tdcan/src/service/disinfection_ctl_service.cpp

#include "disinfection_ctl_service.hpp"
using namespace iflytop;
using namespace std;
/**
 * @brief
 *  流程
 *    预热:
 *
 *    风机开
 *    1s
 *    空压机
 *    1s
 *    蠕动泵
 *    1s
 *
 *
 *    关蠕动泵
 *    1s
 *    关空压机
 *    1s
 *    关风机
 *
 */

// #define PRE_HEAT_TIME               (2)
// #define PRE_HEAT_TIME (5 * 60)

#define DVALUE_COMPUTEPERIOD_TIME_S (10.0)
#define MAX_VOLUME                  (5000)

namespace iflytop {
extern bool g_in_test;

}

DisinfectionCtrlService::DisinfectionCtrlService() {}
void DisinfectionCtrlService::initialize() {
  GET_TO_SERVICE(m_zcanHost);
  GET_TO_SERVICE(m_deviceIoControlService);
  GET_TO_SERVICE(m_dbService);
  GET_TO_SERVICE(m_disinfectionLogsManager);

  m_deviceIoControlService->drainingPump_close();
  m_deviceIoControlService->replenishingFluidsPump_close();
  m_deviceIoControlService->sprayLiquidPump_close();

  m_deviceIoControlService->heartingPlate_setPower(false);
  m_deviceIoControlService->airBlower_setState(false);
  m_deviceIoControlService->airCompressor_setState(false);
}

static string getTime() {
  struct tm tm = {0};

  time_t     t   = time(nullptr);
  struct tm* tmp = localtime_r(&t, &tm);
  return fmt::format("{:0>4}-{:0>2}-{:0>2} {:0>2}:{:0>2}:{:0>2}", tm.tm_year + 1900,  //
                     tm.tm_mon + 1,                                                   //
                     tm.tm_mday,                                                      //
                     tm.tm_hour,                                                      //
                     tm.tm_min, tm.tm_sec);
}

string DisinfectionCtrlService::createDisinfectionID() {
  struct tm tm = {0};

  time_t t = time(nullptr);
  if (t == -1) {
    logger->error("time(nullptr) failed");
    exit(-1);
  }
  struct tm* tmp = localtime_r(&t, &tm);
  if (!tmp) {
    logger->error("localtime_r failed");
    exit(-1);
  }
  // tm = *utctime::tm_increment_hour(&tm, 8);
  // logger->info("trace sendmsg_startCapture {}:{}", __FILE__, __LINE__);
  return fmt::format("{:0>4}-{:0>2}{:0>2}-{:0>2}{:0>2}{:0>2}", tm.tm_year + 1900,  //
                     tm.tm_mon + 1,                                                //
                     tm.tm_mday,                                                   //
                     tm.tm_hour,                                                   //
                     tm.tm_min, tm.tm_sec);
}
static bool zfeq(float a, float b, float eps = 0.01) {
  if (fabs(a - b) < eps) {
    return true;
  }
  return false;
}
float DisinfectionCtrlService::getDisinfectionDValue(float ppm) {
  /**
   * @brief
   *
   *  D值的计算公式是根据美国竞品的数据记录计算得来的
   *
   *  浓度小于150时,y=-0.5269X+97.868
   *  浓度大于150时,y=-0.1405X+40.369
   */

  if (zfeq(ppm, 0)) {
    return -1;
  }

  float dvalue = 0;

  if (ppm < 150) {
    dvalue = -0.5251 * ppm + 98.154;
  } else if (ppm >= 150 && ppm < 240) {
    dvalue = -0.125 * ppm + 38.913;
  } else if (ppm >= 240) {
    // 240  -> 8.913
    // 1400 -> 2
    // y = -0.00603x + 10.4472
    dvalue = -0.00596 * ppm + 10.3434;
  }
  if (dvalue < 2) {
    dvalue = 2;
  }
  return dvalue;
}
float DisinfectionCtrlService::computeNowLogLevel(DisinfectionContext& context) {
  float dvalue = context.dvalue;
  if (dvalue > 0) {
    /**
     * @brief 计算 m_nowLoglevel
     */
    return context.m_nowLoglevel + DVALUE_COMPUTEPERIOD_TIME_S / (dvalue * 60);
  }
  return context.m_nowLoglevel;
}

void DisinfectionCtrlService::computeRemainTime(DisinfectionContext& context) {
  /**
   * @brief 计算Dvalue
   */
  float dvalue = context.dvalue;

  if (dvalue > 0) {
    /**
     * @brief 计算 m_nowLoglevel
     */
    if (context.m_targetLoglevel >= context.m_nowLoglevel) {
      context.m_remaintime = (context.m_targetLoglevel - context.m_nowLoglevel) * (dvalue * 60);
    } else {
      context.m_remaintime = 0;
    }
  } else {
    //
  }

  logger->info("computeRemainTime minh2o2 {} dvalue {}", context.h2o2data.min_h2o2, dvalue);
}

void DisinfectionCtrlService::initContext(DisinfectionContext& context,               //
                                          int                  loglevel,              //
                                          float                injection_pump_speed,  //
                                          float                stoped_gs,             //
                                          float                continued_gs,          //
                                          float                stoped_satur,          //
                                          float                continued_satur,       //
                                          float                stoped_humi,           //
                                          float                continued_humi         //
) {
  context.m_disinfectionID             = createDisinfectionID();
  context.pre_heat_time_s              = m_dbService->getSettingVal("pre_heat_time_s");
  context.stoped_gs                    = stoped_gs;
  context.continued_gs                 = continued_gs;
  context.stoped_satur                 = stoped_satur;
  context.continued_satur              = continued_satur;
  context.stoped_humi                  = stoped_humi;
  context.continued_humi               = continued_humi;
  context.injection_pump_speed         = injection_pump_speed;
  context.injection_pump_speed_changed = true;

  if (g_in_test) {
    logger->warn("in test mode, pre_heat_time_s = 5");
    context.pre_heat_time_s = 5;
  }

  logger->info("startDisinfection {} {}", m_context.m_targetLoglevel, m_context.m_disinfectionID);
  logger->info(" stoped_gs {}", context.stoped_gs);
  logger->info(" continued_gs {}", context.continued_gs);
  logger->info(" stoped_satur {}", context.stoped_satur);
  logger->info(" continued_satur {}", context.continued_satur);
  logger->info(" stoped_humi {}", context.stoped_humi);
  logger->info(" continued_humi {}", context.continued_humi);
  logger->info(" pre_heat_time_s {}", context.pre_heat_time_s);
  logger->info("");

  // m_remaintime            = loglevel * 20 * 60;  // 计算总的加热时间
  context.m_remaintime     = context.pre_heat_time_s + loglevel * 90 * 60;  // 计算总的加热时间
  m_disinfectionWorkState  = 1;
  context.m_targetLoglevel = loglevel;
  context.m_nowLoglevel    = 0;
  // m_context.m_preheatFlag  = true;
  m_context.dvalue = 0;
  // m_context.stopedflag     = false;

  m_context.m_state = kpreheat;

  m_context.m_starttp = zsteady_clock().now();

  m_zcanHost->warning_light_ctrl_c1002(1, 0, 0, 1, 0);
  m_deviceIoControlService->heartingPlate_setPower(true);
  context.csvlogger = m_disinfectionLogsManager->createNewLogger(context.m_disinfectionID);

  // zsteady_clock().elapsedTimeS(m_context.m_starttp),                                                                       //
  //                 sensors[0].h2o2, sensors[0].temp, sensors[0].humid, sensors[0].saturation,                                               //
  //                 sensors[1].h2o2, sensors[1].temp, sensors[1].humid, sensors[1].saturation,                                               //
  //                 sensors[2].h2o2, sensors[2].temp, sensors[2].humid, sensors[2].saturation,                                               //
  //                 m_context.dvalue, m_context.m_nowLoglevel, (int)m_context.m_targetLoglevel,                                              //
  //                 ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getRPM(),       //
  //                 ds->getPressureSensorData(1), ds->getPressureSensorData(2), ds->getPressureSensorData(3), ds->getPressureSensorData(4),  //
  //                 m_deviceIoControlService->getDisinfectantVolume_g(),                                                                     //
  //                 m_context.m_remaintime

  context.csvlogger->write(
      "Date,"                                                                                  //
      "Hydrogen peroxide volume(ppm),Temperature(C),Relative humidity(%RH),H2O H2O2 RS(%RS),"  //
      // "h2o22,temp2,humi2,saturation2,"            //
      // "h2o23,temp3,humi3,saturation3,"            //
      "Dvalue,Loglevel,Targetloglevel,"         //
      "Heating,Blower,Compressor,Pump(g/min),"  //
      "Disinfectant Volume(g),"                 //
      "Remaining time (s)\n"                    //
  );
}
static string formattimeS(int sec) {
  if (sec >= 0) {
    return fmt::format("{:0>2}:{:0>2}:{:0>2}", sec / 3600, sec % 3600 / 60, sec % 60);
  } else {
    return fmt::format("--:--:--");
  }
}
void DisinfectionCtrlService::dumpDisinfectionLogsToCSV(DisinfectionContext& context) {
  auto* sensors = &m_context.h2o2data.h2o2sensor_data[0];
  auto  ds      = m_deviceIoControlService;
  float dvalue  = 0;
  if (m_context.dvalue <= 0) {
    dvalue = 0;
  } else {
    dvalue = m_context.dvalue;
  }

  int remaintime = getEstimatedRemainingTimeS();

  context.csvlogger->write(
      fmt::format("{},"           //
                  "{},{},{},{},"  //
                  // "{},{},{},{},"  //
                  // "{},{},{},{},"  //
                  "{:.2f},{:.2f},{:.2f},"  //
                  "{},{},{},{},"           //
                  // "{},{},{},{},"  //
                  "{},"   //
                  "{}\n"  //
                  ,
                  getTime(),                                                                  //
                  sensors[0].h2o2, sensors[0].temp, sensors[0].humid, sensors[0].saturation,  //
                  // sensors[1].h2o2, sensors[1].temp, sensors[1].humid, sensors[1].saturation,                                          //
                  // sensors[2].h2o2, sensors[2].temp, sensors[2].humid, sensors[2].saturation,                                          //
                  dvalue, m_context.m_nowLoglevel, m_context.m_targetLoglevel,                                                        //
                  ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getGPM(),  //
                  m_deviceIoControlService->getDisinfectantVolume_g(),                                                                //
                  formattimeS(remaintime)));
}

void DisinfectionCtrlService::finishDisinfection(DisinfectionContext& context) {
  context.m_remaintime = 0;
  logger->info("stop disinfection {}", context.m_disinfectionID);

  // sprayLiquidPump_close();
  m_deviceIoControlService->sprayLiquidPump_close();
  usleep(1000 * 1000);
  // airCompressor(false);
  m_deviceIoControlService->airCompressor_setState(false);
  usleep(1000 * 1000);
  // blower_setPower(false);
  m_deviceIoControlService->airBlower_setState(false);
  usleep(1000 * 1000);
  // heartingPlate_setPower(false);
  m_deviceIoControlService->heartingPlate_setPower(false);
  m_disinfectionWorkState = 3;
  m_zcanHost->warning_light_ctrl_c1002(1, 0, 0, 0, 0);
  context.csvlogger = nullptr;
}

void DisinfectionCtrlService::processPreheatState(DisinfectionContext& context) {
  int hasstarttime = zsteady_clock().elapsedTimeS(context.m_starttp);

  // logger->info("preheat {}", context.m_disinfectionID);
  if ((context.m_state == kpreheat && hasstarttime > m_context.pre_heat_time_s)) {
    logger->info("preheat finished {}", context.m_disinfectionID);
    // blower_setPower(true);
    m_deviceIoControlService->airBlower_setState(true);
    usleep(1000 * 1000);
    // airCompressor(true);
    m_deviceIoControlService->airCompressor_setState(true);
    usleep(1000 * 1000);
    // sprayLiquidPump_open();
    m_deviceIoControlService->sprayLiquidPump_open(context.injection_pump_speed);
    context.m_state = kdisinfection;
    // context.m_preheatFlag   = false;
    // context.sprayLiquidFlag = true;
  } else {
    logger->info("{}: preheat {}", context.m_disinfectionID, m_context.pre_heat_time_s - hasstarttime);
  }
}

void DisinfectionCtrlService::dumpDisinfectionLogs(DisinfectionContext& context) {
  // float h2o2_g  = m_deviceIoControlService->getDisinfectantVolume_g();
  auto* sensors = &m_context.h2o2data.h2o2sensor_data[0];
  auto  ds      = m_deviceIoControlService;
  logger->info(
      "T:{},"              //
      "s1:({},{},{},{}),"  //
      "s2:({},{},{},{}),"  //
      "s3:({},{},{},{}),"  //
      "D:{},log:({}:{}),"  //
      "io:({},{},{},{}),"  //
      "p:({},{},{},{}),"   //
      "h2o2g:{},"          //
      "rt:{}"              //
      ,
      zsteady_clock().elapsedTimeS(m_context.m_starttp),                                                                       //
      sensors[0].h2o2, sensors[0].temp, sensors[0].humid, sensors[0].saturation,                                               //
      sensors[1].h2o2, sensors[1].temp, sensors[1].humid, sensors[1].saturation,                                               //
      sensors[2].h2o2, sensors[2].temp, sensors[2].humid, sensors[2].saturation,                                               //
      m_context.dvalue, m_context.m_nowLoglevel, (int)m_context.m_targetLoglevel,                                              //
      ds->heatingStrip_getstate(), ds->airBlower_getstate(), ds->airCompressor_getstate(), ds->sprayLiquidPump_getRPM(),       //
      ds->getPressureSensorData(1), ds->getPressureSensorData(2), ds->getPressureSensorData(3), ds->getPressureSensorData(4),  //
      m_deviceIoControlService->getDisinfectantVolume_g(),                                                                     //
      getEstimatedRemainingTimeS());
}

/**
 * @brief
 *    消毒中状态处理
 */
void DisinfectionCtrlService::processDisinfectionState(DisinfectionContext& context) {
  ZCHECK(context.m_state == kdisinfection || context.m_state == kdisinfection_take_a_break, "state error");

  /**
   * @brief 周期性计算剩余时间
   */

  /**
   * @brief 根据湿度启停喷雾
   */
  if (m_context.m_state == kdisinfection) {
    /**
     * @brief 检查当前
     */
    float nowSatur = m_context.h2o2data.max_saturation;
    float nowh2o2  = m_context.h2o2data.max_h2o2;
    float humid    = m_context.h2o2data.max_humid;

    if (m_context.injection_pump_speed_changed) {
      m_deviceIoControlService->sprayLiquidPump_open(context.injection_pump_speed);
      m_context.injection_pump_speed_changed = false;
    }

    // humid > m_context.stoped_satur
    if (nowSatur > m_context.stoped_satur || nowh2o2 > m_context.stoped_gs || humid > m_context.stoped_humi) {
      logger->info("stop sprayLiquid");

      m_deviceIoControlService->sprayLiquidPump_close();
      usleep(1000 * 1000);
      m_deviceIoControlService->airCompressor_setState(false);

      // m_context.sprayLiquidFlag = false;
      m_context.m_state = kdisinfection_take_a_break;
    }
  } else {
    float nowSatur = m_context.h2o2data.max_saturation;
    float nowh2o2  = m_context.h2o2data.max_h2o2;
    float humid    = m_context.h2o2data.max_humid;

    // && humid < m_context.continued_satur
    if (nowSatur < m_context.continued_satur && nowh2o2 < m_context.continued_gs && humid < context.continued_humi) {
      logger->info("start sprayLiquid");

      m_deviceIoControlService->sprayLiquidPump_open(context.injection_pump_speed);
      usleep(1000 * 1000);
      m_deviceIoControlService->airCompressor_setState(true);
      m_context.m_state = kdisinfection;
    }
  }
}

void DisinfectionCtrlService::disinfectionLoop(bool& breakflag) {
  // logger->info("disinfection running {} {}s preheatFlag:{}", m_context.m_disinfectionID, m_context.m_remaintime, m_context.m_preheatFlag);
  m_context.m_remaintime--;
  bool forcelog = false;
  if (m_context.m_remaintime < 0) {
    m_context.m_remaintime = 0;
  }

  /**
   * @brief 更新传感器信息
   */
  m_deviceIoControlService->getAllSensorData(m_context.h2o2data);
  /**
   * @brief 计算D值
   */
  m_context.dvalue = getDisinfectionDValue(m_context.h2o2data.min_h2o2);

  if (zsteady_clock().elapsedTimeS(m_context.m_lastComputeDvalueTp) > DVALUE_COMPUTEPERIOD_TIME_S) {
    m_context.m_lastComputeDvalueTp = zsteady_clock().now();
    //
    if (m_context.m_state == kdisinfection || m_context.m_state == kdisinfection_take_a_break) {
      m_context.m_nowLoglevel = computeNowLogLevel(m_context);
      computeRemainTime(m_context);
    }
  }

  if (m_context.m_state == kpreheat) {
    /**
     * @brief 预热中
     */
    processPreheatState(m_context);
  } else if (m_context.m_state == kdisinfection || m_context.m_state == kdisinfection_take_a_break) {
    /**
     * @brief 消毒中
     */
    processDisinfectionState(m_context);
    //
    if (m_context.m_remaintime <= 0 && m_context.m_nowLoglevel > (m_context.m_targetLoglevel + 0.01)) {
      m_context.m_remaintime  = 0;
      m_context.m_nowLoglevel = m_context.m_targetLoglevel + 0.01;
      logger->info("disinfection finished {},but waitting for h2o2 to safe", m_context.m_disinfectionID);
      m_deviceIoControlService->sprayLiquidPump_close();
      usleep(1000 * 1000);
      m_deviceIoControlService->airCompressor_setState(false);
      usleep(1000 * 1000);
      m_deviceIoControlService->heartingPlate_setPower(false);
      m_context.m_state = kwait_for_h2o2_down;
      forcelog          = true;
    }

  } else if (m_context.m_state == kwait_for_h2o2_down) {
    /**
     * @brief 等待h2o2浓度下降
     */
    logger->info("waitting for h2o2 concentration to safe value {}=>{}", m_context.h2o2data.min_h2o2, 1);
    if (m_context.h2o2data.min_h2o2 < 1) {
      logger->info("h2o2 concentration to safe value");
      breakflag         = true;
      forcelog          = true;
      m_context.m_state = kfinished;
    }
  } else {
    ZCHECK(false, "state error");
  }

  if (forcelog || zsteady_clock().elapsedTimeS(m_context.m_lastlogTp) > DVALUE_COMPUTEPERIOD_TIME_S) {
    m_context.m_lastlogTp = zsteady_clock().now();
    dumpDisinfectionLogs(m_context);
    dumpDisinfectionLogsToCSV(m_context);
  }
}

void DisinfectionCtrlService::changeDisinfectionParameter(int injection_pump_speed,  //
                                                          int stoped_gs,             //
                                                          int continued_gs,          //
                                                          int stoped_satur,          //
                                                          int continued_satur,       //
                                                          int stoped_humi,           //
                                                          int continued_humi) {
  lock_guard<recursive_mutex> lock(lock_);
  // logger->info("changeInjectionPumpSpeed {}=>{}", m_context.injection_pump_speed, speed);
  // m_context.injection_pump_speed         = speed;
  m_context.injection_pump_speed         = injection_pump_speed;
  m_context.stoped_gs                    = stoped_gs;
  m_context.continued_gs                 = continued_gs;
  m_context.stoped_satur                 = stoped_satur;
  m_context.continued_satur              = continued_satur;
  m_context.stoped_humi                  = stoped_humi;
  m_context.continued_humi               = continued_humi;
  m_context.injection_pump_speed_changed = true;

  logger->info("changeDisinfectionParameter {} {} {} {} {} {} {}", injection_pump_speed, stoped_gs, continued_gs, stoped_satur, continued_satur, stoped_humi,
               continued_humi);
}

void DisinfectionCtrlService::startDisinfection(int loglevel,              //
                                                int injection_pump_speed,  //
                                                int stoped_gs,             //
                                                int continued_gs,          //
                                                int stoped_satur,          //
                                                int continued_satur,       //
                                                int stoped_humi,           //
                                                int continued_humi         //
) {
  lock_guard<recursive_mutex> lock(lock_);

  /**
   * @TODO
   *  检查当前环境湿度，湿度过大，不允许消毒
   */

  if (m_disinfectionThread) {
    stopDisinfection();
  }
  initContext(m_context, loglevel, injection_pump_speed, stoped_gs, continued_gs, stoped_satur, continued_satur, stoped_humi, continued_humi);

  m_disinfectionThread.reset(new Thread("m_disinfectionThread", [this]() {
    ThisThread thisThread;
    while (!thisThread.getExitFlag()) {
      thisThread.sleepForMs(1000);
      bool breakflag = false;
      disinfectionLoop(breakflag);
      if (breakflag) {
        break;
      }
    }

    //
    finishDisinfection(m_context);
  }));
  //
}

int DisinfectionCtrlService::getDisinfectionWorkState() { return m_context.m_state; }

void DisinfectionCtrlService::stopDisinfection() {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_disinfectionThread) {
    m_disinfectionThread->join();
    m_disinfectionThread = nullptr;
  }
  m_context.m_state       = kfinished;
  m_disinfectionWorkState = 0;
}

int32_t DisinfectionCtrlService::getEstimatedRemainingTimeS() {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_context.m_state == kpreheat) {
    return getPreHeatRaminTimeS();
  } else if (m_context.m_state == kdisinfection || m_context.m_state == kdisinfection_take_a_break) {
    if (m_context.dvalue > 0) {
      return m_context.m_remaintime;
    } else {
      return -1;
    }
  } else {
    return 0;
  }
}
int32_t DisinfectionCtrlService::getPreHeatRaminTimeS() {
  lock_guard<recursive_mutex> lock(lock_);
  int32_t                     remaintime = 0;
  if (m_context.m_state == kpreheat) {
    remaintime = m_context.pre_heat_time_s - zsteady_clock().elapsedTimeS(m_context.m_starttp);
    if (remaintime < 0) {
      remaintime = 0;
    }
    return remaintime;
  } else {
    return 0;
  }
}

string DisinfectionCtrlService::getDisinfectionID() {
  lock_guard<recursive_mutex> lock(lock_);
  return m_context.m_disinfectionID;
}
bool DisinfectionCtrlService::isPreheatState() {
  lock_guard<recursive_mutex> lock(lock_);
  return m_context.m_state == kpreheat;
}

int DisinfectionCtrlService::getReplenishingFluidsWorkState() { return m_replenishingFluidsWorkState; }
int DisinfectionCtrlService::getDrainingWorkState() { return m_drainingWorkState; }

/*******************************************************************************
 *                                   // 加液                                   *
 *******************************************************************************/
/**
 * @brief 开始加液
 *
 * @param stopatg
 */
void DisinfectionCtrlService::startReplenishingFluids(int stopatg) {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_disinfectionThread) {
    m_disinfectionThread->join();
    m_disinfectionThread = nullptr;
  }
  int32_t nowvolume = m_deviceIoControlService->getDisinfectantVolume_g();
  if (nowvolume > stopatg) {
    logger->warn("start Replenishing fail, nowvolume {} > stopatg {}", nowvolume, stopatg);
    return;
  }

  m_disinfectionThread.reset(new Thread("disinfectionThread", [this, stopatg]() {
    ThisThread thisThread;
    m_deviceIoControlService->replenishingFluidsPump_open();
    logger->info("startReplenishingFluids {}g", stopatg);
    while (!thisThread.getExitFlag()) {
      int32_t nowvolume = m_deviceIoControlService->getDisinfectantVolume_g();
      logger->info("replenishingFluids {}g", nowvolume);
      if (nowvolume > stopatg) {
        break;
      }

      if (nowvolume > MAX_VOLUME) {
        logger->warn("replenishingFluids reach full level {}g", nowvolume);
        break;
      }

      thisThread.sleepForMs(1000);
    }
    logger->info("stopReplenishingFluids");
    // replenishingFluidsPump_close();
    m_deviceIoControlService->replenishingFluidsPump_close();
    m_replenishingFluidsWorkState = 0;
  }));

  //
  m_replenishingFluidsWorkState = 1;
  logger->info("startReplenishingFluids ");
}
/**
 * @brief 停止加液
 *
 */
void DisinfectionCtrlService::stopReplenishingFluids() {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_disinfectionThread) {
    m_disinfectionThread->join();
    m_disinfectionThread = nullptr;
  }

  logger->info("stopReplenishingFluids");
  // replenishingFluidsPump_close();
  m_deviceIoControlService->replenishingFluidsPump_close();
  m_replenishingFluidsWorkState = 0;
}
/*******************************************************************************
 *                                    排液                                     *
 *******************************************************************************/
/**
 * @brief 开始排液
 *
 */
void DisinfectionCtrlService::startDraining() {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_disinfectionThread) {
    m_disinfectionThread->join();
    m_disinfectionThread = nullptr;
  }

  m_disinfectionThread.reset(new Thread("disinfectionThread", [this]() {
    ThisThread thisThread;

    m_deviceIoControlService->drainingPump_open();
    logger->info("startDraining ");

    auto startdrainingtime = zsteady_clock().now();

    zsteady_tp volumeReachZeroTime;
    bool       volumeReachZeroFlag = false;

    while (!thisThread.getExitFlag()) {
      int32_t nowvolume = m_deviceIoControlService->getDisinfectantVolume_g();
      logger->info("draining remain {} g", nowvolume);
      if (!volumeReachZeroFlag && nowvolume == 0) {
        volumeReachZeroTime = zsteady_clock().now();
        volumeReachZeroFlag = true;
      }

      if (volumeReachZeroFlag) {
        logger->info("stopDraining after {} s", 30 - zsteady_clock().elapsedTimeS(volumeReachZeroTime));
        if (zsteady_clock().elapsedTimeS(volumeReachZeroTime) > 30) {
          break;
        }
      }

      thisThread.sleepForMs(1000);
    }
    logger->info("stopDraining");
    // replenishingFluidsPump_close();
    m_deviceIoControlService->drainingPump_close();
    m_drainingWorkState = 0;
  }));

  logger->info("startDraining");
  // drainingPump_open();
  m_drainingWorkState = 1;
}
/**
 * @brief 停止排液体
 */
void DisinfectionCtrlService::stopDraining() {
  lock_guard<recursive_mutex> lock(lock_);
  if (m_disinfectionThread) {
    m_disinfectionThread->join();
    m_disinfectionThread = nullptr;
  }
  logger->info("stopDraining");
  m_drainingWorkState = 0;
  // drainingPump_close();
  m_deviceIoControlService->drainingPump_close();
}