stm32basic/preportional_valve/preportional_valve_ctrl.cpp

#include "preportional_valve_ctrl.hpp"

#include "transmit_disfection_protocol/transmit_disfection_protocol.hpp"
using namespace iflytop;
using namespace zscanprotocol;

#define WORK_STATE_REG 0x0000
#define CTRL_STATE_REG 0x0001
#define POS_STATE_REG  0x0013
#define OVERTIME       30
#define TAG            "PreportionalValveCtrl"

void PreportionalValveCtrl::initialize(UART_HandleTypeDef* huart) { m_modbusBlockHost.initialize(huart); }

int32_t PreportionalValveCtrl::writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal) {
  // 重发三次
  for (size_t i = 0; i < 3; i++) {
    int32_t err = m_modbusBlockHost.writeReg06(slaveAddr, regAddr, regVal, OVERTIME);
    if (err == 0) return 0;
  }
  return err::kerr_subdevice_offline;
}
int32_t PreportionalValveCtrl::readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t* regVal) {
  // 重发三次
  for (size_t i = 0; i < 3; i++) {
    int32_t err = m_modbusBlockHost.readReg03(slaveAddr, regAddr, regVal, OVERTIME);
    if (err == 0) return 0;
  }
  return err::kerr_subdevice_offline;
}

int32_t PreportionalValveCtrl::setValvePos(int32_t valueid, int32_t pos) {  //
  int32_t ret = 0;
  if (valueid > 255 || valueid < 1) {
    return err::kerr_invalid_param;
  }
  ret = writeReg06(valueid, CTRL_STATE_REG, pos);
  if (!ret) return err::kerr_subdevice_offline;

  m_last_set_valve_ticket = HAL_GetTick();
  m_targetpos[valueid]    = pos;
  return 0;
}

int32_t PreportionalValveCtrl::getValvePos(int32_t valueid, int32_t* pos) {
  int32_t ret = 0;
  if (valueid > 255 || valueid < 1) {
    return err::kerr_invalid_param;
  }

  uint16_t pos16 = 0;
  ret            = readReg03(valueid, POS_STATE_REG, &pos16);
  if (!ret) return err::kerr_subdevice_offline;

  *pos = pos16;
  return 0;
}
int32_t PreportionalValveCtrl::getValveOrderPos(int32_t valueid, int32_t* pos) {
  int32_t ret = 0;
  if (valueid > 255 || valueid < 1) {
    return err::kerr_invalid_param;
  }

  uint16_t pos16 = 0;
  ret            = readReg03(valueid, CTRL_STATE_REG, &pos16);
  if (!ret) return err::kerr_subdevice_offline;

  *pos = pos16;
  return 0;
}

int32_t PreportionalValveCtrl::isBusy(int32_t valueid, int32_t* busy) {
#if 1
  int32_t orderpos = 0;
  int32_t pos      = 0;
  int32_t err      = 0;

#if 0
  err = getValveOrderPos(valueid, &orderpos);
  if (err != 0) return err;
#endif
  orderpos = m_targetpos[valueid];

  err = getValvePos(valueid, &pos);
  if (err != 0) return err;

  if (abs(m_targetpos[valueid] - pos) <= 11) {
    *busy = 0;
  } else {
    *busy = 1;
  }
  return 0;
#endif
}

int32_t PreportionalValveCtrl::getValveWorkState(int32_t valueid, int32_t* state) {
  int32_t ret = 0;
  if (valueid > 255 || valueid < 1) {
    return err::kerr_invalid_param;
  }

  uint16_t state16 = 0;
  ret              = readReg03(valueid, WORK_STATE_REG, &state16);
  if (!ret) return err::kerr_subdevice_offline;
  *state = state16;
  return 0;
}