DisinfectionService::computeNowLogLevel() {
return context.now_loglevel;
}
void DisinfectionService::beforeStateProcess() { updateH2O2SensorData(); }
void DisinfectionService::processStateIdle(disinfection_event_t* event) { sm.changeState(kstate_finished); }
void DisinfectionService::processStatePreheat(disinfection_event_t* event) {
/**
* @brief 状态逻辑
* 1. 记录日志
* 2. 检查是否预热完成
*/
/*******************************************************************************
* 进入状态 *
*******************************************************************************/
if (event->event == kdisinfection_event_enter_state) {
logger->info("preheat state enter");
tryLogSatate(true);
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->heartingPlate_setPower(true);
m_deviceIoControlService->airBlower_setState(true);
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#else
#endif
}
/*******************************************************************************
* 离开状态 *
*******************************************************************************/
else if (event->event == kdisinfection_event_exit_state) {
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->heartingPlate_setPower(false);
m_deviceIoControlService->airBlower_setState(false);
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#else
#endif
}
/*******************************************************************************
* 状态周期调度事件 *
*******************************************************************************/
else if (event->event == kdisinfection_event_tmr_1s) {
if (sm.getStateHasPassedTimeMs() > cfg.pre_heat_time_s * 1000) {
/**
* @brief 退出预热状态，进入消毒状态
*/
sm.changeState(kstate_disinfection);
}
tryLogSatate(false);
}
}
void DisinfectionService::updateRemainTime() {
/**
* @brief 计算Dvalue
@ -593,7 +503,7 @@ void DisinfectionService::updateRemainTime() {
//
}
logger->info("computeRemainTime minh2o2 {} dvalue {}", context.min_h2o2, dvalue);
// logger->info("computeRemainTime minh2o2 {} dvalue {}", context.min_h2o2, dvalue);
}
bool DisinfectionService::isTimeToPauseDisinfection() {
@ -603,9 +513,25 @@ bool DisinfectionService::isTimeToPauseDisinfection() {
float nowSatur = context.max_saturation;
float nowh2o2 = context.max_h2o2;
float humid = context.max_humid;
if (nowSatur > cfg.stoped_satur || nowh2o2 > cfg.stoped_gs || humid > cfg.stoped_humi) {
// if (nowSatur > cfg.stoped_satur || nowh2o2 > cfg.stoped_gs || humid > cfg.stoped_humi) {
// return true;
// }
if (nowSatur > cfg.stoped_satur) {
logger->info("nowSatur {} > cfg.stoped_satur {}", nowSatur, cfg.stoped_satur);
return true;
}
if (nowh2o2 > cfg.stoped_gs) {
logger->info("nowh2o2 {} > cfg.stoped_gs {}", nowh2o2, cfg.stoped_gs);
return true;
}
if (humid > cfg.stoped_humi) {
logger->info("humid {} > cfg.stoped_humi {}", humid, cfg.stoped_humi);
return true;
}
return false;
}
bool DisinfectionService::isTimeToResumeDisinfection() {
@ -617,8 +543,12 @@ bool DisinfectionService::isTimeToResumeDisinfection() {
float humid = context.max_humid;
if (nowSatur < cfg.continued_satur && nowh2o2 < cfg.continued_gs && humid < cfg.continued_humi) {
logger->info("nowSatur {} < cfg.continued_satur {} && nowh2o2 {} < cfg.continued_gs {} && humid {} < cfg.continued_humi {}", //
nowSatur, cfg.continued_satur, nowh2o2, cfg.continued_gs, humid, cfg.continued_humi);
return true;
}
return false;
}
@ -652,6 +582,65 @@ void DisinfectionService::updateSprayLiquidPumpSpeed() {
#endif
}
void DisinfectionService::beforeStateProcess() { updateH2O2SensorData(); }
void DisinfectionService::processStateIdle(disinfection_event_t* event) { sm.changeState(kstate_finished); }
void DisinfectionService::processStatePreheat(disinfection_event_t* event) {
/**
* @brief 状态逻辑
* 1. 记录日志
* 2. 检查是否预热完成
*/
/*******************************************************************************
* 进入状态 *
*******************************************************************************/
if (event->event == kdisinfection_event_enter_state) {
logger->info("preheat state enter");
tryLogSatate(true);
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->heartingPlate_setPower(true);
m_deviceIoControlService->airBlower_setState(true);
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#else
#endif
}
/*******************************************************************************
* 离开状态 *
*******************************************************************************/
else if (event->event == kdisinfection_event_exit_state) {
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->heartingPlate_setPower(false);
m_deviceIoControlService->airBlower_setState(false);
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#else
#endif
}
/*******************************************************************************
* 状态周期调度事件 *
*******************************************************************************/
else if (event->event == kdisinfection_event_tmr_1s) {
if (sm.getStateHasPassedTimeMs() > cfg.pre_heat_time_s * 1000) {
/**
* @brief 退出预热状态，进入消毒状态
*/
sm.changeState(kstate_disinfection);
}
tryLogSatate(false);
}
/*******************************************************************************
* 结束消毒 *
*******************************************************************************/
else if (event->event == kdisinfection_event_stop) {
sm.changeState(kstate_finished);
}
}
void DisinfectionService::processStateDisinfection(disinfection_event_t* event) {
/**
* @brief 状态逻辑
@ -664,36 +653,32 @@ void DisinfectionService::processStateDisinfection(disinfection_event_t* event)
*******************************************************************************/
if (event->event == kdisinfection_event_enter_state) {
tryLogSatate(true);
context.is_disinfection_take_break = false;
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION)
m_deviceIoControlService->airBlower_setState(true);
usleep(1000 * 1000);
m_deviceIoControlService->airCompressor_setState(true);
usleep(1000 * 1000);
m_deviceIoControlService->sprayLiquidPump_open(cfg.injection_pump_speed);
#elif (defined PROJECT_TYPE_PIPE_DISINFECTION)
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
#if (defined PROJECT_TYPE_PIPE_DISINFECTION)
m_deviceIoControlService->airCompressor_channelSelect(1);
m_deviceIoControlService->airCompressor_setValve1(1);
m_deviceIoControlService->airCompressor_setValve2(1);
#endif
m_deviceIoControlService->airBlower_setState(true);
usleep(1000 * 1000);
m_deviceIoControlService->airCompressor_setState(true);
usleep(1000 * 1000);
m_deviceIoControlService->sprayLiquidPump_open(cfg.injection_pump_speed);
#endif
#elif (defined PROJECT_TYPE_DRAW_BAR_BOX)
#if (defined PROJECT_TYPE_DRAW_BAR_BOX)
m_deviceIoControlService->DBDB__sprayAirCompressorPowerCtrl(1);
usleep(1000 * 1000);
m_deviceIoControlService->DBDB__heaterCtrl(1);
usleep(100 * 1000);
m_deviceIoControlService->DBDB__heaterCtrlSafeValve(1);
usleep(100 * 1000);
m_deviceIoControlService->DBDB__miniPwmBlowerCtrl(1);
m_deviceIoControlService->DBDB__miniPwmBlowerCtrl(DBDB_MINI_PWM_BLOWER_VAL); // 风量
usleep(100 * 1000);
m_deviceIoControlService->DBDB__extValveCtrl(IF_DeviceIoContrlService::kExtValveChannel_disinfectionChannel);
#else
#endif
}
@ -760,10 +745,12 @@ void DisinfectionService::processStateDisinfection(disinfection_event_t* event)
if (!context.is_disinfection_take_break) {
if (isTimeToPauseDisinfection()) {
logstate();
pauseDisinfection();
}
} else {
if (isTimeToResumeDisinfection()) {
logstate();
resumeDisinfection();
}
}
@ -782,11 +769,17 @@ void DisinfectionService::processStateDisinfection(disinfection_event_t* event)
updateSprayLiquidPumpSpeed();
}
}
/*******************************************************************************
* 结束消毒 *
*******************************************************************************/
else if (event->event == kdisinfection_event_stop) {
sm.changeState(kstate_finished);
}
}
void DisinfectionService::processStateFinished(disinfection_event_t* event) {
if (event->event == kdisinfection_event_enter_state) {
if (event->enterState.last != kstate_idle) {
if (event->enterState.last != kstate_idle && event->enterState.last != kstate_finished) {
/**
* @brief 消毒结束
*/
@ -860,21 +853,3 @@ void DisinfectionService::processStateDegradation(disinfection_event_t* event) {
}
void DisinfectionService::processStateDehumidification_before_disinfection(disinfection_event_t* event) {}
void DisinfectionService::processStateDehumidification_after_disinfection(disinfection_event_t* event) {}
void DisinfectionService::pushDisinfectionPrinterTask() { //
shared_ptr<DisinfectionPrinterTask> task = make_shared<DisinfectionPrinterTask>();
auto ds = GET_SERVICE(DeviceStateService);
auto dio = m_deviceIoControlService;
task->start_tp = context.start_tp;
task->complete_tp = context.complete_tp;
task->stateSnapshotList = context.stateSnapshotList;
task->disinfectantUsage = context.beforeDisinfectantVolume_g - context.afterDisinfectantVolume_g;
task->disinfection_id = context.id;
task->usr = ds->getLoginUid();
task->targetLog = cfg.targetLoglevel;
task->actualLog = context.now_loglevel;
m_disinfectionPrinterService->pushPrintTask(task);
}

21
src/service/disfection_ctl/disinfection_state.hpp
View File

@ -58,6 +58,27 @@ typedef enum {
} disinfection_event_type_t;
static inline const char* disinfection_event_to_string(disinfection_event_type_t event) {
switch (event) {
case kdisinfection_event_start:
return "start";
case kdisinfection_event_update_cfg:
return "update_cfg";
case kdisinfection_event_stop:
return "stop";
case kdisinfection_event_enter_state:
return "enter_state";
case kdisinfection_event_exit_state:
return "exit_state";
case kdisinfection_event_tmr_1s:
return "tmr_1s";
case kdisinfection_event_change_state:
return "change_state";
default:
return "unknown";
}
}
static inline const char* disinfection_state_to_string(disinfection_state_t state) {
switch (state) {
case kstate_idle:

28
src/service/disfection_ctl/disinfection_state_machine.cpp
View File

@ -8,12 +8,13 @@ void DisinfectionStateMachine::regStateProcesser( //
void DisinfectionStateMachine::regBfStateProcess(function<void()> processer) { m_bf_state_processer = processer; }
void DisinfectionStateMachine::pushEvent(disinfection_event_t event) {
lock_guard<recursive_mutex> lock(lock_);
m_event_list.push_back(event);
lock_guard<recursive_mutex> lock(lock_);
shared_ptr<disinfection_event_t> event_ptr(new disinfection_event_t);
*event_ptr = event;
m_event_list.push_back(event_ptr);
}
void DisinfectionStateMachine::changeState(disinfection_state_t state) {
lock_guard<recursive_mutex> lock(lock_);
m_state = state;
m_event_list.clear();
disinfection_event_t event;
event.event = kdisinfection_event_change_state;
@ -33,41 +34,44 @@ void DisinfectionStateMachine::callStateProcesser(disinfection_state_t state, di
void DisinfectionStateMachine::startProcess() {
m_process_thread_.reset(new Thread("DisinfectionStateMachineThread", [this]() {
while (true) {
this_thread::sleep_for(chrono::milliseconds(10));
this_thread::sleep_for(chrono::milliseconds(2));
disinfection_event_t event;
bool popevent = false;
shared_ptr<disinfection_event_t> event;
bool popevent = false;
{
lock_guard<recursive_mutex> lock(lock_);
if (!m_event_list.empty()) {
logger->info("event list size: {}", m_event_list.size());
event = m_event_list.front();
m_event_list.pop_front();
logger->info("event list size: {}", m_event_list.size());
popevent = true;
}
}
if (popevent) {
if (event.event == kdisinfection_event_change_state) {
if (event->event == kdisinfection_event_change_state) {
disinfection_event_t exit_event;
disinfection_event_t enter_event;
exit_event.event = kdisinfection_event_exit_state;
exit_event.exitState.next = event.changeState.to;
exit_event.exitState.next = event->changeState.to;
enter_event.event = kdisinfection_event_enter_state;
enter_event.enterState.last = event.changeState.from;
enter_event.enterState.last = event->changeState.from;
callStateProcesser(m_state, &exit_event);
m_state = event.changeState.to;
m_state = event->changeState.to;
m_enter_state_tp = zsystem_clock().now();
logger->info("change state from {} to {}", //
disinfection_state_to_string(event.changeState.from), disinfection_state_to_string(event.changeState.to));
disinfection_state_to_string(event->changeState.from), disinfection_state_to_string(event->changeState.to));
callStateProcesser(m_state, &enter_event);
} else {
callStateProcesser(m_state, &event);
logger->info("process event: {}", disinfection_event_to_string(event->event));
callStateProcesser(m_state, event.get());
}
}

8
src/service/disfection_ctl/disinfection_state_machine.hpp
View File

@ -20,10 +20,10 @@ class DisinfectionStateMachine {
ENABLE_LOGGER(DisinfectionStateMachine);
private:
disinfection_state_t m_state = kstate_idle;
list<disinfection_event_t> m_event_list;
std::recursive_mutex lock_;
unique_ptr<Thread> m_process_thread_;
disinfection_state_t m_state = kstate_idle;
list<shared_ptr<disinfection_event_t>> m_event_list;
std::recursive_mutex lock_;
unique_ptr<Thread> m_process_thread_;
map<disinfection_state_t, function<void(disinfection_event_t* event)>> m_state_processer_map;

26
src/service/disinfection_ctl_service.cpp
View File

@ -1,8 +1,10 @@
#include "disinfection_ctl_service.hpp"
using namespace iflytop;
/*******************************************************************************
* 消毒 *
*******************************************************************************/
void DisinfectionCtrlService::startDisinfection() {
stopDisinfection();
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
stopDraining();
stopReplenishingFluids();
@ -12,21 +14,29 @@ void DisinfectionCtrlService::startDisinfection() {
}
void DisinfectionCtrlService::changeDisinfectionParameter() { m_disinfectionService->updateDisinfectionCfg(); }
void DisinfectionCtrlService::stopDisinfection() { m_disinfectionService->stopDisinfection(); }
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
void DisinfectionCtrlService::startReplenishingFluids(int stopatg) { m_addLiquidService->startReplenishingFluids(stopatg); }
void DisinfectionCtrlService::stopReplenishingFluids() {
#if (defined PROJECT_TYPE_LARGE_SPACE_DISINFECTION) || (defined PROJECT_TYPE_SMALL_SPACE_DISINFECTION) || (defined PROJECT_TYPE_PIPE_DISINFECTION)
/*******************************************************************************
* 加液 *
*******************************************************************************/
void DisinfectionCtrlService::startReplenishingFluids(int stopatg) {
stopDisinfection();
stopDraining();
stopReplenishingFluids();
m_addLiquidService->stopReplenishingFluids();
m_addLiquidService->startReplenishingFluids(stopatg);
}
void DisinfectionCtrlService::stopReplenishingFluids() { m_addLiquidService->stopReplenishingFluids(); }
void DisinfectionCtrlService::startDraining() { m_drainLiquidService->startDraining(); }
void DisinfectionCtrlService::stopDraining() {
/*******************************************************************************
* 排液 *
*******************************************************************************/
void DisinfectionCtrlService::startDraining() {
stopDisinfection();
stopDraining();
stopReplenishingFluids();
m_drainLiquidService->stopDraining();
m_drainLiquidService->startDraining();
}
void DisinfectionCtrlService::stopDraining() { m_drainLiquidService->stopDraining(); }
#endif
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