hand_acid_mainboard/usrc/service/remote_controler.cpp

#include "remote_controler.hpp"

#include "app_protocols/ble_through/ble_proto_utils.h"
using namespace iflytop;

#define TAG          "RemoteControler"
#define MODULE_DEBUG 0

#define UART_RX_OVERTIME 200
#define CMD_OVERTIME     500

static ZQueue<RemoteControlerReportPacket_t> ackQueue;
static ZQueue<RemoteControlerReportPacket_t> eventQueue;
static ZThread                               usartRxThread;
static ZThread                               eventProcessThread;
static bool                                  m_isWaitingForAck;
static UART_HandleTypeDef*                   m_uart;

static const char* zhex2str(uint8_t* data, size_t len) {
  static char buf[256];
  memset(buf, 0, sizeof(buf));
  for (size_t i = 0; i < len; i++) {
    sprintf(buf + i * 2, "%02X", data[i]);
  }
  return buf;
}

void RemoteControlerUpper::initialize() {
  ackQueue.initialize(1, sizeof(RemoteControlerReportPacket_t));
  eventQueue.initialize(3, sizeof(RemoteControlerReportPacket_t));
  usartRxThread.init("usartRxThread", 1024);
  eventProcessThread.init("eventProcessThread", 1024);
  ZASSERT(AppHardware::ins()->remoteContolerUart);

  m_uart = AppHardware::ins()->remoteContolerUart;
  m_cmdlock.init();
  zble_proto_utils_init(kzble_master);

  // m_cmdlock
}
void RemoteControlerUpper::regOnReport(on_report_cb_t on_report) {
  m_cb[m_ncb] = on_report;
  m_ncb++;
}

bool RemoteControlerUpper::isConnected() { return AppHardware::ins()->BLE_CONNECTED_STATE.getState(); }
void RemoteControlerUpper::callOnReport(uint8_t* rx, int32_t len) {
  for (int32_t i = 0; i < m_ncb; i++) {
    m_cb[i](rx, len);
  }
}

void RemoteControlerUpper::startSchedule() {
  usartRxThread.start([this]() {
    static uint8_t rxbuf[128];
    m_uart->USR_UartITRxing     = 1;
    m_uart->USR_UartITRxBuf     = rxbuf;
    m_uart->USR_UartITRxBufSize = 128;
    m_uart->USR_UartITRxOff     = 0;
    HAL_UART_Receive_IT(m_uart, &m_uart->USR_UartITRxBufCache, 1);
    while (1) {
      // static uint8_t processbuf[128];
      static RemoteControlerReportPacket_t rxpacket;
      rxpacket.datalen                   = 0;
      zble_proto_packet_t* rxblepacket   = (zble_proto_packet_t*)m_uart->USR_UartITRxBuf;
      uint8_t*             rxblepacketu8 = (uint8_t*)m_uart->USR_UartITRxBuf;
      int                  curPacketlen  = rxblepacket->packetlen;

      if (m_uart->USR_UartITRxOff != 0) {
        if ((m_uart->USR_UartITRxOff >= curPacketlen) &&  //
            rxblepacket->h1 == 0xAA &&                    //
            rxblepacket->h2 == 0xBB &&                    //
            rxblepacketu8[curPacketlen - 1] == 0xCC) {
        	 //ZLOGI(TAG, "uuuuuuuuuuuuuuuuuuuuuuuuuu");
          vPortEnterCritical();
          // copy data
          memcpy(rxpacket.data, rxblepacketu8, curPacketlen);
          rxpacket.datalen = curPacketlen;
          // move data
          memmove(m_uart->USR_UartITRxBuf, m_uart->USR_UartITRxBuf + curPacketlen, curPacketlen);
          m_uart->USR_UartITRxOff = m_uart->USR_UartITRxOff - curPacketlen;
          vPortExitCritical();
        } else {
          if (zos_haspassedms(m_uart->USR_UartITLastRxTicket) > UART_RX_OVERTIME) {
            // drop data
            ZLOGI(TAG, "drop data %d %s", m_uart->USR_UartITRxOff, zhex2str(m_uart->USR_UartITRxBuf, m_uart->USR_UartITRxOff));

            vPortEnterCritical();
            m_uart->USR_UartITRxOff = 0;
            memset(rxbuf, 0, 128);
            vPortExitCritical();
          }
        }
      }
      if (rxpacket.datalen != 0) {
        preProcessrxpacket(&rxpacket);
      }
      // ZLOGI(TAG,".");
      osDelay(2);
    }
  });

  /**
   * @brief �����ϱ���Ϣ
   */
  eventProcessThread.start([this]() {
    while (1) {
      static RemoteControlerReportPacket_t packet;
      bool                                 suc = eventQueue.receive(&packet, 10);
      if (suc) {
        processRxEventPacket(&packet);
      }
      osDelay(1);
    }
  });
}

void RemoteControlerUpper::preProcessrxpacket(RemoteControlerReportPacket_t* packet) {
#if MODULE_DEBUG
  ZLOGI(TAG, "[rx-thread] : rx :%s(%d)", zhex2str(packet->data, packet->datalen), packet->datalen);
#endif

  zble_proto_packet_t* p_packet = (zble_proto_packet_t*)packet->data;
  if (!ble_through_proto_check_packet(p_packet)) {
    ZLOGI(TAG, "rx invalid packet %s", zhex2str(packet->data, packet->datalen));
    return;
  }

  bool suc = true;
  if (p_packet->frameType == kzble_proto_cmd) {
    // suc = ackQueue.send(packet, 10);
  } else if (p_packet->frameType == kzble_proto_report) {
    suc = eventQueue.send(packet, 10);
  } else if (p_packet->frameType == kzble_proto_error_receipt || p_packet->frameType == kzble_proto_cmd_receipt) {
    if (m_isWaitingForAck) {
      suc               = ackQueue.send(packet, 10);
      m_isWaitingForAck = false;
    }
  }
  if (!suc) {
    ZLOGI(TAG, "eventQueue send failed");
  }
}

void RemoteControlerUpper::processRxEventPacket(RemoteControlerReportPacket_t* packet) {
#if MODULE_DEBUG
  ZLOGI(TAG, "[process-thread] rx event : %s", zhex2str(packet->data, packet->datalen));
#endif
  // if (m_on_report) {
  //   m_on_report(packet->data, packet->datalen);
  // }
  callOnReport(packet->data, packet->datalen);
}
bool RemoteControlerUpper::txcmd(uint8_t* data, uint32_t len) {
  /**
   * @brief
   */
  zlock_guard lg(m_cmdlock);
  ackQueue.clear();
  m_isWaitingForAck = true;
#if MODULE_DEBUG
  ZLOGI(TAG, "txcmd : %s(%d)", zhex2str(data, len), len);
#endif

  // vPortEnterCritical();
  HAL_UART_Transmit(m_uart, data, len, 100);
  // vPortExitCritical();
  // HAL_UART_Transmit_DMA(m_uart, data, len);
  bool suc = ackQueue.receive(&ackcache, CMD_OVERTIME);
  if (!suc) {
    ZLOGI(TAG, "txcmd : %s(%d) fail", zhex2str(data, len), len);
    // HAL_UART_DMAStop(m_uart);
    return false;
  }
#if MODULE_DEBUG
  ZLOGI(TAG, "ack : %s", zhex2str(ackcache.data, ackcache.datalen));
#endif
  // HAL_UART_DMAStop(m_uart);
  return true;
}

/***********************************************************************************************************************
 *                                                         CMD                                                         *
 ***********************************************************************************************************************/

bool RemoteControlerUpper::resetMasterBoard() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_reset, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}
bool RemoteControlerUpper::resetClientBoard() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_reset, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_slave);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}

bool RemoteControlerUpper::readMasterBoardVersion(zble_read_version_t* version) {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_read_version, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  if (suc) *version = *(zble_read_version_t*)(rxpacket->data);
  return suc;
}
bool RemoteControlerUpper::readClientBoardVersion(zble_read_version_t* version) {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_read_version, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_slave);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  if (suc) *version = *(zble_read_version_t*)(rxpacket->data);
  return suc;
}

bool RemoteControlerUpper::clearMasterResetFlag() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_clear_reset_flag, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}
bool RemoteControlerUpper::clearSlaveResetFlag() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_clear_reset_flag, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_slave);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}

bool RemoteControlerUpper::setMasterInDfuMode() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_set_in_dfu_mode, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}
bool RemoteControlerUpper::setSlaveInDfuMode() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_set_in_dfu_mode, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_slave);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}

bool RemoteControlerUpper::startScan(const char* slaveName, bool autoConnect) {
  //   typedef struct {
  //   uint8_t slaveName[20];
  //   uint8_t autoConnect;
  // } zble_start_scan_t;
  zble_start_scan_t scanparam = {0};
  if (slaveName) strncpy((char*)scanparam.slaveName, slaveName, 20);
  scanparam.autoConnect = autoConnect;

  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_start_scan, m_index++, (uint8_t*)&scanparam, sizeof(scanparam));
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}
bool RemoteControlerUpper::stopScan() {
  zble_proto_utils_create_cmd_packet(txpacket, kzble_cmd_stop_scan, m_index++, NULL, 0);
  zble_proto_utils_set_packet_to(txpacket, kzble_master);
  bool suc = txcmd(txbuf, txpacket->packetlen);
  return suc;
}
/***********************************************************************************************************************
 *                                                         APP                                                         *
 ***********************************************************************************************************************/
bool RemoteControlerUpper::setRemoterState(hand_acid_mode_t mode, bool state) {
  zble_proto_packet_t* packet   = (zble_proto_packet_t*)txbuf;
  int32_t              param[2] = {mode, state};
  zble_proto_utils_create_cmd_packet_int32(packet, kzble_app_cmd_set_state, m_index++, param, 2);
  bool suc = txcmd(txbuf, packet->packetlen);
  return suc;
}