IflytopCom/src/protocol/zscanprotocol_com/zscanprotocol_com.hpp

#pragma once
#include <fstream>
#include <functional>
#include <iostream>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <sstream>
#include <string>
#include <thread>
#include <vector>

//
#include "app_protocols/zscanprotocol/zscanprotocol.hpp"
#include "protocol/waveshare_can/waveshare_can.hpp"
#include "zqui/zqui/zqui.hpp"

namespace iflytop {
using namespace std;
namespace zscanprotocol {

typedef function<void(packet_type_t type, uint8_t from, uint8_t to, uint8_t *hex, uint32_t hexlen)> on_raw_data_t;

typedef function<string(int ecode)> ecode2str_t;

class RxReceiptContext {
 public:
  bool    waittingForReceipt;
  bool    receiptIsReady;
  uint8_t waittingIndex;
  uint8_t receipt[1024];
  size_t  receiptLen;
};

class Receipt {
 public:
  uint8_t receipt[1024];
  size_t  receiptLen;

  zcanbus_packet_t *getPacket() { return (zcanbus_packet_t *)receipt; }
  int32_t           getContent(int index) { return getPacket()->params[index]; }
  uint8_t          *getByte() { return (uint8_t *)getPacket()->params; }
};

class CanPacketRxBuffer {
 public:
  int32_t id   = 0;
  uint8_t from = 0;
  uint8_t to   = 0;

  uint8_t rxdata[2048] = {0};
  int     rxdataSize   = 0;

  int rxPacketNum = 0;
};

class ZSCanProtocolCom {
  WaveshareCan *m_channel = nullptr;

  uint8_t m_rxcache[1024]   = {0};
  int32_t m_rxlen           = 0;
  bool    m_rxcache_is_full = false;

  mutex lock_;

  unique_ptr<thread> m_thread;

  RxReceiptContext m_rxReceiptContext;
  mutex            m_rxReceiptContext_lock;

  /*******************************************************************************
   *                                 TX CONTEXT                                  *
   *******************************************************************************/
  mutex   m_tx_lock;
  uint8_t m_txbuf[1024] = {0};
  int32_t m_rxsize      = 0;
  uint8_t m_txindex     = 0;

  CanPacketRxBuffer m_rxbuf[255];

  on_raw_data_t on_rx_raw;

  uint8_t           m_receipt_cache[1024];
  zcanbus_packet_t *m_receipt_frame = (zcanbus_packet_t *)m_receipt_cache;
  size_t            m_receipt_len   = 0;

 public:
  ZSCanProtocolCom() {}

 public:
  void initialize(QTSerialChannel *ch);
  void regOnRawData(on_raw_data_t cb) { on_rx_raw = cb; }
  void updateChannelConfig();

  shared_ptr<Receipt> callcmd(int32_t to, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd0(int32_t to, int32_t cmdid, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd1(int32_t to, int32_t cmdid, int32_t param0, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd2(int32_t to, int32_t cmdid, int32_t param0, int32_t param1, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd3(int32_t to, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd4(int32_t to, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t param3, int32_t overtime = 100);
  shared_ptr<Receipt> callcmd5(int32_t to, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t param3, int32_t param4, int32_t overtime = 100);

  void sendraw(int32_t from, int32_t to, uint8_t *data, size_t len);

 private:
  void sendframe(int32_t from, int32_t to, uint8_t *frame, size_t len);
  void sendsubframe(int32_t from, int32_t to, int npacket, int packetIndex, uint8_t *packet, size_t len);
  void processRxPacket(int32_t from, int32_t to, uint8_t *data, size_t len);

 private:
  CanPacketRxBuffer *findRxBuff(int deviceId);
  string             ecode2str(int ecode);
};
}  // namespace zscanprotocol

}  // namespace iflytop