SideLaser.c
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#include <stdio.h>
#include "JZsdkLib.h"
#include "BaseConfig.h"
#include <pthread.h>
#include "Ircut/ircut.h"
#include "SideLaser/SideLaser.h"
#include "Hal_Send/HalSend.h"
static T_JZsdkReturnCode SideLaser_RealCotrol(int LaserNum, int status);
static T_JzSideLaserInfo g_SideLaserInfo;
static void *SideLaserControl_task(void *arg)
{
T_JzSideLaserInfo LastSideLaserInfo = g_SideLaserInfo;
int tempStatus = LastSideLaserInfo.attribute.status;
#if DEVICE_VERSION == JZ_U3S
while (1)
{
if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_OFF)
{
if (LastSideLaserInfo.attribute.status != JZ_FLAGCODE_OFF)
{
SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
}
LastSideLaserInfo.attribute.status = g_SideLaserInfo.attribute.status;
delayMs(10);
continue;
}
switch(g_SideLaserInfo.attribute.mode)
{
case SIDE_LASER_GREEN_AWALYS_ON:
{
if (LastSideLaserInfo.attribute.mode != g_SideLaserInfo.attribute.mode)
{
SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
SideLaser_RealCotrol(0, JZ_FLAGCODE_ON);
}
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
delayMs(10);
continue;
}
break;
case SIDE_LASER_RED_AWALYS_ON:
{
if (LastSideLaserInfo.attribute.mode != g_SideLaserInfo.attribute.mode)
{
SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
SideLaser_RealCotrol(1, JZ_FLAGCODE_ON);
}
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
delayMs(10);
continue;
}
break;
case SIDE_LASER_GREEN_AND_RED_AWALYS_ON:
{
if (LastSideLaserInfo.attribute.mode != g_SideLaserInfo.attribute.mode)
{
SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
}
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
delayMs(10);
continue;
}
break;
case SIDE_LASER_GREEN_ADD_RED_TOGETHER_FLICKER:
{
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
if (tempStatus == JZ_FLAGCODE_OFF)
{
tempStatus = JZ_FLAGCODE_ON;
}
else
{
tempStatus = JZ_FLAGCODE_OFF;
}
SideLaser_RealCotrol(255, tempStatus);
delayMs(1000/g_SideLaserInfo.Frequency);
continue;
}
break;
case SIDE_LASER_GREEN_ADD_RED_ALTERNATION_FLICKER:
{
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
if (tempStatus == JZ_FLAGCODE_OFF)
{
tempStatus = JZ_FLAGCODE_ON;
SideLaser_RealCotrol(0,JZ_FLAGCODE_ON);
SideLaser_RealCotrol(1,JZ_FLAGCODE_OFF);
}
else
{
tempStatus = JZ_FLAGCODE_OFF;
SideLaser_RealCotrol(0,JZ_FLAGCODE_OFF);
SideLaser_RealCotrol(1,JZ_FLAGCODE_ON);
}
delayMs(1000/g_SideLaserInfo.Frequency);
continue;
}
break;
default:
{
SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
delayMs(10);
continue;
}
break;
}
}
#endif
#if DEVICE_VERSION == JZ_T40
while (1)
{
if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_OFF)
{
if (LastSideLaserInfo.attribute.status != JZ_FLAGCODE_OFF)
{
HalSend_type1Send_SetLaserControl(UART_DEV_2, 0x20 ,JZ_FLAGCODE_OFF);
}
LastSideLaserInfo.attribute.status = g_SideLaserInfo.attribute.status;
delayMs(10);
continue;
}
if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_ON)
{
if (LastSideLaserInfo.attribute.status != JZ_FLAGCODE_ON)
{
HalSend_type1Send_SetLaserControl(UART_DEV_2, 0x20 ,JZ_FLAGCODE_ON);
}
LastSideLaserInfo.attribute.status = g_SideLaserInfo.attribute.status;
}
if (g_SideLaserInfo.attribute.mode != LastSideLaserInfo.attribute.mode)
{
LastSideLaserInfo.attribute.mode = g_SideLaserInfo.attribute.mode;
HalSend_type1Send_SetLaserMode(UART_DEV_2, 0x20, LastSideLaserInfo.attribute.mode);
}
delayMs(10);
}
#endif
}
/******************
*
* 侧面激光初始化
*
*****************/
T_JZsdkReturnCode SideLaser_Init(T_JzSideLaserInfo LaserInfo)
{
T_JZsdkOsalHandler* OsalHandle;
OsalHandle = JZsdk_Platform_GetOsalHandler();
if (OsalHandle == NULL)
{
JZSDK_LOG_INFO("sidelaser init failure");
return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
}
memcpy(&g_SideLaserInfo, &LaserInfo, sizeof(T_JzSideLaserInfo));
T_JZTaskHandle sideLaserTask;
OsalHandle->TaskCreate("sidelaer", SideLaserControl_task, 2048, NULL, &sideLaserTask);
JZSDK_LOG_INFO("侧边激光初始化完成");
}
/************************************
*
* 侧边激光控制
* laserNum 0~254为单控
* 255为全控
* *******************************/
static T_JZsdkReturnCode SideLaser_RealCotrol(int LaserNum, int status)
{
//JZSDK_LOG_INFO("realControl %d %d",LaserNum,status);
if (DEVICE_VERSION == JZ_U3S)
{
//0是绿激光
if (LaserNum == 0)
{
Ircut_SideLaser_IrcutControl(0, status);
}
//1是红激光
if (LaserNum == 1)
{
Ircut_SideLaser_IrcutControl(1, status);
}
//255是全控
if (LaserNum == 255)
{
Ircut_SideLaser_IrcutControl(0, status);
Ircut_SideLaser_IrcutControl(1, status);
}
}
}
/*****************
*
* 设置激光模式
*
****************/
T_JZsdkReturnCode SideLaser_SetMode(E_SideLaserMode mode)
{
JZSDK_LOG_INFO("SideLaser_SetMode:%d", mode);
g_SideLaserInfo.attribute.mode = mode;
if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_ON)
{
g_SideLaserInfo.attribute.Uimode = g_SideLaserInfo.attribute.mode - 1;
}
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/***********
*
* 控制激光
*
*********/
T_JZsdkReturnCode SideLaser_SetControl(int status)
{
JZSDK_LOG_INFO("SideLaser_SetControl:%d", status);
g_SideLaserInfo.attribute.status = status;
if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_ON)
{
g_SideLaserInfo.attribute.Uimode = g_SideLaserInfo.attribute.mode - 1;
}
else
{
g_SideLaserInfo.attribute.Uimode = 0;
}
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
///*******************************
// *
// * 设置侧面激光参数
// *
// *
// * *****************************/
//T_JZsdkReturnCode SideLaser_param(int flagcode, enum SideLaserParam paramflag, int *value)
//{
// T_JZsdkReturnCode ret;
//
// if (flagcode == JZ_FLAGCODE_GET)
// {
// switch (paramflag)
// {
// case SIDELASER_REALMODE:
// {
// *value = g_SideLaserInfo.Uimode;
// }
// break;
//
// case SIDELASER_CONTROL:
// {
// *value = g_SideLaserInfo.attribute.status;
// }
// break;
//
// case SIDELASER_MODE:
// {
// *value = g_SideLaserInfo.attribute.mode;
// }
// break;
//
// default:
// {
// *value = JZ_FLAGCODE_OFF;
// }
// break;
// }
//
// return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
// }
// else if (flagcode == JZ_FLAGCODE_SET)
// {
// switch (paramflag)
// {
// case SIDELASER_CONTROL:
// {
// JZSDK_LOG_INFO("设置激光控制值:%d",*value);
// g_SideLaserInfo.attribute.status = *value;
// if (*value == JZ_FLAGCODE_OFF)
// {
// g_SideLaserInfo.Uimode = JZ_FLAGCODE_OFF;
// }
// else
// {
// g_SideLaserInfo.Uimode = g_SideLaserInfo.attribute.mode + 1;
// }
// }
// break;
//
// case SIDELASER_MODE:
// {
// JZSDK_LOG_INFO("设置激光模式值:%d",*value);
// g_SideLaserInfo.attribute.mode = *value;
// if (g_SideLaserInfo.attribute.status == JZ_FLAGCODE_OFF)
// {
// g_SideLaserInfo.Uimode = JZ_FLAGCODE_OFF;
// }
// else
// {
// g_SideLaserInfo.Uimode = g_SideLaserInfo.attribute.mode + 1;
// }
// }
// break;
//
// case SIDELASER_REALMODE:
// {
// if (*value == JZ_FLAGCODE_OFF)
// {
// g_SideLaserInfo.attribute.status = JZ_FLAGCODE_OFF;
// g_SideLaserInfo.Uimode = JZ_FLAGCODE_OFF;
// }
// else
// {
// g_SideLaserInfo.attribute.status = JZ_FLAGCODE_ON;
// g_SideLaserInfo.Uimode = JZ_FLAGCODE_ON;
// g_SideLaserInfo.attribute.mode = *value - 1;
// }
// }
//
// default:
// {
// *value = JZ_FLAGCODE_OFF;
// }
// break;
// }
//
// return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
// }
//
// JZSDK_LOG_ERROR("参数获取出错");
// return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
//}
/************************
*
* 获取激光侧面信息
*
*
* ***********************/
T_JZsdkReturnCode SideLaser_GetInfo(T_JzSideLaserInfo*SideLaserInfo)
{
memcpy(SideLaserInfo, &g_SideLaserInfo, sizeof(T_JzSideLaserInfo));
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}