281 lines
8.6 KiB
C++
281 lines
8.6 KiB
C++
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#include <iostream>
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#include <iomanip>
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#include <memory>
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#include <thread>
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#include <chrono>
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#include "motorboard.h"
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#include "filetools.h"
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#include "stringex.hpp"
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#include <functional>
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#include "uartregsaccess.h"
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#include "Gpio.h"
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#include "StopWatch.h"
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#include "wakeup.hpp"
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using namespace std;
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volatile int done_scan = 0;
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int menu()
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{
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int choice;
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cout << " **** Menu **** " << endl
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<< endl;
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cout << "(1) start." << endl;
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cout << "(2) stop. " << endl;
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cout << "(3) clear error. " << endl;
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cout << "(4) pick paper. " << endl;
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cout << "(5) regs list. " << endl;
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cout << "(6) scan num. " << endl;
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cout << "(7) scan auto" << endl;
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cout << "(8) set sensor pwm duty " << endl;
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cout << "(9) set sensor enable" << endl;
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cout << "(10) set ultrasonic param" << endl;
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cout << "(11) get ultrasonic version" << endl;
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cout << "(0) Quit. " << endl
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<< endl;
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cout << ": ";
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cin >> choice;
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return choice;
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}
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int main()
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{
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FileTools ft("/home/linaro/regs.log");
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ft.clear();
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WakeUp wake;
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MotorBoard mb(nullptr);
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wake.setinitcallback([&mb]{
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std::this_thread::sleep_for(std::chrono::milliseconds(3000));
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mb.init_statecontrol();
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},[&mb]{
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mb.release_statecontrol();
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});
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unsigned int val = 0;
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//GpioOut gpio(151);
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bool exit = false;
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int option = 0;
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for (;;)
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{
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option = menu();
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switch (option)
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{
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case 0:
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exit = true;
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break;
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case 1:
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{
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mb.start({0});
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break;
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}
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case 2:
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mb.stop();
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break;
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case 3:
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mb.clear_error();
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break;
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case 4:{
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{
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int size = 20;
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std::cin >> size;
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for(int x = 0;x< size;x++){
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mb.pick_paper();
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if(x > 20 && ((x%21) == 0) )
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{
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wake.power_off();
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this_thread::sleep_for(chrono::seconds(5));
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wake.power_on();
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this_thread::sleep_for(chrono::seconds(5));
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for (int i = 0; i < 8; i++)
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{
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StopWatch sw;
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// gpio.setValue(Gpio::Low);
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// gpio.setValue(Gpio::High);
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if (mb.read(i, val))
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{
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// gpio.setValue(Gpio::Low);
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std::cout << string_format("read : %f\n", sw.elapsed_ms());
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std::cout << hex;
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std::cout << "reg[0x" << i << "] =0x" << setw(8) << setfill('0') << val << std::endl;
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}
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else
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{
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std::cout << "read regs error " << std::endl;
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}
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}
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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std::cout << "send == "<< x << std::endl;
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}
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}
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break;
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}
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case 5:
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{
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for (int i = 0; i < 8; i++)
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{
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StopWatch sw;
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// gpio.setValue(Gpio::Low);
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// gpio.setValue(Gpio::High);
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if (mb.read(i, val))
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{
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// gpio.setValue(Gpio::Low);
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std::cout << string_format("read : %f\n", sw.elapsed_ms());
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std::cout << hex;
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std::cout << "reg[0x" << i << "] =0x" << setw(8) << setfill('0') << val << std::endl;
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}
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else
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{
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std::cout << "read regs error " << std::endl;
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}
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}
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}
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break;
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case 6:
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// cout << "scan num: " << mb.paper_counter() << endl;
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break;
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case 7:
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{
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auto mb_error_call = [&](unsigned int error_code)
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{
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std::cout << __func__ << " call: error" << std::endl;
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done_scan = -1;
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mb.stop();
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};
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auto mb_scandone_call = [&]()
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{
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std::cout << __func__ << " call: done" << std::endl;
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done_scan = 1;
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};
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auto mb_osmode_call = [&](unsigned int osmode)
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{
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printf("motorboard callback mb_osmode_call changed");
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};
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auto mb_set_sleeptime_call = [&](unsigned int speedmode)
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{
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printf("\n mb_set_sleeptime_call val= %d ", speedmode);
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};
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MotorBoardGlue mb_glue = {mb_error_call, mb_scandone_call, mb_osmode_call, mb_set_sleeptime_call,nullptr,nullptr,nullptr};
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mb.set_callbacks(mb_glue);
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done_scan = 0;
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mb.SetKeyState(true);
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unsigned int reg0;
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mb.read(0x00, reg0);
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SMBCONFIG *smb_config = (SMBCONFIG *)®0;
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smb_config->dpi_mode = 0;
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mb.write(0x00, reg0);
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mb.set_speed_mode(2);
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mb.clear_error();
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//mb.set_cuospeed(41);
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mb.start({0});
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mb.pick_paper();
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std::this_thread::sleep_for(std::chrono::milliseconds(2000));
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StopWatch sw;
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int num = 0;
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for (;;)
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{
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if (mb.wait_paper_in(1000))
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{
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// std::this_thread::sleep_for(std::chrono::milliseconds(100));
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std::cout << __func__ << " call: paper pick num = "<< num++ << std::endl;
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//std::this_thread::sleep_for(std::chrono::milliseconds(1000));//simulate capture
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if(mb.wait_paper_out(1000))
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{
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std::cout << __func__ << " call: paper out stop snap " <<sw.elapsed_ms() << std::endl;
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}
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}
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else if (done_scan)
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{
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break;
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}
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//else
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// {
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// if (sw.elapsed_s() > 3)
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// done_scan = -2;
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// }
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mb.pick_paper();
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}
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std::cout << __func__ << " call: exit" << std::endl;
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}
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break;
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case 100:
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{
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unsigned int vals[2] = {0xaaaaaaaa, 0x55555555};
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unsigned int valw;
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unsigned int valr;
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const unsigned int addr = 7;
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std::cout << "start verify" << endl;
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// mb.read(addr, valr);
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// mb.read(addr, valr);
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// mb.read(addr, valr);
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// mb.read(addr, valr);
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for (int i = 0; i < 1000; i++)
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{
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valw = vals[i % 2];
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mb.write(addr, valw);
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// std::this_thread::sleep_for(std::chrono::milliseconds(2));
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mb.read(addr, valr);
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std::cout << "\r" << i;
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std::cout.flush();
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if (valw != valr)
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ft.append_log(string_format("%d error", i));
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else
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ft.append_log(string_format("0x%08X:0x%08X", valw, valr));
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}
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}
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break;
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case 8:
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{
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int sensorid,duty;
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cout << "请输入传感器编号"<<std::endl;
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cin >> sensorid;
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cout << "请输入占空比 "<<std::endl;
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cin >> duty;
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mb.set_sensor_pwm_duty(sensorid,duty);
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break;
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}
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case 9:
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{
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int sensorid,en;
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cout << "请输入传感器编号"<<std::endl;
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cin >> sensorid;
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cout << "请使能模式 0开启 1关闭 "<<std::endl;
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cin >> en;
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mb.enable_sensor_pwm(sensorid,en);
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break;
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}
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case 10:
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{
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int sensorid,en;
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cout << "请输入配置类型: 1 双张cyc 2 无纸cyc 3 双张阈值 4 单张阈值 "<<std::endl;
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cin >> sensorid;
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cout << "请输入值 "<<std::endl;
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cin >> en;
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mb.set_ultrasonic_param(sensorid,en);
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break;
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}
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case 11:
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{
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std::cout << mb.get_ultrasonic_version() <<std::endl;
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break;
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}
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default:
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cout << "Please select again! " << endl;
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break;
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}
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/* code */
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if (exit)
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break;
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}
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cout << "exit munu" << endl;
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return 0;
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}
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