update

src/iflytop/components/zcanreceiver/zcanhost.cpp

@@ -8,11 +8,11 @@ using namespace zcr;
 #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]); \
-    retval = "argc num error";                  \
-    return false;                               \
+#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) {
@@ -20,11 +20,24 @@ void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback)
   m_zcanReceiverHost->initialize(can_if_name, baudrate, enablLoopback);
 
   m_cmdMap["pumpctrl_c1004"] = [this](int argc, char** argv, string& retval) {
-    CHECK_ARGC_NUM(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;
+    // 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)
@@ -298,6 +311,28 @@ int32_t ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) {
   return 0;
 }
 
+int32_t ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm, int8_t idlepower, int8_t power) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  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);
+  }
+
+  return 0;
+}
+
 /**
  * @brief 报警三色指示灯控制
  *

src/iflytop/components/zcanreceiver/zcanhost.hpp

@@ -70,6 +70,7 @@ class ZCanHost {
   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);
 
   /**
    * @brief 读取华成压力传感器数值
@@ -78,11 +79,11 @@ class ZCanHost {
    * @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
-    uint16_t value;      // value,  realvalue = value / 10^precision unit
-    uint16_t zero;       // 零点
-    uint16_t full;       // 满量程
+    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_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value);
 };