zynq_7010/zynq_7010_code/Scanner.cpp

#include "Scanner.h"
#include <iostream>

#include "MemoryInfo.h"
#include "SysInforTool.h"
#include "StopWatch.h"

#define BTN_START 0
#define BTN_STOP 1 //按键停止扫描
#define BTN_LOW_POWER 2 //按键低功耗
#define BTN_NORMAL_POWER 3 //按键正常模式 （退出低功耗）

Scanner::Scanner(ScannerGlue glue)
	: motorZouzhi(),motorCuozhi(),motor_cfg_(),
	  m_glue(glue),m_isPulling(false),
	  m_isDoublePaper(false),isPaperInit(false),
	  m_jamPaper(false),m_jamIn(false),
	  m_correctting(false),waitpapertime(200),
	  m_scansysinfo(nullptr),auto_size_(false),
	  m_iscrew(false),m_isoutBoundary(false),
	  seria_is_wait_(false)
{
	frame_time_ = 3000;
	m_scaninfo = GetScanInfoFromJson();

	status_change_init();

	capturer.reset(new MultiFrameCapture(m_glue));
	capturer->SetParent(this);
	capturer->set_image_callback(&have_img_callback);

	//固件版本
	int version=7010;

	auto btnevent = [this](const int eventtype)
	{
		if (!IsScanning()) //未扫描
		{
			switch (eventtype)
			{
			case BTN_LOW_POWER:
				stop_countdown();
				system("sh /mnt/flash-disk/low_power.sh 1");
				break;
			case BTN_NORMAL_POWER:
				system("sh /mnt/flash-disk/low_power.sh 0");
				start_enter_lowpwoer();
				break;
			case BTN_START:
				/* code */
				break;
			default:
				break;
			}
		}
		else //扫描中
		{
			if (eventtype == BTN_STOP)
			{
				put(HG_EVT_STOP_SCAN);
				printf("keyboard cancel scan\r\n");
			}
		}
	};
	sensor = std::make_shared<Sensor>(sysEvent);
	seria_ = std::make_shared<seria_com>(sysEvent);

	m_keyboard.reset(new huagao::Keyboard(btnevent));
	m_keyboard->init();

	motorZouzhi.enablePower(true);
	motorZouzhi.setSpeed(4000);
	motorCuozhi.setSpeed(3000);
	motorCuozhi.setDirection(false);

	FsmState::setScanner(this);

	threadRunMessageLoop = std::thread(&Scanner::runMessageLoop, this);
	Motor::enablePower(true);
	UpdateScanInfo();
}
Scanner::~Scanner()
{
	Motor::enablePower(false);
	sysEvent.Clear();
	sysEvent.ShutDown();
	bMsgLoop = false;
	threadRunMessageLoop.join();

	m_DstScannum = 0;
	if (threadRunScan.joinable())
		threadRunScan.join();
}

void Scanner::updateSpeedMode()
{
	m_scaninfo = GetScanInfoFromJson();
	int speed = m_scaninfo.SpeedMode;
	printf("JSON文件获取当前速度：%d\r\n",speed);
	if(speed == 0)
		speed = 3;

	unsigned int t_dpi = m_config.params.dpi;

	if(m_config.params.pageSize == (unsigned int)PaperSize::G400_MAXSIZE || m_config.params.pageSize == (unsigned int)PaperSize::G400_MAXAUTO ) //长文稿采用600dpi模式扫描
		t_dpi = 3;
	if (m_config.params.slow_moire) //摩尔纹特殊处理
		t_dpi = speed = 16;

	Zouzhi_ParamEx_ = motor_cfg_.GetMotorSpeedParam(true,MotorConfig::MTBDType::MT_TMC,speed,m_config.params.isColor,t_dpi);
	Cuozhi_ParamEx_ = motor_cfg_.GetMotorSpeedParam(false,MotorConfig::MTBDType::MT_TMC,speed,m_config.params.isColor,t_dpi);

	motorCuozhi.speedChange(Cuozhi_ParamEx_);
	motorZouzhi.speedChange(Zouzhi_ParamEx_);
}
void Scanner::ConfigScanParam(HG_ScanConfiguration config) 
{ 
	m_config = config;
	auto_size_ = m_config.params.pageSize==(int)PaperSize::G400_AUTO ||
				 m_config.params.pageSize==(int)PaperSize::G400_MAXAUTO ||
				 m_config.params.pageSize==(int)PaperSize::G400_MAXSIZE;

	UpdateScanInfo();
	capturer->UpdateScanParam(m_config); 
}
void Scanner::UpdateScanInfo()
{
	m_scaninfo = GetScanInfoFromJson();
	auto params = motor_cfg_.GetMotorSpeedParams(true,MotorConfig::MTBDType::MT_TMC);
	for (int i = 0; i < params.size(); i++)
	{
		if (params[i].speed == m_scaninfo.SpeedMode)
		{
			auto fpgaparam = GetFpgaparam(params[i].dpi, params[i].colormode);
			fpgaparam.Sp = params[i].sp;
			SaveFpgaparam(fpgaparam);
			if (params[i].dpi == 3 && params[i].colormode)
			{
				//printf("sp sp sp sp sp sp sp sp sp:%d  :%d\r\n",params[i].sp,fpgaparam.Sp);
			}
			
		}
		// if(params[i].speed == 0x10)
		// {
		// 	auto fpgaparam = GetFpgaparam(params[i].dpi, params[i].colormode);
		// 	fpgaparam.Sp = params[i].sp;
		// 	SaveFpgaparam(fpgaparam);
		// }
	}
	updateSpeedMode();
}
void Scanner::have_img_callback(int val)
{
	if (val < 0)
	{
		frame_time_ = 3000;
	}
	frame_time_ = val ;
}

void Scanner::startScan()
{
	if (threadRunScan.joinable())
		threadRunScan.join();
	stop_countdown();

	updateSpeedMode();
	// //开始进行扫描
	threadRunScan = std::thread(&Scanner::runScan, this);
}
void Scanner::runMessageLoop()
{
	std::this_thread::sleep_for(std::chrono::milliseconds(200));//避免scanpin io 开始异常
	GetSysInfo();//待fpga 重启完成
	void *data = NULL;
	FsmState *fsm = FsmStateManagerEx<InitState>::GetState(data);
	while (bMsgLoop)
	{
		ScanEvent evt = sysEvent.Take();
		fsm = fsm->on_event(evt);
		processevent(evt);
	}
}
void Scanner::processevent(ScanEvent event)
{
	if (event == HG_EVT_START_SCAN   
	|| event == HG_EVT_COVER_CLOSED 
	|| event == HG_EVT_PAPER_STANDBY
	|| event == HG_EVT_NORES || event == HG_EVT_NOT_OUT_BOUNDS
	|| event == HG_EVT_SCREW_NOT_DETECTION) //可以过滤没有用的信息
	{
		return;
	}
	//printf("插入事件 001 ID:%d\r\n",event);
	if 	(event_2_hg_map_.count(event) > 0)
	
		m_glue.m_deviceevent(event_2_hg_map_[event], "");
}
void Scanner::runScan()
{
	LOG("-------------Scanner RunScan Start-------------\r\n");
	sensor->resetPaperPin();	
	capturer->open();
	motorCuozhi.pauseWaitForThread();
	
	if (!isPaperInit)
	{
		//preFeed();
		//isPaperInit = true;
	}
	motorZouzhi.start();
	capturer->setScanFlag(true);

	StopWatch sw;

	isScaning = true;
	m_isDoublePaper = false;
	m_iscrew = false;
	m_isoutBoundary = false;
	m_jamPaper = false;
	m_jamIn = false;
	int error_code = 0;
	while (m_DstScannum > 0)
	{
		sensor->enableDoubleSensor(m_config.params.doubleFeeded);
		sensor->width_detect_enable(m_config.params.width_detect_enable);
		sensor->screw_detect_enable(m_config.params.screw_detect_enable);
		if (m_DstScannum == 0) //被取消扫描了
		{
			isScaning = false;
			break;
		}
		if (seria_is_wait_)
		{
			seria_wait_notify();
			if (!sensor->isPaperStandby())
			{
				break;
			}
		}

		
		motorCuozhi.startAsyn(); 

		if (!sensor->waitPaperIn(3000))//
		{
			if (!m_isDoublePaper && !m_iscrew && !m_isoutBoundary)
			{
				m_jamIn = true;
				put(HG_EVT_JAM_IN);
				m_scaninfo.JamInNum++;
			}
			isScaning = false;
			break;
		}
		printf("检测到纸张的时间：%f\r\n",sw.elapsed_ms());//检测到纸张
	
		capturer->snap();
		
		motorCuozhi.pauseWaitForThread();
		//capturer->wait_image_notify();

		if (!sensor->isCoverClosed())  //中途开盖 笑麻了
		{
			error_code = (int)HG_ScannerStatus::OPEN_COVER;
			capturer->waitsnapdone(error_code);//等待采集完成
			break;
		}

		printf("一张纸所需要的采集时间：%dms\r\n",frame_time_);
		if (auto_size_ || m_config.params.dpi == 3)
		{
			frame_time_ += 2000;
		}
		
		if (sensor->waitPaperOut(frame_time_))
		{
			if (!m_isDoublePaper && !m_iscrew && !m_isoutBoundary)
			{
				error_code = (int)HG_ScannerStatus::PAPER_JAM;
				m_jamPaper = true;
				put(HG_EVT_JAM_OUT);
				m_scaninfo.JamOutNum++;
			}
			else 
				error_code = m_isDoublePaper?(int)HG_ScannerStatus::DETECT_DOUBLE_FEED:(int)HG_ScannerStatus::PAPER_SKEW;
			//printf("error_code:%d\r\n",error_code);
			capturer->waitsnapdone(error_code);//等待采集完成
			isScaning = false;
			break;
		}
		
		sensor->enableDoubleSensor(false);
		sensor->width_detect_enable(false);
		sensor->screw_detect_enable(false);
		capturer->stopsnap(auto_size_);

		error_code = m_isDoublePaper ? (int)HG_ScannerStatus::DETECT_DOUBLE_FEED : m_jamPaper ? (int)HG_ScannerStatus::PAPER_JAM :0;
		capturer->waitsnapdone(error_code);//等待采集完成

		{
			m_DstScannum--;
			m_scaninfo.RollerNum++;
			m_scaninfo.TotalScanned++;
		}
		if (m_DstScannum == 0)
		{
			put(HG_EVT_STOP_SCAN);
			isScaning = false;
			break;
		}
		sw.reset();

		////必须控制队列帧数。
		while ( m_config.params.dpi == 0x01 && image_num_>=15)
		{
			printf("200DPI 图像队列过多，正在等待图像取走:%d\r\n",image_num_);
			this_thread::sleep_for(std::chrono::milliseconds(300));
		}
		while ( m_config.params.dpi == 0x02 && image_num_ >= 12 && m_config.params.isColor == 1)
		{
			printf("300DPI 图像队列过多，正在等待图像取走:%d\r\n",image_num_);
			this_thread::sleep_for(std::chrono::milliseconds(300));
		}
		while ( m_config.params.dpi == 0x03 && image_num_ >= 2)
		{
			printf("600DPI 图像队列过多，正在等待图像取走:%d\r\n",image_num_);
			this_thread::sleep_for(std::chrono::milliseconds(300));
		}
		while (meminfo->GetMemoryUsed() > 90.0f) //内存占用高于75%   其实我觉得开发人员应该自己控制好这个内存大小，让他绝对不可能超过这个内存大小
		{	
			if (sw.elapsed_s() < 50.0)
				std::this_thread::yield();	
			else
			{
				put(HG_EVT_STOP_SCAN);
				isScaning = false;
				break;
			}
		}	
	}
	isScaning = false;
	m_DstScannum = 0;
	sensor->enableDoubleSensor(false);
	sensor->width_detect_enable(false);
	sensor->screw_detect_enable(false);
	sensor->resetPaperPin();
	capturer->setScanFlag(false);
	capturer->stopsnap(auto_size_);

	int t_delay = 500;
	this_thread::sleep_for(std::chrono::milliseconds(t_delay)); //走纸多转一会儿 确保扫描传感器过了之后 纸能出完

	LOG("\n--------------------------scan done --------------------------------\n");
}
void Scanner::CreatCorrectData(int correctmode)
{
	m_correctting = true;
	capturer->createCorrect(correctmode);
}
void Scanner::preFeed()
{
	int sleeptime = 150;
	motorCuozhi.feeding();
	std::this_thread::sleep_for(std::chrono::milliseconds(sleeptime));
	motorCuozhi.pause();
	//std::this_thread::sleep_for(std::chrono::milliseconds(300));
}
std::string Scanner::GetSysInfo()
{
	meminfo = MemoryInfo::GetInstance();

	auto scannerinfo = GetScanInfo();
	auto fwverion = mapFradme_SP[scannerinfo.SpeedMode].FWVERSIO;
	ScannerSysInfo info = {
		.CPU = SCPU::CPU_3288,
		.Systype = SysType::Sys_Linux_Debian,
		.Screentype = ScreenType::ST_None,
		.MtBoardVersion = 0x20220114,
		.MtType = SMBType::MB_DRV_UNKNOWUN,
		.FPGAVersion = 0,
		.Cistype = HGCISType::CIS_UNKOWNUN,
		.ResSup = {200, 300, 0},
		.MemTotal = 0,
		.DiskTotal = 100,
		.DiskUsed = 0,
		.KernelVersion = "",
		.Have_EthernPort = 0,
		.ServiceVersion = fwverion,
		.UsbProtocol = 1.0};

	m_scansysinfo.reset(new SysInforTool(info));
	return m_scansysinfo->GetSysInfo();
}
void Scanner::emergency_stop(int id)
{
	seria_cancel_wait();
	sensor->cancelWaitPaper();
	sensor->enableDoubleSensor(false);
	sensor->width_detect_enable(false);
	sensor->screw_detect_enable(false);
	m_DstScannum = 0;

	motorCuozhi.stop();
	motorZouzhi.stop();

	
	capturer->stopsnap(true);
	SaveScaninfo(m_scaninfo);
	start_enter_lowpwoer();
}
void Scanner::stop_scan()
{
	seria_cancel_wait();
	sensor->cancelWaitPaper();
	sensor->enableDoubleSensor(false);
	sensor->width_detect_enable(false);
	sensor->screw_detect_enable(false);
	m_DstScannum = 0;

	if (threadRunScan.joinable())
		threadRunScan.join();

	motorZouzhi.stop();
	motorCuozhi.stop();	

	SaveScaninfo(m_scaninfo);
	start_enter_lowpwoer();
}
void Scanner::reset()
{
	if (!sensor->isPaperStandby())
	{
		motorCuozhi.reset();
		isPaperInit = false;
		LOG("Scanner->motorCuozhi is reseted \n");
	}
}
void Scanner::paper_pullout()
{
	if (!m_isPulling)
		m_isPulling = true;

	motorCuozhi.stop();
	MotorSpeedParamEx	ParamEx = motor_cfg_.GetMotorSpeedParam(true,MotorConfig::MTBDType::MT_TMC,1,1,1);
	motorZouzhi.speedChange(ParamEx);
	motorZouzhi.setDirection(1);
	motorZouzhi.start();
	if (sensor->waitPaperOut(5000))
		std::this_thread::sleep_for(std::chrono::milliseconds(2000));
	motorZouzhi.stop();
	motorZouzhi.speedRecover();
	m_isPulling = false;
}
void Scanner::seria_wait_notify()
{
	std::unique_lock<std::mutex> lock(seria_lock_);
    wait_seria_.wait(lock);
}
void Scanner::seria_cancel_wait()
{
    wait_seria_.notify_all();
	seria_is_wait_  = false;
}
void Scanner::seria_send(void * data,int len)
{
	seria_->cc_seria_send(data,len);
}
void Scanner::seria_set_speed(int sp)
{
	m_scaninfo.SpeedMode = sp;
	SaveScaninfo(m_scaninfo);
}
void Scanner::status_change_init()
{
	status_change_map_[HG_EVT_PAPER_NOT_STANDBY] = &Scanner::status_change_standby  ;
	status_change_map_[HG_EVT_PAPER_STANDBY] = &Scanner::status_change_paper_ready;
	status_change_map_[HG_EVT_JAM_OUT] = &Scanner::status_change_paperjam;
	status_change_map_[HG_EVT_JAM_IN] = &Scanner::status_change_feed_in_error;
	status_change_map_[HG_EVT_COVER_OPENED] = &Scanner::status_change_open_cover;
	status_change_map_[HG_EVT_COVER_CLOSED] = &Scanner::status_change_close_cover;
	status_change_map_[HG_EVT_ERROR_DOUBLEPAPER] = &Scanner::status_change_double_paper;
	status_change_map_[HG_EVT_START_SCAN] = &Scanner::status_change_scanning;
	status_change_map_[HG_EVT_STOP_SCAN] = &Scanner::status_change_stop_scan;
	status_change_map_[HG_EVT_STOP_SCAN_EMERGENCY] = &Scanner::status_change_emergency_stop_scan;
	status_change_map_[HG_EVT_DOUBLEPAPER] = &Scanner::status_change_double_paper;
	status_change_map_[HG_EVT_SCREW_DETECTION] = &Scanner::status_change_screw_detection;
	status_change_map_[HG_EVT_OUT_BOUNDS] = &Scanner::status_change_boundary_detection;

	status_change_map_[HG_EVT_SERIA_STOP_FEEDING] = &Scanner::status_change_seria_stop;
	status_change_map_[HG_EVT_SERIA_START_FEEDING] = &Scanner::status_change_seria_start;
	status_change_map_[HG_EVT_SERIA_GET_STATUS] = &Scanner::status_change_seria_get_status;
	status_change_map_[HG_EVT_SERIA_SPEED_MODE_1] = &Scanner::status_change_seria_set_speed_mode;
	status_change_map_[HG_EVT_SERIA_SPEED_MODE_2] = &Scanner::status_change_seria_set_speed_mode;
	status_change_map_[HG_EVT_SERIA_SPEED_MODE_3] = &Scanner::status_change_seria_set_speed_mode;
	status_change_map_[HG_EVT_SERIA_SPEED_MODE_4] = &Scanner::status_change_seria_set_speed_mode;
	status_change_map_[HG_EVT_SERIA_SPEED_MODE_5] = &Scanner::status_change_seria_set_speed_mode;


	event_2_hg_map_[HG_EVT_PAPER_NOT_STANDBY] = (int)HG_ScannerStatus::NO_FEED;
	event_2_hg_map_[HG_EVT_JAM_OUT] = (int)HG_ScannerStatus::PAPER_JAM;
	event_2_hg_map_[HG_EVT_JAM_IN] = (int)HG_ScannerStatus::FEED_IN_ERROR;
	event_2_hg_map_[HG_EVT_COVER_OPENED] = (int)HG_ScannerStatus::OPEN_COVER;
	event_2_hg_map_[HG_EVT_ERROR_DOUBLEPAPER] = (int)HG_ScannerStatus::DETECT_DOUBLE_FEED;
	event_2_hg_map_[HG_EVT_STOP_SCAN] = (int)HG_ScannerStatus::STOP_SCAN;
	event_2_hg_map_[HG_EVT_STOP_SCAN_EMERGENCY] = (int)HG_ScannerStatus::STOP_SCAN;
	event_2_hg_map_[HG_EVT_SCREW_DETECTION] = (int)HG_ScannerStatus::PAPER_SKEW;
	event_2_hg_map_[HG_EVT_OUT_BOUNDS] = (int)HG_ScannerStatus::BOUNDS_OUT_TEST;
	
}
FsmState* Scanner::status_change_standby(void *data)
{
	return FsmStateManagerEx<NoPaperState>::GetState(data);
}
FsmState *Scanner::status_change_paper_ready(void *data)
{
	return  FsmStateManagerEx<PaperReadyState>::GetState(data);
}
FsmState* Scanner::status_change_scanning(void *data)
{
	return FsmStateManagerEx<ScanningState>::GetState(data);
}
FsmState* Scanner::status_change_paperjam(void *data)
{
	return FsmStateManagerEx<ErrorJamState>::GetState(data);
}
FsmState* Scanner::status_change_feed_in_error(void *data)
{
	return FsmStateManagerEx<ErrorState>::GetState(data);
}
FsmState* Scanner::status_change_double_paper(void *data)
{
	return FsmStateManagerEx<Double_Paper_State>::GetState(data);
}
FsmState* Scanner::status_change_open_cover(void *data)
{
	return FsmStateManagerEx<CoverOpenState>::GetState(data);
}
FsmState* Scanner::status_change_close_cover(void *data)
{
	return FsmStateManagerEx<CoverCloseState>::GetState(data);
}
FsmState* Scanner::status_change_stop_scan(void *data)
{
	return FsmStateManagerEx<StopScanState>::GetState(data);
}
FsmState* Scanner::status_change_emergency_stop_scan(void *data)
{
	return FsmStateManagerEx<EmergencyStopScanState>::GetState(data);
}
FsmState* Scanner::status_change_screw_detection(void *data)
{
	return FsmStateManagerEx<ScrewDetectionState>::GetState(data);
}
FsmState* Scanner::status_change_init_status(void *data)
{
	return FsmStateManagerEx<InitState>::GetState(data);
}
FsmState* Scanner::status_change_boundary_detection(void *data)
{
	return FsmStateManagerEx<Boundary_Detection_State>::GetState(data);
}


FsmState* Scanner::status_change_seria_stop(void *data)
{
	return FsmStateManagerEx<seria_stop>::GetState(data);
}
FsmState* Scanner::status_change_seria_start(void *data)
{
	return FsmStateManagerEx<seria_start>::GetState(data);
}
FsmState* Scanner::status_change_seria_get_status(void *data)
{
	return FsmStateManagerEx<seria_get_status>::GetState(data);
}
FsmState* Scanner::status_change_seria_set_speed_mode(void *data)
{
	return FsmStateManagerEx<seria_set_speed_mode>::GetState(data);
}

FsmState *Scanner::test(ScanEvent e)
{
	void * data = NULL;
	int r = 0;
	if (e == HG_EVT_SERIA_SPEED_MODE_1 || e == HG_EVT_SERIA_SPEED_MODE_2 
	||e == HG_EVT_SERIA_SPEED_MODE_3 
	||e == HG_EVT_SERIA_SPEED_MODE_4 ||e == HG_EVT_SERIA_SPEED_MODE_5 )
	{
		seria_protocol s = hgevt_2_seria(e);
		r = (int)s;
	}
	
	
	//printf("插入事件 000 ID:%d\r\n",e);
	//data = &(hgevt_2_seria(e));
	if 	(status_change_map_.count(e) > 0)
	{
		FsmState *fsm = (this->*status_change_map_[e])((void*)&r);
		//printf("当前状态事件:%s\r\n",typeid(*fsm).name());
		
		return fsm;	
	}

	return FsmStateManagerEx<InitState>::GetState(data);
}

seria_protocol Scanner::hgevt_2_seria(ScanEvent p)
{
    switch (p)
    {
    case HG_EVT_SERIA_SPEED_MODE_1:
        return HG_SERIA_SPEED_MODE_1 ;

    case HG_EVT_SERIA_SPEED_MODE_2:
        return  HG_SERIA_SPEED_MODE_2;

    case HG_EVT_SERIA_SPEED_MODE_3:
        return  HG_SERIA_SPEED_MODE_3;

    case  HG_EVT_SERIA_SPEED_MODE_4:
        return HG_SERIA_SPEED_MODE_4;

    case HG_EVT_SERIA_SPEED_MODE_5:
        return HG_SERIA_SPEED_MODE_5;
    }
}