添加灯光控制服务

appsrc/service/app/drain_liquid_service.cpp

@@ -80,5 +80,9 @@ void DrainLiquidService::workThread() {
   logger->info("stopDraining");
   m_dcs->AddLiquidPump_stop();
   m_dcs->SprayPump_stop();
+
+  if(!thisThread.getExitFlag()){
+    // m_dcs->WarningLight_setState();
+  }
   m_workstate = kidle;
 }

appsrc/service/hardware/device_ctrl_service.cpp

@@ -117,7 +117,7 @@ void DeviceIoControlService::Blower_close() {
   CAN_MASTER->blowerCtrl(GET_BOARDID(), 0);
 }
 float DeviceIoControlService::Blower_readEI() {
-  if (isInPc()) return;
+  if (isInPc()) return 0;
 
   return CAN_MASTER->blowerReadEI(GET_BOARDID()) / 1000.0;
 }

appsrc/service/hardware/warning_light_controler.cpp

@@ -0,0 +1,89 @@
+#include "warning_light_controler.hpp"
+
+using namespace iflytop;
+using namespace std;
+
+void WarningLightControler::workThread() {
+  ThisThread thisThread;
+
+  int cnt = 0;
+  while (!thisThread.getExitFlag()) {
+    thisThread.sleepForMs(100);
+
+    lightState_t nexState = inferTheCurrentLightingState();
+    if (m_nowState != nexState) {
+      changeLightState(nexState);
+    }
+    cnt++;
+    // 1s调用一次
+    if (cnt % 10 == 0) {
+      beepCtrl(m_nowState);
+    }
+  }
+}
+
+void WarningLightControler::initialize() {
+  GET_TO_SERVICE(dcs);
+  m_thread.reset(new Thread("LightCtrlServiceThread", std::bind(&WarningLightControler::workThread, this)));
+}
+
+void WarningLightControler::beepCtrl(lightState_t state) {
+  switch (state) {
+    case kstate_warning:
+      m_beepState = !m_beepState;
+      dcs->WarningLight_setState(255, 0, 0, m_beepState ? 255 : 0);
+      break;
+    default:
+      break;
+  }
+}
+
+void WarningLightControler::changeLightState(lightState_t state) {
+  m_nowState = state;
+
+  switch (m_nowState) {
+    case kstate_idle:
+      // 绿色
+      dcs->WarningLight_setState(0, 255, 0, 0);
+      break;
+    case kstate_work:
+      // 黄色
+      dcs->WarningLight_setState(0, 0, 255, 0);
+      break;
+    case kstate_warning:
+      // 红色
+      dcs->WarningLight_setState(255, 0, 0, 0);
+      break;
+    default:
+      break;
+  }
+
+  // #if (defined PROJECT_TYPE_PIPE_DISINFECTION)
+  //   switch (m_nowState) {
+  //     case kstate_idle:
+  //       // 绿色
+  //       m_deviceIoControlService->warningLightCtrl(0, 255, 0, 0);
+  //       break;
+  //     case kstate_work:
+  //       // 黄色
+  //       m_deviceIoControlService->warningLightCtrl(255, 255, 0, 0);
+  //       break;
+  //     case kstate_warning:
+  //       // 红色
+  //       m_deviceIoControlService->warningLightCtrl(255, 0, 0, 0);
+  //       break;
+  //     default:
+  //       break;
+  //   }
+  // #endif
+}
+
+WarningLightControler::lightState_t WarningLightControler::inferTheCurrentLightingState() {
+  if (m_warningFlag) {
+    return kstate_warning;
+  }
+  if (m_workFlag) {
+    return kstate_work;
+  }
+  return kstate_idle;
+}

appsrc/service/hardware/warning_light_controler.hpp

@@ -0,0 +1,68 @@
+#pragma once
+#include <fstream>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+//
+#include "baseservice/baseservice.hpp"
+#include "device_ctrl_service.hpp"
+//
+#include "base/can_packet_dumper.hpp"
+#include "base/h2o2_sensor_data_mgr.hpp"
+//
+#include "appcomponents/algo/moving_average_filter.hpp"
+/**
+ * @brief
+ *
+ * service: WarningLightControler
+ *
+ * 监听事件:
+ * 依赖状态:
+ * 依赖服务:
+ * 作用:
+ *
+ */
+
+namespace iflytop {
+using namespace std;
+using namespace core;
+
+class WarningLightControler : public enable_shared_from_this<WarningLightControler> {
+  THISCLASS(WarningLightControler);
+
+ public:
+  typedef enum {
+    kstate_uninit,
+    kstate_idle,
+    kstate_work,
+    kstate_warning,
+  } lightState_t;
+
+ private:
+  shared_ptr<DeviceIoControlService> dcs;
+  unique_ptr<Thread> m_thread;
+
+  bool         m_workFlag    = false;
+  bool         m_warningFlag = false;
+  lightState_t m_nowState    = kstate_uninit;
+  bool         m_beepState   = false;
+
+ public:
+  void initialize();
+
+  void setworkFlag(bool flag) { m_workFlag = flag; }
+  void setwarningFlag(bool flag) { m_warningFlag = flag; }
+
+ private:
+  void         workThread();
+  lightState_t inferTheCurrentLightingState();
+  void         changeLightState(lightState_t state);
+  void         beepCtrl(lightState_t state);
+};
+
+};  // namespace iflytop

appsrc/service/main_control_service.cpp

@@ -18,6 +18,7 @@
 //
 #include "hardware/device_ctrl_service.hpp"
 #include "hardware/disinfectant_weight_update_service.hpp"
+#include "hardware/warning_light_controler.hpp"
 
 using namespace iflytop;
 using namespace core;
@@ -40,6 +41,7 @@ void MainControlService::initialize() {
   // Hardware
   BUILD_AND_REG_SERRVICE(DeviceIoControlService);
   BUILD_AND_REG_SERRVICE(DisinfectantWeightUpdateService);
+  BUILD_AND_REG_SERRVICE(WarningLightControler);
   //
   BUILD_AND_REG_SERRVICE(PipelinePressureControl);
   BUILD_AND_REG_SERRVICE(UDiskMgrService);