CBD_SY/Application_SY2/applications/control.c

#include <control.h>
/*
 * Copyright (c) 2006-2020, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2020-05-30     Administrator       the first version
 */

#include "beep.h"
#include "hmi.h"
#include "easyflash.h"
#include "stdio.h"
#include "sound.h"
#include "dtu_uart2.h"
#include "test.h"
#include "sht30_collect.h"
#define DBG_ENABLE
#define DBG_COLOR
#define DBG_TAG "control"
#define DBG_LEVEL DBG_LOG
#include <rtdbg.h> //must after of DBG_LVL, DBG_TAG or other options
// 工作检测
#define WORK_CHECK_THREAD_PRIORITY 23     // 线程优先级
#define WORK_CHECK_THREAD_STACK_SIZE 1024 // 栈大小
#define WORK_CHECK_THREAD_TIMESLICE 5     // 时间片
// 工作流程
#define WORK_LOOP_THREAD_PRIORITY 12     // 线程优先级
#define WORK_LOOP_THREAD_STACK_SIZE 2048 // 栈大小
#define WORK_LOOP_THREAD_TIMESLICE 5     // 时间片

#define PWM_EN 1 // 0关闭，1-打开

#define LOG_INR 10 // 默认的log打印间隔（作用域在本文件）

extern Res_def JD_Check_Test_Sta(JD_Test_Type type);
extern void Report_Limit_Error(le_def type);

extern RTC_DateTypeDef GetDate;
extern RTC_TimeTypeDef GetTime;

// 设备状态表结构体
Device_Status_typedef device_status;

rt_thread_t tid_workloop = RT_NULL;
rt_thread_t tid_wkstc = RT_NULL;
rt_thread_t tid_ctr = RT_NULL;
rt_thread_t tid_heat = RT_NULL;

volatile works_def ws_now = ws_standby;

/**************************1.0定制2000W*************************************/
// rt_pin_mode
/**
 * @brief 控制风扇输出
 *
 * @param status_ws 开关量
 * @return uint8_t -
 */
uint8_t ctr_Fan_PUT(uint8_t status_ws)
{
    rt_pin_mode(FAN_P, PIN_MODE_OUTPUT);
    if (status_ws == ON)
    {
        rt_pin_write(FAN_P, ON);
    }
    else
    {
        rt_pin_write(FAN_P, OFF);
    }
    return 0;
}
/**
 * @brief 控制风扇输出
 *
 * @param status_ws 开关量
 * @return uint8_t -
 */
uint8_t ctr_Fan_IN(uint8_t status_ws)
{
    rt_pin_mode(FAN_I, PIN_MODE_OUTPUT);
    if (status_ws == ON)
    {
        rt_pin_write(FAN_I, ON);
    }
    else
    {
        rt_pin_write(FAN_I, OFF);
    }
    return 0;
}
/****************************定制色诱*************************************/
/**/
#if Color_EN == 1
/**
 * @brief 检测色诱按键是否有下降沿出现
 *
 * @param key_pin 引脚号
 * @return uint8_t 无意义
 */
uint8_t Read_Color_Key(rt_base_t key_pin)
{
    rt_uint32_t sta_s = 0;
    rt_pin_mode(key_pin, PIN_MODE_INPUT);
    while (rt_pin_read(key_pin) == 1)
    {
        sta_s++;
        /*持续的*/
        rt_thread_delay(50);
    }
    while (rt_pin_read(key_pin) == 0)
    {
        rt_thread_delay(50);
        if (sta_s > 0)
            break;
    }
    LOG_W("检测到IO0翻转!!!");
    return 1;
}
/*读限位开关状态*/
/**
 * @brief 读取限位开关的状态
 *
 * @param pin_limit 引脚号
 * @return uint8_t 读取结果
 */
uint8_t Read_Color_Limit(rt_base_t pin_limit)
{
    uint8_t l_sta = 0;
    rt_pin_mode(pin_limit, PIN_MODE_INPUT);
    l_sta = rt_pin_read(pin_limit);
    rt_thread_delay(20);
    l_sta = rt_pin_read(pin_limit);
    return l_sta;
}
/*色诱板*/
/**
 * @brief 色诱板的控制逻辑
 *
 * @param forward 下一步进行的动作
 * @param time_board 计数?
 * @return int 操作完成的动作
 */
int ctr_Color_board(uint8_t forward, uint16_t time_board)
{
    if (forward == CLOSE) // 归位
    {
        if (device_status.cul_time > 0)
            device_status.cul_time--;
        ctr_cangmen_down(OFF);
        ctr_cangmen_up(OFF);
        rt_thread_delay(1000);
        //        if(device_status.cul_time>7) device_status.cul_time=7;
        //        if(device_status.cul_time!=7)
        //        {
        //            uint8_t ct = device_status.cul_time;
        //            while(1)
        //            {
        //                Beep_Tip(100);
        //                rt_thread_delay(100);
        //                ct--;
        //                if(ct==0) break;
        //            }
        //            //return device_status.cul_time;
        //        }
        if (Read_Color_Limit(LIMIT_RESET) == 0)
        {
            device_status.cul_time = 0;
            LOG_W("已在初始位置!");
            Beep_Tip(1000);
            return 0;
            // 黄板已经在复位状态，直接返回0;
        }
        ctr_cangmen_up(CLOSE);
        rt_thread_delay(20000);
        ctr_cangmen_up(OFF);

        //        if(device_status.cul_time==7&&Read_Color_Limit(LIMIT_BOARD)==0)
        //        {
        //            LOG_W("第七天!!!");
        //            ctr_cangmen_down(CLOSE);
        //            rt_thread_delay(500);
        //        }
        LOG_W("先打开运行到限位的右侧!");
        while (Read_Color_Limit(LIMIT_BOARD) == 0)
        {
            LOG_W("归位：到达限位中间");
            ctr_cangmen_down(CLOSE);
            if (Read_Color_Limit(LIMIT_RESET) == 0)
            {
                ctr_cangmen_down(OFF);
                break;
            }
        }
        // 先打开运行到限位的右侧
        while (Read_Color_Limit(LIMIT_BOARD) == 1)
        {
            LOG_W("归位：运行！");
            ctr_cangmen_down(CLOSE);
            if (Read_Color_Limit(LIMIT_RESET) == 0)
            {
                ctr_cangmen_down(OFF);
                break;
            }
        }
        while (Read_Color_Limit(LIMIT_BOARD) == 0) // 到达限位中间 继续运行
        {
            LOG_W("归位：到达限位中间");
            ctr_cangmen_down(CLOSE);
            if (Read_Color_Limit(LIMIT_RESET) == 0)
            {
                ctr_cangmen_down(OFF);
                break;
            }
        }
        if (Read_Color_Limit(LIMIT_RESET) == 0)
            return 0;
        LOG_W("到达限位左侧！");
        // 停止电机
        ctr_cangmen_down(OFF);
        rt_thread_delay(2000);
        // 将推杆电机归位
        LOG_D("*推杆电机归位*");
        /*推杆电机伸出*/
        ctr_cangmen_up(OPEN);
        rt_thread_delay(20000);
        ctr_cangmen_up(OFF);
        return 2;
    }
    else if (forward == OPEN)
    {
        ctr_cangmen_down(OFF);
        ctr_cangmen_up(OFF);
        rt_thread_delay(1000);
        if (device_status.cul_time == 7)
        {
            Beep_Tip(5000);
            return 7;
        }
        LOG_W("打开推杆电机!");
        // 2023-04-18:add
        // if(Read_Color_Limit(LIMIT_BOARD)==0)
        {
            LOG_D("*推杆电机归位*");
            /*推杆电机归位*/
            ctr_cangmen_up(CLOSE);
            rt_thread_delay(20000);
            ctr_cangmen_up(OFF);
        }
        if (device_status.cul_time < 7)
            device_status.cul_time++;
        while (Read_Color_Limit(LIMIT_BOARD) == 0)
        {
            ctr_cangmen_down(forward);
            rt_thread_delay(50);
        }
        while (Read_Color_Limit(LIMIT_BOARD) == 1)
        {
            time_board--;
            if (time_board == 0)
                break;
            ctr_cangmen_down(forward);
            rt_thread_delay(50);
        }
        ctr_cangmen_down(OFF);
        rt_thread_delay(1000);

        ctr_cangmen_up(OPEN);
        rt_thread_delay(20000);
        ctr_cangmen_up(OFF);
        //        ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time));     //采集时间
        return OPEN;
    }
    else if (forward == RESET)
    {
        ctr_cangmen_up(OFF);
        ctr_cangmen_down(OFF);
        if (Read_Color_Limit(LIMIT_RESET) == 0)
        {
            device_status.cul_time = 0;
            // ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time));     //采集时间
            LOG_W("已在初始位置!");
            Beep_Tip(1000);
            ctr_cangmen_up(CLOSE);
            rt_thread_delay(20000);
            ctr_cangmen_up(OFF);
            device_status.cul_time = 0;
            return 0;
            // 黄板已经在复位状态，直接返回0;
        }
        // if(Read_Color_Limit(LIMIT_BOARD)==0)
        {
            LOG_D("*推杆电机归位*");
            /*推杆电机归位*/
            ctr_cangmen_up(CLOSE);
            rt_thread_delay(20000);
            ctr_cangmen_up(OFF);
        }
        while (Read_Color_Limit(LIMIT_RESET) == 1)
        {
            time_board--;
            if (time_board == 0)
                break;
            ctr_cangmen_down(CLOSE);
            rt_thread_delay(20);
        }
        device_status.cul_time = 0;
        ctr_cangmen_down(OFF);
    }
    //    device_status.cul_time = 0;
    // ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time));     //采集时间
    return RESET; // 复位返回0
}
#endif
/****************************5.0***********************************/

void ctr_turnv5(void)
{
    rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT);
    rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT);
    // 转出
    rt_pin_write(CLEAR_R, ON);
    rt_pin_write(CLEAR_L, OFF);
    rt_thread_mdelay(300);
    // 停止
    rt_pin_write(CLEAR_R, OFF);
    rt_pin_write(CLEAR_L, OFF);
    rt_thread_mdelay(300);
    // 转入
    rt_pin_write(CLEAR_R, OFF);
    rt_pin_write(CLEAR_L, ON);
    rt_thread_mdelay(300);
    // 停止
    rt_pin_write(CLEAR_R, OFF);
    rt_pin_write(CLEAR_L, OFF);
    rt_thread_mdelay(300);
}
/**************************机器人********************************/
void ctr_Motor_Robot(uint8_t status_ws)
{
}
/*************************吸虫塔*********************************/
//// 吸虫电机
// uint8_t ctr_Motor_xichong(uint8_t status_ws)
//{
//     rt_pin_mode(MOTOR1_CTR_PIN, PIN_MODE_OUTPUT);
//     if (status_ws == ON)
//     {
//         rt_pin_write(MOTOR1_CTR_PIN, ON);
//     }
//     else
//     {
//         rt_pin_write(MOTOR1_CTR_PIN, OFF);
//     }
//     return 0;
// }
//
// uint8_t ctr_Camera_Power(uint8_t status_ws)
//{
//     rt_pin_mode(CAM_CTL, PIN_MODE_OUTPUT);
//     if (status_ws == ON)
//     {
//         rt_pin_write(CAM_CTL, ON);
//     }
//     else
//     {
//         rt_pin_write(CAM_CTL, OFF);
//     }
//     return 0;
// }
//  吸附电机
uint8_t ctr_Motor_xifu(uint8_t status_ws)
{
    rt_pin_mode(MOTOR2_CTR_PIN, PIN_MODE_OUTPUT);
    if (status_ws == ON)
    {
        rt_pin_write(MOTOR2_CTR_PIN, ON);
    }
    else
    {
        rt_pin_write(MOTOR2_CTR_PIN, OFF);
    }
    return 0;
}
// 清扫-卷带电机
void ctr_JD_Clear(uint8_t shake_sw)
{
    rt_uint16_t turn_timeout = 0;
    rt_pin_mode(MOTOR_C_LIMIT, PIN_MODE_INPUT);
    ctr_cangmen_up(OFF); // 清扫传送带的电机
    if (shake_sw == ON)
    {
        ctr_Heat(ON); // 清洁风机
        Motor_shake(ON, 0);
        ctr_cangmen_up(OPEN); // 打开清扫
    }
    else
    {
        Motor_shake(OFF, 0);
        ctr_cangmen_up(OPEN); // 打开清扫
    }
    while (rt_pin_read(MOTOR_C_LIMIT) == 0)
    {
        Motor_Juandai(ON);
        rt_thread_delay(50);
        turn_timeout++;
        if (turn_timeout == 1000)
            break;
    }
    turn_timeout = 0;
    while (rt_pin_read(MOTOR_C_LIMIT) == 1)
    {
        Motor_Juandai(ON);
        turn_timeout++;
        rt_thread_delay(50);
        if (turn_timeout == 1000)
            break;
    }
    Motor_shake(OFF, 1);
    Motor_Juandai(OFF);
    ctr_cangmen_up(OFF); // 关闭清扫
    ctr_Heat(OFF);
}

// 工作任务流程
void WorkTask_XCTm(void)
{
    while (device_status.work_status == 1 && device_status.ds == 1)
    {

        ctr_Motor_xifu(ON);
        // 打开相机供电
        ctr_Camera_Power(ON);
        // ctr_Heat(ON);   //清洁风机
        uint32_t photo_fre = 0;
        // photo_fre = device_status.dattim * 60;
        while (photo_fre != 0)
        {
            photo_fre--;
            rt_thread_delay(1000);
            LOG_I("收集中,等待开始拍照:%d", photo_fre);
        }
        // 卷带
        ctr_JD_Clear(OFF);
        // 拍照
        HK_TakePhoto();
        // 关闭吸附风机
        ctr_Motor_xifu(OFF);
        // 关闭相机供电
        // ctr_Heat(OFF);
        ctr_Camera_Power(OFF);
        // 卷带
        ctr_JD_Clear(ON);
        //        rt_thread_delay(1000);
        //        ctr_JD_Clear(ON);
        // 震动
        Motor_shake(ON, device_status.shake_sec);
    }
    // 关闭风机
    ctr_Motor_xichong(OFF);
    ctr_Motor_xifu(OFF);
    LOG_I("不在工作时间,未工作!!!");
}
/**********************************************************************/
/*光控*/
uint8_t In_Light_status(void)
{
    rt_pin_mode(LIGHT_PIN, PIN_MODE_INPUT);
    return rt_pin_read(LIGHT_PIN);
}
/*雨控*/
uint8_t In_Rain_status(void)
{
    rt_pin_mode(RAIN_PIN, PIN_MODE_INPUT);
    return rt_pin_read(RAIN_PIN);
}
/*加热*/
uint8_t ctr_Heat(uint8_t status_heat)
{
    device_status.heat_status = status_heat;
    rt_pin_mode(Heat_Pin, PIN_MODE_OUTPUT);
    rt_pin_write(Heat_Pin, status_heat);
    return status_heat;
}
/*制冷*/
uint8_t ctr_Cold(uint8_t status_cold)
{
    device_status.cold_status = status_cold;
    rt_pin_mode(Cold_Pin, PIN_MODE_OUTPUT);
    rt_pin_write(Cold_Pin, status_cold);
    return status_cold;
}
/*相机供电*/
void ctr_photo(uint8_t status_photo)
{
    //    rt_pin_mode(PHOTO, PIN_MODE_OUTPUT);
    //    rt_pin_write(PHOTO, status_photo);
}
/*************************************************
Function:       ctr_Cool_Fan
Description:    散热风机的开关
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          ON-开,OFF-关
Output:         NULL
Return:         ON-开,OFF-关
Others:         NULL
*************************************************/
uint8_t ctr_Cool_Fan(uint8_t status_cool)
{
    device_status.cool_fan_status = status_cool;
    rt_pin_mode(Cool_Fan_L, PIN_MODE_OUTPUT);
    rt_pin_mode(Cool_Fan_R, PIN_MODE_OUTPUT);
    if (status_cool == OFF)
    {
        rt_pin_write(Cool_Fan_L, OFF);
        rt_pin_write(Cool_Fan_R, OFF);
    }
    if (status_cool == ON)
    {
        rt_pin_write(Cool_Fan_L, ON);
        rt_pin_write(Cool_Fan_R, OFF);
    }
    return device_status.cool_fan_status;
}

#include "Work_SY2.h"
extern void CollFanSetPWM(uint8_t percent);
extern SYSCFG syscfg;

/*************************************************
Function:       ctr_Collect_Fan
Description:    采集风机的开关
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          ON-开,OFF-关
Output:         NULL
Return:         ON-开,OFF-关
Others:         NULL
*************************************************/
uint8_t ctr_Collect_Fan(uint8_t status_collect)
{
    device_status.collect_fan_status = status_collect;
    rt_pin_mode(Collect_Fan, PIN_MODE_OUTPUT);
    if (status_collect == OFF)
    {
        CollFanSetPWM(0);
        rt_pin_write(Collect_Fan, OFF);
    }
    if (status_collect == ON)
    {
        CollFanSetPWM(syscfg.fan_speed);
        rt_pin_write(Collect_Fan, ON);
    }
    return device_status.collect_fan_status;
}
/*************************************************
Function:       ctr_develop
Description:    培养载玻片孢子
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          v=0(复位) v=90转90度
Output:         NULL
Return:         NULL
Others:         NULL
*************************************************/
void ctr_develop(void)
{
    rt_kprintf("===============开始培养=================:%d\n", device_status.cul_time);
    // 已经培养的时间-分钟
    device_status.stay_time = 0;
    rt_uint32_t ii = 0;

    while (device_status.develop_flag == 1)
    {
        float stayedtime = 0.01;
        char stayed[5];
        stayedtime = (float)device_status.stay_time / 60.0;
        sprintf(stayed, "%0.02f", stayedtime);
        HMI_WRITE("workSta.staytime.txt=\"%s\"", stayed);
        ii++;
        LOG_I("developing...................................%d\n", ii);
        LOG_I("============================设定的培养温度:%d\n", device_status.heatvalue);
        LOG_I("============================培养仓实时温度:%d\n", device_status.pre_temp);
        if (device_status.pre_temp < (device_status.heatvalue - 5))
        {
            // 未制冷
            if (device_status.cold_status == 0)
            {
                ctr_Heat(ON);
            }
        }
        else
        {
            ctr_Heat(OFF);
        }
        LOG_I("============================制冷开关:%d\n", device_status.cold_sw);
        if (device_status.cold_sw == 1)
        {
            if (device_status.pre_temp > (device_status.heatvalue - 10))
            {
                if (device_status.heat_status == 0)
                {
                    ctr_Cold(ON);
                }
            }
            else
            {
                ctr_Cold(OFF);
            }
        }
        if (ii % 60 == 0)
        {
            device_status.stay_time++;
            if (device_status.stay_time / 60 == device_status.cul_time)
                device_status.develop_flag = 0;
            LOG_I("developed...................................%d分钟\n", device_status.stay_time);
        }
        if (device_status.box_temp > 35)
        {
            ctr_Cool_Fan(ON);
        }
        else if (device_status.box_temp < 30)
        {
            ctr_Cool_Fan(OFF);
        }
        rt_thread_delay(1000);
    }
    ctr_Cold(OFF);
    ctr_Heat(OFF);
    LOG_I("=========!!!培养完成!!!==========");
}
/*上仓门*/
/**
 * @brief 控制仓门升起
 *
 * @param status_down 指令
 * @return uint8_t 执行后的状态
 */
uint8_t ctr_cangmen_up(uint8_t status_up)
{
    rt_pin_mode(Collect_fan_R, PIN_MODE_OUTPUT);
    rt_pin_mode(Collect_fan_L, PIN_MODE_OUTPUT);
    if (status_up == OFF)
    {
        rt_pin_write(Collect_fan_R, ON);
        rt_pin_write(Collect_fan_L, ON);
        device_status.ctr_up_motor = 0;
        rt_thread_delay(1000);
    }
    if (status_up == OPEN)
    {
        device_status.up_status = 1;
        rt_pin_write(Collect_fan_R, OFF);
        rt_pin_write(Collect_fan_L, OFF);
        rt_pin_write(Collect_fan_R, ON);
        rt_pin_write(Collect_fan_L, OFF);
    }
    if (status_up == CLOSE)
    {
        device_status.up_status = 0;
        rt_pin_write(Collect_fan_R, OFF);
        rt_pin_write(Collect_fan_L, OFF);
        rt_pin_write(Collect_fan_R, OFF);
        rt_pin_write(Collect_fan_L, ON);
    }
    return device_status.up_status;
}
// 下仓门
/**
 * @brief 控制仓门落下
 *
 * @param status_down 指令
 * @return uint8_t 执行后的状态
 */
uint8_t ctr_cangmen_down(uint8_t status_down)
{
    rt_pin_mode(C_DOWN_R, PIN_MODE_OUTPUT);
    rt_pin_mode(C_DOWN_L, PIN_MODE_OUTPUT);
    if (status_down == OFF)
    {
        rt_pin_write(C_DOWN_R, ON);
        rt_pin_write(C_DOWN_L, ON);
        device_status.ctr_down_motor = 0;
        rt_thread_delay(1000);
    }
    if (status_down == OPEN)
    {
        device_status.down_status = 1;
        rt_pin_write(C_DOWN_R, OFF);
        rt_pin_write(C_DOWN_L, OFF);
        rt_pin_write(C_DOWN_R, ON);
        rt_pin_write(C_DOWN_L, OFF);
    }
    if (status_down == CLOSE)
    {
        device_status.down_status = 0;
        rt_pin_write(C_DOWN_R, OFF);
        rt_pin_write(C_DOWN_L, OFF);
        rt_pin_write(C_DOWN_R, OFF);
        rt_pin_write(C_DOWN_L, ON);
    }
    return device_status.down_status;
}

// 镇流器
/**
 * @brief 控制镇流器动作
 *
 * @param status_lamp 指令
 * @param lamp_num 镇流器编号
 * @return uint8_t 更新后的镇流器状态
 */
uint8_t ctr_lamp(uint8_t status_lamp, uint8_t lamp_num)
{
    rt_pin_mode(LAMP_0_SW, PIN_MODE_OUTPUT);
    rt_pin_mode(LAMP_1_SW, PIN_MODE_OUTPUT);
    rt_pin_mode(LAMP_2_SW, PIN_MODE_OUTPUT);
    if (status_lamp == ON)
    {
        switch (lamp_num)
        {
        case 1:
            rt_pin_write(LAMP_0_SW, ON);
            device_status.lamp_status = status_lamp;
            break;
        case 2:
            rt_pin_write(LAMP_1_SW, ON);
            device_status.lamp_status = status_lamp;
            break;
        case 3:
            rt_pin_write(LAMP_2_SW, ON);
            device_status.lamp_status = status_lamp;
            break;
        default:
            break;
        }
    }
    else
    {
        switch (lamp_num)
        {
        case 1:
            rt_pin_write(LAMP_0_SW, OFF);
            device_status.lamp_status = status_lamp;
            break;
        case 2:
            rt_pin_write(LAMP_1_SW, OFF);
            device_status.lamp1_status = status_lamp;
            break;
        case 3:
            rt_pin_write(LAMP_2_SW, OFF);
            device_status.lamp2_status = status_lamp;
            break;
        default:
            break;
        }
    }
    HMI_WRITE("sysTest.switchLamp.val=%d", device_status.lamp_status);
    return device_status.lamp_status;
}
// 震动电机
/**
 * @brief 控制震动电机动作
 *
 * @param status_shake 指令
 * @param shake_sec 震动时间（秒）
 * @return uint8_t 执行后的状态
 */
uint8_t ctr_shake(uint8_t status_shake, uint16_t shake_sec)
{
    static rt_uint16_t shake_i = 0;

    if (device_status.dtype == dt_BZY && device_status.version_type == vt_XCT)
    {
        return 0;
    }

    shake_i = atoi(device_status.power);
    LOG_I("震动电机待机电流：%d", shake_i);
    if (device_status.dtype == 7 && shake_sec != 0)
        DTU_Write("drop");
    rt_pin_mode(SHAKE_SW, PIN_MODE_OUTPUT);
    if (status_shake == ON && device_status.shake_ws == 1)
    {

        rt_pin_write(SHAKE_SW, ON);
        if (device_status.dtype == 3)
        {
            while (shake_sec--)
            {
                rt_thread_delay(100);
                if (shake_sec == 20 && device_status.clear_status == 0 && device_status.work_status == 1 && atoi(device_status.power) - shake_i < 100 && shake_i != 0 && shake_i < 5000)
                {
                    char *shake_warn = makeJson_Warn("电流不足", "震动电机");
                    DTU_Write("%s", shake_warn);
                    rt_free(shake_warn);
                }
                LOG_D("震动电机:%d", atoi(device_status.power));
            }
        }
        if (device_status.dtype == 7)
            rt_thread_delay(shake_sec * 1000);
        rt_pin_write(SHAKE_SW, OFF);
        HMI_WRITE("cangWei.switchShake.val=%d", 0);
    }
    else
    {
        rt_pin_write(SHAKE_SW, OFF);
        HMI_WRITE("cangWei.switchShake.val=%d", 0);
    }
    if (device_status.dtype == 7)
        HMI_WRITE("sysTest.switchDrop.val=%d", OFF);
    return status_shake;
}
// 补光
extern JD_Test_Sta jts;

/**
 * @brief 控制补光灯动作
 *
 * @param status_led 指令
 * @return uint8_t 执行后的状态
 */
uint8_t ctr_led(uint8_t status_led)
{
    // rt_kprintf("ctr_led %d \n\n", status_led);
    rt_pin_mode(LED_SW, PIN_MODE_OUTPUT);
    if (device_status.version_type == 6)
        rt_pin_mode(LED_P, PIN_MODE_OUTPUT);
    if (status_led == ON)
    {
        rt_pin_write(LED_SW, ON);
        if (device_status.version_type == 6)
            rt_pin_write(LED_P, ON);
        HMI_WRITE("sysTest.switchFill.val=%d", ON);
    }
    else if (status_led == OFF)
    {
        rt_pin_write(LED_SW, OFF);
        if (device_status.version_type == 6)
            rt_pin_write(LED_P, OFF);
        if (jts.switchled_test == ON)
        {
            jts.switchled_test = OFF;
            Recode_e_code(e_TestLed, 2, "外部工作导致补光灯关闭");
        }
    }
    return status_led;
}
/*************************************************
Function:       ctr_turn
Description:    转盘驱动
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          v=0(复位) v=90转90度
Output:         NULL
Return:         NULL
Others:         NULL
*************************************************/
void ctr_turn(uint8_t v, uint8_t sta)
{
    if (device_status.dtype == dt_BZY && device_status.version_type == vt_XCT)
    {
        return;
    }
    DTU_Write("turn.mp3");
    LOG_I("================v===============:%d", v);
    rt_uint16_t turn_cnt = 0;
    rt_pin_mode(TURN_ZP_R, PIN_MODE_OUTPUT);
    rt_pin_mode(TURN_ZP_L, PIN_MODE_OUTPUT);
    rt_pin_mode(LIMIT_0, PIN_MODE_INPUT);
    rt_pin_mode(LIMIT_90, PIN_MODE_INPUT);
    // if(v==0&&rt_pin_read(LIMIT_0)==0) return;               //如果在初始位置,则不再往下执行
    while (rt_pin_read(LIMIT_0) == 0 || rt_pin_read(LIMIT_90) == 0)
    {
        rt_pin_write(TURN_ZP_R, ON);
        rt_pin_write(TURN_ZP_L, OFF);
        // Motor_shake(ON,0);
        turn_cnt++;
        rt_thread_delay(100);
        if (turn_cnt == 1000)
        {
            turn_cnt = 0;
            rt_pin_write(TURN_ZP_R, OFF);
            rt_pin_write(TURN_ZP_L, OFF);
            // Motor_shake(OFF,0);
            char *turn_warn = makeJson_Warn("未检测到限位", "转盘");
            DTU_Write("%s", turn_warn);
            rt_free(turn_warn);
            break;
        }
    }
    turn_cnt = 0;
    while (v == 0 && rt_pin_read(LIMIT_0) == 1)
    {
        rt_pin_write(TURN_ZP_R, ON);
        rt_pin_write(TURN_ZP_L, OFF);
        Motor_shake(ON, 0);
        rt_thread_delay(200); // 10 to 100
        turn_cnt++;
        if (turn_cnt == 300) // 6000 to 600
        {
            turn_cnt = 0;
            //            rt_pin_write(TURN_ZP_R, OFF);
            //            rt_pin_write(TURN_ZP_L, OFF);
            //            char *turn_warn =makeJson_Warn("超时", "转盘复位");
            //            DTU_Write("%s",turn_warn);
            //            rt_free(turn_warn);
            break;
        }
    }
    while (v == 0 && rt_pin_read(LIMIT_0) == 1)
    {
        rt_pin_write(TURN_ZP_R, ON);
        rt_pin_write(TURN_ZP_L, OFF);
        // Motor_shake(ON,0);
        rt_thread_delay(50); // 10 to 50
        turn_cnt++;
        if (turn_cnt == 10) // 6000 to 1200
        {
            turn_cnt = 0;
            rt_pin_write(TURN_ZP_R, OFF);
            rt_pin_write(TURN_ZP_L, OFF);
            // Motor_shake(OFF,0);
            char *turn_warn = makeJson_Warn("超时", "转盘复位");
            DTU_Write("%s", turn_warn);
            rt_free(turn_warn);
            break;
        }
    }
    turn_cnt = 0;
    while (v == 90 && rt_pin_read(LIMIT_90) == 1)
    {
        rt_pin_write(TURN_ZP_R, ON);
        rt_pin_write(TURN_ZP_L, OFF);
        // Motor_shake(ON,0);
        rt_thread_delay(200);
        turn_cnt++;
        if (turn_cnt == 150)
        {
            turn_cnt = 0;
            //            rt_pin_write(TURN_ZP_R, OFF);
            //            rt_pin_write(TURN_ZP_L, OFF);
            //            char *turn_warn =makeJson_Warn("超时", "转盘");
            //            DTU_Write(turn_warn);
            //            rt_free(turn_warn);
            break;
        }
    }
    while (v == 90 && rt_pin_read(LIMIT_90) == 1)
    {
        //        rt_pin_write(TURN_ZP_R, ON);
        //        rt_pin_write(TURN_ZP_L, OFF);
        Motor_shake(ON, 0);
        rt_thread_delay(50);
        turn_cnt++;
        if (turn_cnt == 10)
        {
            turn_cnt = 0;
            rt_pin_write(TURN_ZP_R, OFF);
            rt_pin_write(TURN_ZP_L, OFF);
            // Motor_shake(OFF,0);
            char *turn_warn = makeJson_Warn("超时", "转盘");
            DTU_Write(turn_warn);
            rt_free(turn_warn);
            break;
        }
    }
    if (sta != 0)
    {
        // 保存位置
        device_status.run_sta = sta;
        ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta));
    }
    turn_cnt = 0;
    rt_pin_write(TURN_ZP_R, OFF);
    rt_pin_write(TURN_ZP_L, OFF);
    Motor_shake(OFF, 0);
    HMI_WRITE("cangWei.rotateFlag.val=0");
}
/*************************************************
Function:       ctr_Motor_Driver
Description:    步进电机驱动
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          50000000
Output:         NULL
Return:         shake_sec
Others:         NULL
*************************************************/

extern JD_Test_Sta jts;

Res_def ctr_Motor_Driver(uint8_t EN, uint8_t DIR, rt_uint32_t pwm, rt_uint32_t time_out)
{
    Res_def result = res_OK;

    beep_init();
    rt_pin_mode(LIMIT_UP, PIN_MODE_INPUT);
    rt_pin_mode(LIMIT_DOWN, PIN_MODE_INPUT);
    rt_pin_mode(Motor_EN, PIN_MODE_OUTPUT);
    rt_pin_mode(Motor_DIR, PIN_MODE_OUTPUT);

    JD_Test_Type EN_Type = tt_typemax;

    if (jts.autotest == ON)
    {
        EN_Type = tt_auto;
        HMI_WRITE_Force("");
        if (DIR == 0)
        {
            HMI_WRITE("sysTest.result.txt=\"一键测试 > 步进上行中\"");
        }
    }

    if (EN == 0)
    {
        rt_pin_write(Motor_Power, 0);
    }
    else
    {
        rt_pin_write(Motor_EN, EN);
    }
    rt_pin_write(Motor_DIR, DIR);
    beep_set(pwm, pwm / 2); // 200kzh - 50%
    while (DIR == 1 && rt_pin_read(LIMIT_DOWN) == 1)
    {
        if (time_out == 0)
        {
            result = res_Timeout;

            switch (EN_Type)
            {
            case tt_auto:
                Recode_e_code(e_StepDown_Fail, 1, "一键测试：步进下行超时"); // 一键测试
                break;

            default:
                if (pwm != 0)
                {
                    Recode_e_code(e_StepDown_Fail, 0, "工作中：步进下行超时"); // 流程中
                }
                break;
            }

            break;
        }
        rt_thread_delay(50);
        time_out--;
    }
    while (DIR == 0 && rt_pin_read(LIMIT_UP) == 1)
    {
        if (time_out == 0)
        {
            result = res_Timeout;

            switch (EN_Type)
            {
            case tt_auto:
                Recode_e_code(e_StepUp_Fail, 1, "一键测试：步进上行超时"); // 一键测试
                break;
            default:
                if (pwm != 0)
                {
                    Recode_e_code(e_StepUp_Fail, 0, "工作中：步进上行超时"); // 流程中
                }
                break;
            }
            break;
        }
        rt_thread_delay(50);
        time_out--;

        if (EN_Type == tt_auto && JD_Check_Test_Sta(tt_auto) != res_OK)
        {
            HMI_WRITE_Force("");
            HMI_WRITE("sysTest.result.txt=\"一键测试 > 步进上行退出\"");
            break;
        }
    }
    rt_pin_write(Motor_EN, OFF);
    if (device_status.autotakepic == 0)
        ctr_lamp(OFF, 1);
    beep_set(0, 0); // 200kzh - 50%

    return result;
}
/*************************************************
Function:       ctr_Petroleum_jelly
Description:    涂凡士林
Calls:
Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序）
Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序）
Input:          NULL
Output:         NULL
Return:         NULL
Others:         NULL
*************************************************/
void ctr_Petroleum_jelly(rt_uint32_t delay)
{
    beep_init();
    pwm_on(2, 50000);
    rt_thread_delay(delay * 1000);
    pwm_off(2, 0);
    rt_thread_delay(1000);
    pwm_on(3, 50000);
    rt_thread_delay(delay * 1000);
    pwm_off(3, 0);
    device_status.fsl_sw = 0;
}
// 1.0转仓
void turnzp(void)
{
    static uint16_t turn_timeout = 0;
    //    rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT);
    //    rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT);
    rt_pin_mode(CLEAR_R_LIMIT, PIN_MODE_INPUT);
    //    rt_pin_write(CLEAR_R,OFF);
    //    rt_pin_write(CLEAR_L,OFF);
    while (rt_pin_read(CLEAR_R_LIMIT) == 0)
    {

        rt_thread_delay(20);
        while (rt_pin_read(CLEAR_R_LIMIT) == 0)
        {
            //            rt_pin_write(CLEAR_R,ON);
            //            rt_pin_write(CLEAR_L,OFF);
            Motor_Juandai(ON);
            rt_thread_delay(50);
            turn_timeout++;
            if (turn_timeout == 600)
            {
                LOG_E("检测不到限位,电机强制停止");
                char *ctr_zp_limit_warn = makeJson_Warn("电流不足/限位超时", "转盘电机");
                DTU_Write("%s", ctr_zp_limit_warn);
                rt_free(ctr_zp_limit_warn);
                break;
            }
        }
        break;
    }
    while (rt_pin_read(CLEAR_R_LIMIT) == 1)
    {
        rt_thread_delay(20);
        while (rt_pin_read(CLEAR_R_LIMIT) == 1)
        {
            //            rt_pin_write(CLEAR_R,ON);
            //            rt_pin_write(CLEAR_L,OFF);
            Motor_Juandai(ON);
            rt_thread_delay(50);
            turn_timeout++;
            if (turn_timeout == 600)
            {
                LOG_E("检测不到离开限位,电机或者限位开关异常,电机强制停止");
                char *ctr_zp_limit_warn = makeJson_Warn("检测不到离开限位,电机未启动或者限位开关故障", "转盘电机");
                DTU_Write("%s", ctr_zp_limit_warn);
                rt_free(ctr_zp_limit_warn);
                break;
            }
        }
        break;
    }
    while (rt_pin_read(CLEAR_R_LIMIT) == 0)
    {

        rt_thread_delay(20);
        if (rt_pin_read(CLEAR_R_LIMIT) == 0)
        {
            //            rt_pin_write(CLEAR_R,OFF);
            //            rt_pin_write(CLEAR_L,OFF);
            Motor_Juandai(OFF);
            break;
        }
        else
        {
            break;
        }
    }
    Motor_Juandai(OFF);
    //    rt_pin_write(CLEAR_R,OFF);
    //    rt_pin_write(CLEAR_L,OFF);
    turn_timeout = 0;
    HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
    HMI_WRITE("sysTest.switchClear.val=%d", 0);
    rt_thread_delay(1000);
}
// 清扫-常闭型限位开关
// 新结构使用推杆电机做清扫
uint8_t ctr_clear(uint16_t status_clear)
{

    static uint16_t clear_num = 0;
// #if PWM_EN == 0
//     rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT);
//     rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT);
// #endif
//     rt_pin_mode(CLEAR_R_LIMIT, PIN_MODE_INPUT);
//     rt_pin_mode(CLEAR_L_LIMIT, PIN_MODE_INPUT);
/*************************************************************外接清扫
rt_pin_mode(POWER_CLEAR, PIN_MODE_OUTPUT);
rt_pin_write(POWER_CLEAR,ON);
rt_thread_delay(1000*100);
rt_pin_write(POWER_CLEAR,OFF);
************************************************************/
// 停止
#if PWM_EN == 0
    rt_pin_write(CLEAR_R, OFF);
    rt_pin_write(CLEAR_L, OFF);
#else
    Motor_Qingsao_R_PWM(OFF);
    Motor_Qingsao_L_PWM(OFF);
#endif
    if (status_clear == OFF || Read_Real_Voltage() / 100 < 12)
        return 0;
    rt_thread_delay(100);
    // 如果清扫位置在中间
    while (rt_pin_read(CLEAR_R_LIMIT) == 0 && rt_pin_read(CLEAR_L_LIMIT) == 0)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, OFF);
#else
        Motor_Qingsao_R_PWM(ON);
        Motor_Qingsao_L_PWM(OFF);
#endif
        rt_thread_delay(50);
        clear_num++;
        // 已到达检测位置
        if (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1)
        {
#if PWM_EN == 0
            rt_pin_write(CLEAR_R, ON);
            rt_pin_write(CLEAR_L, ON);
#else
            Motor_Qingsao_R_PWM(OFF);
            Motor_Qingsao_L_PWM(OFF);
#endif
            rt_thread_delay(2000);
            break;
        }
        if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12)
        {
            rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power));
// DTU_Write("%s",makeJson_Warn("Clear Motor ERR","device"));
#if PWM_EN == 0
            rt_pin_write(CLEAR_R, ON);
            rt_pin_write(CLEAR_L, ON);
#else
            Motor_Qingsao_R_PWM(OFF);
            Motor_Qingsao_L_PWM(OFF);
#endif
            rt_free(makeJson_Warn("Clear Motor ERR", "device"));
            if (Read_Real_Voltage() / 100 < 12)
            {
                HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
                HMI_WRITE("sysTest.switchClear.val=%d", 0);
                device_status.clear_status = 0;
                return 0;
            }
            break;
        }
    }
    clear_num = 0;
    // 如果清扫位置在左侧
    while (rt_pin_read(CLEAR_R_LIMIT) == 0)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, OFF);
#else
        Motor_Qingsao_R_PWM(ON);
        Motor_Qingsao_L_PWM(OFF);
#endif
        rt_thread_delay(50);
        clear_num++;
        if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12)
        {
            rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power));
// DTU_Write("%s",makeJson_Warn("Clear Motor ERR","device"));
#if PWM_EN == 0
            rt_pin_write(CLEAR_R, ON);
            rt_pin_write(CLEAR_L, ON);
#else
            Motor_Qingsao_R_PWM(OFF);
            Motor_Qingsao_L_PWM(OFF);
#endif
            rt_free(makeJson_Warn("Clear Motor ERR", "device"));
            if (Read_Real_Voltage() / 100 < 12)
            {
                HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
                HMI_WRITE("sysTest.switchClear.val=%d", 0);
                device_status.clear_status = 0;
                return 0;
            }
            break;
        }
    }
    clear_num = 0;
    while (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1 || (Read_Real_Voltage() / 100) < 12)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, ON);
#else
        Motor_Qingsao_R_PWM(OFF);
        Motor_Qingsao_L_PWM(OFF);
#endif
        if (Read_Real_Voltage() / 100 < 12)
        {
            HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
            HMI_WRITE("sysTest.switchClear.val=%d", 0);
            device_status.clear_status = 0;
            return 0;
        }
        rt_thread_delay(2000);
        break;
    }
    while (rt_pin_read(CLEAR_L_LIMIT) == 0)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, OFF);
        rt_pin_write(CLEAR_L, ON);
#else
        Motor_Qingsao_R_PWM(OFF);
        Motor_Qingsao_L_PWM(ON);
#endif
        rt_thread_delay(50);
        clear_num++;
        if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12)
        {
            rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power));
            char *Clear_ERR = makeJson_Warn("Clear Motor ERR", "device");
// DTU_Write("%s",Clear_ERR);
#if PWM_EN == 0
            rt_pin_write(CLEAR_R, ON);
            rt_pin_write(CLEAR_L, ON);
#else
            Motor_Qingsao_R_PWM(OFF);
            Motor_Qingsao_L_PWM(OFF);
#endif
            rt_free(Clear_ERR);
            if (Read_Real_Voltage() / 100 < 12)
            {
                HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
                HMI_WRITE("sysTest.switchClear.val=%d", 0);
                device_status.clear_status = 0;
                return 0;
            }
            break;
        }
    }
    while (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, ON);
#else
        Motor_Qingsao_R_PWM(OFF);
        Motor_Qingsao_L_PWM(OFF);
#endif
        rt_thread_delay(2000);
        break;
    }
    while (rt_pin_read(CLEAR_L_LIMIT) == 1 && rt_pin_read(CLEAR_R_LIMIT) == 1)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, ON);
#else
        Motor_Qingsao_R_PWM(OFF);
        Motor_Qingsao_L_PWM(OFF);
#endif
        if (device_status.version_type == 41)
        {
            rt_kprintf("Clear Motor Limit Not Access:%d", atoi(device_status.power));
            char *Clear_ERR = makeJson_Warn("Clear Motor Limit Not Access", "device");
            // DTU_Write("%s",Clear_ERR);
            rt_free(Clear_ERR);
        }
        return 0;
    }
    clear_num = 0;
    rt_thread_delay(2000);
#if PWM_EN == 0
    rt_pin_write(CLEAR_R, ON);
    rt_pin_write(CLEAR_L, ON);
#else
    Motor_Qingsao_R_PWM(OFF);
    Motor_Qingsao_L_PWM(OFF);
#endif
    HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
    HMI_WRITE("sysTest.switchClear.val=%d", 0);
    device_status.clear_status = 0;
    return 1;
}

// 路由器供电
void ctr_router(uint8_t status_router)
{
    rt_pin_mode(ROUTER, PIN_MODE_OUTPUT);
    if (device_status.version_type == 6)
        rt_pin_mode(ROUTER_P, PIN_MODE_OUTPUT);

    // rt_pin_mode(POWER_CLEAR, PIN_MODE_OUTPUT);
    if (status_router == ON)
    {
        rt_pin_write(ROUTER, ON);
//
#if LAMP_EN == 0
        if (device_status.version_type == 6)
            rt_pin_write(ROUTER_P, ON);
#endif
    }
    else
    {
        rt_pin_write(ROUTER, OFF);
//
#if LAMP_EN == 0
        if (device_status.version_type == 6)
            rt_pin_write(ROUTER_P, OFF);
#endif
    }
}
// 清扫-推杆电机
void ctr_TG_Clear(uint16_t clear_timeout)
{
#if 0
    int current_clear[200];
    int16_t Electric_current = atoi(device_status.power);  //获取电机运动前的电流
    LOG_I("清扫电机待机:%d",Electric_current);
#endif
    static uint16_t clear_count = 0;
    clear_count = clear_timeout;
#if PWM_EN == 0
    rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT);
    rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT);
#endif
    while (clear_count != 0)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, ON);
        rt_pin_write(CLEAR_L, OFF);
#else
        Motor_Qingsao_R_PWM(ON);
        Motor_Qingsao_L_PWM(OFF);
#endif
        clear_count--;
        rt_thread_delay(100);
    }
#if PWM_EN == 0
    rt_pin_write(CLEAR_R, ON);
    rt_pin_write(CLEAR_L, ON);
#else
    Motor_Qingsao_R_PWM(OFF);
    Motor_Qingsao_L_PWM(OFF);
#endif
    rt_thread_delay(3000);
    clear_count = 0;
    while (clear_timeout != clear_count)
    {
#if PWM_EN == 0
        rt_pin_write(CLEAR_R, OFF);
        rt_pin_write(CLEAR_L, ON);
#else
        Motor_Qingsao_R_PWM(OFF);
        Motor_Qingsao_L_PWM(ON);
#endif
        //        if(clear_count<200)
        //        current_clear[clear_count] = atoi(device_status.power);
        clear_count++;
        rt_thread_delay(100);
    }
#if PWM_EN == 0
    rt_pin_write(CLEAR_R, ON);
    rt_pin_write(CLEAR_L, ON);
#else
    Motor_Qingsao_R_PWM(OFF);
    Motor_Qingsao_L_PWM(OFF);
#endif
#if 0
    bubblesort(current_clear,200);
    if(current_clear[199]-Electric_current <100&&device_status.work_status==1&&Electric_current!=0&&Electric_current<5000)
    {
        LOG_E("清扫电机电流不足:%d!",current_clear[199]);
        char *ctr_clear_warn = makeJson_Warn("电流不足","清扫电机");
        DTU_Write("%s",ctr_clear_warn);
        rt_free(ctr_clear_warn);
    }
#endif
    rt_thread_delay(2000);
    device_status.clear_status = 0;
    HMI_WRITE("cangWei.rotateFlag.val=%d", 0);
    HMI_WRITE("sysTest.switchClear.val=%d", 0);
}
extern void CTL_CAM1(void);
extern void CTL_CAM0(void);

// DTU,RTU供电

extern char CamFree;

// 拍照结果(供运维页远程诊断: 为什么没拍/拍了失败)
Photo_Stat_t photo_stat = {0};

// 海康拍照
Res_def Hk_Take_io(char type)
{
    Res_def result = res_OK;

    if (CamFree == 0)
    {
        rt_kprintf("Camera busying...\n\n");
        photo_stat.io_type = type;
        photo_stat.res = 3;                    // 未执行: 相机忙
        recode_timestampe_NEW(&photo_stat.tig_tm);
        photo_stat.res_tm = photo_stat.tig_tm; // 无等待, 立刻出结果
        return res_Error;
    }

    photo_stat.io_type = type;
    photo_stat.res = 4;                        // 进行中: 等待图像传输
    photo_stat.res_tm = 0;
    recode_timestampe_NEW(&photo_stat.tig_tm);

    CamFree = 0;
    syscfg.photo_finsh = 1;

    char a[30] = {0};

    sprintf(a , "触发拍照-%d" , type);

    Recode_e_code(e_Hk_Take_io,type , a);

    char *takephotojson = makeJson_takephoto();
    DTU_Write("%s", takephotojson);
    rt_free(takephotojson);

    rt_pin_mode(HK_IO, PIN_MODE_OUTPUT);

    rt_pin_write(HK_IO, 0);

    if (device_status.dtype == 3)
        Beep_Tip(1000);
    if (device_status.dtype == 7)
        rt_thread_mdelay(1000);

    rt_pin_write(HK_IO, 1);

    uint32_t cnt = 0;
    while (1)
    {
        if (CamFree)
        {
            LOG_I("图片上传成功");
            HMI_WRITE("sysTest.work_sta.txt=\"          图片上传成功\"");
            photo_stat.res = 1;                    // 成功
            recode_timestampe_NEW(&photo_stat.res_tm);
            UpLoad_Data(2); // 拍照完成回复（落虫计数）
            break;
        }
        if (cnt == 0)
        {
            UpLoad_Data(4);
        }
        if (cnt++ > 249)
        {
            rt_kprintf("Waiting for image trans to complete timeout...\n");
            Recode_e_code(e_cam_timeout, (uint8_t)((rt_pin_read(RTU_DTU) << 4) | syscfg.photo_finsh), "等待图像传输完成超时");
            result = res_Error;
            photo_stat.res = 2;                    // 失败: 图像传输超时
            recode_timestampe_NEW(&photo_stat.res_tm);
            UpLoad_Data(3); // 拍照完成回复（落虫计数）
            break;
        }
        if (syscfg.photo_finsh == 2)
        {
            LOG_I("图片上传开始...");
            syscfg.photo_finsh = 3;
            cnt = 1;
        }
        rt_kprintf("Waiting for image trans >>> %d\n", cnt);
        rt_thread_mdelay(1000);
        Updata_INR_Simple();
    }
    CamFree = 1;
    syscfg.photo_finsh = 0;

    return result;
}


/**
 * @brief 控制执行加热动作
 *
 * @param heat_time 加热时间（秒）
 */
void calorstat(uint16_t heat_time)
{
    // uint8_t heat_up_cnt = 0;
    uint16_t n = 0;
    uint16_t delay_heat = 60;
    FlagStatus heat_flg = RESET;
    device_status.heat_time_min = 0;
    device_status.run_sta = device_status.heattem; // 初始化加热实时温度
    ctr_Heat(ON);
    //    UpLoad_Data();      //开始加热时的第一条数据

    // 恒温模式
    for (n = 0; n < heat_time; n++)
    {
        if (device_status.heattem > device_status.heatvalue && heat_flg == RESET)
        {
            heat_flg = SET;
            ctr_Heat(OFF);
            while (delay_heat != 0)
            {
                delay_heat--;
                rt_kprintf("正在恒温加热!!!:%d", delay_heat);
                HMI_WRITE("workSta.g0.txt=\"正在恒温加热!!!:%d\"", delay_heat);
                rt_thread_delay(1000);
                if (device_status.heattem > device_status.run_sta + 1)
                {
                    device_status.run_sta = device_status.heattem;
                }
            }
            delay_heat = 60;
            // 跳出FOR循环
            n = n + 60;
        }
        if (device_status.heattem < (device_status.heatvalue - 5) && heat_flg == SET)
        {
            device_status.run_sta = device_status.heattem;
            ctr_Heat(ON);
        }
        else if (device_status.heattem >= device_status.heatvalue && heat_flg == SET)
        {
            //            if(heat_up_cnt==0)
            //            {
            //                UpLoad_Data();      //加热到设定温度的数据
            //                heat_up_cnt = 1;
            //            }
            device_status.run_sta = device_status.heattem;
            ctr_Heat(OFF);
        }
        if ((n % 60) == 0)
        {
            device_status.heat_time_min = device_status.heat_time_min + 1;
            //            if(device_status.heat_time_min % 5 == 0)
            //            {
            //                UpLoad_Data();      //从加热开始每5分钟上传的数据
            //            }
        }
        // 如果触发异常退出加热
        if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1)
        {
            rt_thread_delay(1000);
            if (device_status.bat_status == 1)
            {
                rt_kprintf("============================触发异常退出加热==========================");
                ctr_lamp(OFF, 1);
                ctr_Heat(OFF);
                break;
            }
        }
        if (device_status.timeSwitch == 0 && device_status.sun_status == 1)
        {
            ctr_Heat(OFF);
            rt_kprintf("异常退出!!!\n");
            break;
        }
        rt_thread_delay(1000);
        rt_kprintf("=======正在加热======:%d-%d\n", n, heat_time);
        HMI_WRITE("workSta.g0.txt=\"正在加热!!!:%d-%d\"", n, heat_time);
    }
    ctr_Heat(OFF);
    // UpLoad_Data();      //加热结束的数据
}
// 初始化所有控制驱动，关闭
void HardWare_Init(uint8_t boot)
{
    Beep_Tip(200);

    // 关闭镇流器
    if (device_status.autotakepic == 0)
        ctr_lamp(OFF, 1);

    // 关闭震动电机
    ctr_shake(OFF, 0);

    // 关闭加热
    ctr_Heat(OFF);

    // 关闭补光灯
    ctr_led(OFF);

    // 关闭12V供电(海康相机,RTU)
    ctr_photo(OFF);
}
// 拍照
void HK_TakePhoto(void)
{
    // 打开补光灯
    DTU_Write("takephoto.mp3");
    rt_thread_delay(1000);
    char *takephotojson = makeJson_takephoto();
    DTU_Write("%s", takephotojson);
    rt_free(takephotojson);
    // 吸虫塔
    if (device_status.version_type != 6)
    {
        ctr_led(ON);
        if (device_status.version_type == 48)
        {
            rt_thread_delay(1000 * 60);
        }
        else
        {
            rt_thread_delay(1000 * 15);
        }
    }
    // 触发海康相机拍照
    Hk_Take_io(2);
    if (device_status.version_type != 6)
    {
        rt_thread_delay(1000 * 45);
    }
    else
    {
        ctr_led(ON);
        rt_thread_delay(1000 * 19);
    }
    ctr_led(OFF);
}
// 光控测试任务
void SunTest(void)
{
    rt_uint16_t ui_timeout_l = 0;
    // 未检测到光照，一秒扫描等待,超时30S
    while (Read_Light_Voltage() < 500)
    {
        ui_timeout_l++;
        rt_thread_delay(1000);
        if (ui_timeout_l == 30)
            break;
    }
    rt_thread_delay(3000);
    if (Read_Light_Voltage() < 500)
    {
        device_status.sun_status = 0; // 光控状态
    }
    if (Read_Light_Voltage() > 500)
    {
        rt_thread_delay(1000);
    }
    rt_thread_delay(3000);
    if (Read_Light_Voltage() > 500)
    {
        device_status.sun_status = 1;
        ctr_lamp(OFF, 1);
    }
    HMI_WRITE("sysTest.switchSun.val=%d", 0);
    device_status.sun_test = 0;
    device_status.work_status = 0;
}

/*上电初始化*/
void ResetInit(void)
{

    // 关闭补光灯
    ctr_led(OFF);
    // 关诱捕灯
    ctr_lamp(OFF, 1);
    // 关风机
    ctr_Collect_Fan(OFF);
    if (device_status.bat_status == 1 || atoi(device_status.fuse_voltage) < 1)
    {
        // LOG_W("欠压!");
        return;
    }
    // 1.打开路由器供电
    ctr_router(ON);
    ctr_RTU_DTU(ON);
    // 2.打开相机供电
    ctr_photo(ON);
    rt_kprintf("RTU POWER ON");
}
/*三色光源*/
void Led_Check(uint8_t tp)
{
    if (tp == 3)
    {
        if (device_status.light_over_tim > 2 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 1;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim > 3600 && device_status.light_over_tim < 7200)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 1;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim < 1 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 1;
            LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim);
        }
    }
    else if (tp == 6)
    {
        if (device_status.light_over_tim > 4 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 1;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim < 14400 && device_status.light_over_tim > 7200)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 1;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim < 7200)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 1;
            LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim);
        }
    }
    else if (tp == 9)
    {
        if (device_status.light_over_tim > 6 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 1;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim < 6 * 3600 && device_status.light_over_tim > 3 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 1;
            device_status.lamp2_status = 0;
            LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim);
        }
        else if (device_status.light_over_tim < 3 * 3600)
        {
            device_status.work_status = 1;
            device_status.lamp_status = 0;
            device_status.lamp1_status = 0;
            device_status.lamp2_status = 1;
            LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim);
        }
    }
}
// 出厂前自检 0-开机自检  1-屏幕或指令下发手动自检
void HardWare_Check(uint8_t boot)
{
    if (boot == 0 && device_status.version_type != 6)
    {
        // 停止所有动作                                      -完成
        HardWare_Init(boot);
    }
    else
    {
        // 停止所有动作
        // 读取记录待机功耗(实测大概70mA)
        //(需减去屏幕的功耗大概120mA)
        // 动作上仓门,读取功率值保存
        // 动作下仓门,读取功率值保存
        // 动作清扫,读取功率值保存
        // 打开镇流器,读取功率值保存
        // 打开海康相机供电,读取功率值保存
        // 打开补光灯,读取功率值保存
        // 打开路由器/RTU供电,读取功率值保存
        // 打开加热,读取功率值保存
    }
}
// 工作状态检测
void WorkCheck(void)
{

    uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁
    static int16_t log_en_cnt = -1;
    // 雨控检测,温控检测,电池电压检测
    while (device_status.ds == 1 && device_status.rain_status == 0 && device_status.temp_status == 0 && device_status.bat_status == 0)
    {
        // 工作模式检测（RTC时间正常,1-时控/0-光控）(RTC时间异常强行使用光控)
        if (device_status.timeSwitch == 1)
        {
            LOG_I("***********时控*****************");
            // 如果开始和结束是同一天
            if (device_status.startBar < device_status.stopBar)
            {
                LOG_I("开始和结束是同一天");
                time_t now;
                time(&now);
                static struct tm nowtime;   // 现在
                static struct tm starttime; // 开始
                static struct tm endtime;   // 结束
                // 获取当前时间戳
                nowtime = *localtime(&now);
                nowtime.tm_hour = nowtime.tm_hour - 8;
                // 获取定时开始的时间戳
                starttime = *localtime(&now);
                starttime.tm_hour = device_status.startBar - 8;
                starttime.tm_min = 0;
                starttime.tm_sec = 0;
                // 获取定时结束的时间戳
                endtime = *localtime(&now);
                endtime.tm_hour = device_status.stopBar - 8;
                endtime.tm_min = 0;
                endtime.tm_sec = 0;
                LOG_I("***工作结束在当天:现在时间:%d-开始时间:%d-结束时间:%d***", mktime(&nowtime), mktime(&starttime), mktime(&endtime));
                // 如果当前时间大于开始时间且小于结束时间，且没有开始工作
                if ((difftime(mktime(&nowtime), mktime(&starttime)) >= 0) && (difftime(mktime(&nowtime), mktime(&endtime)) < 0))
                {
                    LOG_I("当前时间大于开始时间，小于结束时间,工作中!!!");
                    device_status.work_status = 1;
                }
                // 如果当前时间小于开始时间
                else if (difftime(mktime(&nowtime), mktime(&starttime)) < 0)
                {
                    LOG_I("当前时间小于开始时间，不工作！！！-%d-%d", mktime(&nowtime), mktime(&starttime));
                    device_status.work_status = 0;
                }
                // 当前时间大于结束时间
                else
                {
                    LOG_I("当前时间大于结束时间，不工作！！！-%d-%d", mktime(&nowtime), mktime(&starttime));
                    device_status.work_status = 0;
                }
#if LAMP_EN == 1
                // 如果当前时间超过20点，未到21点
                if ((difftime(mktime(&nowtime), mktime(&starttime)) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 3600) < 0))
                {
                    LOG_I("3led:20~21");
                    device_status.lamp_status = 1;
                    device_status.lamp1_status = 0;
                    device_status.lamp2_status = 0;
                }
                else if ((difftime(mktime(&nowtime), mktime(&starttime) + 3600) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 7200) < 0))
                {
                    LOG_I("3led:21~22");
                    device_status.lamp1_status = 1;
                    device_status.lamp_status = 0;
                    device_status.lamp2_status = 0;
                }
                else if ((difftime(mktime(&nowtime), mktime(&starttime) + 7200) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 10800) < 0))
                {
                    LOG_I("3led:22~23");
                    device_status.lamp2_status = 1;
                    device_status.lamp_status = 0;
                    device_status.lamp1_status = 0;
                }
#endif
            }
            // 如果结束时间是第二天
            else if (device_status.startBar > device_status.stopBar)
            {
                time_t now;
                time(&now);
                static struct tm nowtime;   // 现在
                static struct tm starttime; // 开始
                static struct tm endtime;   // 结束
                // 获取当前时间戳
                nowtime = *localtime(&now);
                nowtime.tm_hour = nowtime.tm_hour - 8;
                // 获取定时开始的时间戳
                starttime = *localtime(&now);
                starttime.tm_hour = device_status.startBar - 8;
                starttime.tm_min = 0;
                starttime.tm_sec = 0;
                // 获取定时结束的时间戳
                endtime = *localtime(&now);
                endtime.tm_hour = device_status.stopBar - 8;
                endtime.tm_min = 0;
                endtime.tm_sec = 0;
                LOG_I("工作结束在第二天:现在时间:%d-开始时间:%d-结束时间:%d!!!", mktime(&nowtime), mktime(&starttime), mktime(&endtime));
                // 如果当前时间大于开始时间,且没有开始工作 ，注意时间戳日期加1
                if ((difftime(mktime(&nowtime), mktime(&starttime)) > 0))
                {
                    // 获取定时结束的时间戳
                    endtime = *localtime(&now);                  // 将获取到的时间转换为时间戳
                    endtime.tm_hour = device_status.stopBar - 8; // 这里需减8用于时区转换
                    endtime.tm_min = 0;
                    endtime.tm_sec = 0;
                    device_status.work_status = 1;
                    LOG_I("当前前时间大于开始时间,且没有开始工作");
                }
                // 当前时间小于开始时间
                else if ((difftime(mktime(&nowtime), mktime(&starttime)) < 0))
                {
                    // 获取定时结束的时间戳
                    endtime = *localtime(&now);                  // 将获取到的时间转换为时间戳
                    endtime.tm_hour = device_status.stopBar - 8; // 这里需减8用于时区转换
                    endtime.tm_min = 0;
                    endtime.tm_sec = 0;
                    // 如果当前时间戳小于结束时间戳
                    if (difftime(mktime(&nowtime), mktime(&endtime)) < 0)
                    {
                        LOG_I("当前时间大于开始时间，且没有开始工作，当前时间小于结束时间的情况：计算工作时间:从当前时间工作第二天的结束时间");
                        device_status.work_status = 1;
                    }
                    else
                    {
                        LOG_I("当前时间小于开始时间，且没有开始工作，不是重启引起的，即还没到开始时间");
                        device_status.work_status = 0; // 不在工作时间,待机
                    }
                }
            }
        }
        else
        {
            LOG_I("光控定时模式!");
            /*
            time_t now;
            time(&now);
            static struct tm nowstamp;
            nowstamp =*localtime(&now);
            nowstamp.tm_hour = nowstamp.tm_hour - 8;
            static rt_uint32_t nowstamp_num = 0;
            nowstamp_num = mktime(&nowstamp);
            rt_kprintf("now stamp:%d\n",nowstamp_num);
            */
            if (device_status.sun_status == 0 && device_status.light_over_tim != 0)
            {

                device_status.light_over_tim--;

#if LAMP_EN == 1
                Led_Check(device_status.sunBar);
#else
                device_status.work_status = 1;
                ;
                LOG_I("光控定时，计时中>>>>>>>>>:%d", device_status.light_over_tim);
#endif
            }
            else
            {
                if (device_status.test_flag == 0)
                {
                    ctr_lamp(OFF, 1);
#if LAMP_EN == 1
                    ctr_lamp(OFF, 2);
                    ctr_lamp(OFF, 3);
#endif
                }
                device_status.work_status = 0;
                if (device_status.light_over_tim == 0 && device_status.sun_status == 1)
                    device_status.light_over_tim = device_status.sunBar * 3600;
                LOG_I("光控中,白天：%d!!!", device_status.sun_status);
            }
        }
        rt_thread_delay(1000);
    }

    if (chk_log_time)
    {
        LOG_I("雨控状态,温控状态，电压状态:%d-%d-%d", device_status.rain_status, device_status.temp_status, device_status.bat_status);
    }

    device_status.work_status = 0;
    rt_thread_delay(1000);
}

/**
 * @brief 孢子仪工作线程
 *
 */
void WorkTask_BZY(void)
{
    if (device_status.ds == 1)
    {
        // 时间段判断
        // 先判断第一个时间段
        time_t now;
        time(&now);
        static struct tm now_stamp;     // 现在
        static struct tm cul_sh1_stamp; // 开始1
        static struct tm cul_eh1_stamp; // 结束1
        static struct tm cul_sh2_stamp; // 开始2
        static struct tm cul_eh2_stamp; // 结束2
        static struct tm cul_sh3_stamp; // 开始3
        static struct tm cul_eh3_stamp; // 结束3
        now_stamp = *localtime(&now);
        // 获取定时开始的时间戳
        cul_sh1_stamp = *localtime(&now);
        cul_sh1_stamp.tm_hour = device_status.collecting_sh1;
        cul_sh1_stamp.tm_min = 0;
        cul_sh1_stamp.tm_sec = 0;
        cul_sh2_stamp = *localtime(&now);
        cul_sh2_stamp.tm_hour = device_status.collecting_sh2;
        cul_sh2_stamp.tm_min = 0;
        cul_sh2_stamp.tm_sec = 0;
        cul_sh3_stamp = *localtime(&now);
        cul_sh3_stamp.tm_hour = device_status.collecting_sh3;
        cul_sh3_stamp.tm_min = 0;
        cul_sh3_stamp.tm_sec = 0;
        // 获取定时结束的时间戳
        cul_eh1_stamp = *localtime(&now);
        cul_eh1_stamp.tm_hour = device_status.collecting_eh1;
        cul_eh1_stamp.tm_min = 0;
        cul_eh1_stamp.tm_sec = 0;
        cul_eh2_stamp = *localtime(&now);
        cul_eh2_stamp.tm_hour = device_status.collecting_eh2;
        cul_eh2_stamp.tm_min = 0;
        cul_eh2_stamp.tm_sec = 0;
        cul_eh3_stamp = *localtime(&now);
        cul_eh3_stamp.tm_hour = device_status.collecting_eh3;
        cul_eh3_stamp.tm_min = 0;
        cul_eh3_stamp.tm_sec = 0;
        LOG_I("采集时间1-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec);
        LOG_I("采集时间2-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec);
        LOG_I("采集时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh3_stamp.tm_year + 1900, cul_sh3_stamp.tm_mon + 1, cul_sh3_stamp.tm_mday, cul_sh3_stamp.tm_hour, cul_sh3_stamp.tm_min, cul_sh3_stamp.tm_sec);
        LOG_I("结束时间1-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh1_stamp.tm_year + 1900, cul_eh1_stamp.tm_mon + 1, cul_eh1_stamp.tm_mday, cul_eh1_stamp.tm_hour, cul_eh1_stamp.tm_min, cul_eh1_stamp.tm_sec);
        LOG_I("结束时间2-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh2_stamp.tm_year + 1900, cul_eh2_stamp.tm_mon + 1, cul_eh2_stamp.tm_mday, cul_eh2_stamp.tm_hour, cul_eh2_stamp.tm_min, cul_eh2_stamp.tm_sec);
        LOG_I("结束时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh3_stamp.tm_year + 1900, cul_eh3_stamp.tm_mon + 1, cul_eh3_stamp.tm_mday, cul_eh3_stamp.tm_hour, cul_eh3_stamp.tm_min, cul_eh3_stamp.tm_sec);
        // 此处判断，一个一个时间段判断，判断当前时间是否大于开始时间：
        // 当前时间戳小于第一段开始时间戳
        if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) < 0)
        {
            time_t now;
            time(&now);
            cul_sh1_stamp = *localtime(&now);
            cul_sh1_stamp.tm_hour = device_status.collecting_sh1;
            cul_sh1_stamp.tm_min = 0;
            cul_sh1_stamp.tm_sec = 0;
            now_stamp = *localtime(&now);
            LOG_I("======收集时间1:%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec);
            LOG_I("======未到收集时间1:%04d年%02d月%02d日%02d时%02d分%02d秒.", now_stamp.tm_year + 1900, now_stamp.tm_mon + 1, now_stamp.tm_mday, now_stamp.tm_hour, now_stamp.tm_min, now_stamp.tm_sec);
            LOG_D("run_sta:%d", device_status.run_sta);
        }
        // 当前时间戳小于第二段结束 时间戳并且大于第1段结束时间戳
        if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) < 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) > 0)
        {
            time_t now;
            time(&now);
            cul_sh2_stamp = *localtime(&now);
            cul_sh2_stamp.tm_hour = device_status.collecting_sh2;
            cul_sh2_stamp.tm_min = 0;
            cul_sh2_stamp.tm_sec = 0;
            now_stamp = *localtime(&now);
            LOG_I("==============收集时间2:%04d年%02d月%02d日%02d时%02d分%02d秒.\n", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec);
            LOG_I("==============未到收集时间2:%04d年%02d月%02d日%02d时%02d分%02d秒.\n", now_stamp.tm_year + 1900, now_stamp.tm_mon + 1, now_stamp.tm_mday, now_stamp.tm_hour, now_stamp.tm_min, now_stamp.tm_sec);
            LOG_D("run_sta:%d", device_status.run_sta);
        }
        // 如果当前 时间戳大于开始时间戳并且小于 结束时间戳
        if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) < 0)
        {

            // 转盘到涂凡士林位置
            if (device_status.run_sta == 0)
            {
                LOG_I("start to collect!!!");
                DTU_Write("collect.mp3");
                ctr_turn(90, 4);
                rt_thread_delay(2000);
                // 涂凡士林
                ctr_Petroleum_jelly(10);
                rt_thread_delay(5000);
            }

            /*转盘到采集位置*/
            if (device_status.run_sta == 4)
                ctr_turn(90, 1);

            // 只有开始和结束时刻不同的时间段,才有效
            if ((difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0) || (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0))
            {
                if ((difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0) && difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) > 0)
                {
                    device_status.work_status = 1;
                    ctr_Collect_Fan(ON);
                    // 当前时间戳小于第一段结束时间戳
                    while (difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0)
                    {
                        time(&now);
                        now_stamp = *localtime(&now);
                        cul_eh1_stamp = *localtime(&now);
                        cul_eh1_stamp.tm_hour = device_status.collecting_eh1;
                        cul_eh1_stamp.tm_min = 0;
                        cul_eh1_stamp.tm_sec = 0;
                        if (device_status.run_sta != 1)
                            break;
                        LOG_I("1===========采集风机启动,正在收集.....%d-%d", mktime(&now_stamp), mktime(&cul_eh1_stamp));
                        rt_thread_mdelay(10000);
                    }
                }
                else
                {
                    device_status.work_status = 0;
                    ctr_Collect_Fan(OFF);
                    LOG_I("未到收集1时间!");
                }
                if (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0 && difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) > 0)
                {
                    device_status.work_status = 1;
                    ctr_Collect_Fan(ON);
                    while (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0)
                    {
                        time(&now);
                        now_stamp = *localtime(&now);
                        cul_eh2_stamp = *localtime(&now);
                        cul_eh2_stamp.tm_hour = device_status.collecting_eh2;
                        cul_eh2_stamp.tm_min = 0;
                        cul_eh2_stamp.tm_sec = 0;
                        if (device_status.run_sta != 1)
                            break;
                        LOG_I("2===========采集风机启动,正在收集.....%d-%d", mktime(&now_stamp), mktime(&cul_eh2_stamp));
                        rt_thread_mdelay(10000);
                    }
                }
                else
                {
                    device_status.work_status = 0;
                    ctr_Collect_Fan(OFF);
                    LOG_I("未到收集2时间!");
                }
            }
            else
            {
                LOG_I("this collect time is 0s,The wait time cannot be negative!");
            }
        }
        if (device_status.run_sta == 2)
        {
            ctr_Collect_Fan(OFF);
            device_status.develop_flag = 1;
            device_status.work_status = 2;
            ctr_develop(); // 培养
            ctr_turn(90, 3);
        }
        if (device_status.run_sta == 3)
        {
            ctr_Collect_Fan(OFF);
            device_status.work_status = 3;
            device_status.autotakepic = 1; // 对焦拍照
        }
        // 在培养之前再次确认时间戳
        time(&now);
        now_stamp = *localtime(&now);
        cul_eh2_stamp = *localtime(&now);
        cul_eh2_stamp.tm_hour = device_status.collecting_eh2;
        cul_eh2_stamp.tm_min = 0;
        cul_eh2_stamp.tm_sec = 0;
        // 当前时间戳大于收集结束时间戳并且run_sta==1
        if (device_status.run_sta == 1 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) > 0)
        {
            ctr_Collect_Fan(OFF);
            LOG_I("===============collect ok,turn to drop!!!");
            device_status.develop_flag = 1;
            device_status.work_status = 2; // 现在是培养
            DTU_Write("develop.mp3");
            if (device_status.run_sta == 1)
                ctr_turn(90, 2); /*转盘到培养位置*/
            rt_thread_delay(1000);
            ctr_shake(ON, device_status.shake_sec);
            rt_thread_delay(1000);
            ctr_develop(); // 培养
            if (device_status.run_sta == 2)
                ctr_turn(90, 3); /*转盘到拍照位置*/
            rt_thread_delay(1000);
            device_status.work_status = 3; // 现在是拍照
            device_status.autotakepic = 1; // 对焦拍照
            while (device_status.autotakepic == 0)
            {
                rt_thread_mdelay(1000);
                LOG_I("正在对焦拍照............B");
            }
            device_status.work_status = 0; // 待机
            DTU_Write("wait.mp3");
            LOG_I("=====================work finished==================");
        }
        rt_thread_delay(1000);
    }
    device_status.work_status = 0; // 待机
    LOG_W("==================!!!设备已待机!!!===================");
}

/*********************           胶带结构的孢子仪主工作流程           ************************/

#define test_min 0

/**
 * @brief 检查是否到工作时间段
 *
 * @return uint8_t 0-未到 / 已到:时间段编号(1-2-3)
 */
static uint8_t Confirm_time_period(void)
{
    static uint8_t once_print = 0;

    uint8_t log_en_inr = LOG_INR * 3; // 打印log的速度 数值越小 打印越频繁
    static int16_t log_en_cnt = -1;

    uint8_t time_period = 0;

    // 时间段判断
    // 先判断第一个时间段
    time_t now;
    time(&now);
    static struct tm now_stamp;     // 现在
    static struct tm cul_sh1_stamp; // 开始1
    static struct tm cul_eh1_stamp; // 结束1
    static struct tm cul_sh2_stamp; // 开始2
    static struct tm cul_eh2_stamp; // 结束2
    static struct tm cul_sh3_stamp; // 开始3
    static struct tm cul_eh3_stamp; // 结束3
    now_stamp = *localtime(&now);

    // 获取定时开始的时间戳
    cul_sh1_stamp = *localtime(&now);
    cul_sh1_stamp.tm_hour = device_status.collecting_sh1;
    cul_sh1_stamp.tm_min = 0 + test_min;
    cul_sh1_stamp.tm_sec = 0;
    cul_sh2_stamp = *localtime(&now);
    cul_sh2_stamp.tm_hour = device_status.collecting_sh2;
    cul_sh2_stamp.tm_min = 0 + test_min;
    cul_sh2_stamp.tm_sec = 0;
    cul_sh3_stamp = *localtime(&now);
    cul_sh3_stamp.tm_hour = device_status.collecting_sh3;
    cul_sh3_stamp.tm_min = 0 + test_min;
    cul_sh3_stamp.tm_sec = 0;
    // 获取定时结束的时间戳
    cul_eh1_stamp = *localtime(&now);
    cul_eh1_stamp.tm_hour = device_status.collecting_eh1;
    cul_eh1_stamp.tm_min = 0 + test_min;
    cul_eh1_stamp.tm_sec = 0;
    cul_eh2_stamp = *localtime(&now);
    cul_eh2_stamp.tm_hour = device_status.collecting_eh2;
    cul_eh2_stamp.tm_min = 0 + test_min;
    cul_eh2_stamp.tm_sec = 0;
    cul_eh3_stamp = *localtime(&now);
    cul_eh3_stamp.tm_hour = device_status.collecting_eh3;
    cul_eh3_stamp.tm_min = 0 + test_min;
    cul_eh3_stamp.tm_sec = 0;

    if (once_print == 0 || chk_log_time)
    {
        rt_kprintf("\n\n");
        LOG_I("采集时间1-%04d-%02d-%02d %02d:%02d:%02d", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec);
        LOG_I("结束时间1-%04d-%02d-%02d %02d:%02d:%02d\n", cul_eh1_stamp.tm_year + 1900, cul_eh1_stamp.tm_mon + 1, cul_eh1_stamp.tm_mday, cul_eh1_stamp.tm_hour, cul_eh1_stamp.tm_min, cul_eh1_stamp.tm_sec);
        LOG_I("采集时间2-%04d-%02d-%02d %02d:%02d:%02d", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec);
        LOG_I("结束时间2-%04d-%02d-%02d %02d:%02d:%02d", cul_eh2_stamp.tm_year + 1900, cul_eh2_stamp.tm_mon + 1, cul_eh2_stamp.tm_mday, cul_eh2_stamp.tm_hour, cul_eh2_stamp.tm_min, cul_eh2_stamp.tm_sec);
        // LOG_I("采集时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh3_stamp.tm_year + 1900, cul_sh3_stamp.tm_mon + 1, cul_sh3_stamp.tm_mday, cul_sh3_stamp.tm_hour, cul_sh3_stamp.tm_min, cul_sh3_stamp.tm_sec);
        // LOG_I("结束时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh3_stamp.tm_year + 1900, cul_eh3_stamp.tm_mon + 1, cul_eh3_stamp.tm_mday, cul_eh3_stamp.tm_hour, cul_eh3_stamp.tm_min, cul_eh3_stamp.tm_sec);
        rt_kprintf("\n\n");
        once_print = 1;
    }

    // 此处判断，一个一个时间段判断，判断当前时间是否大于开始时间：
    // 当前时间戳小于第一段开始时间戳
    if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) < 0)
    {

        if (chk_log_time)
        {
            uint32_t time_cache = cul_sh1_stamp.tm_hour * 3600 + cul_sh1_stamp.tm_min * 60 + cul_sh1_stamp.tm_sec;
            uint32_t time_now = now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec;
            uint32_t time_remainder = time_cache - time_now;
            uint8_t hour = time_remainder / 3600;
            uint8_t min = (time_remainder % 3600) / 60;
            uint8_t sec = time_remainder % 60;
            LOG_I("             ====== 未到收集时间 A :%04d-%02d-%02d %02d:%02d:%02d  剩余：%02d:%02d:%02d ======   run_sta %d",
                  cul_sh1_stamp.tm_year + 1900,
                  cul_sh1_stamp.tm_mon + 1,
                  cul_sh1_stamp.tm_mday,
                  cul_sh1_stamp.tm_hour,
                  cul_sh1_stamp.tm_min,
                  cul_sh1_stamp.tm_sec,
                  hour,
                  min,
                  sec,
                  device_status.run_sta);
        }

        time_period = 0;
    }
    // 当前时间戳小于第二段结束 时间戳并且大于第1段结束时间戳
    if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) < 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) > 0)
    {
        if (chk_log_time)
        {
            uint32_t time_cache = cul_sh2_stamp.tm_hour * 3600 + cul_sh2_stamp.tm_min * 60 + cul_sh2_stamp.tm_sec;
            uint32_t time_now = now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec;
            uint32_t time_remainder = time_cache - time_now;
            uint8_t hour = time_remainder / 3600;
            uint8_t min = (time_remainder % 3600) / 60;
            uint8_t sec = time_remainder % 60;
            LOG_I("             ====== 未到收集时间 B :%04d-%02d-%02d %02d:%02d:%02d   剩余：%02d:%02d:%02d ======   run_sta %d",
                  cul_sh2_stamp.tm_year + 1900,
                  cul_sh2_stamp.tm_mon + 1,
                  cul_sh2_stamp.tm_mday,
                  cul_sh2_stamp.tm_hour,
                  cul_sh2_stamp.tm_min,
                  cul_sh2_stamp.tm_sec,
                  hour,
                  min,
                  sec,
                  device_status.run_sta);
        }

        time_period = 0;
    }

    // 如果当前 时间戳大于开始时间戳并且小于 结束时间戳
    if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) < 0)
    {
        time_period = 1;
    }
    else if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) < 0)
    {
        time_period = 2;
    }
    else if (difftime(mktime(&now_stamp), mktime(&cul_sh3_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh3_stamp)) < 0)
    {
        time_period = 3;
    }
    //        if (chk_log_time)
    //            rt_kprintf("time_period > %d      %X    %X\n", time_period, difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)), difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)));

    return time_period;
}

/**
 * @brief
 *
 * @param mot 电机选择
 * @param limit1 限位1选择
 * @param limit2 限位2选择（不需要的话填0）
 * @param mct 电机操作选择
 * @return Res_def 0-成功
 */
Res_def Mtor_Control(Motor_type mot, Limit_type limit1, Limit_type limit2, Motor_Ctl_type mct, uint16_t timeout, int8_t ctime)
{
    uint8_t res = res_OK;

    uint16_t Motor_L, Motor_R, Lim1, Lim2 = LIMIT_0;

    uint16_t wait_out = 0;
    uint16_t time_out10 = timeout / 10;

    uint8_t Check_EN = 0;

    if (JD_Check_Test_Sta(tt_auto) == res_OK)
    {
        Check_EN = 2;
    }

    if (ctime < 0 || ctime > 10)
    {
        ctime = 0;
    }

    switch (mot) // 电机选型
    {
    case mot_ZP:
        Motor_L = TURN_ZP_L;
        Motor_R = TURN_ZP_R;
        break;

    case mot_CM:
        Motor_L = TURN_CM_L;
        Motor_R = TURN_CM_R;
        break;

    default:
        LOG_W("illegal Motor_type %d", mot);
        return res_Verifi;
        break;
    }

    switch (limit1) // 限位选型1
    {
    case lt_Angle_0:
        Lim1 = LIMIT_0;
        break;
    case lt_Angle_90:
        Lim1 = LIMIT_90;
        break;

    default:
        LOG_W("illegal limit1_type %d", limit1);
        return res_Verifi;
        break;
    }

    if (limit2 != 0)
    {
        switch (limit2) // 限位选型2
        {
        case lt_Angle_0:
            Lim2 = LIMIT_0;
            rt_pin_mode(Lim2, PIN_MODE_INPUT);
            break;
        case lt_Angle_90:
            Lim2 = LIMIT_90;
            rt_pin_mode(Lim2, PIN_MODE_INPUT);
            break;

        default:
            LOG_W("illegal limit2_type %d", limit2);
            return res_Verifi;
            break;
        }
    }

    rt_pin_mode(Motor_L, PIN_MODE_OUTPUT);
    rt_pin_mode(Motor_R, PIN_MODE_OUTPUT);
    rt_pin_mode(Lim1, PIN_MODE_INPUT);

    // 走出限位
    while ((rt_pin_read(Lim1) == 1) && (wait_out < time_out10) && (mot == mot_ZP))
    {
        switch (mct)
        {
        case mct_Foreward:
            rt_pin_write(Motor_R, ON);
            rt_pin_write(Motor_L, OFF);
            break;
        case mct_Reversal:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, ON);
            break;
        case mct_Stop:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, OFF);
            break;

        default:
            LOG_W("illegal Motor_Ctl_type %d", mct);
            return res_Verifi;
            break;
        }
        wait_out++;
        rt_thread_mdelay(10);
        if (wait_out % 100 == 0)
        {
            rt_kprintf("wait exit limit %d/%d \n", wait_out, time_out10);
        }
    }

    // 参数校验完成 开始操作
    switch (mct)
    {
    case mct_Foreward:
        rt_pin_write(Motor_R, ON);
        rt_pin_write(Motor_L, OFF);
        break;
    case mct_Reversal:
        rt_pin_write(Motor_R, OFF);
        rt_pin_write(Motor_L, ON);
        break;
    case mct_Stop:
        rt_pin_write(Motor_R, OFF);
        rt_pin_write(Motor_L, OFF);
        break;

    default:
        LOG_W("illegal Motor_Ctl_type %d", mct);
        return res_Verifi;
        break;
    }

    if (mct == mct_Stop)
    {
        rt_thread_mdelay(10);
        return res;
    }
    res = res_Timeout;
    while ((wait_out < time_out10) && (limit2 == 0))
    {
        switch (mct)
        {
        case mct_Foreward:
            rt_pin_write(Motor_R, ON);
            rt_pin_write(Motor_L, OFF);
            break;
        case mct_Reversal:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, ON);
            break;
        case mct_Stop:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, OFF);
            break;

        default:
            LOG_W("illegal Motor_Ctl_type %d", mct);
            return res_Verifi;
            break;
        }
        if (rt_pin_read(Lim1) == 1 && mot_ZP == mot)
        {
            // LOG_W("lim1 TIG");
            res = res_OK;
            if (ctime > 0 && jts.FBtest != ON)
            {
                for (char i = 0; i < ctime; i++)
                {
                    rt_kprintf("ctime enable %d\n", i + 1);
                    rt_thread_mdelay(1000);
                }
            }
            break;
        }
        wait_out++;
        rt_thread_mdelay(10);

        if ((Check_EN == 2) && (JD_Check_Test_Sta(tt_auto) != res_OK))
        {
            rt_kprintf("tt_tape Break 2\n");
            break;
        }
    }
    while ((wait_out < time_out10) && (limit2 != 0))
    {
        switch (mct)
        {
        case mct_Foreward:
            rt_pin_write(Motor_R, ON);
            rt_pin_write(Motor_L, OFF);
            break;
        case mct_Reversal:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, ON);
            break;
        case mct_Stop:
            rt_pin_write(Motor_R, OFF);
            rt_pin_write(Motor_L, OFF);
            break;

        default:
            LOG_W("illegal Motor_Ctl_type %d", mct);
            return res_Verifi;
            break;
        }
        if (rt_pin_read(Lim1) == 0 || rt_pin_read(Lim2) == 0)
        {
            // LOG_W("lim1 or 2 TIG");
            res = res_OK;
            break;
        }
        wait_out++;
        rt_thread_mdelay(10);

        if ((Check_EN == 2) && (JD_Check_Test_Sta(tt_auto) != res_OK))
        {
            rt_kprintf("tt_tape Break 2\n");
            break;
        }
    }
    rt_pin_write(TURN_ZP_R, OFF);
    rt_pin_write(TURN_ZP_L, OFF);

    uint16_t out_cnt = 0;
    ef_get_env_blob("out_cnt", &out_cnt, sizeof(out_cnt), NULL);

    if (wait_out >= time_out10 && Check_EN == 0 && (mot == mot_ZP))
    {
        Report_Limit_Error(le_limit_tape);
        rt_kprintf("胶带限位失效啦\n");
        out_cnt++;
        rt_kprintf("                TAPE out_cnt %d", out_cnt);
        ef_set_env_blob("out_cnt", &out_cnt, sizeof(out_cnt));
    }
    else if(out_cnt > 0)
    {
        if (out_cnt > 10)
        {
            RTC_SET_TigVal(0);
            Recode_e_code(e_CNT_RESET, 0, "自动清空计数");
        }
        out_cnt = 0;
        ef_set_env_blob("out_cnt", &out_cnt, sizeof(out_cnt));
    }

    return res;
}
/**
 * @brief 控制转盘电机
 *
 * @param mct 控制操作
 * @return Res_def 执行结果
 */
Res_def Mtor_Control_ZP(Motor_Ctl_type mct, int8_t ctime)
{

    static char free = OFF;
    static Motor_Ctl_type Mtor_sta = mct_Foreward;

    uint16_t read_cnt = RTC_GET_TigVal();

    char cnt = 0;
    while (cnt < 30 && free == ON)
    {
        rt_kprintf("waitting for Mtor_Control_ZP free %d\n", cnt);
        rt_thread_mdelay(1000);
        cnt++;
    }
    free = ON;

    if (mct != mct_auto)
    {
        Mtor_sta = mct;
    }
    else
    {
        if (Mtor_sta == mct_Foreward)
        {
            Mtor_sta = mct_Reversal;
        }
        else
        {
            Mtor_sta = mct_Foreward;
        }
    }

    Mtor_sta = mct_Foreward;

    if (Mtor_sta == mct_Foreward)
    {
        LOG_I("Mtor_Control_ZP Start mct_Foreward\n");
    }
    else
    {
        LOG_I("Mtor_Control_ZP Start mct_Reversal\n");
    }

    uint8_t res = Mtor_Control(mot_ZP, lt_Angle_0, 0, Mtor_sta, 15000, ctime);

    LOG_I("Mtor_Control Finsh %d - %d\n", mct, res);

    /**
     * @brief 251021 新增胶带计数
     *
     */

    read_cnt++;
    RTC_SET_TigVal(read_cnt);

    /**
     * @brief 251021 新增胶带计数
     *
     */

    free = OFF;
    return res;
}

/**
 * @brief 控制仓门电机
 *
 * @param mct 控制操作
 * @return Res_def 执行结果
 */
Res_def Mtor_Control_CM(Motor_Ctl_type mct, uint16_t time_ms)
{

    if (mct == mct_Foreward)
    {
        LOG_I("     ↓↓↓ Mtor_Control_CM Start mct_Foreward ↓↓↓\n");
    }
    else
    {
        LOG_I("     ↓↓↓ Mtor_Control_CM Start mct_Reversal ↓↓↓\n");
    }

    uint8_t res = Mtor_Control(mot_CM, lt_Angle_0, 0, mct, time_ms, 0);

    LOG_I("     ↑↑↑ Mtor_Control_CM Finsh %d - %d ↑↑↑\n", mct, res);

    return res;
}

/**
 * @brief 获取当前时间
 *
 * @param now_stamp 存放时间戳的指针
 */
void Get_now_time(struct tm *now_stamp)
{

    time_t now;
    time(&now);
    *now_stamp = *localtime(&now);
}

/**
 * @brief 检查是否处于工作时间段
 *
 * @param coll_ch 时间段通道
 * @return Temporal_list 检查结果
 */
Temporal_list Check_Work_time_period(uint8_t coll_ch)
{
    static struct tm now_stamp = {0};   // 现在
    static struct tm cul_s_stamp = {0}; // 开始
    static struct tm cul_e_stamp = {0}; // 结束

    Get_now_time(&now_stamp);
    Get_now_time(&cul_s_stamp);
    Get_now_time(&cul_e_stamp);

    switch (coll_ch)
    {

    case 1:
        cul_s_stamp.tm_hour = device_status.collecting_sh1;
        cul_s_stamp.tm_min = 0 + test_min;
        cul_s_stamp.tm_sec = 0;

        cul_e_stamp.tm_hour = device_status.collecting_eh1;
        cul_e_stamp.tm_min = 0 + test_min;
        cul_e_stamp.tm_sec = 0;

        break;
    case 2:
        cul_s_stamp.tm_hour = device_status.collecting_sh2;
        cul_s_stamp.tm_min = 0 + test_min;
        cul_s_stamp.tm_sec = 0;

        cul_e_stamp.tm_hour = device_status.collecting_eh2;
        cul_e_stamp.tm_min = 0 + test_min;
        cul_e_stamp.tm_sec = 0;

        // rt_kprintf("cul_s_stamp %d cul_e_stamp %d\n", cul_s_stamp.tm_hour, cul_e_stamp.tm_hour);
        if (cul_s_stamp.tm_hour == cul_e_stamp.tm_hour) // 检查第二时间段是否有效
        {
            return tl_Error;
        }
        break;
    default:
        return tl_Verifi;
        break;
    }

    if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) >= 0 && // 大于开始时间
        difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) < 0)    // 小于结束时间
    {
        return tl_Center;
    }
    if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) < 0) // 小于开始时间
    {
        return tl_Front;
    }
    if (difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) >= 0) // 大于结束时间
    {
        //        rt_kprintf("now  %02d:%02d:%02d  start %02d:%02d:%02d  end %02d:%02d:%02d\n" ,
        //                now_stamp.tm_hour,now_stamp.tm_min,now_stamp.tm_sec,
        //                cul_s_stamp.tm_hour,cul_s_stamp.tm_min,cul_s_stamp.tm_sec,
        //                cul_e_stamp.tm_hour,cul_e_stamp.tm_min,cul_e_stamp.tm_sec
        //        );
        return tl_Back;
    }

    return tl_Verifi;
}

/**
 * @brief 检查是否处于工作时间段 跨0点模式
 *
 * @param coll_ch 时间段通道
 * @return Temporal_list 检查结果
 */
Temporal_list Check_Work_time_period_0oclock(void)
{
    static struct tm now_stamp = {0};   // 现在
    static struct tm cul_s_stamp = {0}; // 开始
    static struct tm cul_e_stamp = {0}; // 结束

    Get_now_time(&now_stamp);
    Get_now_time(&cul_s_stamp);
    Get_now_time(&cul_e_stamp);

    /** STEP1:get cheange value
     *
     */
    uint8_t cv_start = 0, cv_end = 0;
    cv_start = device_status.collecting_sh1 + 24;
    cv_end = device_status.collecting_eh1 + 48;

    /** STEP2: make zero
     *
     */
    cv_end -= cv_start;

    /** SETP3: get Dvalue
     *
     */
    if (now_stamp.tm_hour >= device_status.collecting_eh1 && now_stamp.tm_hour < device_status.collecting_sh1) // not yet
    {
        // rt_kprintf("未到定时区间\n");
        return tl_Front;
    }
    else if (now_stamp.tm_hour >= device_status.collecting_sh1 && now_stamp.tm_hour < 24) // Phase 1
    {
        // rt_kprintf("阶段1\n");
        now_stamp.tm_hour += 24;
        now_stamp.tm_hour -= cv_start;
    }
    else
    {
        // rt_kprintf("阶段2\n");
        now_stamp.tm_hour += 48;
        now_stamp.tm_hour -= cv_start;
    }

    // rt_kprintf("当前时间为 %d 设定时间为 0 ~ %d\n" ,now_stamp.tm_hour ,cv_end);

    cul_s_stamp.tm_hour = 0;
    cul_s_stamp.tm_min = 0 + test_min;
    cul_s_stamp.tm_sec = 0;

    cul_e_stamp.tm_hour = cv_end;
    cul_e_stamp.tm_min = 0 + test_min;
    cul_e_stamp.tm_sec = 0;

    if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) >= 0 && // 大于开始时间
        difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) < 0)    // 小于结束时间
    {
        return tl_Center;
    }
    if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) < 0) // 小于开始时间
    {
        return tl_Front;
    }
    if (difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) >= 0) // 大于结束时间
    {
        //        rt_kprintf("now  %02d:%02d:%02d  start %02d:%02d:%02d  end %02d:%02d:%02d\n" ,
        //                now_stamp.tm_hour,now_stamp.tm_min,now_stamp.tm_sec,
        //                cul_s_stamp.tm_hour,cul_s_stamp.tm_min,cul_s_stamp.tm_sec,
        //                cul_e_stamp.tm_hour,cul_e_stamp.tm_min,cul_e_stamp.tm_sec
        //        );
        return tl_Back;
    }

    return tl_Verifi;
}

/**
 * @brief 写工作运行状态
 *
 * @param sta 要写入的值
 */
static void Set_run_sta(run_sta_list sta)
{
    device_status.run_sta = sta;
    ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta));

    uint8_t check = 0;
    ef_get_env_blob("run_sta", &check, sizeof(device_status.run_sta), NULL);
    if (check != sta)
    {
        ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta));
    }
    rt_kprintf("Set_run_sta > %d \n", check);
}

void Set_runsta_reset(void)
{
    Recode_e_code(e_set_rs_RESET, 1, "工作流程被复位");
    Set_run_sta(rs_RESET);
}

MSH_CMD_EXPORT(Set_runsta_reset, Set_runsta_reset);

/**
 * @brief 读工作运行状态
 *
 * @return run_sta_list 读出的值
 */
static run_sta_list Get_run_sta(void)
{

    ef_get_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta), NULL);
    return device_status.run_sta;
}

/**
 * @brief 获取剩余工作时间
 *
 * @param coll_ch 工作时间段通道号
 * @return uint8_t 百分比的值
 */
static int8_t Get_remainder_time(uint8_t coll_ch)
{
    static struct tm now_stamp = {0};   // 现在
    static struct tm cul_s_stamp = {0}; // 开始
    static struct tm cul_e_stamp = {0}; // 结束

    uint32_t dividend = 0, divisor = 0, quotient = 0;
    int8_t result = 0;

    Get_now_time(&now_stamp);
    Get_now_time(&cul_s_stamp);
    Get_now_time(&cul_e_stamp);

    switch (coll_ch)
    {
    case 1:
        cul_s_stamp.tm_hour = device_status.collecting_sh1;
        cul_s_stamp.tm_min = 0 + test_min;
        cul_s_stamp.tm_sec = 0;

        cul_e_stamp.tm_hour = device_status.collecting_eh1;
        cul_e_stamp.tm_min = 0 + test_min;
        cul_e_stamp.tm_sec = 0;

        break;
    case 2:
        cul_s_stamp.tm_hour = device_status.collecting_sh2;
        cul_s_stamp.tm_min = 0 + test_min;
        cul_s_stamp.tm_sec = 0;

        cul_e_stamp.tm_hour = device_status.collecting_eh2;
        cul_e_stamp.tm_min = 0 + test_min;
        cul_e_stamp.tm_sec = 0;
        if (cul_s_stamp.tm_hour == cul_e_stamp.tm_hour) // 检查第二时间段是否有效
        {
            return -1;
        }
        break;
    default:
        return -1;
        break;
    }

    dividend = (cul_e_stamp.tm_hour * 3600 + cul_e_stamp.tm_min * 60 + cul_e_stamp.tm_sec) - (cul_s_stamp.tm_hour * 3600 + cul_s_stamp.tm_min * 60 + cul_s_stamp.tm_sec);
    divisor = (cul_e_stamp.tm_hour * 3600 + cul_e_stamp.tm_min * 60 + cul_e_stamp.tm_sec) - (now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec);

    divisor *= 100;

    quotient = divisor / dividend;

    result = abs(100 - quotient);

    return result;
}

/*********************↓           胶带结构的孢子仪主工作流程           ↓************************/

/**
 * @brief 检查工作事件
 *
 * @return Temporal_list
 */
Temporal_list Check_WorkDay(void)
{
    work_day_def work_day = {0};

    if (ef_get_env_blob("work_day", &work_day, sizeof(work_day), NULL) == 0)
    {
        return res_Verifi;
    }
    else if (work_day.year == 0 && work_day.month == 0 && work_day.day == 0)
    {
        // rt_kprintf("work_day %d.%d.%d \n", work_day.year, work_day.month, work_day.day);
        return tl_Error;
    }

    static struct tm now_stamp = {0}; // 现在
    Get_now_time(&now_stamp);
    now_stamp.tm_mon += 1;

    // 时间已过期
    if (work_day.year > now_stamp.tm_year)
    {
        return tl_Back;
    }
    else if (work_day.month > now_stamp.tm_mon)
    {
        return tl_Back;
    }
    else if (work_day.day > now_stamp.tm_mday)
    {
        return tl_Back;
    }

    if (work_day.year == now_stamp.tm_year &&
        work_day.month == now_stamp.tm_mon &&
        work_day.day == now_stamp.tm_mday)
    {
        return tl_Center;
    }

    if (work_day.year < now_stamp.tm_year)
    {
        return tl_Front;
    }
    else if (work_day.month < now_stamp.tm_mon)
    {
        return tl_Front;
    }
    else if (work_day.day < now_stamp.tm_mday)
    {
        return tl_Front;
    }

    return res_Verifi;
}

void Recode_WorkDay(void)
{
    work_day_def work_day = {0};

    static struct tm now_stamp = {0}; // 现在
    Get_now_time(&now_stamp);

    work_day.year = now_stamp.tm_year;
    work_day.month = now_stamp.tm_mon + 1;
    work_day.day = now_stamp.tm_mday;

    ef_set_env_blob("work_day", &work_day, sizeof(work_day));

    LOG_E("Recode_WorkDay > %d.%02d.%02d\n", work_day.year % 100, work_day.month, work_day.day);
    char buf[100] = {0};
    sprintf(buf, "今日(%d)工作结束", now_stamp.tm_mday);
    Recode_e_code(e_ReWorkDay, now_stamp.tm_mday, buf); // 工作结束
}

MSH_CMD_EXPORT(Recode_WorkDay, Recode_WorkDay);

void Clear_WorkDay(void)
{
    work_day_def work_day = {0};

    rt_kprintf("WorkDay SET %d \n", ef_set_env_blob("work_day", &work_day, sizeof(work_day)));
}

uint8_t ws_stop_waitA = 0;
uint8_t ws_stop_waitB = 0;

/*********************↑           胶带结构的孢子仪主工作流程           ↑************************/

/**
 * @brief 孢子仪工作线程V2
 *
 */
void WorkTask_BZYV2(void)
{
    // 打开采集风机
    ctr_Collect_Fan(ON);
    // 打开胶带步进电机

    // 等待采集结束

    // 拍照

    // 打开相机供电
    // 打开补光灯
    // 滑台归位
    // 滑台启动
}

// 工作任务流程s
void WorkTask(void)
{
    static int clt_time = 0; // 收集时间差秒数
    static int heat_time = 0;

    uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁
    static int16_t log_en_cnt = -1;

    if (chk_log_time)
    {
        LOG_I("工作状态:%d", device_status.work_status);
        LOG_I("开关机状态:%d", device_status.ds);
    }

    while (device_status.work_status == 1 && device_status.temp_status == 0 && device_status.bat_status == 0 && device_status.rain_status == 0 && device_status.ds == 1 && device_status.clear_status == 0)
    {
        device_status.work_done = 0;
        if (clt_time == 0)
        {
#if 0
            if(device_status.version_type==41&&atoi(device_status.power)<350)
            {
                LOG_W("相机电流不足!");
                char *ctr_hk_p_warn = makeJson_Warn("电流不足", "相机");
                DTU_Write("%s",ctr_hk_p_warn);
                rt_free(ctr_hk_p_warn);
            }
#endif
#if LAMP_EN == 0
            ctr_Fan_PUT(ON);
#endif
            DTU_Write("workstart.mp3");
        }
// 1.打开灯管
#if LAMP_EN == 1
        if (device_status.lamp_status == 1)
        {
            ctr_lamp(ON, 1);
            ctr_lamp(OFF, 2);
            ctr_lamp(OFF, 3);
        }
        else if (device_status.lamp1_status == 1)
        {
            ctr_lamp(OFF, 1);
            ctr_lamp(ON, 2);
            ctr_lamp(OFF, 3);
        }
        else if (device_status.lamp2_status == 1)
        {
            ctr_lamp(OFF, 1);
            ctr_lamp(OFF, 2);
            ctr_lamp(ON, 3);
        }
#else
        ctr_lamp(ON, 1);
#endif
        LOG_I("打开灯管!!!");
#if 0
        rt_thread_delay(2000);
        if(atoi(device_status.power)<450)
        {
            LOG_I("Current is:%d",atoi(device_status.power));
            if(atoi(device_status.power)>50&&atoi(device_status.power)<5000)        //过滤电流检测芯片损坏导致电流异常
            {
                char* lamp_err_warn = makeJson_Warn("电流不足", "灯管");
                DTU_Write("%s",lamp_err_warn);
                rt_free(lamp_err_warn);
            }
        }
#endif
        if (device_status.version_type != 5)
        {
            if (clt_time == 0)
            {
                rt_thread_delay(5000); // 待灯管启动再往下执行，否则会触发电机过流
                // 2.打开上仓门
                rt_kprintf("打开上仓门!!!\n");
                device_status.ctr_up_motor = 1;
            }
            // 3.收集
            clt_time = device_status.clt_time * 60;

            while (clt_time != 1)
            {
#if LAMP_EN == 0
                ctr_Fan_IN(ON);
#endif
                clt_time--;
                rt_thread_delay(1000);
#if LAMP_EN == 0
                if (clt_time % 30 == 0)
                    ctr_Fan_PUT(OFF);
#endif
                rt_kprintf("正在收集.....剩余时间:%d分-%d秒\n", device_status.clt_time, clt_time);
                HMI_WRITE("workSta.g0.txt=\"正在收集.....剩余时间:%d分-%d秒\"", device_status.clt_time, clt_time);
                // 如果触发异常
                if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1)
                {
                    ctr_lamp(OFF, 1);
#if LAMP_EN == 1
                    ctr_lamp(OFF, 2);
                    ctr_lamp(OFF, 3);
#endif
#if LAMP_EN == 0
                    ctr_Fan_IN(OFF);
#endif
                    rt_kprintf("异常退出!!!\n");
                    HMI_WRITE("workSta.g0.txt=\"异常退出\"");
                    break;
                }
                if (device_status.timeSwitch == 0 && device_status.sun_status == 1)
                {
                    ctr_lamp(OFF, 1);
#if LAMP_EN == 1
                    ctr_lamp(OFF, 2);
                    ctr_lamp(OFF, 3);
#endif
#if LAMP_EN == 0
                    ctr_Fan_IN(OFF);
#endif
                    rt_kprintf("异常退出!!!\n");
                    HMI_WRITE("workSta.g0.txt=\"异常退出\"");
                    break;
                }
            }
            clt_time = 1;
            if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1)
            {
                ctr_lamp(OFF, 1);
#if LAMP_EN == 1
                ctr_lamp(OFF, 2);
                ctr_lamp(OFF, 3);
#endif
#if LAMP_EN == 0
                ctr_Fan_IN(OFF);
#endif
                rt_kprintf("异常退出!!!\n");
                HMI_WRITE("workSta.g0.txt=\"异常退出\"");
                break;
            }
            if (device_status.timeSwitch == 0 && device_status.sun_status == 1)
            {
                ctr_lamp(OFF, 1);
#if LAMP_EN == 1
                ctr_lamp(OFF, 2);
                ctr_lamp(OFF, 3);
#endif
#if LAMP_EN == 0
                ctr_Fan_IN(OFF);
#endif
                rt_kprintf("异常退出!!!\n");
                HMI_WRITE("workSta.g0.txt=\"异常退出\"");
                break;
            }
#if LAMP_EN == 0
            ctr_Fan_IN(OFF);
#endif
            // 4.关闭上仓门
            device_status.ctr_up_motor = 2;
            rt_kprintf("关闭上仓门!!!\n");
            HMI_WRITE("workSta.g0.txt=\"关闭上仓门!\"");
            while (device_status.ctr_up_motor != 0)
            {
                rt_thread_delay(100);
                LOG_I("等待上仓门关闭!!!");
            }
            // 5.加热
            if (device_status.heat_sw == 0)
            {
                calorstat(device_status.heattime * 60);
            }
            else
            {
                heat_time = device_status.heattime * 60;
                while (heat_time != 0)
                {
                    heat_time--;
                    LOG_I("正在加热状态!!!");
                    rt_thread_delay(1000);
                }
            }
            // 6.打开下仓门
            if (device_status.rain_status == 0)
            {
                device_status.ctr_down_motor = 1;
            }
            else
            {
                device_status.ctr_down_motor = 2;
                device_status.ctr_up_motor = 2;
            }
            // 待下仓门完全打开
            while (device_status.ctr_down_motor != 0)
            {
                rt_thread_delay(100);
                rt_kprintf("等待下仓门打开!!!\n");
                HMI_WRITE("workSta.g0.txt=\"等待下仓门打开!\"");
            }
            rt_thread_delay(3000);
            // 关闭下仓门
            device_status.ctr_down_motor = 2;
            while (device_status.ctr_down_motor != 0)
            {
                rt_thread_delay(100);
                rt_kprintf("等待下仓门关闭!!!\n");
                HMI_WRITE("workSta.g0.txt=\"等待下仓门关闭!\"");
            }
            // 2022-04-12add：
            LOG_I("打开上仓门!!!");
            HMI_WRITE("workSta.g0.txt=\"打开上仓门!\"");
            device_status.ctr_up_motor = 1;
        }
        else
        {
            // 打开高压
            ctr_Heat(ON);
            // 打开补光
            ctr_led(ON);
            LOG_I("打开补光!!");
            rt_pin_mode(CLEAR_L_LIMIT, PIN_MODE_INPUT);
            // 2.翻转清虫
            while (rt_pin_read(CLEAR_L_LIMIT) == 1)
                rt_thread_delay(20);
            rt_thread_delay(500);
            Hk_Take_io(3); // 触发海康相机拍照
            rt_thread_delay(500);
            ctr_turnv5(); // 摆动清虫
            LOG_I("摆动清虫!");
        }
    }
    if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1 || device_status.ds == 0)
    {
        if (chk_log_time)
        {
            rt_kprintf("-------------------not work--------------------\n");
        }
        device_status.work_status = 0;
    }
    // 工作结束
    if (device_status.work_done == 0 && device_status.work_status == 0)
    {
        DTU_Write("workdone");
        HMI_WRITE("workSta.g0.txt=\"工作任务已完成!\"");
        ResetInit();
    }
    if (chk_log_time)
    {
        rt_kprintf("    ***not work-device status:%d\n", device_status.ds);
    }
}
/* 入口函数-工作状态检测 */
/**
 * @brief 工作状态检测线程服务函数
 *
 * @param parameter -
 */
static void Work_status_thread_entry(void *parameter)
{
    static uint16_t sun_status_num = 120;
    // 如果是光控定时,进行光控监测的消抖
    if (device_status.timeSwitch == 0 && device_status.sun_status == 0)
    {
        rt_kprintf("光控定时!!!\n");
        while (sun_status_num != 0)
        {
            sun_status_num--;
            rt_thread_delay(1000);
            rt_kprintf("开机光控检测:%d\n", sun_status_num);
        }
        device_status.light_over_tim = device_status.sunBar * 3600;
        device_status.test_flag = 0;
    }
    while (1)
    {
        WorkCheck();
    }
}

extern int RayDualTriggerInit(void);
extern void KeyThreadStart(void);

/*入口函数-工作流程*/
/**
 * @brief 工作流程线程服务函数
 *
 * @param parameter -
 */
static void Work_Loop_thread_entry(void *parameter)
{
    //    uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁
    //    static int16_t log_en_cnt = -1;

    rt_thread_delay(1000);
    ResetInit();
    // RayDualTriggerInit();

    // Mtor_Control_CM(mct_Foreward, 2000);
    // Mtor_Control_CM(mct_Reversal, 300);
    // Mtor_Control_ZP(mct_Foreward); // 开始工作前给翻版复位
    // Mtor_Control_CM(mct_Reversal, 1500);

    //    rt_kprintf("        dtype = %d  vtype = %d \n\n", device_status.dtype, device_status.version_type);
    //    rt_kprintf("Version : %s  %s\n", VERSION_BZY , device_status.driver_compile);
    UpLoad_Data(0);
    while (1)
    {
        rt_thread_mdelay(1000);
        WorkTask_SY2();
    }
}
/*入口函数清扫*/
/**
 * @brief 控制清扫线程服务函数
 *
 * @param parameter -
 */
static void Control_Clear_thread_entry(void *parameter)
{
    while (1)
    {
#if ROBOT_EN == 1
        ctr_Motor_Robot(ON);
        rt_thread_delay(100);
#else
#if Color_EN == 1
        /*复位*/
        if (Read_Color_Key(KEY_RESET) == 1)
        {
            ctr_Color_board(RESET, 1200);
            rt_thread_delay(5000);
        }
#else
        if (device_status.clear_status == 1)
        {
            if (ctr_clear(1200) == 0)
                ctr_TG_Clear(400);
        }
        rt_thread_delay(100);
#endif
#endif
    }
}
/*入口函数加热*/
/**
 * @brief 控制加热线程服务函数
 *
 * @param parameter -
 */
static void Control_Heat_thread_entry(void *parameter)
{

    uint16_t var_clear = 0;
#if ROBOT_EN == 1
    static uint8_t key_on = 0;
#else
#if Color_EN == 0
    while (device_status.work_status == 0)
    {
        rt_thread_delay(1000);
    }
#endif
#endif
    while (1)
    {
#if ROBOT_EN == 1
        // 磁悬浮供电
        // 监测磁悬浮限位位置`
        LOG_D("Read 磁悬浮:%d", device_status.heattem);
        // 等待10S
        if (device_status.heattem < 30 && Read_Real_Voltage() / 100 > 12) // 磁悬浮处于关闭状态
        {
            key_on = 0;
            // 发送触摸按钮信号
            rt_pin_mode(EMS_Dir, PIN_MODE_OUTPUT);
            rt_pin_write(EMS_Dir, 0);
            rt_thread_delay(50);
            rt_pin_write(EMS_Dir, 1);
        }
        else if (device_status.heattem < 30 && Read_Real_Voltage() / 100 < 12)
        {
            ctr_router(OFF);
        }
        if (device_status.heattem > 40)
        {
            key_on = 1;
            rt_thread_delay(1000);
            LOG_D("Read 磁悬浮已打开:%d", device_status.heattem);
        }

        // 磁悬浮供电
        // 监测磁悬浮限位位置
        // 根据位置确定是否 按下按钮+
        if (Read_Real_Voltage() / 100 < 12 && key_on == 1)
        {
            key_on = 0;
            rt_pin_mode(EMS_Dir, PIN_MODE_OUTPUT);
            rt_pin_write(EMS_Dir, 0);
            rt_thread_delay(50);
            rt_pin_write(EMS_Dir, 1);
        }
#else
#if Color_EN == 1
        /*黄板归位*/
        if (Read_Color_Key(KEY_BACK) == 1)
        {
            LOG_W("黄板归位！");
            ctr_Color_board(CLOSE, 300);
            rt_thread_delay(5000);
        }
#else
        if (device_status.work_status == 1 && device_status.heat_sw == 1)
        {
            ctr_lamp(ON, 1);
            rt_thread_delay(10000);
            calorstat(device_status.heattime * 60);
        }
        else
        {
            LOG_I("Not calorstat!");
        }
        if (device_status.work_status == 1 && device_status.version_type == 5)
        {
            var_clear++;
            if (var_clear == 300)
            {
                var_clear = 0;
                ctr_cangmen_down(ON);
                rt_thread_mdelay(5000);
                ctr_cangmen_down(OFF);
                rt_thread_mdelay(500);
                ctr_cangmen_down(ON);
                rt_thread_mdelay(5000);
                ctr_cangmen_down(OFF);
            }
        }
        //        //吸虫塔补光灯测试
        //        while(device_status.vol!=200)
        //        {
        //            if(var_led==0) ctr_led(ON);
        //            var_led++;
        //            if(var_led>10)
        //            {
        //                ctr_led(OFF);
        //                var_ledoff++;
        //                if(var_ledoff>10)
        //                {
        //                    var_led = 0;
        //                    var_ledoff = 0;
        //                    ctr_led(ON);
        //                }
        //            }
        //            rt_thread_delay(1000);
        //        }
        rt_thread_delay(1000);
#endif
#endif
    }
}
/*清扫线程*/
/**
 * @brief 创建用于控制清扫操作的线程
 *
 * @return int -
 */
int Control_clear(void)
{
    /* 创建线程*/
    tid_ctr = rt_thread_create("Control_Clear_thread_entry",
                               Control_Clear_thread_entry, RT_NULL,
                               2048,                         // 2048
                               24,                           // 23
                               WORK_CHECK_THREAD_TIMESLICE); // 5
    if (tid_ctr != RT_NULL)
    {
        rt_thread_startup(tid_ctr);
    }
    return 0;
}
/*恒温加热线程*/
/**
 * @brief 创建用于恒温加热操作的线程
 *
 * @return int -
 */
int Control_heat(void)
{
    /* 创建线程*/
    tid_heat = rt_thread_create("Control_Heat_thread_entry",
                                Control_Heat_thread_entry, RT_NULL,
                                1024,                         // 2048
                                25,                           // 23
                                WORK_CHECK_THREAD_TIMESLICE); // 5
    if (tid_heat != RT_NULL)
    {
        rt_thread_startup(tid_heat);
    }
    return 0;
}
/* 创建线程 -工作状态检测*/
int Workstatus_check(void)
{

    /* 创建线程*/
    tid_wkstc = rt_thread_create("work_status_check_thread",
                                 Work_status_thread_entry, RT_NULL,
                                 WORK_CHECK_THREAD_STACK_SIZE, // 1024
                                 WORK_CHECK_THREAD_PRIORITY,   // 23
                                 WORK_CHECK_THREAD_TIMESLICE); // 5
    if (tid_wkstc != RT_NULL)
    {
        rt_thread_startup(tid_wkstc);
    }
    return 0;
}
/*工作流程线程*/
int Work_Loop_Task(void)
{
    /* 创建线程*/
    tid_workloop = rt_thread_create("work_loop_thread",
                                    Work_Loop_thread_entry, RT_NULL,
                                    WORK_LOOP_THREAD_STACK_SIZE, // 2048
                                    WORK_LOOP_THREAD_PRIORITY,   // 12
                                    WORK_LOOP_THREAD_TIMESLICE); // 5
#if Color_EN == 0
    if (tid_workloop != RT_NULL)
    {
        rt_thread_startup(tid_workloop);
    }
#endif
    return 0;
}

MSH_CMD_EXPORT(HardWare_Check, HardWare_Check<ON | OFF>);
MSH_CMD_EXPORT(ctr_lamp, ctr_lamp<ON | OFF>);
MSH_CMD_EXPORT(ctr_clear, ctr_clear<ON | OFF>);
MSH_CMD_EXPORT(ctr_led, sample : ctr_led<ON | OFF>);


extern  void CMD_getFullData(void);
/**  复位RTU
 *
 */
static void UART2_Enter_LowPower(void)
{
    rt_pin_write(RTU_DTU, OFF);
    /* 1. 关闭串口时钟 */
    __HAL_RCC_USART2_CLK_DISABLE();

    /* 2. 设置TX/RX引脚为模拟输入（高阻态） */
    rt_pin_mode(GET_PIN(A, 2), PIN_MODE_INPUT); // TX引脚（PA2）
    rt_pin_mode(GET_PIN(A, 3), PIN_MODE_INPUT); // RX引脚（PA3）

    for (uint8_t a = 0; a < 30; a++)
    {
        rt_kprintf("UART2_Enter_LowPower! %d / %d\n", a + 1, 30);
        
        for (char a = 0; a < 60; a++)
        {
            rt_thread_mdelay(1000);
            CMD_getFullData();
        }
        
    }

    Recode_e_code(e_rtu_fail, 0, "rtu无法正常通信");

    rt_hw_cpu_reset();
}

extern char stop_getinfo;
extern char errcnt_getinfo;

Res_def SendReadInfo(char c)
{
    char wait_dtuwrite = 0;
    while (wait_dtuwrite < 150 && stop_getinfo)
    {
        rt_thread_mdelay(100);
        wait_dtuwrite++;
        // rt_kprintf("stop_getinfo\n");
    }

    static uint32_t tim_getinfo = 0;

    if (tim_getinfo == 0)
    {
        recode_timestampe_NEW(&tim_getinfo);
    }

    if (math_timestampe_NEW(&tim_getinfo) < 2)
    {
        // LOG_I("exit getinfo %d",math_timestampe_NEW(&tim_getinfo));
        return res_Error;
    }

    char readinfo[] = "{\"uart\":\"getinfo\"}";
    DTU_Write("%s", readinfo);
    LOG_I("SendReadInfo (%c) > %s\n", c, readinfo);
    recode_timestampe_NEW(&tim_getinfo);

    errcnt_getinfo++;
    if (errcnt_getinfo >= 30)
    {
        UART2_Enter_LowPower();
    }

    return res_ok;
}