recode

1 year ago · e5db24ca22
40 changed files with 782 additions and 534 deletions
--- a/app_protocols/transmit_disfection_protocol
+++ b/app_protocols/transmit_disfection_protocol
@ -1 +1 @@
-Subproject commit 8b73b00eacba449c5d71f7d9f0dab9abc54c6aaa
+Subproject commit 9b15ef0cb011476bff3659117a9e7907155a9f1b
--- a/usrc/app/dmapp.hpp
+++ b/usrc/app/dmapp.hpp
@ -0,0 +1,150 @@
+#pragma once
+#include "board/public_board.hpp"
+#include "board_base/board_base.hpp"
+
+/**
+ * @brief
+ *  大空间消毒机-功率控制板
+ */
+
+namespace iflytop {
+using namespace transmit_disfection_protocol;
+
+#define TAG "LargeSpaceDmPowerCtrlBoard"
+class DisinfectionApp {
+ public:
+  HeaterController        heaterCtrler;
+  BlowerController        blowerCtrler;
+  AirCompressorController airComCtrler;
+  H2O2SensorDriver        h2o2Sensor;
+
+  ZGPIO              evaporationBinWS;  // 蒸发仓水浸
+  ZGPIO              deviceBottomWS;    // 设备底部水浸
+  WarningLightDriver wlDriver;          // 报警灯
+  TmcMotorGroup      tmcPowerGroup;     // TMC电机
+  PXXPSBus           psBus;             // PXX压力传感器总线
+
+ public:
+  static DisinfectionApp* ins() {
+    static DisinfectionApp instance;
+    return &instance;
+  }
+
+  virtual const char* getName() { return "DisinfectionApp"; }
+
+  void initialize() {
+    initializeDevice();
+    regProtocol();
+  }
+
+  void initializeDevice() {
+    int btid = PublicBoard::ins()->getBoardTypeId();
+    //
+
+    if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
+      heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8);
+    }
+
+    if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
+      blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1);
+    }
+
+    if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
+      airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0);
+    }
+
+    if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
+      h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_10);
+    }
+
+    if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
+      evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
+      deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
+    }
+
+    if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
+      // TMC电机初始化
+      LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT();
+      tmcPowerGroup.initialize(PB2, {&hspi1, PC4 /*cs*/, PB13 /*en*/}, {&hspi1, PA4 /*cs*/, PB12 /*en*/});
+    }
+
+    if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
+      // 三色指示灯初始化
+      wlDriver.initialize(PD8, PD7, PD9, PD10);
+    }
+
+    if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
+      // 压力传感器初始化
+      osDelay(1500);  // 等待传感器上电
+      LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1);
+      psBus.initialize(&huart3);
+    }
+  }
+
+  void regProtocol() {
+    if (heaterCtrler.isInitialized()) {
+      BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl);
+      BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl_safe_valve);
+      BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_electric_current);
+      BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_temperature_data);
+    }
+
+    if (blowerCtrler.isInitialized()) {
+      BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl);
+      BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl_safe_valve);
+      BIND_FN(BlowerController, &blowerCtrler, fn_blower_read_electric_current);
+    }
+
+    if (airComCtrler.isInitialized()) {
+      BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl);
+      BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl_safe_valve);
+      BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_read_electric_current);
+    }
+
+    if (h2o2Sensor.isInitialized()) {
+      BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_calibration_date);
+      BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_errorcode);
+      BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_reg);
+    }
+    if (wlDriver.isInitialized()) {
+      BIND_FN(WarningLightDriver, wlDriver, fn_triple_warning_light_ctl);
+    }
+
+    if (tmcPowerGroup.isInitialized()) {
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_rotate);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_stop);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ihold_irun_idelay);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_acc);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ramp);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_tzw);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_subic_reg);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_get_subic_reg);
+      BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_ping);
+    }
+
+    if (psBus.isInitialized()) {
+      BIND_FN(PXXPSBus, psBus, fn_psbus_read_data);
+      BIND_FN(PXXPSBus, psBus, fn_psbus_scan);
+    }
+
+    if (evaporationBinWS.isInited()) {
+      ProtocolProcesserMgr::ins()->regCmdProcesser(                   //
+          CmdProcesser(kfn_evaporation_tank_water_sensor_read_state,  //
+                       [this](ProcessContext* cxt) {
+                         int32_t val = evaporationBinWS.read();
+                         zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
+                       }));
+    }
+
+    if (deviceBottomWS.isInited()) {
+      ProtocolProcesserMgr::ins()->regCmdProcesser(                //
+          CmdProcesser(kfn_device_bottom_water_sensor_read_state,  //
+                       [this](ProcessContext* cxt) {
+                         int32_t val = deviceBottomWS.read();
+                         zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
+                       }));
+    }
+  }
+};
+#undef TAG
+}  // namespace iflytop
--- a/usrc/app_main.cpp
+++ b/usrc/app_main.cpp
@ -2,19 +2,12 @@
 #include <stdio.h>

 //
+#include "app/dmapp.hpp"
 #include "base/appdep.hpp"
 //
-#include "board/large_space_dm_liquid_ctrl_board.hpp"
-#include "board/large_space_dm_power_ctrl_board.hpp"
-#include "board/pipe_dm_liquid_ctrl_board.hpp"
-#include "board/pipe_dm_power_ctrl_board.hpp"
 #include "board/public_board.hpp"
 //
 #include "base/protocol_processer_mgr.hpp"
-#include "protocol_processer_impl/large_space_dm_liquid_ctrl_board_pp.hpp"
-#include "protocol_processer_impl/large_space_dm_power_ctrl_board_pp.hpp"
-#include "protocol_processer_impl/pipe_dm_liquid_ctrl_board_pp.hpp"
-#include "protocol_processer_impl/pipe_dm_power_ctrl_board_pp.hpp"
 #include "protocol_processer_impl/public_cmd_processer.hpp"
 //
 #include "zsdk/zcanreceiver/zcanreceiver.hpp"
@ -97,35 +90,21 @@ void umain() {
  ZLOGI(TAG, "=");

  ProtocolProcesserMgr::ins()->initialize();
-  REG_PROCESSER(PublicCmdProcesser::ins());
+  PublicCmdProcesser::ins()->initialize();

  switch (PublicBoard::ins()->getBoardTypeId()) {
    case kLargeSpaceDMLiquidCtrlBoard:
-    case kSmallSpaceDMLiquidCtrlBoard:
-      LargeSpaceDmLiquidCtrlBoard::ins()->initialize();
-      REG_PROCESSER(LargeSpaceDmLiquidCtrlBoardPP::ins());
-      break;
    case kLargeSpaceDMPowerCtrlBoard:
+    case kSmallSpaceDMLiquidCtrlBoard:
    case kSmallSpaceDMPowerCtrlBoard:
-      LargeSpaceDmPowerCtrlBoard::ins()->initialize();
-      REG_PROCESSER(LargeSpaceDmPowerCtrlBoardPP::ins());
-      break;
    case kPipeDMLiquidCtrlBoard:
-      PipeDMLiquidCtrlBoard::ins()->initialize();
-      REG_PROCESSER(PipeDMLiquidCtrlBoardPP::ins());
-      break;
    case kPipeDMPowerCtrlBoard:
-      PipeDMPowerCtrlBoard::ins()->initialize();
-      REG_PROCESSER(PipeDMPowerCtrlBoardPP::ins());
-      break;
    case kDrawBarDMLiquidCtrlBoard:
-      break;
    case kDrawBarDMPowerCtrlBoard:
+      DisinfectionApp::ins()->initialize();
      break;
    case kDrawBarDMExtBallValveCtrl:
-      break;
    case kH2O2SensorBoard:
-      break;
    default:
      gInitErrorFlag = true;
      break;
--- a/usrc/base/appdep.hpp
+++ b/usrc/base/appdep.hpp
@ -16,7 +16,7 @@
 #include "config_service.hpp"
 #include "device_info.hpp"
 #include "gflag/gflag.h"
-#include "i_protocol_processer.hpp"
+#include "protocol_processer_mgr.hpp"
 #include "idtable/IdMgr.hpp"
 #include "transmit_disfection_protocol/transmit_disfection_protocol.hpp"
 //
--- a/usrc/base/protocol_processer_mgr.cpp
+++ b/usrc/base/protocol_processer_mgr.cpp
@ -26,15 +26,7 @@ static void zcanbus_on_connected(bool connected) {
 }

 void ProtocolProcesserMgr::initialize() {}
-void ProtocolProcesserMgr::regProcesser(IProtocolProcesser* processer) {
-  m_processers.push_back(processer);
-
-  ZLOGI(TAG, "register processer %s", processer->getName());
-}
 void ProtocolProcesserMgr::startSchedule(int deviceId) {
-  for (auto processer : m_processers) {
-    processer->initialize();
-  }

  zcanbus_init(deviceId);
  zcanbus_reglistener(zcanbus_on_rx);
@ -57,10 +49,9 @@ void ProtocolProcesserMgr::onPacket(uint8_t from, uint8_t to, uint8_t* rawpacket

  ZLOGI(TAG, "process packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);

-  for (auto processer : m_processers) {
-    if (processer->isSupportThisCmd(&cxt)) {
-      ZLOGI(TAG, "%s process this packet", processer->getName());
-      processer->process(&cxt);
+  for (auto& processer : cmdprocesser) {
+    if (processer.cmd == cxt.packet->function_id) {
+      processer.fn(&cxt);
      processed = true;
      break;
    }
--- a/usrc/base/protocol_processer_mgr.hpp
+++ b/usrc/base/protocol_processer_mgr.hpp
@ -1,11 +1,13 @@
 #pragma once
-#include "i_protocol_processer.hpp"
+#include "protocol_processer_utils.hpp"

+#define REG_FN(fn)                  ProtocolProcesserMgr::ins()->regCmdProcesser(CmdProcesser(k##fn, bind(&ThisClass::fn, this, placeholders::_1)))
+#define BIND_FN(ClassName, obj, fn) ProtocolProcesserMgr::ins()->regCmdProcesser(CmdProcesser(k##fn, bind(&ClassName::fn, obj, placeholders::_1)));
 namespace iflytop {
 using namespace std;

 class ProtocolProcesserMgr {
-  list<IProtocolProcesser*> m_processers;
+  list<CmdProcesser> cmdprocesser;

 public:
  static ProtocolProcesserMgr* ins() {
@ -14,8 +16,8 @@ class ProtocolProcesserMgr {
  }

  void initialize();
-  void regProcesser(IProtocolProcesser* processer);
  void startSchedule(int deviceId);
+  void regCmdProcesser(CmdProcesser processer) { cmdprocesser.push_back(processer); }

 public:
  void onPacket(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len);
--- a/usrc/base/protocol_processer_utils.hpp
+++ b/usrc/base/protocol_processer_utils.hpp
@ -15,9 +15,6 @@ using namespace std;
 using namespace zscanprotocol;
 using namespace transmit_disfection_protocol;

-#define REG_FN(fn)                  cmdprocesser.push_back(CmdProcesser(k##fn, bind(&ThisClass::fn, this, placeholders::_1)))
-#define BIND_FN(ClassName, obj, fn) cmdprocesser.push_back(CmdProcesser(k##fn, bind(&ClassName::fn, obj, placeholders::_1)));
-
 #define GET_PARAM(off) ((((int32_t*)(cxt->packet->params))[off]))
 #define PRAAM_LEN()    ((cxt->packetlen - sizeof(zcanbus_packet_t)) / 4)

@ -31,12 +28,10 @@ using namespace transmit_disfection_protocol;
 *                                                    ClassDeclear                                                     *
 ***********************************************************************************************************************/
 class ProcessContext;
-
 /***********************************************************************************************************************
 *                                                       TYPEDEF                                                       *
 ***********************************************************************************************************************/
 typedef function<void(ProcessContext* cxt)> cmdprocessfn_t;
-
 /***********************************************************************************************************************
 *                                                        CLASS                                                        *
 ***********************************************************************************************************************/
@ -53,33 +48,5 @@ class CmdProcesser {
  cmdprocessfn_t fn;
  CmdProcesser(int cmd, cmdprocessfn_t fn) : cmd(cmd), fn(fn) {}
 };
-class IProtocolProcesser {
- public:
-  list<CmdProcesser> cmdprocesser;
-
- public:
-  virtual void        initialize() = 0;
-  virtual const char* getName()    = 0;
-
- public:
-  virtual void process(ProcessContext* cxt) {
-    for (auto& cmd : cmdprocesser) {
-      if (cmd.cmd == cxt->packet->function_id) {
-        cmd.fn(cxt);
-        return;
-      }
-    }
-  }
-  virtual bool isSupportThisCmd(ProcessContext* cxt) {
-    for (auto& cmd : cmdprocesser) {
-      if (cmd.cmd == cxt->packet->function_id) {
-        return true;
-      }
-    }
-    return false;
-  }
-
-  virtual ~IProtocolProcesser() {}
-};

 }  // namespace iflytop
--- a/usrc/board/draw_bar_dm_board.hpp.xx
+++ b/usrc/board/draw_bar_dm_board.hpp.xx
@ -0,0 +1,62 @@
+#pragma once
+#include "board_base/board_base.hpp"
+
+/**
+ * @brief
+ *  手持拉杆箱-功率控制板
+ *  1.鼓风机改成PWM驱动
+ *  2.去掉空压机，空压机
+ *
+ * 两块板写在一起
+ *
+ *
+ *
+ */
+
+namespace iflytop {
+using namespace transmit_disfection_protocol;
+
+#define TAG "DrawBarDMBoard"
+class DrawBarDMBoard {
+ public:
+  HeaterController        heaterCtrler;
+  BlowerController        blowerCtrler;
+  AirCompressorController airComCtrler;
+  H2O2SensorDriver        h2o2Sensor;
+  ZGPIO                   evaporationBinWS;  // 蒸发仓水浸
+  ZGPIO                   deviceBottomWS;    // 设备底部水浸
+  WarningLightDriver      wlDriver;          // 报警灯
+  TmcMotorGroup           tmcPowerGroup;     // TMC电机
+  PXXPSBus                psBus;             // PXX压力传感器总线
+
+ public:
+  static DrawBarDMBoard* ins() {
+    static DrawBarDMBoard instance;
+    return &instance;
+  }
+  void initialize() {
+    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
+    LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
+
+    heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8);
+    blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1);
+    airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0);
+    h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_10);
+
+    AppPeriodTaskMgr::ins()->regTask("AirComAdc", DrawBarDMBoard::onTimeCb, this, 1000);
+  }
+  static void onTimeCb(void* handler) { ((DrawBarDMBoard*)handler)->onTimeCb(); }
+  void        onTimeCb() {
+    heaterCtrler.periodTask();
+    blowerCtrler.periodTask();
+    airComCtrler.periodTask();
+
+    ZLOGI(TAG, "b:%d(%d), a:%d(%d), h:%d(%d) ht:%d(%d)",                                                 //
+                 blowerCtrler.blower_read_electric_current(), blowerCtrler.blower_read_iadc(),                  //
+                 airComCtrler.air_compressor_read_electric_current(), airComCtrler.air_compressor_read_iadc(),  //
+                 heaterCtrler.heater_read_electric_current(), heaterCtrler.heater_read_iadc(),                  //
+                 heaterCtrler.heater_read_temperature_data(), heaterCtrler.heater_read_tadc());
+  }
+};
+#undef TAG
+}  // namespace iflytop
--- a/usrc/board/large_space_dm_liquid_ctrl_board.hpp.xx
+++ b/usrc/board/large_space_dm_liquid_ctrl_board.hpp.xx
--- a/usrc/board/large_space_dm_power_ctrl_board.hpp.xx
+++ b/usrc/board/large_space_dm_power_ctrl_board.hpp.xx
@ -7,7 +7,6 @@
 */

 namespace iflytop {
-#define H2O2_SENSOR_TYPE_HMP110
 using namespace transmit_disfection_protocol;

 #define TAG "LargeSpaceDmPowerCtrlBoard"
--- a/usrc/board/pipe_dm_liquid_ctrl_board.hpp.xx
+++ b/usrc/board/pipe_dm_liquid_ctrl_board.hpp.xx
--- a/usrc/board/pipe_dm_power_ctrl_board.hpp.xx
+++ b/usrc/board/pipe_dm_power_ctrl_board.hpp.xx
@ -9,7 +9,6 @@
 *
 */
 namespace iflytop {
-#define H2O2_SENSOR_TYPE_HMP110
 using namespace transmit_disfection_protocol;

 class PipeDMPowerCtrlBoard {
--- a/usrc/board/public_board.cpp
+++ b/usrc/board/public_board.cpp
@ -125,3 +125,34 @@ int PublicBoard::getBoardTypeId() {
  }
 }
 int PublicBoard::getBoardId() { return IdMgr::ins().getBoardId(getBoardTypeId()); }
+
+namespace iflytop {
+bool isBoardType(int32_t val0) {
+  int boardType = PublicBoard::ins()->getBoardTypeId();
+  if (boardType == val0) {
+    return true;
+  }
+  return false;
+}
+bool isBoardType(int32_t val0, int32_t val1) {
+  int boardType = PublicBoard::ins()->getBoardTypeId();
+  if (boardType == val0 || boardType == val1) {
+    return true;
+  }
+  return false;
+}
+bool isBoardType(int32_t val0, int32_t val1, int32_t val2) {
+  int boardType = PublicBoard::ins()->getBoardTypeId();
+  if (boardType == val0 || boardType == val1 || boardType == val2) {
+    return true;
+  }
+  return false;
+}
+bool isBoardType(int32_t val0, int32_t val1, int32_t val2, int32_t val3) {
+  int boardType = PublicBoard::ins()->getBoardTypeId();
+  if (boardType == val0 || boardType == val1 || boardType == val2 || boardType == val3) {
+    return true;
+  }
+  return false;
+}
+}  // namespace iflytop
--- a/usrc/board/public_board.hpp
+++ b/usrc/board/public_board.hpp
@ -22,4 +22,10 @@ class PublicBoard {
  void debugUartInit(void);
  void canInit();
 };
+
+bool isBoardType(int32_t val0);
+bool isBoardType(int32_t val0, int32_t val1);
+bool isBoardType(int32_t val0, int32_t val1, int32_t val2);
+bool isBoardType(int32_t val0, int32_t val1, int32_t val2, int32_t val3);
+
 }  // namespace iflytop
--- a/usrc/board_base/app_share/air_compressor_controller.hpp
+++ b/usrc/board_base/app_share/air_compressor_controller.hpp
@ -8,6 +8,7 @@ using namespace transmit_disfection_protocol;
 class AirCompressorController {
  ZGPIO m_AirCompressor_ctrlGpio;
  ZADC  m_AirCompressor_iAdc;
+  bool  m_isInitialized = false;

 public:
  static AirCompressorController* ins() {
@ -18,7 +19,9 @@ class AirCompressorController {
  void initialize(Pin_t ctrlGpio, ADC_HandleTypeDef* iadc, uint32_t ich) {
    m_AirCompressor_ctrlGpio.initAsOutput(ctrlGpio, kxs_gpio_nopull, true, false);
    m_AirCompressor_iAdc.initialize("AirComAdc", iadc, ich);
+    m_isInitialized = true;
  }
+  bool isInitialized() { return m_isInitialized; }

  // FN
  void    air_compressor_ctrl(int32_t val) { m_AirCompressor_ctrlGpio.write(val); }
--- a/usrc/board_base/app_share/blower_controller.hpp
+++ b/usrc/board_base/app_share/blower_controller.hpp
@ -19,13 +19,16 @@ class BlowerController {

  // kHighPowerUartBlower
  ModbusBlockHost m_modbusblock;
+  bool  m_isInitialized = false;

 public:
  void initialize(Pin_t ctrlGpio, ADC_HandleTypeDef* iadc, uint32_t ich) {
    m_ctrlGpio.initAsOutput(ctrlGpio, kxs_gpio_nopull, true, false);
    m_iadc.initialize("Blower-iadc", iadc, ich);
    m_blowerType = kIOBlower;
+    m_isInitialized = true;
  }
+  bool isInitialized() { return m_isInitialized; }

  void initializeAsHighPowerUartBlower(UART_HandleTypeDef* huart) {
    m_modbusblock.initialize(huart);
--- a/usrc/board_base/app_share/h2o2_sensor_driver.cpp
+++ b/usrc/board_base/app_share/h2o2_sensor_driver.cpp
@ -35,6 +35,8 @@ void H2O2SensorDriver::initialize(UART_HandleTypeDef* huart, ADC_HandleTypeDef*

  osThreadDef(H2O2CaptureThread, c_onH2O2CaptureThread, osPriorityNormal, 0, 1024);
  H2O2CaptureThreadId = osThreadCreate(osThread(H2O2CaptureThread), this);
+    m_isInitialized = true;
+
 }

 /***********************************************************************************************************************
--- a/usrc/board_base/app_share/h2o2_sensor_driver.hpp
+++ b/usrc/board_base/app_share/h2o2_sensor_driver.hpp
@ -10,9 +10,12 @@ class H2O2SensorDriver {
  ZADC            m_H2O2Adc;          // H2O2传感器控制
  HMP110          m_HMP110;           // H2O2传感器
  int32_t         m_detectId = -1;
+  bool  m_isInitialized = false;

 public:
  void    initialize(UART_HandleTypeDef* huart, ADC_HandleTypeDef* hadc, int32_t adcChannel);
+  bool isInitialized() { return m_isInitialized; }
+
  bool    h2o2_sensor_is_online();
  int32_t h2o2_sensor_read_calibration_date(int32_t* year, int32_t* month, int32_t* day);
  int32_t h2o2_sensor_read_sub_ic_errorcode();
--- a/usrc/board_base/app_share/heater_controller.hpp
+++ b/usrc/board_base/app_share/heater_controller.hpp
@ -8,14 +8,18 @@ class HeaterController {
  ZGPIO m_Heater_ctrlGpio;
  ZADC  m_Heater_electricCurrentAdc;
  ZADC  m_Heater_temperatureAdc;
+  bool  m_isInitialized = false;

 public:
  void initialize(Pin_t ctrlGpio, ADC_HandleTypeDef* iadc, uint32_t ich, ADC_HandleTypeDef* tadc, uint32_t tch) {
    m_Heater_ctrlGpio.initAsOutput(ctrlGpio, kxs_gpio_nopull, true, false);
    m_Heater_electricCurrentAdc.initialize("HeaterCurrentAdc", iadc, ich);
    m_Heater_temperatureAdc.initialize("temperatureAdc", iadc, tch);
+    m_isInitialized = true;
  }

+  bool isInitialized() { return m_isInitialized; }
+
  void    heater_ctrl(int32_t val) { m_Heater_ctrlGpio.write(val); }
  void    heater_ctrl_safe_valve(int32_t val) {}
  int32_t heater_read_temperature_data() { return heaterAdc2Temp(m_Heater_temperatureAdc.getCacheVal()); }
--- a/usrc/board_base/app_share/proportional_valve_ctrl.hpp
+++ b/usrc/board_base/app_share/proportional_valve_ctrl.hpp
@ -6,10 +6,15 @@ using namespace transmit_disfection_protocol;

 class ProportionalValveCtrl {
  PreportionalValveCtrl valve;
+  bool                  m_isInitialized = false;

 public:
-  void initialize(UART_HandleTypeDef* huart) { valve.initialize(huart); }
+  void initialize(UART_HandleTypeDef* huart) {
+    valve.initialize(huart);
+    m_isInitialized = true;
+  }

+  bool isInitialized() { return m_isInitialized; }

  void fn_proportional_set_valve(ProcessContext* cxt) {
    int32_t err = valve.setValvePos(GET_PARAM(0), GET_PARAM(1));
--- a/usrc/board_base/app_share/pxxpsbus.hpp
+++ b/usrc/board_base/app_share/pxxpsbus.hpp
@ -6,9 +6,14 @@ using namespace transmit_disfection_protocol;

 class PXXPSBus {
  PXXPressureSensorBus psbus;
+  bool                 m_isInitialized = false;

 public:
-  void initialize(UART_HandleTypeDef* huart) { psbus.init(huart); }
+  void initialize(UART_HandleTypeDef* huart) {
+    psbus.init(huart);
+    m_isInitialized = true;
+  }
+  bool isInitialized() { return m_isInitialized; }

  void fn_psbus_read_data(ProcessContext* cxt) {
    CHECK_PARAM_LEN(PRAAM_LEN(), 1);
--- a/usrc/board_base/app_share/tmc_motor_group.cpp
+++ b/usrc/board_base/app_share/tmc_motor_group.cpp
@ -27,7 +27,7 @@ static void motorErrorFlag_set(int subindex, bool val) {

 static void onMotorMonitorTimer(void const* argument) {
  // 电机异常检查
-  TmcMotorGroup* DEVICE = (TmcMotorGroup*)argument;
+  TmcMotorGroup*           DEVICE = (TmcMotorGroup*)argument;
  report_exeception_data_t data;
  for (size_t i = 0; i < DEVICE->motorNum(); i++) {
    bool estate = motorErrorFlag_get(i);
@ -101,6 +101,7 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf
  osTimerDef(MotorMonitorTimer, onMotorMonitorTimer);
  MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, this);
  osTimerStart(MotorMonitorTimerId, 1000);
+  m_isInitialized = true;
 }

 #define MOTOR_CHECK()                                                 \
--- a/usrc/board_base/app_share/tmc_motor_group.hpp
+++ b/usrc/board_base/app_share/tmc_motor_group.hpp
@ -8,9 +8,12 @@ class TmcMotorGroup {
 public:
  TMC51X0 m_motor[2];       // 蠕动泵控制
  ZGPIO   m_tmc_power_pin;  //
+  bool    m_isInitialized = false;

 public:
-  void     initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cfg1);
+  void initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cfg1);
+  bool isInitialized() { return m_isInitialized; }
+
  int      motorNum() { return 2; }
  TMC51X0* motor(int32_t index) {
    if (index < 0 || index >= motorNum()) {
--- a/usrc/board_base/app_share/warning_light_driver.hpp
+++ b/usrc/board_base/app_share/warning_light_driver.hpp
@ -9,6 +9,7 @@ class WarningLightDriver {
  ZGPIO triLight_G;
  ZGPIO triLight_B;
  ZGPIO triLight_BEEP;
+  bool  m_isInitialized = false;

 public:
  void initialize(Pin_t r, Pin_t g, Pin_t b, Pin_t beep) {
@ -16,7 +17,11 @@ class WarningLightDriver {
    triLight_G.initAsOutput(g, kxs_gpio_nopull, false, false);
    triLight_B.initAsOutput(b, kxs_gpio_nopull, false, false);
    triLight_BEEP.initAsOutput(beep, kxs_gpio_nopull, false, false);
+    m_isInitialized = true;
+
  }
+  bool isInitialized() { return m_isInitialized; }
+
  void setRGBW(int32_t r, int32_t g, int32_t b, int32_t beep) {
    if (r > 0)
      triLight_R.write(1);
--- a/usrc/board_base/app_share/water_sensor_mgr.hpp
+++ b/usrc/board_base/app_share/water_sensor_mgr.hpp
@ -0,0 +1,29 @@
+#pragma once
+#include "base/appdep.hpp"
+
+namespace iflytop {
+using namespace transmit_disfection_protocol;
+
+class WaterSensorMgr {
+  ZGPIO evaporationBinWS;  // 蒸发仓水浸
+  ZGPIO deviceBottomWS;    // 设备底部水浸
+  bool  m_isInitialized = false;
+
+ public:
+  void initialize(Pin_t evaporationBinWSPin, Pin_t deviceBottomWSPin) {
+    evaporationBinWS.initAsInput(evaporationBinWSPin, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
+    deviceBottomWS.initAsInput(deviceBottomWSPin, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
+    m_isInitialized = true;
+  }
+  bool isInitialized() { return m_isInitialized; }
+
+  void fn_evaporation_tank_water_sensor_read_state(ProcessContext* cxt) {
+    int32_t val = evaporationBinWS.read();
+    zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
+  }
+  void fn_device_bottom_water_sensor_read_state(ProcessContext* cxt) {
+    int32_t val = deviceBottomWS.read();
+    zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
+  }
+};
+}  // namespace iflytop
--- a/usrc/protocol_processer_impl/large_space_dm_liquid_ctrl_board_pp.hpp.xx
+++ b/usrc/protocol_processer_impl/large_space_dm_liquid_ctrl_board_pp.hpp.xx
--- a/usrc/protocol_processer_impl/large_space_dm_power_ctrl_board_pp.hpp.xx
+++ b/usrc/protocol_processer_impl/large_space_dm_power_ctrl_board_pp.hpp.xx
--- a/usrc/protocol_processer_impl/pipe_dm_liquid_ctrl_board_pp.hpp.xx
+++ b/usrc/protocol_processer_impl/pipe_dm_liquid_ctrl_board_pp.hpp.xx
--- a/usrc/protocol_processer_impl/pipe_dm_power_ctrl_board_pp.hpp.xx
+++ b/usrc/protocol_processer_impl/pipe_dm_power_ctrl_board_pp.hpp.xx
--- a/usrc/protocol_processer_impl/public_cmd_processer.hpp
+++ b/usrc/protocol_processer_impl/public_cmd_processer.hpp
@ -7,9 +7,8 @@ using namespace std;
 using namespace zscanprotocol;
 using namespace transmit_disfection_protocol;

-
-class PublicCmdProcesser : public IProtocolProcesser {
-  uint8_t            boardResetFlag;  // 0: 重启标志
+class PublicCmdProcesser {
+  uint8_t boardResetFlag;  // 0: 重启标志

 public:
  static PublicCmdProcesser* ins() {
@ -17,8 +16,8 @@ class PublicCmdProcesser : public IProtocolProcesser {
    return &ins;
  }

-  virtual void        initialize() override;
-  virtual const char* getName() override { return "PublicCmdProcesser"; };
+  virtual void        initialize();
+  virtual const char* getName() { return "PublicCmdProcesser"; };

 private:
  void fn_read_board_info(ProcessContext* cxt);
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 45dd7621fe18ad66544d4b74c7cad454d6e3bb05
+Subproject commit 56b0595562d44d5ed960fcada360556ab816ce76