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transmit_disinfection_iflytop_sdk_v1
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zhaohe 2 years ago
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f6f7900b87
3 changed files with 6 additions and 153 deletions
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  1. 105
      components/zcan_module/zcan_high_power_electrical_ctl_module.cpp
  2. 47
      components/zcan_module/zcan_high_power_electrical_ctl_module.hpp
  3. 7
      components/zcanreceiver/cmd.hpp

105
components/zcan_module/zcan_high_power_electrical_ctl_module.cpp
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@ -1,105 +0,0 @@
#include "zcan_high_power_electrical_ctl_module.hpp"
#include <stdio.h>
#include <string.h>
#ifdef HAL_CAN_MODULE_ENABLED
using namespace iflytop;
using namespace zcr;
#define TAG "ZCanHighPowerElectricalCtlModule"
void ZCanHighPowerElectricalCtlModule::initialize(ZCanReceiver* zcanReceiver) {
zcanReceiver->registerListener(this);
m_zcanReceiver = zcanReceiver;
}
void ZCanHighPowerElectricalCtlModule::pushElectricAppliance(int id, setswitchfn_t m_set_safe_switch, setswitchfn_t m_set_power_switch,
getcurrentfn_t m_get_current) {
ZASSERT(m_set_safe_switch != NULL);
ZASSERT(m_set_power_switch != NULL);
ZASSERT(m_get_current != NULL);
ElectricAppliance* appliance = new ElectricAppliance();
ZASSERT(appliance != NULL);
appliance->id = id;
appliance->m_set_safe_switch = m_set_safe_switch;
appliance->m_set_power_switch = m_set_power_switch;
appliance->m_get_current = m_get_current;
m_electricAppliances.push_back(appliance);
}
ZCanHighPowerElectricalCtlModule::ElectricAppliance* ZCanHighPowerElectricalCtlModule::find(int id) {
for (auto it = m_electricAppliances.begin(); it != m_electricAppliances.end(); it++) {
if ((*it)->id == id) {
return *it;
}
}
return NULL;
}
void ZCanHighPowerElectricalCtlModule::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len) { //
//
Cmdheader_t* cmdheader = (Cmdheader_t*)packet;
if (cmdheader->cmdid == kcmd_high_power_electrical_ctl && cmdheader->subcmdid == 0) {
/**
* @brief 通断控制(0)
* cmd : b0:id b1:switchstatus
* ack : b0:boardid b1:switchstatus
* ack_datalen : 2
*/
uint8_t id = cmdheader->data[0];
bool swicthval = cmdheader->data[1];
ElectricAppliance* appliance = find(id);
if (appliance) {
appliance->m_set_power_switch(swicthval);
uint8_t txbuff[2] = {id, swicthval};
m_zcanReceiver->sendAck(cmdheader, txbuff, 2);
ZLOGI(TAG, "set power switch %d %d", id, swicthval);
return;
}
}
if (cmdheader->cmdid == kcmd_high_power_electrical_ctl && cmdheader->subcmdid == 1) {
/**
* @brief 设置安全继电器通断
* cmd : b0:id b1:switchstatus
* ack : b0:boardid b1:switchstatus
* ack_datalen : 2
*/
uint8_t id = cmdheader->data[0];
bool swicthval = cmdheader->data[1];
ElectricAppliance* appliance = find(id);
if (appliance) {
appliance->m_set_power_switch(swicthval);
uint8_t txbuff[2] = {id, swicthval};
m_zcanReceiver->sendAck(cmdheader, txbuff, 2);
ZLOGI(TAG, "set safe switch %d %d", id, swicthval);
return;
}
}
if (cmdheader->cmdid == kcmd_high_power_electrical_ctl && cmdheader->subcmdid == 3) {
/**
* @brief 读取电流
* cmd : b0:id
* ack : b0:boardid b2-5 current
* ack_datalen : 2
*/
uint8_t id = cmdheader->data[0];
ElectricAppliance* appliance = find(id);
if (appliance) {
uint8_t txbuff[2 + 4] = {0};
txbuff[0] = id;
*(int32_t*)(&txbuff[2]) = appliance->m_get_current();
m_zcanReceiver->sendAck(cmdheader, txbuff, sizeof(txbuff));
return;
}
}
}
#endif

47
components/zcan_module/zcan_high_power_electrical_ctl_module.hpp
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@ -1,47 +0,0 @@
//
// Created by zwsd
//
#pragma once
#include "sdk/hal/zhal.hpp"
//
#include "../zcanreceiver/zcanreceiver.hpp"
#ifdef HAL_CAN_MODULE_ENABLED
namespace iflytop {
class ZCanHighPowerElectricalCtlModule : public ZCanRceiverListener {
public:
typedef function<void(bool)> setswitchfn_t;
typedef function<int32_t()> getcurrentfn_t; // 读取工作电流 ma
class ElectricAppliance {
public:
int id;
setswitchfn_t m_set_safe_switch;
setswitchfn_t m_set_power_switch;
getcurrentfn_t m_get_current; // 0.1A
};
private:
ZCanReceiver* m_zcanReceiver;
list<ElectricAppliance*> m_electricAppliances;
public:
ZCanHighPowerElectricalCtlModule(/* args */) {}
~ZCanHighPowerElectricalCtlModule() {}
public:
void initialize(ZCanReceiver* zcanReceiver);
void pushElectricAppliance(int id, setswitchfn_t m_set_safe_switch, setswitchfn_t m_set_power_switch, getcurrentfn_t m_get_current);
public:
virtual void onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len);
ElectricAppliance* find(int id);
private:
void loop();
};
} // namespace iflytop
#endif

7
components/zcanreceiver/cmd.hpp
View File

@ -28,7 +28,6 @@ typedef enum {
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}
@ -50,6 +49,12 @@ typedef enum {
#define IS_CMD(cmdheader, cmd, subcmd) ((cmdheader->cmdid == cmd) && (cmdheader->subcmdid == subcmd))
#define CMD_GET_PARAM(cmdheader, index) (((int32_t*)cmdheader->data)[index])
#define PROCESS_CMD(cmd, _subcmdid, id) \
if ((cmdheader->cmdid == (uint16_t)cmd) && (cmdheader->subcmdid == _subcmdid) && cmdheader->data[0] == id) { \
matching = true; \
} \
if ((cmdheader->cmdid == (uint16_t)cmd) && (cmdheader->subcmdid == _subcmdid) && cmdheader->data[0] == id)
/**
* @brief
*/
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