160 lines
3.3 KiB
C
160 lines
3.3 KiB
C
#include <stdlib.h>
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#include <string.h>
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#include <rtthread.h>
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#include "chrg_led.h"
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#include "chrg_thread.h"
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#include "chrg_roll_sou.h"
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#include "chrg_eload.h"
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#include "chrg_utils.h"
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#define LOG_TAG "chrg.rollsou"
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#include <rtdbg.h>
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rt_uint8_t sou_run = 1;
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rt_uint8_t sou_ch = IDX_SOU_CH1;
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rt_uint8_t sou_pt = MB_R_PART1;
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void chrg_roll_sou_thread_entry (void *data)
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{
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struct chrg_thread_t *pTHR = (struct chrg_thread_t *)data;
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if (RT_NULL == pTHR) {
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return ;
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}
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rt_uint8_t index = 0, idx = 0, part = 0, pt = 0, manu = 0;
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rt_err_t ret = RT_EOK;
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struct chrg_south_t *pSOU = &chrgsouth;
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struct chrg_thread_t *pTS = &chrgthr[IDX_THR_SOUTH];
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struct mb_msg_t *pMB_R = RT_NULL;
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while (1) {
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rt_mutex_take(pTHR->mutex, RT_WAITING_FOREVER);
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manu = pSOU->manual;
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rt_mutex_release(pTHR->mutex);
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if (1 == manu) {
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chrg_south_switch((eIDX_SOU_CH)sou_ch);
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chrg_eload_refresh(ID_ELOAD, sou_pt);
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} else { // 轮巡4个通道，每个通道3条读取命令
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if (0 == sou_run) {
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rt_thread_mdelay(1000);
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continue;
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}
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part = index%(TOTAL_SOU_CHS*TOTAL_MB_R); // [0, 11]
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idx = part/TOTAL_MB_R; // [0, 3]
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pt = part%TOTAL_MB_R;
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if (0 == pSOU->enable[idx]) {
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pSOU->idx = (eIDX_SOU_CH)idx;
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index++;
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rt_thread_mdelay(10);
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continue;
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} else {
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chrg_led_flashing(IDX_LED3, TIMES_ONE, PULSE_TIME*2, PULSE_TIME*2);
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if (idx != (rt_uint8_t)pSOU->idx) {
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pSOU->idx = (eIDX_SOU_CH)idx;
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chrg_south_switch(pSOU->idx);
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}
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chrg_eload_refresh(ID_ELOAD, pt);
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}
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index++;
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}
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ret = rt_mb_recv(pTS->mb, (rt_uint32_t *)&pMB_R, 200); // 超时 200ms
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if ((RT_EOK == ret)&&(RT_NULL != pMB_R)) {
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if (0 == mb_crc16(pMB_R->payload, pMB_R->length)) {
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if (1 == manu) {
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rt_mutex_take(pTHR->mutex, RT_WAITING_FOREVER);
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pSOU->manual = 0;
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rt_mutex_release(pTHR->mutex);
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} else {
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chrg_eload_parse(idx, pt, pMB_R->payload, pMB_R->length);
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}
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} else {
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LOG_E("crc failed.");
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}
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if (RT_NULL != pMB_R->payload) {
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rt_free(pMB_R->payload);
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pMB_R->payload = RT_NULL;
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}
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if (RT_NULL != pMB_R) {
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rt_free(pMB_R);
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pMB_R = RT_NULL;
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}
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rt_thread_mdelay(50); // 间隔 50ms
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} else {
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rt_mutex_take(pTHR->mutex, RT_WAITING_FOREVER);
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pSOU->manual = 0;
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rt_mutex_release(pTHR->mutex);
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}
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}
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}
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#if 1
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static int south_send(rt_uint8_t argc, char **argv)
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{
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struct chrg_south_t *pSOU = &chrgsouth;
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int ch = 0, pt = 0;
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if (3 != argc) {
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rt_kprintf("help : %s [0-3] [0-2]\r\n", argv[0]);
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return -1;
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}
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ch = (rt_uint8_t)atoi(argv[1]);
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if ((ch < 0)||(ch >= TOTAL_SOU_CHS)) {
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rt_kprintf("help : %s [0-3] [0-2]\r\n", argv[0]);
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return -1;
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}
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pt = (rt_uint8_t)atoi(argv[2]);
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if ((pt < 0)||(pt >= TOTAL_MB_R)) {
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rt_kprintf("help : %s [0-3] [0-2]\r\n", argv[0]);
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return -1;
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}
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sou_ch = (rt_uint8_t)ch;
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sou_pt = (rt_uint8_t)pt;
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pSOU->manual = 1;
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return 0;
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}
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MSH_CMD_EXPORT(south_send, south send test);
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static int south_run (int argc, char **argv)
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{
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if (2 != argc) {
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rt_kprintf("help : %s start|stop\r\n", argv[0]);
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return -1;
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}
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if (rt_strcmp(argv[1], "start") == 0) {
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sou_run = 1;
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} else if (rt_strcmp(argv[1], "stop") == 0) {
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sou_run = 0;
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} else {
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rt_kprintf("help : %s start|stop\r\n", argv[0]);
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return -1;
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}
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return 0;
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}
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MSH_CMD_EXPORT(south_run, south auto run);
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#endif
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