p_graphite_digester_sdk/components/zcancmder/zcanreceiver_master.hpp

//
// Created by zwsd
//

#pragma once
#include <map>

#include "basic.hpp"
#include "sdk/os/zos.hpp"
// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
#ifdef HAL_CAN_MODULE_ENABLED

namespace iflytop {
using namespace std;
typedef function<void(CanPacketRxBuffer *report)> zcan_commnader_master_onpacket_t;

class ZCanCommnaderMasterListener {
 public:
  zcan_commnader_master_onpacket_t on_ack;
};

typedef function<void(uint8_t *packet, size_t len)> rawpacket_t;

class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
 public:
  class CFG {
   public:
    uint8_t deviceId = 0;  //
    /*******************************************************************************
     *                                  CANConfig                                  *
     *******************************************************************************/
    CAN_HandleTypeDef *canHandle;            // Ĭ��ʹ��CAN1
    int                canFilterIndex0;      // ������0 ���գ�������������Ϣ
    int                maxFilterNum;         // ʹ�õĹ���������������ֵ14��Ĭ��Ϊ7
    int                rxfifoNum;            // ʹ�õ�FIFO,Ĭ��ʹ��FIFO0
    int                packetRxOvertime_ms;  //
  };

  uint8_t txbuff[2100];

 public:
  class LoopJobContext {
   public:
    bool hasDoneSomething;
  };

 private:
  CFG              *m_config           = NULL;   // ����
  bool              m_canOnRxDataFlag  = false;  // �Ƿ������ݽ��գ����ڴ��ж�������ת�Ƶ�MainLoop������
  uint32_t          m_lastPacketTicket = 0;      // ��һ�ν��յ���Ϣ��ʱ�䣬�����ж��������Ƿ��Ͽ�����
  HAL_StatusTypeDef m_lastTransmitStatus;        // �ϴε���can���ͷ����ķ���ֵ

#define CAN_PACKET_RX_BUFFER_NUM 5
  CanPacketRxBuffer m_canPacketRxBuffer[CAN_PACKET_RX_BUFFER_NUM];

  int txPacketInterval_ms = 0;

  ZThread m_loopThread;

  map<uint16_t, ZCanCommnaderMasterListener> m_on_packet_map;
  zmutex                                     m_on_packet_map_lock;
  uint16_t                                   m_index_off = 0;
  onpacket_t                                 m_on_event;

  rawpacket_t m_rawpacketcb = nullptr;

  zmutex txlock;

 public:
  ZCanCommnaderMaster() {}
  CFG *createCFG();
  void init(CFG *cfg);

  void            setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
  virtual int32_t sendCmd(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) override;
  virtual int32_t sendCmdAndReceiveBuf(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) override;
  virtual void    regEventPacketListener(onpacket_t on_event) override;

  void sendRawPacket(uint8_t *packet, size_t len);
  void regRawPacketListener(rawpacket_t rawpacketcb);

 public:
  virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
  virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);

 private:
  void loop();

  uint8_t  getDeviceId() { return m_config->deviceId; }
  void     sendPacket(uint8_t *packet, size_t len);
  void     regListener(uint16_t index, zcan_commnader_master_onpacket_t onack);
  void     unregListener(uint16_t index);
  void     callListener(CanPacketRxBuffer *report);
  bool     isListenerReg(uint16_t index);
  int      getListenerNum();
  uint16_t generateFreeIndex();
  bool     sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);

  HAL_StatusTypeDef initializeFilter();
  HAL_StatusTypeDef activateRxIT();
  HAL_StatusTypeDef deactivateRxIT();
  bool              getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);

  size_t safe_memcpy(void *dst, size_t dst_max_size, void *src, size_t src_len);

  void               initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id);
  CanPacketRxBuffer *allocCanPacketRxBufferInIRQ(uint16_t id);
  CanPacketRxBuffer *findCanPacketRxBufferInIRQ(uint16_t id);
  void               processReadyPacket(CanPacketRxBuffer *buf);
};

}  // namespace iflytop
#endif