injectorCTL/protocol.c

#include "protocol.h"
#include <string.h>

static DeviceStatus deviceStatus = {0};

// CRC16 查表法实现
static const uint16_t crcTable[] = {
    0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
    0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
    0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
    0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
    0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
    0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
    0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
    0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
    0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
    0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
    0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
    0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
    0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
    0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
    0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
    0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
    0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
    0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
    0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
    0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
    0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
    0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
    0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
    0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
    0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
    0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
    0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
    0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
    0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
    0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
    0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
    0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};

uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
    uint16_t crc = 0xFFFF;
    
    for (uint16_t i = 0; i < length; i++) {
        uint8_t index = (crc ^ data[i]) & 0xFF;
        crc = (crc >> 8) ^ crcTable[index];
    }
    
    return crc;
}

// 更新下挂设备状态
void updateDeviceStatus(DeviceStatus_t status) {
    deviceStatus.deviceStatus = status;
}
// 更新三通阀状态
void updateValveStatus(uint8_t index, ValveAngle_t angle) {
    if (index == 1) {
        deviceStatus.valves.angle1 = angle;
    } else if (index == 2) {
        deviceStatus.valves.angle2 = angle;
    }
}

// 更新泵状态
void updatePumpStatus(uint8_t index, PumpStatus_t status) {
    if (index == 1) {
        deviceStatus.pumps.status1 = status;
    } else if (index == 2) {
        deviceStatus.pumps.status2 = status;
    }
}

// 更新泵速度状态
void updatePumpSpeedStatus(uint8_t index, uint8_t speed) {
    if (index == 1) {
        deviceStatus.pumps.speed1 = speed;
    } else if (index == 2) {
        deviceStatus.pumps.speed2 = speed;
    }
}

// 更新气泡传感器读数
void updateBubbleSensor(BubbleStatus_t value) {
    deviceStatus.bubbleStatus = value;
}

// 更新急停状态
void updateEmergencyStop(EstopStatus_t status) {
    deviceStatus.stopStatus = status;
}
// 更新错误码
void updateErrorCode(ErrorCode_t errorCode) {
    deviceStatus.errorCode = errorCode;
}

// 更新初始化状态
void updateInitStatus(InitStatus_t status) {
    deviceStatus.initStatus = status;
}



// 初始化设备状态
void InitDeviceStatus() {
    // 更新设备状态
    updateDeviceStatus(DEVICE_ONLINE);
    updateValveStatus(1, 120);
    updateValveStatus(2, 210);
    updatePumpStatus(1, PUMP_CLOCKWISE);
    updatePumpStatus(2, PUMP_ANTICLOCKWISE);
    updatePumpSpeedStatus(1, 100);
    updatePumpSpeedStatus(2, 100);
    updateBubbleSensor(BUBBLE_DETECTED);
    updateEmergencyStop(ESTOP_NORMAL);
    updateInitStatus(INIT_SUCCESS); 
}

// 定时1s更新设备状态
// 活度计通过网口获取
// 下挂设备通过485获取
void UpdateDeviceStatus() {
    // 更新设备状态
}




// 状态查询处理
static uint8_t HandleStatusQuery(uint8_t *txBuf) {
    // 填充并返回数据
    memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus));
    return sizeof(DeviceStatus);
}

//modBUS RTU 写命令
void writeCMD(uint8_t *txBuf, uint16_t *txLen) {
}


// 三通阀控制处理
static uint8_t HandleValveControl(uint8_t index, ValveAngle_t angle) {
    // 实现三通阀控制逻辑

    updateValveStatus(index, angle);
    return 1;
}

// 泵时长控制处理
static uint8_t HandlePumpTimeControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
    // 实现泵时长控制逻辑
    *txLen = 1;
    return 1;
}

// 泵速度设置处理
static uint8_t HandlePumpSpeedControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
    // 实现泵速度设置逻辑
    *txLen = 1;
    return 1;
}

// 软急停功能处理
static uint8_t HandleSoftStop(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
    // 实现软急停功能逻辑
    *txLen = 1;
    return 1;
}

// 判断系统大端序还是小端序
static uint8_t IsBigEndian() {
    uint32_t num = 0x12345678;
    return ((*(uint8_t*)&num) == 0x12);
}
// 将数据按大端序填充
static void FillBigEndian32(uint8_t *data,  uint32_t value) {
    if(!IsBigEndian()) {
        for(uint16_t i = 0; i < 4; i++) {
            data[i] = (value >> ((4 - i - 1) * 8)) & 0xFF;
        }
    }
    else {
        for(uint16_t i = 0; i < 4; i++) {
            data[i] = (value >> (i * 8)) & 0xFF;
        }
    }
}
static void FillBigEndian16(uint8_t *data, uint16_t value) {
    if(!IsBigEndian()) {
        for(uint16_t i = 0; i < 2; i++) {
            data[i] = (value >> ((2 - i - 1) * 8)) & 0xFF;
        }
    }
    else {
        for(uint16_t i = 0; i < 2; i++) {
            data[i] = (value >> (i * 8)) & 0xFF;
        }
    }
}

// 泵加速、减速处理
static uint8_t HandlePumpAccDec(uint8_t index, uint8_t acc, uint8_t dec) {
    // 实现泵加速、减速逻辑
    
    RTU_Frame frame;
    frame.data_cnt = 2;
    uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);

    frame.device_id = 1;
    frame.func = RTU_PUMP_FUNC_WRITE_REG;
    FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_AC);
    FillBigEndian16(&frame.reg_cnt[0], 2);


    FillBigEndian32(&frame.data[0], acc);
    FillBigEndian32(&frame.data[4], dec);


    uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
    // 大端序填充
    FillBigEndian16(&frame.crc[0], crc);

    writeCMD((uint8_t*)&frame, len);
}

// 泵速度设置处理
static uint8_t HandlePumpSpeed(uint8_t index, uint8_t speed) {
    // 实现泵速度设置逻辑
    
    RTU_Frame frame;
    frame.data_cnt = 2;
    uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);

    frame.device_id = 1;
    frame.func = RTU_PUMP_FUNC_WRITE_REG;
    FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_VE);
    FillBigEndian16(&frame.reg_cnt[0], 2);

    FillBigEndian32(&frame.data[0], speed);

    uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
    // 大端序填充
    FillBigEndian16(&frame.crc[0], crc);

    writeCMD((uint8_t*)&frame, len);
}

// 泵步进设置处理
static uint8_t HandlePumpStep(uint8_t index, int32_t step) {
    // 实现泵步进设置逻辑
    
    RTU_Frame frame;
    frame.data_cnt = 2;
    uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);

    frame.device_id = 1;
    frame.func = RTU_PUMP_FUNC_WRITE_REG;
    FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_DI);
    FillBigEndian16(&frame.reg_cnt[0], 2);

    // step为int32_t，正负表示方向，绝对值表示步数，0表示停止
    if(step != 0) {
        FillBigEndian32(&frame.data[0], step);
    } 
    else {
        // 停止
        
    }

    uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
    // 大端序填充
    FillBigEndian16(&frame.crc[0], crc);

    writeCMD((uint8_t*)&frame, len);



    return 1;
}

// 初始化处理
static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
    // 实现初始化逻辑
    *txLen = 1;
    return 1;
}

// 主命令处理函数
uint8_t ProcessCommand(uint8_t *rxBuf, uint16_t rxLen, uint8_t *txBuf, uint16_t *txLen) {
    uint16_t cmdCode = (rxBuf[0] << 8) | rxBuf[1];
    uint8_t dataLen = rxBuf[2];
    uint8_t *data = &rxBuf[3];
    uint8_t result = 0;

    switch(cmdCode) {
        case CMD_STATUS_QUERY:
            result = HandleStatusQuery(data, txBuf, txLen);
            break;
        case CMD_VALVE_CTRL:
            result = HandleValveControl(data, txBuf, txLen);
            break;
        case CMD_PUMP_RUN_TIME:
            result = HandlePumpTimeControl(data, txBuf, txLen);
            break;
        case CMD_PUMP_RUN_SPEED:
            result = HandlePumpSpeedControl(data, txBuf, txLen);
            break;
        case CMD_SOFT_STOP:
            result = HandleSoftStop(data, txBuf, txLen);
            break;
        case CMD_PUMP_RUN_STEP:
            result = HandlePumpStep(data, txBuf, txLen);
            break;
        case CMD_SYSTEM_INIT:
            result = HandleInit(data, txBuf, txLen);
            break;
        default:
            *txLen = 1;
            txBuf[0] = 0;
            result = 0;
            break;
    }

    return result;
}