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//
// Created by zwsd
//
#pragma once
#include <map>
#include "basic.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
#define ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \
auto *cmdheader = (Cmdheader_t *)m_txbuf; \ auto *cmd = (varcmdid##_cmd_t *)cmdheader->data; \ cmdheader->cmdid = MODULE_CMDID(varcmdid); \ cmdheader->subcmdid = SUBCMDID(varcmdid); \ cmdheader->packetType = zcr::kpt_cmd; \ static_assert(sizeof(varcmdid##_cmd_t) <= sizeof(m_txbuf), "m_txbuf is too small"); \ cmd->id = m_id;
#define ZCAN_SEND_CMD_WITH_STATUS_CB(varcmdid, overtime, ...) \
ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \ __VA_ARGS__ \ int32_t errorcode = m_cancmder->sendCmdWithStatusCb((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), getindexcache(varcmdid), overtime, status_cb); \ return errorcode;
#define ZCAN_SEND_CMD(varcmdid, ack, overtime, ...) \
ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \ __VA_ARGS__ \ int32_t errorcode = m_cancmder->sendCmd((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), (uint8_t *)&ack, sizeof(ack), overtime); \ return errorcode;
#define ZCAN_SEND_CMD_NO_ACK(varcmdid, overtime, ...) \
ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \ __VA_ARGS__ \ int32_t errorcode = m_cancmder->sendCmdNoAck((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), overtime); \ return errorcode;
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; zcan_commnader_master_onpacket_t on_cmd_exec_status_report; zcan_commnader_master_onpacket_t on_report;};
class ZCanCommnaderMaster : public ZCanIRQListener { public: class CFG { public: uint8_t deviceId; //
/*******************************************************************************
* 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;
zmutex txlock;
public: ZCanCommnaderMaster() {} CFG *createCFG(); void init(CFG *cfg);
int32_t sendCmd(uint8_t *packet, size_t len, uint8_t *rxbuf, size_t rxbuflen, int overtime_ms); int32_t sendCmdNoAck(uint8_t *packet, size_t len, int overtime_ms); int32_t sendCmdWithStatusCb(uint8_t *packet, size_t len, uint16_t &packetindex, int overtime_ms, action_cb_status_t status_cb);
int32_t sendPacketBlock(uint8_t *packet, size_t len, uint16_t &packetindex, uint8_t *rxbuf, size_t rxbuflen, int overtime_ms, zcan_commnader_master_onpacket_t onReport); void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
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, //
zcan_commnader_master_onpacket_t on_cmd_exec_status_report, //
zcan_commnader_master_onpacket_t on_report); void unregListener(uint16_t index); void callListener(CanPacketRxBuffer *report); void unregListenerAckCB(uint16_t index); 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 freeCanPacketRxBuffer(uint16_t id); void processReadyPacket(CanPacketRxBuffer *buf);};
} // namespace iflytop
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