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137 lines
6.5 KiB
137 lines
6.5 KiB
//
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// Created by zwsd
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//
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#pragma once
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#include <map>
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#include "basic.hpp"
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#include "sdk/os/zos.hpp"
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#include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
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#define ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \
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auto *cmdheader = (Cmdheader_t *)m_txbuf; \
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auto *cmd = (varcmdid##_cmd_t *)cmdheader->data; \
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cmdheader->cmdid = MODULE_CMDID(varcmdid); \
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cmdheader->subcmdid = SUBCMDID(varcmdid); \
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cmdheader->packetType = zcr::kpt_cmd; \
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static_assert(sizeof(varcmdid##_cmd_t) <= sizeof(m_txbuf), "m_txbuf is too small"); \
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cmd->id = m_id;
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#define ZCAN_SEND_CMD_WITH_STATUS_CB(varcmdid, overtime, ...) \
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ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \
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__VA_ARGS__ \
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int32_t errorcode = m_cancmder->sendCmdWithStatusCb((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), getindexcache(varcmdid), overtime, status_cb); \
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return errorcode;
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#define ZCAN_SEND_CMD(varcmdid, ack, overtime, ...) \
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ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \
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__VA_ARGS__ \
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int32_t errorcode = m_cancmder->sendCmd((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), (uint8_t *)&ack, sizeof(ack), overtime); \
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return errorcode;
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#define ZCAN_SEND_CMD_NO_ACK(varcmdid, overtime, ...) \
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ZCAN_SEND_CMD_PREFIX(varcmdid, overtime) \
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__VA_ARGS__ \
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int32_t errorcode = m_cancmder->sendCmdNoAck((uint8_t *)m_txbuf, sizeof(*cmdheader) + sizeof(*cmd), overtime); \
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return errorcode;
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namespace iflytop {
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using namespace std;
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typedef function<void(CanPacketRxBuffer *report)> zcan_commnader_master_onpacket_t;
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class ZCanCommnaderMasterListener {
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public:
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zcan_commnader_master_onpacket_t on_ack;
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zcan_commnader_master_onpacket_t on_cmd_exec_status_report;
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zcan_commnader_master_onpacket_t on_report;
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};
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class ZCanCommnaderMaster : public ZCanIRQListener {
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public:
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class CFG {
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public:
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uint8_t deviceId; //
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/*******************************************************************************
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* CANConfig *
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*******************************************************************************/
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CAN_HandleTypeDef *canHandle; // 默认使用CAN1
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int canFilterIndex0; // 过滤器0 接收，发给自身的消息
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int maxFilterNum; // 使用的过滤器数量，最大值14，默认为7
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int rxfifoNum; // 使用的FIFO,默认使用FIFO0
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int packetRxOvertime_ms; //
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};
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uint8_t txbuff[2100];
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public:
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class LoopJobContext {
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public:
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bool hasDoneSomething;
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};
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private:
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CFG *m_config = NULL; // 配置
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bool m_canOnRxDataFlag = false; // 是否有数据接收，用于从中断上下文转移到MainLoop上下文
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uint32_t m_lastPacketTicket = 0; // 上一次接收到消息的时间，用于判断与主机是否断开连接
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HAL_StatusTypeDef m_lastTransmitStatus; // 上次调用can发送方法的返回值
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#define CAN_PACKET_RX_BUFFER_NUM 5
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CanPacketRxBuffer m_canPacketRxBuffer[CAN_PACKET_RX_BUFFER_NUM];
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int txPacketInterval_ms = 0;
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ZThread m_loopThread;
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map<uint16_t, ZCanCommnaderMasterListener> m_on_packet_map;
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zmutex m_on_packet_map_lock;
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uint16_t m_index_off = 0;
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public:
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ZCanCommnaderMaster() {}
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CFG *createCFG();
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void init(CFG *cfg);
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int32_t sendCmd(uint8_t *packet, size_t len, uint8_t *rxbuf, size_t rxbuflen, int overtime_ms);
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int32_t sendCmdNoAck(uint8_t *packet, size_t len, int overtime_ms);
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int32_t sendCmdWithStatusCb(uint8_t *packet, size_t len, uint16_t &packetindex, int overtime_ms, action_cb_status_t status_cb);
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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);
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void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
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public:
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virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
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virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);
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private:
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void loop();
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uint8_t getDeviceId() { return m_config->deviceId; }
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void sendPacket(uint8_t *packet, size_t len);
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void regListener(uint16_t index, //
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zcan_commnader_master_onpacket_t onack, //
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zcan_commnader_master_onpacket_t on_cmd_exec_status_report, //
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zcan_commnader_master_onpacket_t on_report);
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void unregListener(uint16_t index);
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void callListener(CanPacketRxBuffer *report);
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void unregListenerAckCB(uint16_t index);
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bool isListenerReg(uint16_t index);
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int getListenerNum();
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uint16_t generateFreeIndex();
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bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
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HAL_StatusTypeDef initializeFilter();
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HAL_StatusTypeDef activateRxIT();
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HAL_StatusTypeDef deactivateRxIT();
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bool getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);
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size_t safe_memcpy(void *dst, size_t dst_max_size, void *src, size_t src_len);
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void initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id);
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CanPacketRxBuffer *allocCanPacketRxBufferInIRQ(uint16_t id);
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CanPacketRxBuffer *findCanPacketRxBufferInIRQ(uint16_t id);
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void freeCanPacketRxBuffer(uint16_t id);
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void processReadyPacket(CanPacketRxBuffer *buf);
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};
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} // namespace iflytop
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