From 5f6c342b86c3ad2a45cc75697f6763756e70d47b Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Sun, 2 Jun 2024 18:24:01 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E8=9C=82=E9=B8=A3?=
 =?UTF-8?q?=E5=99=A8=E5=92=8C=E7=81=AF=E6=9D=A1=E6=8E=A5=E5=8F=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 by_cmd.c | 47 ++++++++++++++++++++++++++++++++++++++++++++++-
 by_cmd.h |  3 +++
 test.c   | 32 ++++++++++++++++++++++----------
 3 files changed, 71 insertions(+), 11 deletions(-)

diff --git a/by_cmd.c b/by_cmd.c
index 62790cd..18c0c18 100644
--- a/by_cmd.c
+++ b/by_cmd.c
@@ -21,6 +21,7 @@ pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
 
 int by_cmd_init(void)
 {
+  log_set_level(LOG_INFO);
   log_debug("by_cmd init");
   return (by_frame_init());
 }
@@ -61,6 +62,7 @@ int by_cmd_reg_listerning(uint8_t cmd, int timeout)
       // log_debug("received done! using %fSEC", (float)timeout_cnt * 0.00005);
       listerning_cmd = 0;
       received_flag  = 0;
+      log_info("get callback done");
       return 0;
     }
     usleep(10);
@@ -69,7 +71,7 @@ int by_cmd_reg_listerning(uint8_t cmd, int timeout)
   listerning_cmd = 0;
   received_flag  = 0;
 
-  log_warn("get cmd time out");
+  log_warn("get callback time out");
 
   return -1;
 }
@@ -434,4 +436,47 @@ int by_cmd_recv_ranging_data(float *distance)
   } else {
     return -1;
   }
+}
+
+/**
+ * @brief 发送灯指令
+ *
+ * @param status 0-关闭 其他 - 开启
+ * @return int
+ */
+int by_cmd_send_light(uint8_t status)
+{
+  LOCKAPI();
+  log_info("set light %s", (status ? "on" : "off"));
+  int ret         = 0;
+  uint8_t buff[4] = {0};
+
+  buff[0] = status;
+
+  by_frame_send(0x61, buff, 4);
+  ret = by_cmd_reg_listerning(0x61, 1000);
+  UNLOCKAPI();
+  return (ret);
+}
+
+/**
+ * @brief 发送蜂鸣器指令
+ *
+ * @param status 0-关闭 其他 - 开启
+ * @return int
+ */
+int by_cmd_send_beep(uint8_t status)
+{
+  LOCKAPI();
+  log_info("set beep %s", (status ? "on" : "off"));
+
+  int ret         = 0;
+  uint8_t buff[4] = {0};
+
+  buff[0] = status;
+
+  by_frame_send(0x62, buff, 4);
+  ret = by_cmd_reg_listerning(0x62, 1000);
+  UNLOCKAPI();
+  return (ret);
 }
\ No newline at end of file
diff --git a/by_cmd.h b/by_cmd.h
index 2284e98..d865996 100644
--- a/by_cmd.h
+++ b/by_cmd.h
@@ -33,4 +33,7 @@ int by_cmd_send_angle_storage(float angle);
 int by_cmd_send_ranging_start(void);
 int by_cmd_recv_ranging_data(float *distance);
 
+int by_cmd_send_light(uint8_t status);
+int by_cmd_send_beep(uint8_t status);
+
 #endif
diff --git a/test.c b/test.c
index b5d1ea0..cf1cd8e 100644
--- a/test.c
+++ b/test.c
@@ -22,17 +22,29 @@ int main(int argc, char **argv)
     return -1;
   }
 
-  by_cmd_send_distance_x(12, 100);
-  by_cmd_send_angle_camera(20.0);
-  by_cmd_send_position_axis_z(0x11, 100);
-  by_cmd_send_distance_axis_z(10, 20);
-  by_cmd_send_distance_axis_x(4, 100);
-  by_cmd_send_position_axis_x(4, 0);
-  by_cmd_send_angle_claw_arm(34);
-  by_cmd_send_angle_claw_arm(220);
-  by_cmd_send_angle_claw(27);
+  // by_cmd_send_distance_x(12, 100);
+  // by_cmd_send_angle_camera(20.0);
+  // by_cmd_send_position_axis_z(0x11, 100);
+  // by_cmd_send_distance_axis_z(15, 20);
+  // by_cmd_send_distance_axis_x(4, 100);
+  // by_cmd_send_position_axis_x(4, 0);
+  // by_cmd_send_angle_claw_arm(34);
+  // by_cmd_send_angle_claw_arm(220);
+  // by_cmd_send_angle_claw(27);
+  // sleep(1);
+  // by_cmd_send_distance_axis_x(4, -60);
+  by_cmd_send_light(1);
+  by_cmd_send_beep(1);
+  sleep(0.5);
+  by_cmd_send_light(0);
+  by_cmd_send_beep(0);
+  sleep(1);
+  by_cmd_send_light(1);
+  by_cmd_send_beep(1);
+  sleep(0.5);
+  by_cmd_send_light(0);
+  by_cmd_send_beep(0);
   sleep(1);
-  by_cmd_send_distance_axis_x(4, -60);
 
   return 0;
 }