From 7ca258a854b1d07cf4764b9b3dc3e8f482302337 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 15 Aug 2023 19:22:10 +0800 Subject: [PATCH] update --- src/iflytop/components/zcanreceiver/zcanhost.cpp | 190 ++++++++++++++++++++- src/iflytop/components/zcanreceiver/zcanhost.hpp | 24 ++- .../components/zcanreceiver/zcanreceiverhost.cpp | 1 + .../components/zcanreceiver/zcanreceiverhost.hpp | 1 + 4 files changed, 210 insertions(+), 6 deletions(-) diff --git a/src/iflytop/components/zcanreceiver/zcanhost.cpp b/src/iflytop/components/zcanreceiver/zcanhost.cpp index d24fdf8..c976209 100644 --- a/src/iflytop/components/zcanreceiver/zcanhost.cpp +++ b/src/iflytop/components/zcanreceiver/zcanhost.cpp @@ -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 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->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; } \ No newline at end of file +bool 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->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 cmd = make_shared(); + 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; +} diff --git a/src/iflytop/components/zcanreceiver/zcanhost.hpp b/src/iflytop/components/zcanreceiver/zcanhost.hpp index f741a29..628652b 100644 --- a/src/iflytop/components/zcanreceiver/zcanhost.hpp +++ b/src/iflytop/components/zcanreceiver/zcanhost.hpp @@ -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 diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp index 9bf3e97..67ba530 100644 --- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp +++ b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp @@ -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); diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp index 5ff56aa..3c215dc 100644 --- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp +++ b/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp @@ -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;