--- 模块功能 孢子仪逻辑控制
-- @module 
-- @author lcg
-- @license MIT
-- @copyright yf
-- @release 2019.08.01
require 'ril'
require "misc"
require "hmi"
require "audio"
module(..., package.seeall)

--拍照完成标志位
photodone = 0

vbat = ""

-- 工作标志位，采集标志位,定时时长,
local worksta, collsta, worktim
-- 限位开关、雨控、光控传感器变量
local limit = {upl, upr, dwl, dwr, turn, rain, light}
local fid = {
    read = 0x55, -- 功能号：读
    write = 0xAA, -- 功能号：写
    ---------------------------
    turn = 0x01, -- 转动转盘
    get_turn = 0x07, -- 获取的限位状态: turn和turn_init

    collect_fan = 0x02, -- 抽风机开关
    cool = 0x03, -- 散热开关
    heat = 0x04, -- 加热开关
    cold = 0x05, -- 制冷开关
    fsl = 0x06, -- 凡士林推杆电机开关

    wdgtim = 0x0a, -- 看门狗喂狗时间
    stm8_v = 0x0b, -- STM8版本
    temp = 0x0c, -- 换算温度值
    vbat = 0x0d, -- 电池电压值
    
}


ctrl_12v = pins.setup(pio.P0_29,0)


local function i2c_open(id)
    if i2c.setup(id, i2c.SLOW) ~= i2c.SLOW then
        log.error('I2C.init is: ', 'fail')
        i2c.close(id)
        return
    end
    return i2c.SLOW
end

--- STM8S003的动作方法
-- @param a,number,fid表的字段
-- @param v,number,0 或 1,0是关闭，1是打开
function action(a, v)
    i2c_open(2)
    i2c.send(2, 0x51, pack.pack(">bbb", fid.write, a, v))
    i2c.close(2)
end

function reboot_stm8()
    i2c_open(2)
    i2c.send(2, 0x51, pack.pack(">bb", fid.write, 0x88))
    i2c.close(2)
end


-- 获取turn限位的io状态
function get_limit_turn()
    local buffer,idx = 0,1
    local turn,turn_init = 2,2
    i2c_open(2)
    i2c.send(2, 0x51, pack.pack(">bb", fid.read, fid.get_turn))
    buffer = i2c.recv(2, 0x51, 2)
    i2c.close(2)
    idx, turn = pack.unpack(buffer, 'b',idx)
    idx, turn_init = pack.unpack(buffer, 'b',idx)
    log.warn("++++++++++++++++++turn,turn_init:,",turn,turn_init)
    return turn,turn_init
end


turn_timeout = 0
turn_reset_timeout = 0

-- 转盘转动
function turn(v,sec)
    turn_timeout = 0
    audio.play('/ldata/turn.mp3')
    v = v or 1
    sec = sec or 21-- 超时时长设为10s时，刚好转90度；避免刚好错过上一个限位，所以设置为两个90度的时间；
    log.warn("------ turn: ",v,sec)
    -- action(fid.turn, v)
    i2c_open(2)
    i2c.send(2, 0x51, pack.pack(">bbbb", fid.write, fid.turn, v, sec))
    i2c.close(2)

    -- sys.wait(5000)
    -- log.warn("++++++++++++++++++get_limit_turn():,",get_limit_turn())
    local turn,turn_init,cnt = 2,2,0
    while turn ~= 0 do
        turn,turn_init = get_limit_turn()
        sys.wait(1000)
        cnt = cnt + 1
        if cnt > sec then
            log.warn("----- turn timeout: ",sec)
            turn_timeout = 1
            break
        end
    end
    hmi.write("cangWei.rotateFlag.val=0")
end

-- -- 转盘复位
-- function turn_init(v,sec)
--     audio.play('/ldata/turn.mp3')
--     v = v or 7
--     sec = sec or 30-- 超时时长设为10s时，刚好转90度；避免刚好错过上一个限位，所以设置为两个90度的时间；
--     log.warn("------ turn_init: ",v,sec)
--     -- action(fid.turn, v)
--     i2c_open(2)
--     i2c.send(2, 0x51, pack.pack(">bbbb", fid.write, fid.turn, v, sec))
--     i2c.close(2)

--     -- sys.wait(5000)
--     local turn,turn_init,cnt = 2,2,0
--     while turn_init ~= 0 do
--         turn,turn_init = get_limit_turn()
--         sys.wait(1000)
--         cnt = cnt + 1
--         if cnt > sec then
--             log.warn("----- turn_init timeout: ",sec)
--             break
--         end
--     end
--     hmi.write("cangWei.rotateFlag.val=0")
-- end

-- 转盘复位
function turn_init(v,sec)
    turn_reset_timeout = 0
    v = v or 7
    sec = sec or 30-- 超时时长设为10s时，刚好转90度；避免刚好错过上一个限位，所以设置为两个90度的时间；
    log.warn("------ turn_init: ",v,sec)

    local turn,turn_init,cnt = 2,2,0
    turn,turn_init = get_limit_turn()
    if turn_init ~= 0 then
        audio.play('/ldata/turn.mp3')
        i2c_open(2)
        i2c.send(2, 0x51, pack.pack(">bbbb", fid.write, fid.turn, v, sec))
        i2c.close(2)
        while turn_init ~= 0 do
            turn,turn_init = get_limit_turn()
            sys.wait(1000)
            cnt = cnt + 1
            if cnt > sec then
                log.warn("----- turn_init timeout: ",sec)
                turn_reset_timeout = 1
                break
            end
        end
        hmi.write("cangWei.rotateFlag.val=0")
    else
        log.warn("----- current location is reset")
        hmi.write("cangWei.rotateFlag.val=0")
        return
    end
    hmi.write("cangWei.rotateFlag.val=0")
end


-- 采集风机
function collect_fan(v)
    log.warn("------ collect_fan: ",v,type(v))
    hmi.hmista.collect_fan = v
    action(fid.collect_fan, v)
end

-- 散热风机
function cool(v)
    log.warn("------ cool: ",v)
    hmi.hmista.cool_fan = v
    action(fid.cool, v)
end


-- 滴液
function drop(t)
    audio.play('/ldata/drop.mp3')
    print("------ drop time: ",t)
    -- for i=1,t,1 do
    --     print("----------droping...",i)
    --     pins.setup(pio.P1_1,1)
    --     sys.wait(5000)
    --     pins.setup(pio.P1_1,0)
    --     sys.wait(5000)
    -- end
    t = t or 1
    log.warn("------ droping...",t)
    pins.setup(pio.P1_1,1)
    sys.wait(t*100)
    pins.setup(pio.P1_1,0)
    hmi.write("sysTest.switchDrop.val=0")
    hmi.write('sysTest.auto_flag.txt="drop0"')               

end

-- 加热
function heat(v)
    log.warn("------ heat: ",v)
    hmi.hmista.heat_sta = v
    action(fid.heat, v)
end

-- 制冷
function cold(v)
    log.warn("------ cold: ",v)
    hmi.hmista.cold_sta = v
    action(fid.cold, v)
end

-- 涂抹凡士林
function add_fsl(v,sec)
    -- log.warn("------ add_fsl :",v)
    -- action(fid.fsl, v)
    v = v or 1
    sec = sec or 5
    log.warn("------ add_fsl: ",v,sec)
    i2c_open(2)
    i2c.send(2, 0x51, pack.pack(">bbbb", fid.write, fid.fsl, v, sec))
    i2c.close(2)
end

sys.taskInit(function()
    -- local Rup, adcValue, voltValue, heatTemp, idx = 5100
    local iic_buffer

    -- hmi.hmista.tempStatus = 0
    local b20temp = 0
    adc.open(0)
    while true do
        local status, error = pcall(function () 
            -- adcValue, voltValue = adc.read(0)
            -- log.info("adc read:",adcValue,voltValue)

            -- if voltValue == 0xFFFF then 
            --     log.warn("adc read error")
            --     adcValue = 5400 
            -- end
            -- Rt = voltValue * 1000 / ((9000 - voltValue) * 1000 / Rup)
            -- log.info("control.heatTemp ADC value:", adcValue, voltValue, Rt)

            i2c_open(2)
            -- i2c.send(2, 0x51, pack.pack(">bbH", fid.read, fid.temp, Rt))
            i2c.send(2, 0x51, pack.pack(">bb", fid.read, fid.temp))
            -- heatTemp = i2c.recv(2, 0x51, 7)
            iic_buffer = i2c.recv(2, 0x51, 11)
            
            i2c.close(2)

            -- IIC读取STM8软件版本：
            idx, stm8_v = pack.unpack(iic_buffer, '>b')
            log.info("iic read stm8_v:",stm8_v)
            hmi.hmista.stm8_v = string.format('%d', stm8_v)

            -- IIC读取电池电压：
            idx, vbat = pack.unpack(iic_buffer, '>h',idx)
            local batsta = 0
            if(vbat < 21000) then
                batsta = 1;          
            elseif(vbat > 25200) then
                batsta = 0;
            end
            -- hmi.hmista.vbat = string.format('%002d.%002d', vbat / 1000, vbat % 1000)
            hmi.hmista.vbat = string.format('"%d.%d"', vbat / 1000, vbat % 1000)
            hmi.hmista.bat_sta = batsta
            log.info("iic read vbat and bat_sta",hmi.hmista.vbat,hmi.hmista.bat_sta)

            -- hmi.write("workSta.vbat.txt=" .. string.format('"%002d.%002d"', vbat / 1000, vbat % 1000))
            -- hmi.write("workSta.vbat.txt=" .. hmi.hmista.vbat)
            -- hmi.write("workSta.bat_sta.val=" .. hmi.hmista.bat_sta)

            -- IIC读取B20温度--箱内温度：
            idx, b20temp = pack.unpack(iic_buffer, '>h',idx)
            -- log.info("iic read b20temp:",b20temp)
            log.info("iic read box_tmp:",b20temp)
            -- hmi.hmista.box_tem = string.format('"%002d.%002d"', b20temp/100, b20temp%100)
            hmi.hmista.box_tem = string.format('"%2d"', b20temp)

            if b20temp >= tonumber(hmi.hmista.envTem)/10 + 5 then
                cool(1)
            else
                cool(0)
            end

            -- IIC读取温度保温仓探头温度：
            idx, hmi.hmista.pre_temp = pack.unpack(iic_buffer, '>h',idx)
            log.info("iic read keep_temp:", hmi.hmista.pre_temp)
            -- sys.wait(1000)


            -- AM2320读取环境温湿度：
            hmi.hmista.envTem, hmi.hmista.envHum = AM2320.read(2, 0x5c)
            if not hmi.hmista.envTem then
                hmi.hmista.envTem, hmi.hmista.envHum = 250, 300
            end
            log.info("temperature and humidity:", hmi.hmista.envTem, hmi.hmista.envHum)
        end)
        if status ~= true and error ~= nil then
            log.warn("------ iic read stm8, pcall:",status)
            log.warn("------ iic read stm8, error:",error)
        else
            log.info("------- iic read stm8,pcall:",status)
            log.info("------- iic read stm8,error:",error)
        end
        log.info("-------",b20temp,tonumber(hmi.hmista.envTem)/10)
        sys.wait(5000)
    end
end)


function rtu_12v_reset()
    log.error("------ rtu_12v power will reset ------")
    -- action(fid.rtu_power, 1)
end

-- 看门狗
function wdg()
    action(fid.wdgtim, 240)
    log.warn("------ wdg is running!")
end

-- 工作任务初始化
local function workInit()

end

-- 停止所有stm8的动作:

local function resetinit()
    collect_fan(0)
    cold(0)
    heat(0)
    cool(0)
    turn_init()
end

-- 开机自检\一键自检任务：
function self_check()
-- 检查转盘：转离；
-- 检查抽风：通电5s
-- 检查散热风扇：通电5s
-- 检查步进电机：上下转动各5s，视限位开关情况；
-- 检查
end

function lua_string_split(str, split_char)
    local sub_str_tab = {}

    while (true) do
        local pos = string.find(str, split_char)
        if (not pos) then
            local size_t = table.getn(sub_str_tab)
            table.insert(sub_str_tab, size_t + 1, str)
            break
        end

        local sub_str = string.sub(str, 1, pos - 1)
        local size_t = table.getn(sub_str_tab)
        table.insert(sub_str_tab, size_t + 1, sub_str)
        local t = string.len(str)
        str = string.sub(str, pos + 1, t)
    end
    return sub_str_tab
end

-- local str = "1,2,3,4,5,6,7,8,9"
-- local ta = lua_string_split(str, ",")

-- local size = table.getn(ta)
-- for i = 1, size, 1 do
--     print(ta[i])
-- end

-- 传入起止时间，计算时间戳的差值：

function count_second(t1,t2)
    local tc1 = misc.getClock()
    tc1.hour = t1
    tc1.min = 0
    tc1.sec = 0
    local tc2 = misc.getClock()
    tc2.hour = t2
    tc2.min = 0
    tc2.sec = 0
    print(os.difftime(os.time(tc1), os.time(tc2)))
end

-- 传入不定长的无序的时间表：table；返回有序时间表；
function sort_time_table(t)
    key = {}
    -- 遍历，拼凑key table
    for i in pairs(t) do
        table.insert(key,t[i][1])   --提取test1中的键值插入到key_test表中
    end
    
    -- 查看原始table
    print("-------origen table--------")
    for k,v in pairs(t) do
        print("key:" .. "k  " .. k .. "    v:  ".. v[1])
    end
    
    -- print("-------key table--------")
    
    -- 查看key table
    -- for k,v in pairs(key) do
    --     print("key:" .. "k  " .. k .. "    v:  ".. v)
    -- end
    
    -- print("-------key_sort table--------")
    -- 定义一个新table
    key_sort = {}
    -- key_sort = key
    
    for k,v in pairs(key) do
        table.insert(key_sort,v)
    end
    
    -- for k,v in pairs(key_sort) do
    --     print("key:" .. "k  " .. k .. "    v:  ".. v)
    -- end
    
    
    -- print("===========================================")
    -- print("-------paixu key table--------")
    table.sort(key_sort)
    -- key = nil
    
    -- print("-------key table--------")
    -- 查看key table
    -- for k,v in pairs(key) do
    --     print("key:" .. "k  " .. k .. "    v:  ".. v)
    -- end
    
    -- print("-------key_sort table--------")
    
    -- for k,v in pairs(key_sort) do
    --     print("key:" .. "k  " .. k .. "    v:  ".. v)
    -- end
    
    print("***********************************")
    
    key_idx = {}
    for k,v in pairs(key_sort) do
        -- print("key:" .. "k  " .. k .. "    v:  ".. v)
        for j,w in pairs(key) do
            -- print("j w :",j,w)
            if v == w then
                table.insert(key_idx,j)
            end
        end
    
    end
    
    -- print("-------key_index--------")
    
    -- for k,v in pairs(key_idx) do
    --     print("key:" .. "k  " .. k .. "    v:  ".. v)
    -- end
    
    -- print("-------result--------")
    result = {}
    for k,v in pairs(key_idx) do
        -- print("key:" .. "k  " .. k .. "    v:  ".. v)
        table.insert(result,t[v])
        print("result:",t[v][1],t[v][2])
    end
    
    -- print("-------check --------")
    
    -- for k,v in pairs(result) do
    --     print("key:" .. "k  " .. k .. "    v:  " .. "start:" .. v[1] .. " end:".. v[2])
    -- end
    return result
end

-- 是否进入培养模式
develop_flag = 0

-- 培养载玻片孢子
function develop()
    log.warn("------start to develop hours:",hmi.hmiconf.cul_time,type(hmi.hmiconf.cul_time))
    -- 总培养时间：hmi.hmiconf.cul_time
    -- 已经培养的时间：分钟
    hmi.hmista.staytime = 0
    local ii = 0
    while develop_flag == 1 do
        ii = ii + 1
        log.warn("developing..........")
        log.info("..........hmi.hmista.set_temp:",hmi.hmiconf.set_temp)
        log.info("..........hmi.hmista.pre_temp:",hmi.hmista.pre_temp)
        if hmi.hmista.pre_temp < (hmi.hmiconf.set_temp - 10) then
        -- if hmi.hmista.pre_temp ~= (hmi.hmiconf.set_temp) then
            if hmi.hmista.cold_sta == 0 then
                heat(1)
            end
        else 
            heat(0)
        end
        log.info("..........hmi.hmiconf.cold_sw:",hmi.hmiconf.cold_sw)
        if hmi.hmiconf.cold_sw == 1 then
            -- if hmi.hmista.pre_temp ~= (hmi.hmiconf.set_temp) then
            if hmi.hmista.pre_temp > (hmi.hmiconf.set_temp + 10) then
                if hmi.hmista.heat_sta == 0 then
                    cold(1)
                end
            else
                cold(0)
            end
        end
        if ii % 60 == 0 then hmi.hmista.staytime = hmi.hmista.staytime + 1 end
        -- 1分钟检测判断一次；
        sys.wait(60*1000)
    end
    heat(0)
    cold(0)
    heat(0)
    cold(0)
    log.warn("develop ok!!!..........")
end

-- 收集时间段的转换
-- hmi.hmiconf.coll_time为字符串；coll_time = ["7-9","10-11"],

function conversion_time1()
    log.info("-----origin set collect time is:",hmi.hmiconf.coll_time)
    -- [ "8   -  10", "1   6    -2     0"," 6-  7",  "12   -15","21       -2     1"]
    -- 第一步：先过滤空格和双引号；此步骤十分关键！
    coll_time = string.gsub(hmi.hmiconf.coll_time, '[ "]', '')
    coll_time = string.gsub(coll_time, '-', '~')

    -- [8-10,16-20,6-7,12-15,21-21]
    log.info("-----real set collect time is:",coll_time)
    -- table: 0x821f8d30
    -- 第二步：截去两头的中括号：
    coll_time = string.sub(coll_time,2,-2)
    -- 8-10,16-20,6-7,12-15,21-21
    -- 第三步：通过逗号分割字符串，填进table
    coll_time_table = lua_string_split(coll_time, ",")
    new_table = {}
    log.info("-----coll_time_table:",coll_time_table)
    -- 获取table的长度：
    local size = table.getn(coll_time_table)
    for i = 1, size, 1 do
        -- 第四步：获取table的长度，遍历table，找到每个元素，通过“-”切片，生成一对开始-结束时间
        print("set collect time part is:",coll_time_table[i])
        table_son = lua_string_split(coll_time_table[i], "~")
        for k,v in pairs(table_son) do
            table_son[k] = tonumber(table_son[k])
        end
        table.insert(new_table,table_son)

        -- print("22set collect time part is:",coll_time_table[i])
        -- local size = table.getn(tim)
        -- -- 每一个时间段是两个值：开始时间和结束时间
        -- print("every collect time size is:",size)
        -- for j = 1, size, 1 do
        --     print("time".. j .. "is:".. tim[j])
        -- end
        -- print("time" .. i .. "start is:".. tim[1])
        -- print("time" .. i .. "end is:".. tim[2])
        -- if tim[1] ~= tim[2] then

        -- if tim[2] > tim[1] then
        --     print("time" .. i .. "start")
        --     count_second(tim[2],tim[1])
        -- end

        -- table.sort(coll_time_table , function(a , b)
        --         return tostring(a[i][1]) > tostring(b[i][1])
        --     end)  
        -- for key,value in pairs(coll_time_table) do  
        --     print(key,value)  
        -- end
    end

    -- for k,v in pairs(new_table) do
    --     print("key:" .. "k  " .. k .. "    v:  " .. "start:" .. v[1] .. " end:".. v[2])
    -- end
    return new_table
end

-- 收集时间段的转换；
-- hmi.hmiconf.coll_time为table；coll_time = ["7-9","10-11"],
function conversion_time()
    -- log.error("origin set collect time is:",hmi.hmiconf.coll_time)
    -- -- [ "8   -  10", "1   6    -2     0"," 6-  7",  "12   -15","21       -2     1"]
    -- -- 第一步：先过滤空格和双引号；此步骤十分关键！
    -- coll_time = string.gsub(hmi.hmiconf.coll_time, '[ "]', '')
    -- coll_time = string.gsub(coll_time, '-', '~')

    -- -- [8-10,16-20,6-7,12-15,21-21]
    -- log.error("real set collect time is:",coll_time)
    -- -- table: 0x821f8d30
    -- -- 第二步：截去两头的中括号：
    -- coll_time = string.sub(coll_time,2,-2)
    -- -- 8-10,16-20,6-7,12-15,21-21
    -- -- 第三步：通过逗号分割字符串，填进table
    -- coll_time_table = lua_string_split(coll_time, ",")
    log.info("-----origin set collect time is:",hmi.hmiconf.coll_time)
    coll_time_table = hmi.hmiconf.coll_time
    new_table = {}
    log.info("-----coll_time_table:",coll_time_table)
    -- 获取table的长度：
    local size = table.getn(coll_time_table)
    for i = 1, size, 1 do
        -- 第四步：获取table的长度，遍历table，找到每个元素，通过“-”切片，生成一对开始-结束时间
        print("set collect time part is:",coll_time_table[i])
        print("type set collect time part is:",type(coll_time_table[i]))
        -- 过滤空格
        -- coll_time_table[i] = string.gsub(coll_time_table[i], ' ', '')
        table_son = lua_string_split(coll_time_table[i], "-")
        for k,v in pairs(table_son) do
            table_son[k] = tonumber(table_son[k])
        end
        table.insert(new_table,table_son)

        -- print("22set collect time part is:",coll_time_table[i])
        -- local size = table.getn(tim)
        -- -- 每一个时间段是两个值：开始时间和结束时间
        -- print("every collect time size is:",size)
        -- for j = 1, size, 1 do
        --     print("time".. j .. "is:".. tim[j])
        -- end
        -- print("time" .. i .. "start is:".. tim[1])
        -- print("time" .. i .. "end is:".. tim[2])
        -- if tim[1] ~= tim[2] then

        -- if tim[2] > tim[1] then
        --     print("time" .. i .. "start")
        --     count_second(tim[2],tim[1])
        -- end

        -- table.sort(coll_time_table , function(a , b)
        --         return tostring(a[i][1]) > tostring(b[i][1])
        --     end)  
        -- for key,value in pairs(coll_time_table) do  
        --     print(key,value)  
        -- end
    end

    -- for k,v in pairs(new_table) do
    --     print("key:" .. "k  " .. k .. "    v:  " .. "start:" .. v[1] .. " end:".. v[2])
    -- end
    return new_table
end


coll_ok = 0
-- 首次转仓的标志位：
first_turn = 0
sys.taskInit(function()
    -- reboot_stm8()
    -- sys.wait(10000)
    log.info("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<")
    ctrl_12v(1)
    resetinit()
    sys.wait(30 * 1000)-- 等待第一次自动对时
    

    while true do
        -- 判断设备开关：hmi中默认为开；-- 设备开关：注意：1为开；0为关
        if hmi.hmiconf.on_off == 1 then
            log.info("device is on!")

            local a = {}
            -- a = sort_time_table(new_table)
            a = sort_time_table(conversion_time())
            t_num = table.getn(a)
            log.info("***collect time stage:",t_num)
            print(">>>>>>>>>>>>collect section>>>>>>>>>>>>>>>>")
            for k,v in pairs(a) do
                while true do
                    print("key:" .. "k  " .. k .. "    v:  " .. "start:" .. v[1] .. " end:".. v[2])
                    local cnow = misc.getClock()
                    local cstart = misc.getClock()
                    cstart.hour = v[1]
                    cstart.min = 0
                    cstart.sec = 0
                    local cend = misc.getClock()
                    cend.hour = v[2]
                    cend.min = 0
                    cend.sec = 0

                    print("now time:" .. os.date("%Y%m%d%H%M%S",os.time(cnow)))
                    -- print("now time:" .. os.time(cnow))

                    print("collect_time" .. k .. " : " .. os.date("%Y%m%d%H%M%S", os.time(cstart)) .. "~" .. os.date("%Y%m%d%H%M%S", os.time(cend)))

                    -- while coll_ok == 0 do
                    -- 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：
                    -- if true then -- 测试多段采集使用
                    while os.difftime(os.time(cnow), os.time(cstart)) < 0 do
                        cnow = misc.getClock()
                        log.warn("collect time is not arrivd!!! >>>" .. "now time:" .. os.date("%Y%m%d%H%M%S",os.time(cnow)) .. "; next collect start time:" .. os.date("%Y%m%d%H%M%S", os.time(cstart)))
                        sys.wait(5000)
                    end
                    -- 如果当前时间大于当前的时间段的结束时间：则该段时间无效
                    if os.difftime(os.time(cnow), os.time(cstart)) >= 0 and os.difftime(os.time(cnow), os.time(cend)) >= 0 then
                        break
                    end
                    if os.difftime(os.time(cnow), os.time(cstart)) >= 0 and os.difftime(os.time(cnow), os.time(cend)) < 0 then
                    -- if os.difftime(os.time(cnow), os.time(cstart)) >= 0 then     
                        log.warn("start to collect!!! >>>" .. "start now time:" .. os.date("%Y%m%d%H%M%S",os.time(cnow)) .. "; collect end time:" .. os.date("%Y%m%d%H%M%S", os.time(cend)))
                        log.warn("collect stage: " .. k .. "; collect seconds:" .. os.difftime(os.time(cend), os.time(cnow)))
                        
                        -- 注意：每次开机工作台不动，只有在每天开始第一段采集时，如果对准，则重新转动更换载玻片；如果没有对准，则对准；
                        -- 此处不能用K==1来判断，因为，当前时间可能大于前几段时间的结束时间；第一段时间不一定有效；
                        -- if k == 1 then turn(1) end
                        -- if k >= t_num then coll_ok = 1 end

                        audio.play('/ldata/collect.mp3')
                        if first_turn == 0 then 
                            -- turn(1,5)
                            -- 判断是否在复位位置；
                            turn_init()
                            turn()
                            -- 涂抹凡士林油：
                            add_fsl(dat,5)
                            sys.wait(10000)
                            -- 涂完凡士林，再次转动转盘到收集位置；
                            turn()
                            first_turn = 1
                        end
                        -- 只有开始和结束时刻不同的时间段，才有效；
                        if os.difftime(os.time(cend), os.time(cnow)) > 0 then
                            hmi.hmista.work_sta = 1-- 当前流程：收集
                            sys.wait(1000)
                            -- 打开抽风风扇
                            collect_fan(1)
                            sys.wait(1000 * os.difftime(os.time(cend), os.time(cnow)))
                            -- 测试使用：每个时间段，延时10s做测试
                            -- sys.wait(1000*10)
                            collect_fan(0)
                        else
                            log.warn("this collect time is 0s,The wait time cannot be negative!")                    
                        end
                    else
                        -- 其他时间，关闭收集风扇：
                        log.warn("next collect time is not arrivd!!! >>>" .. "start now time:" .. os.date("%Y%m%d%H%M%S",os.time(cnow)) .. "; net collect start time:" .. os.date("%Y%m%d%H%M%S", os.time(cstart)))
                        sys.wait(2000)
                    end
                    -- 运行到此处，说明遍历完毕，没有适合的采集时间：
                    break
                end
            end
            if hmi.hmista.work_sta == 1 then 
                -- 采集完毕，转位，转培养：
                log.warn("===============collect ok,turn to drop!!!")
                -- print("stat to develop,hmi.hmiconf.cul_time:",hmi.hmiconf.cul_time)
                develop_flag = 1
                hmi.hmista.work_sta = 2-- 当前流程：培养
                sys.wait(2000)
                audio.play('/ldata/develop.mp3')
                sys.wait(3000)
                -- turn(1,5)
                turn(1)
                sys.wait(5000)
                log.warn("===============drop is starting")
                -- 滴液：
                drop(1)
                sys.wait(1000)
                sys.taskInit(develop)
                sys.wait(hmi.hmiconf.cul_time * 3600 * 1000)
                -- 培养30s
                -- sys.wait(10*1000)
                develop_flag = 0
                -- 培养完毕，转位，拍照：
                print("turn to camera!!!")
                -- turn(1,5)
                turn(1)

                print("start to take photo!!!!")
                hmi.hmista.work_sta = 3-- 当前流程：拍照
                sys.wait(2000)
                audio.play('/ldata/takephoto.mp3')
                -- 最低端拍照一张、最高端拍一张；
                -- haikang.autotakepic()
                -- 自动对焦：
                haikang.autotakepic2()
                -- print("this work finished,and will start new work task!!!")
                -- 延时20s等待mqtt client任务中，检测采集图像完成标志位置1状态；
                sys.wait(20000)
                hmi.hmista.work_sta = 0-- 当前流程：待机
                audio.play('/ldata/wait.mp3')
                ctrl_12v(0)
                sys.wait(3000)
                ctrl_12v(1)
                resetinit()
                log.error("this work finished,system will restart after 5s!!!")
                sys.restart("work finished")
            end
        else
            log.info("device is off!")
        end
        sys.wait(1000)
    end
end)




-- 喂狗：防止复位：
-- 根据仓内温度和环境温度对比，控制散热风扇：
-- sys.taskInit(function()
--     sys.wait(5000)
--     log.error("============== wdg() task is running")

--     while true do
--         wdg()
--         log.error("============== to wdg()")

--         sys.wait(5000)
--     end
-- end)


-- 开机测试任务：

-- sys.taskInit(function()
--     sys.wait(5000)
--     log.info("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<")
--     while true do
--         log.info("================================")
--         -- collect_fan(1)
--         -- sys.wait(2000)
--         -- collect_fan(0)
--         -- sys.wait(2000)
--         -- cool(0)
--         -- heat(0)
--         turn(2)
--         sys.wait(10000)

--         cool(0)
--     end
-- end)


-- sys.taskInit(function()
--     sys.wait(5000)
--     log.info("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<")
--     while true do
--         log.info("================================")
--         hmi.write("sysSet.keep.val=" .. 1)
--         hmi.write("sysSet.keeptemp.val=" .. 1)

--         hmi.write("sysSet.datt.val=" .. 2)
--         hmi.write("sysSet.datatime.val=" .. 2)
--         sys.wait(2000)
--     end
-- end)