newtx/hardware/motor/motorboard.cpp

#include "motorboard.h"

#include <iostream>
#include <uart/PinMonitor.h>
#include "../uart/uartregsaccess.h"
#include <iomanip>
#include <bitset>

#include <base/utils.h>
#include <base/ui.h>
#include <huagao/hgscanner_error.h>
#include <base/words.h>


#define MOTOR_UART "/dev/ttyS4"
static const std::string loggername = "MotorBoard";


MotorBoard::MotorBoard(std::function<void(int, unsigned int)> evcb)
                    : devPort(MOTOR_UART), event_cb_(evcb)
                    , autopaperkeystop(nullptr), mb_events_("motor-events")
{
    // LOG_INIT();
    //m_uartEnable.reset(new GpioOut(149));
    //m_uartEnable->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
    m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
    //m_uartEnable->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_os_mode = os_mode();
    // m_statecontrol.reset(new StateControl(m_regsAccess,wake));
    init_sensor_duty();
}

static int paperinnum = 0;
void MotorBoard::start(void)
{
    keep_last_paper=false;
    paperinnum = 0;
    m_paperout_count = 0;
    clear_error();
    set_time_error(120);
    // set_double_inpect(m_config.g200params.double_feed_enbale);
    // set_staple_inpect(m_config.g200params.stable_enbale);
    // set_paper_inspect(0);
    // set_auto_paper(m_config.g200params.is_autopaper,m_config.g200params.en_anlogic_key);
    // set_screw_inpect(m_config.g200params.screw_detect_enable);
    // set_screw_level(m_config.g200params.screw_detect_level);
    // set_long_paper(true);
    // set_double_out_en(m_config.g200params.double_out_en);
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0, val);
    smbc->enable = 0;
    write(0, val);
    smbc->enable = 1;
    write(0, val);

    en_lifter();
}

void MotorBoard::stop()
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    SMBSTATUS  *status = (SMBSTATUS*)&val;

    if(this->read(MB_PORT_STATUS, val))
    {
        if(!status->scan_pulse)
        {
            utils::to_log(LOG_LEVEL_DEBUG, "ignore 'MotorBoard::stop' command for device is not in working(0x%08x).\n", val);
            return;
        }
    }
    
    printf("MotorBoard Stop \n");
    read(0, val);
    smbc->enable = 0;
    write(0, val);
}
bool MotorBoard::en_lifter()
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(MB_PORT_CONFIG, val);
    smbc->lifter_en = 1;
    write(MB_PORT_CONFIG, val);
    smbc->lifter_en = 0;
    return write(MB_PORT_CONFIG, val);
}

void MotorBoard::pick_paper(void)
{
    unsigned int val,pick_en;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(MB_PORT_CONFIG, val);
    smbc->pick_paper = 0;
    write(MB_PORT_CONFIG, val);
    std::this_thread::sleep_for(std::chrono::microseconds(400));
    smbc->pick_paper = 1;
    write(MB_PORT_CONFIG, val);
    std::string v_str = std::to_string(m_version);
    // if(v_str.size()<8)
        return;
    uint32_t date = atoi(v_str.substr(2,6).c_str());
#ifdef G100
    if(date < 231115)
        return;
#else
    if(date < 231122)
        return;
#endif
    std::this_thread::sleep_for(std::chrono::milliseconds(5));
    read(0x09,pick_en);
    if(!(pick_en&0xffff))
    {
        smbc->pick_paper = 0;
        write(MB_PORT_CONFIG, val);
        std::this_thread::sleep_for(std::chrono::microseconds(400));
        smbc->pick_paper = 1;
        write(MB_PORT_CONFIG, val);
    }
    // smbc->pick_paper = 0;
    // write(MB_PORT_CONFIG, val);
}

void MotorBoard::clean_paper_road(){
    unsigned int val;
    SMB_FUNC *smbc = (SMB_FUNC *)(&val);
    read(6, val);
    if(smbc->param.work_mode == 0)
    {
        smbc->param.func_clean_passthro = 1;
        write(6, val);
        smbc->param.func_clean_passthro = 0;
        write(6, val);
    }
    else{
        printf("\n 非空闲模式不允许清理纸道！！！！");
    }
   
}

void MotorBoard::clear_error()
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0, val);
    smbc->error_clean = 1;
    write(0, val);
    smbc->error_clean = 0;
    write(0, val);

    mb_events_.clear();
}

bool MotorBoard::wait_arrival_top(int timeout_ms)
{
    return cv_arrival_top.wait(timeout_ms);
}

bool MotorBoard::wait_paper_in(int timeout_ms)
{
    return cv_paper_in.wait(timeout_ms);
}

bool MotorBoard::wait_error(int timeout_ms)
{
    return cv_error.wait(timeout_ms);
}

bool MotorBoard::wait_paper_out(int timeout_ms)
{
    // StopWatch sw;
    // LOG_TRACE("wait_paper_out ");
    // while(sw.elapsed_ms()<timeout_ms)
    // {
    //     if(m_paperout_count > 0)
    //     {
    //         m_paperout_count--;
    //         return true;
    //     } 
    //     std::this_thread::sleep_for(std::chrono::milliseconds(1));
    // }
    // return false;
    return cv_paper_out.wait(timeout_ms);
}

bool MotorBoard::wait_done(int timeout_ms)
{
    return cv_scan_done.wait(timeout_ms);
}

int MotorBoard::os_mode()
{
    // unsigned int val;
    // read(MB_PORT_MODE, val);
    // SMB_MODE *smb_mode = (SMB_MODE *)&val;
    // return smb_mode->scan_mode;
    unsigned int val;
    read(MB_PORT_FUNCTION,val);
    SMB_FUNC  smb_func = *(SMB_FUNC*)&val;
    return smb_func.param.work_mode == 1;
}

bool MotorBoard::paper_ready()
{
    unsigned int val;
    read(MB_PORT_MODE, val);
    SMB_MODE *smb_mode = (SMB_MODE *)&val;
    return smb_mode->feeding_paper_ready;
}

bool MotorBoard::is_scanning()
{
    unsigned int val;
    read(MB_PORT_MODE, val);
    SMB_MODE *smb_mode = (SMB_MODE *)&val;
    return smb_mode->work_status;
}

int MotorBoard::paper_counter()
{
    unsigned int val;
    read(MB_PORT_MODE, val);
    SMBMODE *smb_mode = (SMBMODE *)&val;
    return smb_mode->scan_num;
}

bool MotorBoard::set_paper_inspect_param(unsigned int value /* = 1000 */)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG_EX, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->error_range_set = value;
    return write(MB_PORT_CONFIG_EX, val);
}

bool MotorBoard::get_keeplastpaper(){
    return keep_last_paper;
}

bool MotorBoard::set_paper_inpect_info(unsigned int value)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG_EX, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->paper_infor = value;
    return write(MB_PORT_CONFIG_EX, val);
}

bool MotorBoard::set_paper_inspect(bool enable /* = true */)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG_EX, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->paper_size_check_en = enable;
    return write(MB_PORT_CONFIG_EX, val);
}

bool MotorBoard::set_double_inpect(bool enable)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    // enable?m_statecontrol->lcdcontrol(4):m_statecontrol->lcdcontrol(5);
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->double_paper = enable;
    return write(MB_PORT_CONFIG, val);
}
bool MotorBoard::get_doublle_inpect()
{
    return 0;
}
bool MotorBoard::set_double_out_en(bool enable)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->double_out_en = enable;
    return write(MB_PORT_CONFIG, val);
}
bool MotorBoard::get_double_out_en()
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    return smb_config->double_out_en;
}
bool MotorBoard::set_staple_inpect(bool enable)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->staple_enable = enable;
    return write(MB_PORT_CONFIG, val);
}
bool MotorBoard::get_staple_inpect()
{
	return 0;
}

bool MotorBoard::set_cuospeed(int value)
{
    unsigned int val;
    if (!read(0x4, val))
        return false;
    SMBCONFIGEXT *smb_config = (SMBCONFIGEXT *)&val;
    smb_config->cuo_speed = value;
    return write(MB_PORT_CONFIG_EX, val);
}

// bool MotorBoard::set_en600DPI(bool en)
// {
//     unsigned int val;
//     if (!read(MB_PORT_CONFIG, val))
//         return false;
//     SMBCONFIG *smb_config = (SMBCONFIG *)&val;
//     smb_config->dpi600 = en?1:0;
//     return write(MB_PORT_CONFIG, val);
// }
bool MotorBoard::set_color_mode(int mode)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->color_mode = mode;
    return write(MB_PORT_CONFIG, val);
}

bool MotorBoard::set_slowmoire(bool en){
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->slow_moire = en;
    return write(MB_PORT_CONFIG, val);
}


int MotorBoard::get_color_mode()
{
    return 0;
}

bool MotorBoard::set_speed_mode(int mode)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->speed_set_enable = 1;
    smb_config->v_setting = mode;
    write(MB_PORT_CONFIG, val);
    smb_config->speed_set_enable = 0;
    return    write(MB_PORT_CONFIG, val);
}

bool MotorBoard::set_speed_mode_v_temp(int mode)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    printf(" set v_tmp = %d \n",mode);
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->speed_set_enable = 1;
    smb_config->v_temp = mode;
    write(MB_PORT_CONFIG, val);
    smb_config->speed_set_enable = 0;
    return    write(MB_PORT_CONFIG, val);
}

int MotorBoard::get_speed_mode()
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return -1;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    return smb_config->v_setting;
}

std::shared_ptr<IRegsAccess> MotorBoard::regs()
{
    return m_regsAccess;
}
static int countindex =0;
void MotorBoard::pin_call(unsigned int pinNum)
{
    if(!event_cb_)
    {
        unsigned int val = 0;
        if (!read(MB_PORT_STATUS, val))
            utils::to_log(LOG_LEVEL_FATAL, "read motorboard status failed.\n");
        else
            mb_events_.save(val, true);

        return;
    }

    static int index = 0;
    // int os_m = os_mode();  //安路屏蔽计数 扫描过程中无法操作按键
    // if (m_os_mode != os_m) 
    // {
    //     m_os_mode = os_m;
    //     cv_os_mode.notify_all();
    //     if (m_glue.m_os_mode_call)
    //         m_glue.m_os_mode_call(m_os_mode);
    // }

    // if (m_os_mode)  //安路屏蔽计数返回 以刷新计数状态
    // {
    //     LOG_TRACE("not scan mode");
    //     return;
    // }

    unsigned int val;
    SMBSTATUS *s = (SMBSTATUS *)&val;
    if (!read(MB_PORT_STATUS, val))
        utils::to_log(LOG_LEVEL_FATAL, "read motorboard status failed.\n");
    else
        printf("\tmotorboard status = 0x%08X\n", val);

    if(s->keep_last_paper)    // (val & 0x800)
    {
         //printf("\n keep_last_paper ");
         keep_last_paper=true;
    }
    if(s->sleep_set)    // (val & 0x1000)
    {
        event_cb_(MOTOR_BORD_EVENT_SLEEP, s->sleep_conf);
    }
    if(s->arrival_top_int)    // (val & 0x80000)
    {
        event_cb_(MOTOR_BORD_EVENT_LIFTER_READY, 1);
    }
    if(s->auto_feed)
    {
        event_cb_(MOTOR_BORD_EVENT_PAPER_READY, 1);
    }
    if (val & 0x7c003FE)
    {
		SetKeyState(false);
        cv_error.notify_all();
        event_cb_(MOTOR_BORD_EVENT_ERROR, val & 0x30efe); //0xefe index of 16:aquireimage error index of bit 17 :size check error 
        if(val & 0x30efe){
            cv_paper_out.notify_all();
            m_paperout_count++;
        }
		errormsg(val & 0x1c003fa);
		if((val & 0x4) ||(val & 0x02000000))
        {
            if(val & 0x4){
                PutMsg(STATUS_WORDS_ID(COVER_OPEN), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
                set_auto_paper(false,false);
                autopaperkeystop?autopaperkeystop():void(0);
                // if(m_statecontrol){
                //     m_statecontrol->setcoverstate(true);
                //     m_statecontrol->setmenuindex(0);
                // }
            }
            else{
                // PutMsg(STATUS_WORDS_ID(READY), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
                // m_statecontrol?m_statecontrol->setcoverstate(false):void();
                // printf("pin_call(%x)\n", val);
            }
            return;
        }
        // if(smb_status->double_clean_f)
            // PutMsg(STATUS_WORDS_ID(READY), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
            // printf("pin_call(%x)\n", val);
        return;
    }
    else
    {
        if (!s->scan_pulse)
        {
            cv_paper_in.notify_all();
            unsigned int papercount = 0;
            read(MB_PORT_MODE,papercount);
            SMBMODE smbmode = *(SMBMODE*)&papercount;
            printf("paper in arm count = %d,  motorcount = %d\n",++countindex,smbmode.scan_num);
            startcapimage(true);
        }
        if(s->paper_left)
        {
            cv_paper_out.notify_all();
            m_paperout_count++;
            //printf("paper out  time = %s \n",GetCurrentTimeStamp(2).c_str());
            startcapimage(true);
            utils::to_log(LOG_LEVEL_DEBUG, "m_paperout_count %d\n", (unsigned int)m_paperout_count);
        }
    }

    if (val & 0x400)
    {
        cv_scan_done.notify_all();
        event_cb_(MOTOR_BORD_EVENT_SCAN_DONE, 1);
        cv_paper_out.notify_all();
        clear_error();
        SetKeyState(false);
    }
}

bool MotorBoard::write(unsigned int addr, unsigned int val)
{
    return m_regsAccess.get()?m_regsAccess->write(addr, val):false;
}

bool MotorBoard::read(unsigned int addr, unsigned int &val)
{
    return m_regsAccess.get()?m_regsAccess->read(addr, val):false;
}

 bool MotorBoard::set_time_error(int value){
    unsigned int val;
    if (!read(MB_PORT_TIME, val))
        return false;
    SMBCONFIGTIME *smb_config = (SMBCONFIGTIME *)&val;
    smb_config->error_time_set = value;
    return write(MB_PORT_TIME, val);
 }

bool MotorBoard::set_screw_inpect(bool enable)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->skew_enable = enable;
    return write(MB_PORT_CONFIG, val);
}
bool MotorBoard::get_screw_inpect()
{
    unsigned int val;
    read(MB_PORT_CONFIG, val);
    SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
    return smb_mode->skew_enable;
}

bool MotorBoard::set_screw_level(int level)
{
        unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->skew_parameter = level;
    return write(MB_PORT_CONFIG, val);
}

bool MotorBoard::set_auto_paper(bool enable,bool enkey){
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    // m_statecontrol?m_statecontrol->setautopaperflag(enable,enkey):void(0);
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->autofeed_mode = enable;
    return write(MB_PORT_CONFIG, val);
}

bool MotorBoard::set_long_paper(bool enable)
{
    unsigned int val;
    if (!read(MB_PORT_CONFIG, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->paper = enable;
    return write(MB_PORT_CONFIG, val);
}

int MotorBoard::get_screw_level()
{
    unsigned int val;
    auto ret= read(MB_PORT_CONFIG, val);
    if(!ret)
        return -1;
    SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
    return smb_mode->skew_parameter;
}

void MotorBoard::start_countmode()
{
    unsigned int regval=0;

    read(MB_PORT_FUNCTION,regval);
    utils::to_log(LOG_LEVEL_DEBUG, "func6 regval = 0x%08x\n", regval);
    SMBFUNC func = *(SMBFUNC*)&regval;
    func.param.work_mode =1;
    func.param.func_feed_mid = 1;
    func.param.func_clear_count = 1;
    utils::to_log(LOG_LEVEL_DEBUG, "func6 value = 0x%08x\n", func.value);
     write(MB_PORT_FUNCTION,func.value);
    func.param.func_encount = 1;
    func.param.key_sound = 1;
    func.param.func_clear_count = 0;
    utils::to_log(LOG_LEVEL_DEBUG, "func6 value = 0x%08x\n", func.value);
    write(MB_PORT_FUNCTION,func.value);
    func.param.func_encount = 0;
    func.param.key_sound = 0;
    utils::to_log(LOG_LEVEL_DEBUG, "func6 value = 0x%08x\n",func.value);
    write(MB_PORT_FUNCTION,func.value);
}


void MotorBoard::PutMsg(int words, int align_v, int align_h, int font, int clear_method)
{
    // devui::send_status_message(words, align_h, align_v, font, clear_method);
}

void MotorBoard::errormsg(uint value)
{
    if(value & 0x4)
        PutMsg(STATUS_WORDS_ID(COVER_OPEN), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x2)
        PutMsg(STATUS_WORDS_ID(NO_PAPER), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x8)
        PutMsg(STATUS_WORDS_ID(FEED_ERR), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    // else if (value & 0x10)
    //     PutMsg((int)DisType::Dis_Err_JamIn,devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x20)
        PutMsg(STATUS_WORDS_ID(DOUBLE_FEED), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x40)
        PutMsg(STATUS_WORDS_ID(STAPLE), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x80)
        PutMsg(STATUS_WORDS_ID(ASKEW), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    else if (value & 0x00010000)
        PutMsg(STATUS_WORDS_ID(CIS_TIMEOUT), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID); 
    else if((value & 0x1000010) == 0x1000010)
        PutMsg(STATUS_WORDS_ID(JAMMED), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID); 
    else if((value & 0x800010) == 0x800010)
        PutMsg(STATUS_WORDS_ID(JAMMED), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID); 
    else if((value & 0x400010) == 0x400010)
        PutMsg(STATUS_WORDS_ID(JAMMED), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID); 
}

void MotorBoard::SetKeyState(bool value)
{
    // if(m_statecontrol)
    //     m_statecontrol->setrunstate(value);
}


void MotorBoard::set_keystopenable(bool value){
    unsigned int regval=0;
    read(MB_PORT_FUNCTION,regval);
    utils::to_log(LOG_LEVEL_DEBUG, "func6 regval = 0x%08x\n", regval);
    SMBFUNC func = *(SMBFUNC*)&regval;
    func.param.key_stop_enable = value;
    write(MB_PORT_FUNCTION, regval);
}


void MotorBoard::set_freq(int motor_choose,int speedmode,int colormode,int dpi)
{
//     MotorConfig cf;
//     auto params = cf.GetMotorSpeedParams(motor_choose == 1?0:1,MotorConfig::MTBDType::MT_DRV);
//     MotorSpeedParam param;
//     //printf("\n---node.dpi ==%d && node.colormode == %d  && node.speed == %d----- ",dpi,colormode,speedmode);
//     for(auto &node : params)
//     {
//         if(node.dpi == dpi && node.colormode == colormode && node.speed == speedmode)
//         {
//             param = node.mt_param;
//             //printf("\n-------------------------------------------------");
//             break;
//         }
//     }
//     std::vector<std::uint32_t> table;
//     if(motor_choose == 0)
//     {
//         int x = 0;  // (dpi == 1?(Get_static_jsonconfig().getscannerinfo().chu_motor_speed_200):(dpi == 2?Get_static_jsonconfig().getscannerinfo().chu_motor_speed_300 : Get_static_jsonconfig().getscannerinfo().chu_motor_speed_600));
//         unsigned int regval=0;
//         read(MB_PORT_FUNCTION,regval);
//         SMBFUNC func = *(SMBFUNC*)&regval;
//         func.param.motor_choose = motor_choose;
//         func.param.wr_en = 1;
//         write(MB_PORT_FUNCTION,func.value);
//         write(MB_PORT_CONFIG_EX,x);
//         //func.param.wr_en = 0;
//         //write(MB_PORT_FUNCTION,func.value);
//         return ;
//     }
//     if(motor_choose == 1)
//         table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
//     if(motor_choose == 2)
//         table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
//     if(motor_choose == 3)
//         table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
//     unsigned int regval=0;
//     read(MB_PORT_FUNCTION,regval);
//     SMBFUNC func = *(SMBFUNC*)&regval;
//     int start_addr_cuo = 0;
// #ifdef G200
//     if(motor_choose ==1 && speedmode > 1 && dpi <3)
//         start_addr_cuo = 63;
//     if(motor_choose ==1 &&  dpi ==3)
//         start_addr_cuo = 127;
// #endif
//     printf("\nstart_addr_cuo   =%d ",start_addr_cuo);
//     for(int i =0;i<256;i++)
//     {
//         func.param.motor_choose = motor_choose;
//         func.param.wr_en = 1;
//         func.param.motor_addr =i;
//         write(MB_PORT_FUNCTION,func.value);
//         write(MB_PORT_CONFIG_EX,i<start_addr_cuo?0:table[i-start_addr_cuo]);
//         //printf("\nfreq= %x addr =%d ",table[i-start_addr_cuo],i);
//     }
//     func.param.wr_en = 0;
//     write(MB_PORT_FUNCTION,func.value);
}

void MotorBoard::init_statecontrol()
{
    m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
    m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_os_mode = os_mode();
    // m_statecontrol.reset(new StateControl(m_regsAccess,m_wake));
    // m_statecontrol->setautopaperstopcallback([&]{
    //     autopaperkeystop?autopaperkeystop():void(0);
    //     if(m_config.g200params.is_autopaper)
    //         set_auto_paper(false,false);
    // });
    init_sensor_duty();
    // PutMsg(STATUS_WORDS_ID(READY), devui::ALIGN_COMPONENT_MID, devui::ALIGN_COMPONENT_MID);
    printf("init_statecontrol()\n");
}

void MotorBoard::release_statecontrol()
{
    
    if(autopaperkeystop.operator bool())
        autopaperkeystop();
    set_auto_paper(false,false);
    // m_statecontrol.reset();
    m_regsAccess.reset();
    m_intPinMonitor.reset();

}

void MotorBoard::setautopaperkeystopcallback(std::function<void()> func){
    if(func)
        autopaperkeystop = func;
    // m_statecontrol?m_statecontrol->setautopaperstopcallback([&]{
    //     autopaperkeystop?autopaperkeystop():void(0);
    //     set_auto_paper(false,false);
    // }):void(0);
}
void MotorBoard::startcapimage(bool value)
{
    // if(m_config.g200params.is_fixedpaper)
    //     return;
	FILE *fp = fopen("/sys/class/tty/ttyUSB0/device/huagao_scanner", "w");
	if (fp == NULL)
		perror("startcapimage open filed");
	else{
		fprintf(fp, "%d", value ? 1 : 0);
		fclose(fp);
	}
}

bool MotorBoard::set_sensor_pwm_duty(int sensorid,int duty)
{
    //1：扫描；2：开盖；3：歪斜—1；4：歪斜-2；5：出纸口；6：有无纸
    printf("set_sensor_pwm_duty type = %d  duty = %d \n",sensorid,duty);
    unsigned int val;
    if (!read(MB_PORT_TIME, val))
        return false;
    if(sensorid< 1 || sensorid >6)
        return false;
    if(duty< 2 || duty > 90)
        return false;
    SMBCONFIGTIME *smb_config_time = (SMBCONFIGTIME *)&val;
    smb_config_time->sen_duty_set_sel = sensorid;
    smb_config_time->duty_set = duty*8+50;
    write(MB_PORT_TIME, val);
    smb_config_time->sen_duty_set_sel = 0;
    return write(MB_PORT_TIME, val);
}

bool MotorBoard::enable_sensor_pwm(int sensorid,bool en)
{
    std::uint32_t val;
    if (!read(MB_PORT_TIME, val))
        return false;
    if(sensorid< 1 || sensorid >6)
        return false;
    std::bitset<32> bit(val);
    bit.set(sensorid+6,en);
    val = bit.to_ulong();
    printf("enable_sensor_pwm = %d \n",val);
    return write(MB_PORT_TIME, val);
}

bool MotorBoard::set_ultrasonic_param(int type,int value){
    //1：双张检测周期；2：有无纸检测周期；3：双张阈值；4：单张阈值；
    unsigned int val;
    if (!read(MB_PORT_ULTROSONIC, val))
        return false;
    if(type< 1 || type >4)
        return false;
    printf("set_ultrasonic_param type = %d  value = %d \n",type,value);
    SMB_Ultrasonic_Config *tmp = (SMB_Ultrasonic_Config *)&val;
    switch (type)
    {
    case 1:
        tmp->param.double_check_cyc = value;
        break;
    case 2:
        tmp->param.paper_check_cyc = value;
        break;
    case 3:
        tmp->param.double_max = value;
        break;
    case 4:
        tmp->param.single_max = value;
        break;
    default:
        break;
    }
    printf("val = %d \n",val);
    tmp->param.send_cyc_en = 1;
    write(MB_PORT_ULTROSONIC,val);
    tmp->param.send_cyc_en = 0;
    return write(MB_PORT_ULTROSONIC,val);
}

void MotorBoard::init_sensor_duty()
{
    // auto p = Get_Static_SC().get_mem_param();
    // std::vector<uint32_t> params(sizeof(SensorConfig::SensorConfig_Param)/sizeof(uint32_t));
    // memcpy(&params[0],&p,sizeof(SensorConfig::SensorConfig_Param));
    // for(int i = 0;i<params.size();i++){
    //     if(((i >= 0) || (i < 6)) && (params[i] < 100))
    //     {
    //         set_sensor_pwm_duty(i+1,params[i]);
    //     }
    //     if((i >= 6) || (i < 10))
    //     {
    //         set_ultrasonic_param(i-5,params[i]);
    //     }
    // }
}

std::uint32_t MotorBoard::get_ultrasonic_version(){
    unsigned int val;
    if (!read(MB_PORT_ULTROSONIC, val))
        return 0;
    SMB_Ultrasonic_Config *tmp = (SMB_Ultrasonic_Config *)&val;
    tmp->param.rd_ver_en = 1;
    write(MB_PORT_ULTROSONIC,val);
    tmp->param.rd_ver_en = 0;
    write(MB_PORT_ULTROSONIC,val);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    read(0x08,val);
    return val;
}

std::string MotorBoard::getmbversion(){
    uint32_t  value = 0;
	read(MB_PORT_VERSION, value);
    m_version = value;
	printf("mb version: = %s \n", std::to_string(value).c_str());
	return std::to_string(value);
}


////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// 
bool MotorBoard::wait_event(int event, int *evdata, int to_ms, int* fatal_ev, int* fatal_msg)
{
    bool        waited = false;
    int         evd = 0, fe = 0, msg = 0;
    chronograph watch;

    if(!evdata)
        evdata = &evd;
    if(!fatal_ev)
        fatal_ev = &fe;
    if(!fatal_msg)
        fatal_msg = &msg;

    *fatal_ev = 0;
    while(watch.elapse_ms() < to_ms)
    {
        int         val = 0;
        SMBSTATUS   *s = (SMBSTATUS *)&val;

        // if (!read(MB_PORT_STATUS, val))
        if(!mb_events_.take(val))
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(1));
            continue;
        }
        else if(val <= 1)
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(1));
            continue;
        }

        if(s->arrival_top_int)    // (val & 0x80000)
        {
            if(event == MOTOR_BORD_EVENT_LIFTER_READY)
            {
                *evdata = 1;
                waited = true;
                break;
            }
        }
        if(s->auto_feed)
        {
            if(event == MOTOR_BORD_EVENT_PAPER_READY)
            {
                *evdata = 1;
                waited = true;
                break;
            }
        }
        if(s->paper_left)
        {
            startcapimage(true);
            if(event == MOTOR_BORD_EVENT_PAPER_PASSING)
            {
                *evdata = 0;
                waited = true;
                break;
            }
        }
        if(s->motor_status)
        {
            *evdata = 0;
            if(event == MOTOR_BORD_EVENT_SCAN_DONE)
            {
                waited = true;
            }
            else
            {
                *fatal_ev = MOTOR_BORD_EVENT_SCAN_DONE;
            }
            break;
        }
        if(!s->scan_pulse)
            startcapimage(true);
        if (val & 0x7c003FE)
        {
            *fatal_ev = MOTOR_BORD_EVENT_ERROR;
            if(s->m1_paper_sin)
            {
                *evdata = SCANNER_ERR_DEVICE_NO_PAPER;
                *fatal_msg = ID_WORDS_STATUS_NO_PAPER;
            }
            else if(s->open_machine)
            {
                *evdata = SCANNER_ERR_DEVICE_COVER_OPENNED;
                *fatal_msg = ID_WORDS_STATUS_COVER_OPEN;
            }
            else if(s->pick_failed)
            {
                *evdata = SCANNER_ERR_DEVICE_FEEDING_PAPER;
                *fatal_msg = ID_WORDS_STATUS_FEED_ERR;
            }
            else if(s->stop_jam && (s->jam_1 || s->jam_2 || s->jam_3))
            {
                *evdata = SCANNER_ERR_DEVICE_PAPER_JAMMED;
                *fatal_msg = ID_WORDS_STATUS_JAMMED;
            }
            else if(s->double_paper)
            {
                *evdata = SCANNER_ERR_DEVICE_DOUBLE_FEEDING;
                *fatal_msg = ID_WORDS_STATUS_DOUBLE_FEED;
            }
            else if(s->staple)
            {
                *evdata = SCANNER_ERR_DEVICE_STAPLE_ON;
                *fatal_msg = ID_WORDS_STATUS_STAPLE;
            }
            else if(s->papertilted)
            {
                *evdata = SCANNER_ERR_DEVICE_PAPER_SKEW;
                *fatal_msg = ID_WORDS_STATUS_ASKEW;
            }
            break;
        }
    }

    // printf("\twait event %d = %s: evdata = %d, fatal_ev = %d\n", event, waited ? "true" : "false"
    //         , *evdata, *fatal_ev);

    return waited;
}