transmit_disinfection_micro/usrc/app/dmapp.cpp

#include "dmapp.hpp"

#include "board/hal/zhal_initer.hpp"
//
#include "dmapp_controler/blower_controller.hpp"
#include "dmapp_service/blower_ctrl_service.hpp"
#include "dmapp_controler/air_compressor_controller.hpp"
#include "dmapp_service/air_compressor_ctrl_service.hpp"

using namespace iflytop;
using namespace transmit_disfection_protocol;
#define TAG "DMAPP"
//
// 参考 https://iflytop1.feishu.cn/wiki/GF8LwUjeJiNJ9DkcuEEcZLZMnTf?fromScene=spaceOverview 进行配置
//
DisinfectionApp* DisinfectionApp::ins() {
  static DisinfectionApp instance;
  return &instance;
}

const char* DisinfectionApp::getName() { return "DisinfectionApp"; }

void DisinfectionApp::initialize() {
  int btid = PublicBoard::ins()->getBoardTypeId();
  // only support
  //   large space disinfection machine,
  //   small space disinfection machine,
  //   pipe disinfection machine,
  //   DT600B,
  ZASSERT(PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B() || PORT::isDrawBarDM());

  /***********************************************************************************************************************
   *                                                       加热片                                                        *
   ***********************************************************************************************************************/
  if (PORT::isPowerCtrlBoard()       //
      && (PORT::isLargeSpaceDM() ||  //
          PORT::isSamllSpaceDM() ||  //
          PORT::isPipeDM() ||        //
          PORT::isDT600B() ||        //
          PORT::isDrawBarDM())) {
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_9);
  }

  /***********************************************************************************************************************
   *                                                        风机                                                         *
   ***********************************************************************************************************************/

  if (BlowerCtrlService::isSupport()) {
    BlowerCtrlService::initialize();  // 初始化风机控制硬件
    BlowerController::initialize();   // 解析相关协议
  }

  /***********************************************************************************************************************
   *                                                       空压机                                                        *
   ***********************************************************************************************************************/
  if (AirCompressorCtrlService::isSupport()) {
    AirCompressorCtrlService::initialize();  // 初始化空压机控制硬件
    AirCompressorController::initialize();   // 解析相关协议
  }

  /***********************************************************************************************************************
   *                                                  气密性测试空压机                                                   *
   ***********************************************************************************************************************/
  // null

  //
  /***********************************************************************************************************************
   *                                                     H2O2传感器                                                      *
   ***********************************************************************************************************************/
  if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
    LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    osDelay(3000);
    h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_3);
  }

  /***********************************************************************************************************************
   *                                                     水浸传感器                                                      *
   ***********************************************************************************************************************/
  if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
    ZLOGI(TAG, "WaterSensor init");
    evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, false /*mirror*/);
    deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, false /*mirror*/);

    REG_LAMADA_FN(kfn_device_bottom_water_sensor_read_state, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, deviceBottomWS.read()); });
    REG_LAMADA_FN(kfn_evaporation_tank_water_sensor_read_state, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, evaporationBinWS.read()); });
  }

  /***********************************************************************************************************************
   *                                                    TMC电机初始化                                                    *
   ***********************************************************************************************************************/
  if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
    // TMC电机初始化
    ZLOGI(TAG, "TMCMotorGroup init");
    LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT();
    tmcPowerGroup.initialize(PB2, {&hspi1, PA4 /*cs*/, PB12 /*en*/}, {&hspi1, PC4 /*cs*/, PB13 /*en*/});
  }

  /***********************************************************************************************************************
   *                                                     三色指示灯                                                      *
   ***********************************************************************************************************************/
  if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
    // 三色指示灯初始化
    ZLOGI(TAG, "WarningLightDriver init");
    wlDriver.initialize(PD8, PD7, PD9, PD10);
  }

  /***********************************************************************************************************************
   *                                                  压力传感器初始化                                                   *
   ***********************************************************************************************************************/
  if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM())) {
    ZLOGI(TAG, "PXXPSBus init");
    osDelay(1500);  // 等待传感器上电
    LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1);
    psBus.initialize(&huart3);
  }
  /***********************************************************************************************************************
   *                                                    比例阀初始化                                                     *
   ***********************************************************************************************************************/
  if (PORT::isLiquidCtrlBoard() && (PORT::isPipeDM())) {
    ZLOGI(TAG, "ProportionalValveCtrl init");
    ZHALIniter::HUART2_INIT(PD5, PD6, 9600, UART_STOPBITS_1);
    proportionalValveCtrl.initialize(&huart2);
  }

  /***********************************************************************************************************************
   *                                                   气密性测试通道                                                    *
   ***********************************************************************************************************************/

  // kAirLeakTestMode_disinfection
  // kAirLeakTestMode_inflation
  // kAirLeakTestMode_leakTest

  if (PORT::isLiquidCtrlBoard() && (PORT::isPipeDM())) {
    static air_leak_test_mode_t airLeakTestMode = kAirLeakTestMode_disinfection;
    if (PORT::isPipeDM()) {
      static ZGPIO eValve0;
      static ZGPIO eValve1;
      static ZGPIO eValve2;
      eValve0.initAsOutput(PD14, kxs_gpio_nopull, true, false);
      eValve1.initAsOutput(PD15, kxs_gpio_nopull, true, false);
      eValve2.initAsOutput(PC6, kxs_gpio_nopull, true, false);  // 空气通道电磁阀

      REG_LAMADA_FN(kfn_air_leak_test_set_mode, [&](ProcessContext* cxt) {
        if (GET_PARAM(0) == kAirLeakTestMode_disinfection) {
          eValve2.write(0);  // 内管路
          eValve0.write(0);  // 联通
          eValve1.write(0);  // 联通
        } else if (GET_PARAM(0) == kAirLeakTestMode_inflation) {
          eValve2.write(1);  // 联通空气
          eValve0.write(0);  // 联通
          eValve1.write(0);  // 联通
        } else if (GET_PARAM(0) == kAirLeakTestMode_leakTest) {
          eValve2.write(0);  // 内管路
          eValve0.write(1);  // 封闭
          eValve1.write(1);  // 封闭
        }
        airLeakTestMode = (air_leak_test_mode_t)GET_PARAM(0);
        zcanbus_send_ack(cxt->packet, NULL, 0);
      });
      REG_LAMADA_FN(kfn_air_leak_test_get_mode, [&](ProcessContext* cxt) {
        int32_t mode = airLeakTestMode;
        zcanbus_send_ack(cxt->packet, mode);
      });
    } else if (PORT::isDrawBarDM()) {
      static ZGPIO eValve0;
      static ZGPIO eValve1;
      eValve0.initAsOutput(PD15, kxs_gpio_nopull, false, false);
      eValve1.initAsOutput(PC6, kxs_gpio_nopull, false, false);

      REG_LAMADA_FN(kfn_air_leak_test_set_mode, [&](ProcessContext* cxt) {
        if (GET_PARAM(0) == kAirLeakTestMode_disinfection) {
          eValve0.write(1);
          eValve1.write(1);
        } else if (GET_PARAM(0) == kAirLeakTestMode_inflation) {
          eValve0.write(0);
          eValve1.write(1);
        } else if (GET_PARAM(0) == kAirLeakTestMode_leakTest) {
          eValve0.write(1);
          eValve1.write(0);
        }
        airLeakTestMode = (air_leak_test_mode_t)GET_PARAM(0);
        zcanbus_send_ack(cxt->packet, NULL, 0);
      });
      REG_LAMADA_FN(kfn_air_leak_test_get_mode, [&](ProcessContext* cxt) {
        int32_t mode = airLeakTestMode;
        zcanbus_send_ack(cxt->packet, mode);
      });
    }
  }

  /**
   * @brief
   *  小空间低配版 和 拉杆箱 均不支持排液功能
   */
  if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM())) {
    static ZGPIO valve;
    valve.initAsOutput(PB3, kxs_gpio_nopull, true, false);
    REG_LAMADA_FN(kfn_set_add_fluid_channel_selector_valve, [&](ProcessContext* cxt) {
      if (GET_PARAM(0) == 0) {
        valve.write(0);
      } else {
        valve.write(1);
      }
      zcanbus_send_ack(cxt->packet, NULL, 0);
    });
  }

  /**
   * @brief 液位状态
   */
  if (PORT::isLiquidCtrlBoard() && (PORT::isDT600B())) {
    // 初始化
    static ZGPIO io0;
    static bool  io0enable = false;
    static ZGPIO io1;
    static bool  io1enable = false;
    static ZGPIO io2;
    static bool  io2enable = false;

    if (PORT::isDT600B()) {
      io0.initAsInput(PD11, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
      io0enable = true;
    }

    if (io0enable || io1enable || io2enable) {
      REG_LAMADA_FN(kfn_disinfectant_bucket_level_sensor_read_level, [&](ProcessContext* cxt) {
        int32_t liquid_level_state = 0;

        bool io0state = false;
        bool io1state = false;
        bool io2state = false;

        if (io0enable) io0state = io0.read();
        if (io1enable) io1state = io1.read();
        if (io2enable) io2state = io2.read();

        if (io2state) {
          liquid_level_state = 3;  // 液位最高
        } else if (io1state) {
          liquid_level_state = 2;  // 液位中等
        } else if (io0state) {
          liquid_level_state = 1;  // 液位最低
        } else {
          liquid_level_state = 0;  // 无液位
        }

        zcanbus_send_ack(cxt->packet, liquid_level_state);
      });
    }
  }
}

/***********************************************************************************************************************
 *                                                    PROTOCOL_BIND                                                    *
 ***********************************************************************************************************************/