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101 lines
3.4 KiB
101 lines
3.4 KiB
#pragma once
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#include <stdint.h>
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#define ZPACKET_STRUCT(ordername, type, ...) \
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typedef struct { \
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__VA_ARGS__ \
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} ordername##_##type##_t
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#define ZPACKET_CMD_ACK(ordername, cmdpara, ackpara) \
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typedef struct { \
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cmdpara \
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} ordername##_##cmd##_t; \
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typedef struct { \
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ackpara \
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} ordername##_##ack##_t
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#define ZPACKET_CMD_ACK_AND_REPORT(ordername, cmdpara, ackpara, reportpara) \
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typedef struct { \
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cmdpara \
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} ordername##_##cmd##_t; \
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typedef struct { \
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ackpara \
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} ordername##_##ack##_t; \
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typedef struct { \
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reportpara \
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} ordername##_##report##_t
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#define PROCESS_PACKET(ordername, varid) \
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if (rxcmd->iscmd(ordername)) { \
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auto* cmd = rxcmd->get_data_as<ordername##_##cmd##_t>(); \
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auto* ack = (ordername##_##ack##_t*)m_txbuf; \
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auto cmdheader = rxcmd->get_cmdheader(); \
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uint32_t errorcode = 0; \
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if (cmd->id == varid) { \
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ack->id = cmd->id;
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#define END_PROCESS_PACKET() \
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if (errorcode == 0) { \
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m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \
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} else { \
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m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), errorcode); \
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} \
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} \
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return; \
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}
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#define CMD(x) x
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#define ACK(x) x
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#define REPORT(x) x
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namespace iflytop {
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namespace zcr {
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typedef uint8_t u8;
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typedef uint16_t u16;
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typedef uint32_t u32;
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typedef uint64_t u64;
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typedef int8_t s8;
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typedef int16_t s16;
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typedef int32_t s32;
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typedef int64_t s64;
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typedef float f32;
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typedef double f64;
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#pragma pack(push, 1)
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typedef struct {
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uint16_t packetindex;
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uint16_t cmdid;
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uint8_t subcmdid;
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uint8_t packetType;
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uint8_t data[];
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} Cmdheader_t;
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#pragma pack(pop)
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typedef enum {
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kpt_cmd = 0,
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kpt_ack = 1,
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kpt_error_ack = 2,
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kpt_cmd_exec_status_report = 3,
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} PacketType_t;
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typedef enum {
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kset_cmd_type_read = 0,
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kset_cmd_type_set = 1,
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} SetCmdOperationType_t;
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typedef enum {
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kMotorStopType_stop = 0,
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kMotorStopType_break = 1,
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} MotorStopType_t;
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#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
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typedef enum {
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kmodule_statu_idle,
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kmodule_statu_work,
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kmodule_statu_exception,
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} module_statu_type_t;
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} // namespace zcr
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} // namespace iflytop
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