rgv-kinco/applications/btn.c

#include "guide.h"
#include "driver.h"
#include "env.h"
#include "lift.h"
#include "screen.h"
#include "cargo.h"
#include "apptask.h"
#include "systick.h"

#define DBG_SECTION_NAME  "btn"
#define DBG_LEVEL         DBG_INFO
#include <rtdbg.h>

static void BtnLogI(char *log, uint8_t *btn_stat)
{
    if(!*btn_stat)
    {
        *btn_stat = 1;
        LOG_I(log);
    }
}
/**
 * @brief 按键线程，判断按键按下，执行相应的操作
 * @param
 * @retval
 * @note
 */
void BtnProcess(void* parameter)
{
    static uint8_t rmcEStopEnable = 1;
    uint8_t InTaskDemoTimer = 0;
    uint8_t InDecPressTimer = 0;
    uint8_t btn_down = 0;

    while (1)
    {
        rt_thread_mdelay(100);
        if (I.BtnCStop)
        {
            BtnLogI("BtnCStop pressed", &btn_down);
            GDEStop();
            continue;
        }
        if (I.BtnLiftUp)
        {
            BtnLogI("BtnLiftUp pressed", &btn_down);
            Lift_ManualUp_Screw();
            S.Status = STATUS_REMOTE_MANUAL;
            continue;
        }
        if (I.BtnLiftDown)
        {
            BtnLogI("BtnLiftDown pressed", &btn_down);
            Lift_ManualDown_Screw();
            S.Status = STATUS_REMOTE_MANUAL;
            continue;
        }
        if (I.RmcStart)
        {
			/* bug106 */
			S.ObsStatus = OBS_STATUS_NULL;
			S.reset_flag = 1;
			
rmc_start:
            BtnLogI("RmcStart pressed", &btn_down);
            InTaskDemoTimer++;
            InDecPressTimer++;
            //rmcEStopEnable = 1;
            GDStart(FR_FORWARD);
            if (InDecPressTimer < 100)
            {
                S.DecPressStatus = 0;
                BtnLogI("No_DecPress", &btn_down);
            }
            if (InDecPressTimer > 200)
            {
                S.DecPressStatus = 1;
                BtnLogI("In_DecPress", &btn_down);
            }
            continue;
        }
        if (I.RmcStop)
        {
            BtnLogI("Stop pressed", &btn_down);
            GDStop();
            continue;
        }
        if (I.RmcEStop)
        {
            if (rmcEStopEnable == 2)
            {
                LOG_I("RmcEStop pressed");
				S.estop_flag = 1;
                GDEStop();
                rmcEStopEnable = 1;
                continue;
            }
        }
        else
        {
            if (rmcEStopEnable == 1)
            {
                LOG_I("RmcEStop enable");
                rmcEStopEnable = 2;
                Decompression(0);
                goto rmc_start;
            }
        }
        if (I.BtnRun)
        {
            BtnLogI("BtnRun pressed", &btn_down);
            //rmcEStopEnable = 1;
            GDStart(FR_FORWARD);
            continue;
        }
        if (I.BtnRev)
        {
            BtnLogI("BtnRev pressed Finish Task", &btn_down);
            Task_FinishCurTransport();
            //GDStart(FR_BACKWARD);
        }
        if (I.RmcBackward)
        {
            BtnLogI("RmcBackward pressed", &btn_down);
            GD_ManualBackward();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcForward)
        {
            BtnLogI("RmcForward pressed", &btn_down);
            GD_ManualForward();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcRoteLeft)
        {
            BtnLogI("RmcRoteLeft pressed", &btn_down);
            Dir_Lift_ManualFB();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcRoteRight)
        {
            BtnLogI("RmcRoteRight pressed", &btn_down);
            Dir_Lift_ManualLR();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcDriftLeft)
        {
            BtnLogI("RmcDriftLeft pressed", &btn_down);
            GD_ManualDriftLeft();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcDriftRight)
        {
            BtnLogI("RmcDriftRight pressed", &btn_down);
            GD_ManualDriftRight();
            Screen_Icon_Run(Icon_Run);
            Screen_Icon_Speed(Icon_Mid_Speed);
            continue;
        }
        if (I.RmcLiftUp)
        {
            if (S.DecPressStatus == 1)
            {
                Decompression(1);
                BtnLogI("Decompression pressed(1)", &btn_down);
            }
            else
            {
                Lift_ManualUp();
                S.Status = STATUS_REMOTE_MANUAL;
                BtnLogI("lift up", &btn_down);
            }
            continue;
        }
        if (I.RmcLiftDown)
        {
            if (S.DecPressStatus == 1)
            {
                Decompression(2);
                BtnLogI("Decompression pressed(1)", &btn_down);
            }
            else
            {
                Lift_ManualDown();
                S.Status = STATUS_REMOTE_MANUAL;
                BtnLogI("lift down", &btn_down);
            }
            continue;
        }
        if (S.Status == STATUS_REMOTE_MANUAL)
        {
            GD_ManualStop();
            Lift_Stop();
            Dir_Lift_Stop();
            Screen_Icon_Run(Icon_Stop);
            Screen_Icon_Speed(Icon_Clear);
        }
        Decompression(0);
        InDecPressTimer = 0;
        InTaskDemoTimer = 0;
        btn_down = 0;
    }
}

static int Btn_Init(void)
{
    static rt_thread_t tid;

    tid = rt_thread_create("btn", BtnProcess, NULL, 1024, RT_THREAD_PRIORITY_MAX - 6, 10);
    if (tid)
    {
        rt_thread_startup(tid);
    }
    return RT_EOK;
}
INIT_APP_EXPORT(Btn_Init);