update

src/iflytop/components/zcanreceiver/zcanhost.cpp

@@ -269,9 +269,11 @@ int32_t ZCanHost::writeio(int id, bool value) {
     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<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
   cmd->cmdid                      = 3;
@@ -308,9 +310,10 @@ int32_t ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) {
     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<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();

src/iflytop/components/zcanreceiver/zcanhost.hpp

@@ -21,6 +21,10 @@ class ZCanHost {
 
   map<string, function<bool(int argc, char** argv, string& retval)>> 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);
@@ -34,7 +38,10 @@ class ZCanHost {
   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
@@ -72,6 +79,8 @@ class ZCanHost {
   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
    *
@@ -85,6 +94,19 @@ class ZCanHost {
     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 / (10.0 * rawdata->precision) * 1000000;
+      return pa;
+    } else if (rawdata->unit == 1) {
+      int32_t pa = (int32_t)rawdata->value / (10.0 * rawdata->precision) * 1000;
+      return pa;
+    } else if (rawdata->unit == 2) {
+      int32_t pa = (int32_t)rawdata->value / (10.0 * rawdata->precision);
+      return pa;
+    }
+    return -1;
+  }
   int32_t huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value);
 };