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master
zhaohe 2 years ago
parent
b2d320b950
commit
7ca258a854
4 changed files with 210 additions and 6 deletions
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  1. 190
      src/iflytop/components/zcanreceiver/zcanhost.cpp
  2. 24
      src/iflytop/components/zcanreceiver/zcanhost.hpp
  3. 1
      src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
  4. 1
      src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp

190
src/iflytop/components/zcanreceiver/zcanhost.cpp
View File

@ -4,8 +4,9 @@ using namespace iflytop;
using namespace core;
using namespace zcr;
#define zint16p(x) ((int16_t*)(x))
#define zint32p(x) ((int32_t*)(x))
#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)) { \
@ -65,6 +66,87 @@ void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback)
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;
}
// int16_t hydrogen_peroxide_volume; // ppm 0x0100
// int16_t h2o_h2o2_rs; // %RS * 100
// int16_t temperature1; // °C * 100
// int16_t relative_humidity; // %RH * 100
// int16_t absolute_hydrogen_peroxide; // mg/m3
// 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
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]);
@ -143,6 +225,14 @@ bool ZCanHost::ping(int board_id) {
cmd->data[0] = board_id;
cmd->len = 1;
auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100);
if (rx == nullptr) {
return false;
}
if (rx->packetType == kpt_error_ack) {
logger->error("ping error ack,{}", *zuint16p(&rx->data[0]));
return false;
}
return rx != nullptr;
}
@ -156,6 +246,11 @@ int32_t ZCanHost::readio(int id, bool& value) {
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;
}
@ -170,6 +265,11 @@ int32_t ZCanHost::writeio(int id, bool value) {
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);
}
return 0;
}
int32_t ZCanHost::readadc(int id, int& value) {
@ -182,6 +282,11 @@ int32_t ZCanHost::readadc(int id, int& value) {
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;
}
@ -196,6 +301,11 @@ bool ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) {
*zint16p(&cmd->data[4]) = rpm;
cmd->len = 6;
auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100);
if (rx->packetType == kpt_error_ack) {
logger->error("pumpctrl_c1004 error ack,{}", *zuint16p(&rx->data[0]));
return false;
}
return rx != nullptr;
}
@ -208,7 +318,26 @@ bool ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) {
* @param b
* @param w
*/
bool ZCanHost::warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w) { return false; }
bool ZCanHost::warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w) {
shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
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->packetType == kpt_error_ack) {
logger->error("warning_light_ctrl_c1002 error ack,{}", *zuint16p(&rx->data[0]));
return false;
}
return rx != nullptr;
}
/**
* @brief 读取华成压力传感器数值
@ -217,4 +346,57 @@ bool ZCanHost::warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g,
* @param value
*/
bool ZCanHost::huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value) { return false; }
bool ZCanHost::huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value) {
/**
* @brief
*/
shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
cmd->cmdid = 1005;
cmd->subcmdid = 0;
cmd->data[0] = sensorid;
cmd->len = 2;
auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100);
if (rx->packetType == kpt_error_ack) {
logger->error("huacheng_pressure_sensor_read_c1005 error ack");
return false;
}
if (rx->len != 10) {
logger->warn("huacheng_pressure_sensor_read_c1005 rx len error:{}", rx->len);
return false;
}
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 rx != nullptr;
}
bool ZCanHost::hpp272_read_c1000(int sensorid, hpp272_data_t& value) {
shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
cmd->cmdid = 1000;
cmd->subcmdid = 0;
cmd->data[0] = sensorid;
cmd->len = 2;
auto rx = m_zcanReceiverHost->sendcmdblock(cmd, 100);
if (rx->packetType == kpt_error_ack) {
logger->error("hpp272_read_c1000 error ack");
return false;
}
if (rx->len != sizeof(hpp272_data_t) + 2) {
logger->warn("hpp272_read_c1000 rx len error:{}!=", rx->len, sizeof(hpp272_data_t) + 2);
return false;
}
memcpy(&value, &rx->data[2], sizeof(hpp272_data_t));
return rx != nullptr;
}

24
src/iflytop/components/zcanreceiver/zcanhost.hpp
View File

@ -37,8 +37,26 @@ class ZCanHost {
int32_t writeio(int id, bool value);
int32_t readadc(int id, int& value);
// 1004
bool pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm);
// 读取M211887(维萨拉)传感器信息
typedef struct {
int16_t hydrogen_peroxide_volume; // ppm 0x0100
int16_t h2o_h2o2_rs; // %RS * 100
int16_t temperature1; // °C * 100
int16_t relative_humidity; // %RH * 100
int16_t absolute_hydrogen_peroxide; // mg/m3
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;
bool hpp272_read_c1000(int sensorid, hpp272_data_t& value);
/**
* @brief 报警三色指示灯控制
@ -50,6 +68,8 @@ class ZCanHost {
* @param w
*/
bool warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w);
// 1004
bool pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm);
/**
* @brief 读取华成压力传感器数值

1
src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
View File

@ -118,6 +118,7 @@ void ZCanReceiverHost::processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packe
rx->packetindex = header->packetindex;
rx->cmdid = header->cmdid;
rx->subcmdid = header->subcmdid;
rx->packetType = header->packetType;
rx->len = len - sizeof(Cmdheader_t);
memcpy(rx->data, header->data, rx->len);

1
src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
View File

@ -23,6 +23,7 @@ class ZCanReceiverCMD {
uint16_t packetindex = 0;
uint16_t cmdid = 0;
uint8_t subcmdid = 0;
uint8_t packetType = 0;
uint8_t data[255 * 8] = {0};
size_t len;

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