diff --git a/src/iflytop/components/zcanreceiver/zcanhost.cpp b/src/iflytop/components/zcanreceiver/zcanhost.cpp deleted file mode 100644 index 3504884..0000000 --- a/src/iflytop/components/zcanreceiver/zcanhost.cpp +++ /dev/null @@ -1,443 +0,0 @@ -#include "zcanhost.hpp" -#if 0 -using namespace iflytop; -using namespace core; -using namespace zcr; - -#define zint16p(x) ((int16_t*)(x)) -#define zuint16p(x) ((uint16_t*)(x)) -#define zint32p(x) ((int32_t*)(x)) - -#define CHECK_ARGC_NUM(x) \ - if (argc != (x + 1)) { \ - logger->error("do {},argc error {}!={}", argv[0], argc, x + 1); \ - retval = "argc num error"; \ - return false; \ - } - -void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback) { - m_zcanReceiverHost = make_shared(); - m_zcanReceiverHost->initialize(can_if_name, baudrate, enablLoopback); - - m_cmdMap["pumpctrl_c1004"] = [this](int argc, char** argv, string& retval) { - // CHECK_ARGC_NUM(3); - - if (argc == 4) { - uint8_t id = atoi(argv[1]); - int16_t acc = atoi(argv[2]); - int16_t rpm = atoi(argv[3]); - return pumpctrl_c1004(id, acc, rpm) != 0; - } else if (argc == 6) { - uint8_t id = atoi(argv[1]); - int16_t acc = atoi(argv[2]); - int16_t rpm = atoi(argv[3]); - int8_t idlepower = atoi(argv[4]); - int8_t power = atoi(argv[5]); - return pumpctrl_c1004(id, acc, rpm, idlepower, power) != 0; - } - logger->error("do {},argc error {}!={},{}", argv[0], argc, 4, 6); - retval = "argc num error"; - return false; - }; - - // ZCanHost::readio(int id, bool& value) - // ZCanHost::writeio(int id, bool value) - // ZCanHost::readadc(int id, int& value) - - m_cmdMap["readio"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(1); - uint8_t id = atoi(argv[1]); - bool v = false; - if (readio(id, v) != 0) { - logger->error("readio fail"); - return false; - } - retval = to_string(v); - logger->info("readio:{},{}", id, v); - return true; - }; - - m_cmdMap["writeio"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(2); - uint8_t id = atoi(argv[1]); - bool v = atoi(argv[2]); - if (writeio(id, v) != 0) { - logger->error("writeio fail"); - return false; - } - return true; - }; - - m_cmdMap["readadc"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(1); - uint8_t id = atoi(argv[1]); - int v = 0; - if (readadc(id, v) != 0) { - logger->error("readadc fail"); - return false; - } - logger->info("readadc:{},{}", id, v); - retval = fmt::format("ACK:{}", v); - return true; - }; - - m_cmdMap["hpp272_read_c1000"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(1); - uint8_t id = atoi(argv[1]); - hpp272_data_t v = {0}; - if (hpp272_read_c1000(id, v) != 0) { - logger->error("hpp272_read_c1000 fail"); - return false; - } - logger->info("hpp272_read_c1000 {}:", id); - logger->info(" hydrogen_peroxide_volume :{}", v.hydrogen_peroxide_volume); - logger->info(" h2o_h2o2_rs :{}", v.h2o_h2o2_rs); - logger->info(" temperature1 :{}", v.temperature1); - logger->info(" relative_humidity :{}", v.relative_humidity); - logger->info(" absolute_hydrogen_peroxide :{}", v.absolute_hydrogen_peroxide); - logger->info(" h2o_h2o2dew_point_temperature :{}", v.h2o_h2o2dew_point_temperature); - logger->info(" reserved1 :{}", v.reserved1); - logger->info(" water_volume :{}", v.water_volume); - logger->info(" water_vapor_pressure :{}", v.water_vapor_pressure); - logger->info(" absolute_humidity :{}", v.absolute_humidity); - logger->info(" water_vapor_saturation_pressure_h2o :{}", v.water_vapor_saturation_pressure_h2o); - logger->info(" temperature2 :{}", v.temperature2); - logger->info(" h2o2_vapor_pressure :{}", v.h2o2_vapor_pressure); - logger->info(" water_vapor_saturation_pressure_h2o_h2o2 :{}", v.water_vapor_saturation_pressure_h2o_h2o2); - - // retval = fmt::format("ACK:{}", v); - return true; - }; - - m_cmdMap["warning_light_ctrl_c1002"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(5); - uint8_t id = atoi(argv[1]); - uint8_t r = atoi(argv[2]); - uint8_t g = atoi(argv[3]); - uint8_t b = atoi(argv[4]); - uint8_t w = atoi(argv[5]); - - if (warning_light_ctrl_c1002(id, r, g, b, w) != 0) { - logger->error("warning_light_ctrl_c1002 fail"); - return false; - } - return true; - }; - // huacheng_pressure_sensor_read_c1005 - m_cmdMap["huacheng_pressure_sensor_read_c1005"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(1); - uint8_t id = atoi(argv[1]); - huacheng_pressure_sensor_read_c1005_t v; - if (huacheng_pressure_sensor_read_c1005(id, v) != 0) { - logger->error("huacheng_pressure_sensor_read_c1005 fail"); - return false; - } - // uint8_t precision; // 0，1，2，3 - // uint8_t unit; // 0-Mpa ,1-Kpa ,2-Pa ,3-Bar ,4-Mbar ,5-kg/cm2 ,6-psi ,7-mh2o ,8-mmh2o - // uint16_t value; // value, realvalue = value / 10^precision unit - // uint16_t zero; // 零点 - // uint16_t full; // 满量程 - logger->info("huacheng_pressure_sensor_read_c1005 {}:", id); - logger->info(" precision :{}", v.precision); - logger->info(" unit :{}", v.unit); - logger->info(" value :{}", v.value); - logger->info(" zero :{}", v.zero); - logger->info(" full :{}", v.full); - // retval = fmt::format("ACK:{}", v); - return true; - }; - - m_cmdMap["sleep_ms"] = [this](int argc, char** argv, string& retval) { - CHECK_ARGC_NUM(1); - int32_t ms = atoi(argv[1]); - logger->info("sleep_ms:{}", ms); - std::this_thread::sleep_for(std::chrono::milliseconds(ms)); - return true; - }; -} - -static void prase_cmd(char* input, int inputlen, int& argc, char* argv[]) { - bool findcomment = false; - for (size_t i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n' || input[i] == '\t') { - input[i] = 0; - } - - if (input[i] == '#') { - findcomment = true; - } - if (findcomment) { - input[i] = 0; - } - } - - int j = 0; - for (size_t i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] != 0 && j == 0) { - argv[argc++] = &input[i]; - j = 1; - continue; - } - - if (input[i] == 0 && j == 1) { - j = 0; - continue; - } - } -} - -bool ZCanHost::execcmd(string cmd, string& retval) { - int argc = 0; - char* argv[10] = {0}; - char cmdcache[1024] = {0}; - // context.rawcmd = cmd; - strcpy(cmdcache, cmd.c_str()); - logger->info("do cmd:{}", cmdcache); - - for (size_t i = 0; i < cmd.size(); i++) { - if (cmdcache[i] == '#') { - cmdcache[i] = '\0'; - } - } - prase_cmd(cmdcache, strlen(cmdcache), argc, argv); - if (argc == 0) { - logger->error("cmd:{} prase error", cmd); - return false; - } - - if (m_cmdMap.find(string(argv[0])) != m_cmdMap.end()) { - return m_cmdMap.find(string(argv[0]))->second(argc, argv, retval); - } - logger->error("cmd:{} not found", argv[0]); - return false; -} - -/******************************************************************************* - * CMD * - *******************************************************************************/ -/** - * @brief 0-1000 Command support - */ -int32_t ZCanHost::ping(int board_id) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 0; - cmd->subcmdid = 0; - cmd->data[0] = board_id; - cmd->len = 1; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - if (rx->packetType == kpt_error_ack) { - logger->error("ping error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::kfail); - } - - return 0; -} - -int32_t ZCanHost::readio(int id, bool& value) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 1; - cmd->subcmdid = 0; - cmd->data[0] = id; - cmd->len = 1; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - if (rx->packetType == kpt_error_ack) { - logger->error("readio error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::knoack); - } - - value = rx->data[1]; - return 0; -} -int32_t ZCanHost::writeio(int id, bool value) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 2; - cmd->subcmdid = 0; - cmd->data[0] = id; - cmd->data[1] = value; - cmd->len = 2; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - if (rx->packetType == kpt_error_ack) { - logger->error("writeio error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::knoack); - } - m_writeio_cache[id] = value; - return 0; -} -bool ZCanHost::read_writeio_state_cache(int id) { return m_writeio_cache[id]; } - -int32_t ZCanHost::readadc(int id, int& value) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 3; - cmd->subcmdid = 0; - cmd->data[0] = id; - cmd->len = 1; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - - if (rx->packetType == kpt_error_ack) { - logger->error("readadc error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::knoack); - } - value = *(int32_t*)(&rx->data[2]); - return 0; -} - -// 1004 -int32_t ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 1004; - cmd->subcmdid = 0; - cmd->data[0] = sensorid; - *zint16p(&cmd->data[2]) = acc; - *zint16p(&cmd->data[4]) = rpm; - cmd->len = 6; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - if (rx->packetType == kpt_error_ack) { - logger->error("pumpctrl_c1004 error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::kfail); - } - m_pumpc1004_speed_cache[sensorid] = rpm; - return 0; -} -int16_t ZCanHost::pumpctrl_c1004_get_speed_cache(int id) { return m_pumpc1004_speed_cache[id]; } - -int32_t ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm, int8_t idlepower, int8_t power) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 1004; - cmd->subcmdid = 1; - cmd->data[0] = sensorid; - *zint16p(&cmd->data[2]) = acc; - *zint16p(&cmd->data[4]) = rpm; - cmd->data[6] = idlepower; - cmd->data[7] = power; - cmd->len = 8; - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (rx == nullptr) { - return err::zecode(err::knoack); - } - if (rx->packetType == kpt_error_ack) { - logger->error("pumpctrl_c1004 error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::kfail); - } - - m_pumpc1004_speed_cache[sensorid] = rpm; - return 0; -} - -/** - * @brief 报警三色指示灯控制 - * - * @param sensorid - * @param r - * @param g - * @param b - * @param w - */ -int32_t ZCanHost::warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w) { - shared_ptr cmd = make_shared(); - cmd->cmdid = 1002; - cmd->subcmdid = 0; - cmd->data[0] = sensorid; - cmd->data[2] = r; - cmd->data[3] = g; - cmd->data[4] = b; - cmd->data[5] = w; - cmd->len = 6; - - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - - if (!rx) { - return err::zecode(err::knoack); - } - - if (rx->packetType == kpt_error_ack) { - logger->error("warning_light_ctrl_c1002 error ack,{}", *zuint16p(&rx->data[0])); - return err::zecode(err::kfail); - } - - return 0; -} - -/** - * @brief 读取华成压力传感器数值 - * - * @param sensorid - * @param value - */ - -int32_t ZCanHost::huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value) { - /** - * @brief - */ - - shared_ptr cmd = make_shared(); - cmd->cmdid = 1005; - cmd->subcmdid = 0; - cmd->data[0] = sensorid; - cmd->len = 2; - - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100); - if (!rx) { - return err::zecode(err::knoack); - } - - if (rx->packetType == kpt_error_ack) { - logger->error("huacheng_pressure_sensor_read_c1005 error ack"); - return err::zecode(err::kfail); - } - - if (rx->len != 10) { - logger->warn("huacheng_pressure_sensor_read_c1005 rx len error:{}", rx->len); - return err::zecode(err::kfail); - } - - value.precision = rx->data[2]; - value.unit = rx->data[3]; - value.value = *(int16_t*)(&rx->data[4]); - value.zero = *(int16_t*)(&rx->data[6]); - value.full = *(int16_t*)(&rx->data[8]); - - return 0; -} - -int32_t ZCanHost::hpp272_read_c1000(int sensorid, hpp272_data_t& value) { - memset(&value, 0, sizeof(hpp272_data_t)); - shared_ptr cmd = make_shared(); - cmd->cmdid = 1000; - cmd->subcmdid = 0; - cmd->data[0] = sensorid; - cmd->len = 2; - - auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 300); - if (!rx) { - logger->error("hpp272_read_c1000 timeout"); - return err::zecode(err::knoack); - } - - if (rx->packetType == kpt_error_ack) { - logger->error("hpp272_read_c1000 error ack"); - return err::zecode(err::kfail); - } - - if (rx->len != sizeof(hpp272_data_t) + 2) { - logger->warn("hpp272_read_c1000 rx len error:{}!=", rx->len, sizeof(hpp272_data_t) + 2); - return err::zecode(err::kfail); - } - memcpy(&value, &rx->data[2], sizeof(hpp272_data_t)); - return 0; -} -#endif \ No newline at end of file diff --git a/src/iflytop/components/zcanreceiver/zcanhost.hpp b/src/iflytop/components/zcanreceiver/zcanhost.hpp deleted file mode 100644 index 9f71874..0000000 --- a/src/iflytop/components/zcanreceiver/zcanhost.hpp +++ /dev/null @@ -1,115 +0,0 @@ -// -// Created by zwsd -// -#if 0 -#pragma once - -#include "cmd.hpp" -#include "iflytop/core/core.hpp" -#include "zcanreceiverhost.hpp" - -namespace iflytop { - -using namespace std; -using namespace zcr; -using namespace core; - -class ZCanHost { - ENABLE_LOGGER(ZCanHost); - - shared_ptr m_zcanReceiverHost; - - map> m_cmdMap; - - bool m_writeio_cache[255]; - - int16_t m_pumpc1004_speed_cache[255]; - - public: - void initialize(string can_if_name, int baudrate, bool enablLoopback); - bool execcmd(string cmd, string& retval); - - /******************************************************************************* - * CMD * - *******************************************************************************/ - /** - * @brief 0-1000 Command support - */ - int32_t ping(int board_id); - - int32_t readio(int id, bool& value); - - int32_t writeio(int id, bool value); - bool read_writeio_state_cache(int id); - - int32_t readadc(int id, int& value); - - // 读取M211887(维萨拉)传感器信息 - - typedef struct { - int16_t hydrogen_peroxide_volume; // ppm 0x0100 过氧化氢浓度 - int16_t h2o_h2o2_rs; // %RS * 100 0x0101 过氧化氢相对饱和度 - int16_t temperature1; // °C * 100 0x0102 温度 - int16_t relative_humidity; // %RH * 100 0x0103 相对湿度 - int16_t absolute_hydrogen_peroxide; // mg/m3 0x0104 - int16_t h2o_h2o2dew_point_temperature; // °C * 100 - int16_t reserved1; // - int16_t water_volume; // ppm - int16_t water_vapor_pressure; // hpa - int16_t absolute_humidity; // g/m3 - int16_t water_vapor_saturation_pressure_h2o; // hpa - int16_t temperature2; // °C * 100 - int16_t h2o2_vapor_pressure; // hpa - int16_t water_vapor_saturation_pressure_h2o_h2o2; // hpa - } hpp272_data_t; - - int32_t hpp272_read_c1000(int sensorid, hpp272_data_t& value); - - /** - * @brief 报警三色指示灯控制 - * - * @param sensorid - * @param r - * @param g - * @param b - * @param w - */ - int32_t warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w); - // 1004 - int32_t pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm); - int32_t pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm, int8_t idlepower, int8_t power); - - int16_t pumpctrl_c1004_get_speed_cache(int id); - - /** - * @brief 读取华成压力传感器数值 - * - * @param sensorid - * @param value - */ - typedef struct { - uint8_t precision; // 0，1，2，3 - uint8_t unit; // 0-Mpa ,1-Kpa ,2-Pa ,3-Bar ,4-Mbar ,5-kg/cm2 ,6-psi ,7-mh2o ,8-mmh2o - int16_t value; // value, realvalue = value / 10^precision unit - int16_t zero; // 零点 - int16_t full; // 满量程 - } huacheng_pressure_sensor_read_c1005_t; - int32_t huacheng_pressure_sensor_get_pa(huacheng_pressure_sensor_read_c1005_t* rawdata) { - if (rawdata->unit == 0) { - int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) ) * 1000000; - return pa; - } else if (rawdata->unit == 1) { - int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) ) * 1000; - return pa; - } else if (rawdata->unit == 2) { - int32_t pa = (int32_t)rawdata->value / (pow(10.0,rawdata->precision) ); - return pa; - } - return -1; - } - int32_t huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value); -}; - -} // namespace iflytop - -#endif \ No newline at end of file diff --git a/src/iflytop/components/zcanreceiver/zcanreceiver_master.cpp b/src/iflytop/components/zcanreceiver/zcanreceiver_master.cpp index 8640f4c..fdbab18 100644 --- a/src/iflytop/components/zcanreceiver/zcanreceiver_master.cpp +++ b/src/iflytop/components/zcanreceiver/zcanreceiver_master.cpp @@ -65,6 +65,7 @@ int32_t ZcanReceiverMaster::sendCmd(int32_t cmdid, int32_t submoduleid, int32_t regLocalPacketListener([this, &rxdataIsReady, &ack, &nack, &errocode, cmdheader](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) { if (packet->packetindex != cmdheader->packetindex) return; if (packet->packetType == kptv2_error_ack) { + // logger->error("receive error ack {}",*(int32_t *)packet->data); errocode = *(int32_t *)packet->data; } else { int32_t *rxbuf = (int32_t *)packet->data; @@ -90,7 +91,7 @@ int32_t ZcanReceiverMaster::sendCmd(int32_t cmdid, int32_t submoduleid, int32_t usleep(1000); } unregLocalPacketListener(); - return 0; + return errocode; } int32_t ZcanReceiverMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t submoduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) { // @@ -117,6 +118,7 @@ int32_t ZcanReceiverMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t submodul rxdataIsReady = true; if (packet->packetType == kptv2_error_ack) { + // logger->error("receive error ack {}",*(int32_t *)packet->data); errocode = *(int32_t *)packet->data; } else if (*rxsize < datalen) { errocode = err::kbuffer_not_enough;