libxsync/src/xsync_v2.cpp

#include "xsync_v2.hpp"

#include <string.h>

#include <map>

#include "../src/logger.hpp"
#include "xsync_errcode.hpp"
#include "xsync_regs.hpp"
#include "xsync_utils.hpp"
#include "xsync_v2_sig_type.hpp"

#define TAG "XSYNC"

using namespace xsync;
using namespace std;

/**
 * @brief XSYNC协议端口
 */
#define IFLYTOP_XSYNC_SERVICE_XSYNC_PORT 19900  // xsync端端口
#define IFLYTOP_XSYNC_SERVICE_PC_PORT    19901  // pc   端端口

#define IFLYTOP_XSYNC_TIMECODE_REPORT_XSYNC_PORT 19902  // xsync端端口
#define IFLYTOP_XSYNC_TIMECODE_REPORT_PC_PORT    19903  // pc端端口

#define IFLYTOP_XSYNC_CAMERA_SYNC_PACKET_XSYNC_PORT 13013  // xsync端端口
#define IFLYTOP_XSYNC_CAMERA_SYNC_PACKET_PC_PORT    13014  // pc端端口

#define DO_XSYNC(exptr)                        \
  {                                            \
    xs_error_code_t ecode = exptr;             \
    if (ecode != kxs_ec_success) return ecode; \
  }

#define REG_WRITE(reg, value)            \
  {                                      \
    DO_XSYNC(reg_write(reg, value, 10)); \
    return kxs_ec_success;               \
  }

#define REG_READ(reg, value)              \
  {                                       \
    uint32_t readbak = 0;                 \
    DO_XSYNC(reg_read(reg, readbak, 10)); \
    value = (decltype(value))readbak;     \
    return kxs_ec_success;                \
  }

I_XSUDPFactory *g_xsync_udp_factory = nullptr;

class RxContext {
 public:
  std::recursive_mutex lock_;

  uint8_t rxpacket[1024]  = {0};
  int32_t rxpacket_length = 0;
  bool    m_isready       = false;
  bool    m_isWait        = false;

  int32_t m_expectIndex = 0;

  void setRxPacket(uint8_t *data, int32_t length) {
    lock_guard<recursive_mutex> lock(lock_);
    memcpy(rxpacket, data, length);
    rxpacket_length = length;
    m_isready       = true;
  }

  void clear() {
    lock_guard<recursive_mutex> lock(lock_);
    memset(rxpacket, 0, sizeof(rxpacket));
    rxpacket_length = 0;
    m_isready       = false;
    m_isWait        = false;
    m_expectIndex   = 0;
  }

  void setWait(bool wait, int32_t waitIndex) {
    lock_guard<recursive_mutex> lock(lock_);
    m_isWait      = wait;
    m_expectIndex = waitIndex;
  }

  bool isReady() { return m_isready; }
  bool isWait() { return m_isWait; }

  int32_t getExpectIndex() { return m_expectIndex; }

  uint8_t *data() { return rxpacket; }
  size_t   size() { return rxpacket_length; }
};

class Xsync : public IXsync {
 private:
  /* data */

  shared_ptr<I_XSUDP> m_xsync_reg_udp                  = nullptr;
  shared_ptr<I_XSUDP> m_xsync_timecode_udp_listener    = nullptr;
  shared_ptr<I_XSUDP> m_xsync_camera_sync_udp_listener = nullptr;

  string m_xsync_ip;
  bool   m_is_connected = false;

  xsync_on_camera_sync_msg_t       m_on_camera_sync_msg_cb       = nullptr;
  xsync_on_timecode_msg_t          m_on_timecode_msg_cb          = nullptr;
  xsync_on_record_sig_change_msg_t m_on_record_sig_change_msg_cb = nullptr;
  xsync_on_connect_state_change_t  m_on_connect_state_change_cb  = nullptr;

  int                  txpacket_index = 0;
  uint8_t              m_xync_cmd_rxdata_cache[2560];
  std::recursive_mutex lock_;
  std::recursive_mutex connectStatelock_;

  // <thread>
  unique_ptr<thread> device_state_monitor_thread;
  bool               destoryflag              = false;
  int64_t            m_last_receive_packet_tp = 0;

  RxContext rxContext;

 private:
  void _setNetworkState(bool connected, string ip) {
    lock_guard<recursive_mutex> lock(connectStatelock_);
    m_is_connected = connected;
    m_xsync_ip     = ip;
    if (m_on_connect_state_change_cb) m_on_connect_state_change_cb(m_is_connected, m_xsync_ip);
  }

  string _getXsyncIp() {
    lock_guard<recursive_mutex> lock(connectStatelock_);
    return m_xsync_ip;
  }

  bool _getConnectState() {
    lock_guard<recursive_mutex> lock(connectStatelock_);
    return m_is_connected;
  }

 public:
  static Xsync &Ins();

  Xsync(/* args */) {}
  virtual ~Xsync() {
    destoryflag = true;
    if (device_state_monitor_thread) device_state_monitor_thread->join();

    if (m_xsync_timecode_udp_listener) m_xsync_timecode_udp_listener->stopReceive();
    if (m_xsync_camera_sync_udp_listener) m_xsync_camera_sync_udp_listener->stopReceive();
    if (m_xsync_reg_udp) m_xsync_reg_udp->stopReceive();
  }

  virtual xs_error_code_t initialize(xsync_config_t *config) override {
    lock_guard<recursive_mutex> lock(lock_);
    xs_error_code_t             ecode = kxs_ec_success;
    shared_ptr<I_XSUDP>         xsync_reg_udp;
    shared_ptr<I_XSUDP>         xsync_timecode_udp_listener;
    shared_ptr<I_XSUDP>         xsync_camera_sync_udp_listener;

    // 寄存器读写UDP
    xsync_reg_udp = g_xsync_udp_factory->createXSUDP();
    ecode         = xsync_reg_udp->initialize("0.0.0.0", IFLYTOP_XSYNC_SERVICE_PC_PORT);
    xsync_reg_udp->startReceive([this](XsyncNetAdd &from, uint8_t *data, size_t length) {
      iflytop_xsync_packet_header_t *rx_data = (iflytop_xsync_packet_header_t *)data;
      if (!rxContext.isWait()) {
        return;
      }

      if (rx_data->index != rxContext.getExpectIndex()) {
        return;
      }

      rxContext.setRxPacket(data, length);
    });

    if (ecode != kxs_ec_success) goto err;

    // TIMECODE上报消息接收UDP
    xsync_timecode_udp_listener = g_xsync_udp_factory->createXSUDP();
    ecode                       = xsync_timecode_udp_listener->initialize("0.0.0.0", IFLYTOP_XSYNC_TIMECODE_REPORT_PC_PORT);
    if (ecode != kxs_ec_success) goto err;
    ecode = xsync_timecode_udp_listener->startReceive([this](XsyncNetAdd &from, uint8_t *data, size_t length) {
      iflytop_xsync_event_report_packet_t *packet = (iflytop_xsync_event_report_packet_t *)data;

      if (!_getConnectState()) {
        m_last_receive_packet_tp = Xsync_GetTicket();
        _setNetworkState(true, from.ip);
      }

      if (_getConnectState() && _getXsyncIp() != from.ip) {
        return;
      }

      m_last_receive_packet_tp = Xsync_GetTicket();

      if (packet->eventid == ktimecode_report_event) {
        Timecode64_t tc64;
        tc64.tc0                 = packet->data[0];
        tc64.tc1                 = packet->data[1];
        tc64.subframe            = packet->data[2];
        XsyncTimecode_t timecode = timecode64ToXsyncTimeCode(tc64);

        if (m_on_timecode_msg_cb) m_on_timecode_msg_cb(&timecode);
      } else if (packet->eventid == kxsync_work_state_report_event) {
        // 信号发生器状态改变
        Timecode64_t tc64        = {0};
        tc64.tc0                 = packet->data[1];
        tc64.tc1                 = packet->data[2];  // TODO:需要锁存时码的子帧
        XsyncTimecode_t timecode = timecode64ToXsyncTimeCode(tc64);

        if (m_on_record_sig_change_msg_cb) m_on_record_sig_change_msg_cb(packet->data[0], &timecode);
      }
    });
    if (ecode != kxs_ec_success) goto err;

#if 1
    // 相机同步包
    if (config->listenCameraSyncPacket) {
      xsync_camera_sync_udp_listener = g_xsync_udp_factory->createXSUDP();
      ecode                          = xsync_camera_sync_udp_listener->initialize("0.0.0.0", IFLYTOP_XSYNC_CAMERA_SYNC_PACKET_PC_PORT);
      if (ecode != kxs_ec_success) goto err;
      ecode = xsync_camera_sync_udp_listener->startReceive([this](XsyncNetAdd &from, uint8_t *data, size_t length) {  //
        parseCameraSyncMsgAndReport(from, data, length);
      });
      if (ecode != kxs_ec_success) goto err;
    }

#endif

    m_xsync_timecode_udp_listener    = xsync_timecode_udp_listener;
    m_xsync_camera_sync_udp_listener = xsync_camera_sync_udp_listener;
    m_xsync_reg_udp                  = xsync_reg_udp;

    // 设备枚举线程
    device_state_monitor_thread.reset(new thread([this]() {
      while (!destoryflag) {
        int32_t has_not_receive_packet_time_s = (Xsync_GetTicket() - m_last_receive_packet_tp) / 1000 / 1000;
        // ZLOGI(TAG, "%lld ", has_not_receive_packet_time_s);
        if (m_is_connected && (has_not_receive_packet_time_s) > 500) {
          _setNetworkState(false, "");
        }
        this_thread::sleep_for(chrono::seconds(1));
      }
      return;
    }));

    return kxs_ec_success;
  err:
    if (xsync_timecode_udp_listener) xsync_timecode_udp_listener->stopReceive();
    if (xsync_camera_sync_udp_listener) xsync_camera_sync_udp_listener->stopReceive();
    return ecode;
  }

  virtual bool ping() override {
    uint32_t        readbak;
    xs_error_code_t ecode = reg_read(reg::kproduct_type_id, readbak, 10);
    if (ecode != kxs_ec_success) {
      return false;
    }
    return true;
  }

  virtual bool   getConnectState() override { return _getConnectState(); }
  virtual string getDeviceIp() override { return _getXsyncIp(); }

  virtual xs_error_code_t NetworkConfig_setMode(NetworkMode_t mode) override { REG_WRITE(reg::kstm32_obtaining_ip_mode, mode); }
  virtual xs_error_code_t NetworkConfig_getMode(NetworkMode_t &mode) override {
    uint32_t mode_u32;
    DO_XSYNC(reg_read(reg::kstm32_obtaining_ip_mode, mode_u32, 10));
    mode = (NetworkMode_t)mode_u32;
    return kxs_ec_success;
  }

  virtual xs_error_code_t NetworkConfigStaticIpMode_setIp(string ip) override {
    xs_error_code_t ecode;
    bool            suc  = false;
    uint32_t        ip32 = (uint32_t)ipToUint32(ip.c_str(), suc);
    if (!suc) return kxs_ec_param_error;

    uint32_t readbak = 0;

    ecode = reg_write(reg::kstm32_ip, ip32, readbak);
    if (ecode != kxs_ec_success) return ecode;

    return kxs_ec_success;
  }
  virtual xs_error_code_t NetworkConfigStaticIpMode_setMask(string mask) override {
    xs_error_code_t ecode;
    bool            suc    = false;
    uint32_t        mask32 = (uint32_t)ipToUint32(mask.c_str(), suc);
    if (!suc) return kxs_ec_param_error;

    uint32_t readbak = 0;

    ecode = reg_write(reg::kstm32_netmask, mask32, readbak);
    if (ecode != kxs_ec_success) return ecode;

    return kxs_ec_success;
  }
  virtual xs_error_code_t NetworkConfigStaticIpMode_setGateway(string gateway) override {
    xs_error_code_t ecode;
    bool            suc       = false;
    uint32_t        gateway32 = (uint32_t)ipToUint32(gateway.c_str(), suc);
    if (!suc) return kxs_ec_param_error;

    uint32_t readbak = 0;

    ecode = reg_write(reg::kstm32_gw, gateway32, readbak);
    if (ecode != kxs_ec_success) return ecode;

    return kxs_ec_success;
  }

  virtual xs_error_code_t NetworkConfigStaticIpMode_getIp(string &ip) override {
    uint32_t ip32;
    DO_XSYNC(reg_read(reg::kstm32_ip, ip32, 10));
    ip = uint32ToIp(ip32);
    return kxs_ec_success;
  }
  virtual xs_error_code_t NetworkConfigStaticIpMode_getMask(string &mask) override {
    uint32_t mask32;
    DO_XSYNC(reg_read(reg::kstm32_netmask, mask32, 10));

    mask = uint32ToIp(mask32);
    return kxs_ec_success;
  }
  virtual xs_error_code_t NetworkConfigStaticIpMode_getGateway(string &gateway) override {
    uint32_t gateway32;
    DO_XSYNC(reg_read(reg::kstm32_gw, gateway32, 10));

    gateway = uint32ToIp(gateway32);
    return kxs_ec_success;
  }

  virtual xs_error_code_t readSDKVersion(version_t &version) override {
    version.main = PC_VERSION >> 16;
    version.sub  = (PC_VERSION >> 8) & 0xff;
    version.fix  = PC_VERSION & 0xff;
    return kxs_ec_success;
  }
  virtual xs_error_code_t readARMSoftwareVersion(version_t &version) override {
    uint32_t version_u32;
    DO_XSYNC(reg_read(reg::ksoftware_version, version_u32, 10));
    version.main = version_u32 >> 16;
    version.sub  = (version_u32 >> 8) & 0xff;
    version.fix  = version_u32 & 0xff;
    return kxs_ec_success;
  }
  virtual xs_error_code_t readFPGASoftwareVersion(version_t &version) override {
    uint32_t version_u32;
    DO_XSYNC(reg_read(reg::kfpga_info_reg0, version_u32, 10));
    version.main = version_u32 >> 16;
    version.sub  = (version_u32 >> 8) & 0xff;
    version.fix  = version_u32 & 0xff;
    return kxs_ec_success;
  }

  virtual void registerOnTimecodeMsgCallback(xsync_on_timecode_msg_t cb) override { m_on_timecode_msg_cb = cb; }
  virtual void registerOnCameraSyncMsgCallback(xsync_on_camera_sync_msg_t cb) override { m_on_camera_sync_msg_cb = cb; }
  virtual void registerOnRecordSigChangeMsgCallback(xsync_on_record_sig_change_msg_t cb) override { m_on_record_sig_change_msg_cb = cb; }
  virtual void registerOnConnectStateChangeCallback(xsync_on_connect_state_change_t cb) override { m_on_connect_state_change_cb = cb; };

  virtual xs_error_code_t generatorNewMac() override;
  virtual xs_error_code_t factoryReset() override;
  virtual xs_error_code_t reboot() override;
  virtual xs_error_code_t readSn(string &sn) override;
  virtual xs_error_code_t readMac(string &mac) override;

 public:
  virtual xs_error_code_t reg_write(uint32_t regadd, uint32_t regvalue, uint32_t &regbackvalue, int32_t overtime_ms = 100) override;
  virtual xs_error_code_t reg_read(uint32_t regadd, uint32_t &regvalue, int32_t overtime_ms = 100) override;

 public:
  /*******************************************************************************
   *                                  TIMECODE                                   *
   *******************************************************************************/
  virtual xs_error_code_t ExternalTimecode_readCode(XsyncTimecode_t &timecode) override {  //
    return readtimecode(reg::external_timecode_timecode0, reg::external_timecode_timecode1, timecode);
  }
  virtual xs_error_code_t ExternalTimecode_readSrc(InputInterface_t &timecode_select) override {
    uint32_t readbak = 0;
    DO_XSYNC(reg_read(reg::external_timecode_timecode_sig_selt, readbak, 10));
    if (readbak == 1) {
      timecode_select = INPUT_IF_TIMECODE_BNC;
    } else if (readbak == 2) {
      timecode_select = INPUT_IF_TIMECODE_HEADPHONE;
    } else if (readbak == 0) {
      timecode_select = INPUT_IF_OFF;
    } else {
      timecode_select = INPUT_IF_OFF;
    }
    return kxs_ec_success;
  }
  virtual xs_error_code_t ExternalTimecode_readFreq(float &freq) override {  //
    return readfreq(reg::external_timecode_freq, freq);
  }
  virtual xs_error_code_t ExternalTimecode_readFormat(TimecodeFormat_t &format) override {  //
    return readTimecodeFormat(reg::external_timecode_freq, reg::external_timecode_timecode0, reg::external_timecode_timecode1, format);
  }

  /*******************************************************************************
   *                                  INTERNAL                                   *
   *******************************************************************************/
  virtual xs_error_code_t InternalSigSrouce_start() override {  //
    DO_XSYNC(reg_write(reg::internal_sig_en_contrler_en, 0x7, 10));
    return kxs_ec_success;
  }
  virtual xs_error_code_t InternalSigSrouce_stop() override {  //
    DO_XSYNC(reg_write(reg::internal_sig_en_contrler_en, 0x0, 10));
    return kxs_ec_success;
  }
  virtual xs_error_code_t InternalSigSrouce_readState(bool &en) override {
    uint32_t en_u32;
    DO_XSYNC(reg_read(reg::internal_sig_en_contrler_en, en_u32, 10));
    en = en_u32;
    return kxs_ec_success;
  }

  virtual xs_error_code_t InternalTimecode_setFormat(TimecodeFormat_t format) override { REG_WRITE(reg::internal_timecode_format, format); }
  virtual xs_error_code_t InternalTimecode_getFormat(TimecodeFormat_t &format) override { REG_READ(reg::internal_timecode_format, format); }
  virtual xs_error_code_t InternalTimecode_setCode(XsyncTimecode_t timecode) override {
    DO_XSYNC(reg_write(reg::internal_timecode_en, 0));
    DO_XSYNC(writetimecode(reg::internal_timecode_data0, reg::internal_timecode_data1, timecode));
    DO_XSYNC(reg_write(reg::internal_timecode_en, 1));
    return kxs_ec_success;
  }
  virtual xs_error_code_t InternalTimecode_getCode(XsyncTimecode_t &timecode) override { return readtimecode(reg::internal_timecode_data0, reg::internal_timecode_data1, timecode); }
  virtual xs_error_code_t InternalTimecode_readFreq(float &freq) override { return readfreq(reg::internal_timecode_detect_freq, freq); };

  virtual xs_error_code_t InternalGenlock_setFormat(GenlockFormat_t format) override { return reg_write(reg::internal_genlock_format, format); }
  virtual xs_error_code_t InternalGenlock_getFormat(GenlockFormat_t &format) override { REG_READ(reg::internal_genlock_format, format); }
  virtual xs_error_code_t InternalGenlock_readFreq(float &freq) override { return readfreq(reg::internal_genlock_freq, freq); }

  virtual xs_error_code_t InternalClock_setFreq(float freq) override {
    double T    = 1.0 / freq;
    double T_ns = T * 1000 * 1000 * 1000;
    double cnt  = T_ns / 100 + 0.5;  // 10MHZ <=> 100ns

    uint32_t cnt_u32 = uint32_t(cnt);
    return reg_write(reg::internal_clock_freq, cnt_u32);
    return kxs_ec_success;
  }
  virtual xs_error_code_t InternalClock_getFreq(float &freq) override { return readfreq(reg::internal_clock_freq, freq); }
  virtual xs_error_code_t InternalClock_readOutFreq(float &freq) override { return readfreq(reg::internal_clock_freq_detect, freq); }

  virtual xs_error_code_t SysTimecode_setSource(uint32_t sig) override { REG_WRITE(reg::sys_timecode_select, sig); }
  virtual xs_error_code_t SysTimecode_getSource(uint32_t &sig) override { REG_READ(reg::sys_timecode_select, sig); }
  virtual xs_error_code_t SysTimecode_readFormat(TimecodeFormat_t &format) override { return readTimecodeFormat(reg::sys_timecode_freq_detect, reg::sys_timecode_data0, reg::sys_timecode_data1, format); }
  virtual xs_error_code_t SysTimecode_readFreq(float &freq) override { return readfreq(reg::sys_timecode_freq_detect, freq); }
  virtual xs_error_code_t SysTimecode_readCode(XsyncTimecode_t &timecode) override { return readtimecode(reg::sys_timecode_data0, reg::sys_timecode_data1, timecode); }

  virtual xs_error_code_t RecordSigGenerator_setContrlMode(ControlMode_t mode) override {
    if (mode != CONTROLMODE_MANUAL_TRIGGER && mode != CONTROLMODE_TIMECODE_TRIGGER && mode != CONTROLMODE_EXTERNALTTL_TRIGGER && mode != CONTROLMODE_EXTERNALTTL_EDGE_TRIGGER) {
      return kxs_ec_param_error;
    }
    return reg_write(reg::record_sig_gen_ctrl_control_mode, mode);
  }
  virtual xs_error_code_t RecordSigGenerator_getContrlMode(ControlMode_t &mode) override { return _reg_read(reg::record_sig_gen_ctrl_control_mode, mode); }
  virtual xs_error_code_t RecordSigGenerator_manualStart() override { return reg_write(reg::record_sig_gen_manual_ctrl, 1, 10); }
  virtual xs_error_code_t RecordSigGenerator_manualStop() override { return reg_write(reg::record_sig_gen_manual_ctrl, 0, 10); }
  virtual xs_error_code_t RecordSigGenerator_setAutoStartTimecode(XsyncTimecode_t timecode) override { return writetimecode(reg::record_sig_gen_timecode_start0, reg::record_sig_gen_timecode_start1, timecode); }
  virtual xs_error_code_t RecordSigGenerator_setAutoStopTimecode(XsyncTimecode_t timecode) override { return writetimecode(reg::record_sig_gen_timecode_stop0, reg::record_sig_gen_timecode_stop1, timecode); }
  virtual xs_error_code_t RecordSigGenerator_getAutoStartTimecode(XsyncTimecode_t &timecode) override { return readtimecode(reg::record_sig_gen_timecode_start0, reg::record_sig_gen_timecode_start1, timecode); }
  virtual xs_error_code_t RecordSigGenerator_getAutoStopTimecode(XsyncTimecode_t &timecode) override { return readtimecode(reg::record_sig_gen_timecode_stop0, reg::record_sig_gen_timecode_stop1, timecode); }

  virtual xs_error_code_t RecordSigGenerator_setExternalTTLTriggerSrc(InputInterface_t ttlPortNum) override {
    if (ttlPortNum != INPUT_IF_TTL1 && ttlPortNum != INPUT_IF_TTL2 && ttlPortNum != INPUT_IF_TTL3 && ttlPortNum != INPUT_IF_TTL4) {
      return kxs_ec_param_error;
    }
    return reg_write(reg::record_sig_gen_ttlin_trigger_sig_source, ttlPortNum);
  }
  virtual xs_error_code_t RecordSigGenerator_getExternalTTLTriggerSrc(InputInterface_t &ttlPortNum) override { return _reg_read(reg::record_sig_gen_ttlin_trigger_sig_source, ttlPortNum); }
  virtual xs_error_code_t RecordSigGenerator_setExternalTTLTriggerPolarity(uint32_t polarity) override { return reg_write(reg::record_sig_gen_ttlin_trigger_level, polarity); }
  virtual xs_error_code_t RecordSigGenerator_getExternalTTLTriggerPolarity(uint32_t &polarity) override { return _reg_read(reg::record_sig_gen_ttlin_trigger_level, polarity); }
  virtual xs_error_code_t RecordSigGenerator_setTimecodeCtrlFlag(uint32_t autoStart, uint32_t autoStop) override {
    uint32_t flag = (autoStart & 0x01) | ((autoStop & 0x01) << 1);
    return reg_write(reg::record_sig_gen_timecode_control_flag, flag);
  }
  virtual xs_error_code_t RecordSigGenerator_getTimecodeCtrlFlag(uint32_t &autoStart, uint32_t &autoStop) override {
    uint32_t flag = 0;
    auto     ret  = reg_read(reg::record_sig_gen_timecode_control_flag, flag);
    autoStart     = flag & 0x01;
    autoStop      = (flag >> 1) & 0x01;
    return ret;
  }

  virtual xs_error_code_t RecordSigGenerator_getRecordState(uint32_t &state) override { return _reg_read(reg::record_sig_gen_record_state, state); }
  virtual xs_error_code_t RecordSigGenerator_readTimecodeSnapshot(XsyncTimecode_t &timecode) override { return readtimecode(reg::record_sig_gen_timecode_snapshot0, reg::record_sig_gen_timecode_snapshot1, timecode); }
  virtual xs_error_code_t RecordSigGenerator_setTriggerEdge(TriggerEdge_t edge) override { return reg_write(reg::record_sig_gen_trigger_edge_select, edge); }
  virtual xs_error_code_t RecordSigGenerator_getTriggerEdge(TriggerEdge_t &edge) override { return _reg_read(reg::record_sig_gen_trigger_edge_select, edge); }

  virtual xs_error_code_t TTLOutputModule_setSrcSigType(int index, SignalType_t source) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;

    if (source == SIGNAL_LOGIC0 ||  //
        source == SIGNAL_LOGIC1 ||  //
        source == SIGNAL_BUSINESS_RECORD_SIG) {
      DO_XSYNC(reg_write(reg::kreg_ttlout1_signal_process_mode + (index - 1) * 16, 3, 10));  // 转发模式
    } else {
      ZLOGI(TAG, "TTLOutputModule_setSrcSigType %d %d", index, source);
      DO_XSYNC(reg_write(reg::kreg_ttlout1_signal_process_mode + (index - 1) * 16, 2, 10));  // 分频倍频模式
    }
    REG_WRITE(reg::kreg_ttlout1_input_signal_select + (index - 1) * 16, source);
    return kxs_ec_success;
  }
  virtual xs_error_code_t TTLOutputModule_getSrcSigType(int index, SignalType_t &source) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    uint32_t source_u32;
    DO_XSYNC(reg_read(reg::kreg_ttlout1_input_signal_select + (index - 1) * 16, source_u32, 10));
    source = (SignalType_t)source_u32;
    return kxs_ec_success;
  }
  virtual xs_error_code_t TTLOutputModule_setFreqDivision(int index, uint32_t div) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_WRITE(reg::kreg_ttlout1_pllout_freq_division_ctrl + (index - 1) * 16, div);
  }
  virtual xs_error_code_t TTLOutputModule_getFreqDivision(int index, uint32_t &div) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pllout_freq_division_ctrl + (index - 1) * 16, div);
  }
  virtual xs_error_code_t TTLOutputModule_setFreqMultiplication(int index, uint32_t multi) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_WRITE(reg::kreg_ttlout1_pllout_freq_multiplication_ctrl + (index - 1) * 16, multi);
  }
  virtual xs_error_code_t TTLOutputModule_getFreqMultiplication(int index, uint32_t &multi) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pllout_freq_multiplication_ctrl + (index - 1) * 16, multi);
  }

  virtual xs_error_code_t TTLOutputModule_readInFreq(int index, float &freq) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    return readfreq(reg::kreg_ttlout1_sig_in_freq_detect + (index - 1) * 16, freq);
  }
  virtual xs_error_code_t TTLOutputModule_readOutFreq(int index, float &freq) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    return readfreq(reg::kreg_ttlout1_sig_out_freq_detect + (index - 1) * 16, freq);
  }
  virtual xs_error_code_t TTLOutputModule_setPolarity(int index, uint32_t polarity) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    DO_XSYNC(reg_write(reg::kreg_ttlout1_pllout_polarity_ctrl + (index - 1) * 16, polarity, 10));
    DO_XSYNC(reg_write(reg::kreg_ttlout1_forward_mode_polarity_ctrl + (index - 1) * 16, polarity, 10));
  }
  virtual xs_error_code_t TTLOutputModule_getPolarity(int index, uint32_t &polarity) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pllout_polarity_ctrl + (index - 1) * 16, polarity);
  }
  virtual xs_error_code_t TTLOutputModule_setTriggerEdge(int index, TriggerEdge_t edge) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_WRITE(reg::kreg_ttlout1_pllout_trigger_edge_select + (index - 1) * 16, edge);
  }
  virtual xs_error_code_t TTLOutputModule_getTriggerEdge(int index, TriggerEdge_t &edge) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pllout_trigger_edge_select + (index - 1) * 16, edge);
  }
  virtual xs_error_code_t TTLOutputModule_setPluseWidth(int index, uint32_t us) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_WRITE(reg::kreg_ttlout1_pluse_width_ctrl + (index - 1) * 16, us);
  }
  virtual xs_error_code_t TTLOutputModule_getPluseWidth(int index, uint32_t &us) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pluse_width_ctrl + (index - 1) * 16, us);
  }
  virtual xs_error_code_t TTLOutputModule_setOffsetTime(int index, uint32_t us) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_WRITE(reg::kreg_ttlout1_pluse_offset_ctrl + (index - 1) * 16, us);
  }
  virtual xs_error_code_t TTLOutputModule_getOffsetTime(int index, uint32_t &us) override {
    if (index < 1 || index > 4) return kxs_ec_param_error;
    REG_READ(reg::kreg_ttlout1_pluse_offset_ctrl + (index - 1) * 16, us);
  }

  virtual xs_error_code_t Utils_readSigFreq(SignalType_t sig, float &freq) override {
    if (sig == SIGNAL_LOGIC0) {
      freq = 0;
    } else if (sig == SIGNAL_LOGIC1) {
      freq = 0;
    } else if (sig == SIGNAL_TTLIN1) {
      return TTLInputModule1_detectFreq(freq);
    } else if (sig == SIGNAL_TTLIN2) {
      return TTLInputModule2_detectFreq(freq);
    } else if (sig == SIGNAL_TTLIN3) {
      return TTLInputModule3_detectFreq(freq);
    } else if (sig == SIGNAL_TTLIN4) {
      return TTLInputModule4_detectFreq(freq);
    } else if (sig == SIGNAL_EXT_GENLOCK_FREQ) {
      return ExternalGenlock_detectFreq(freq);
    } else if (sig == SIGNAL_EXT_TIMECODE_FREQ) {
      return ExternalTimecode_readFreq(freq);
    } else if (sig == SIGNAL_INTERNAL_TIMECODE_FREQ) {
      return InternalTimecode_readFreq(freq);
    } else if (sig == SIGNAL_INTERNAL_GENLOCK_FREQ) {
      return InternalGenlock_readFreq(freq);
    } else if (sig == SIGNAL_INTERNAL_CLOCK_SIG) {
      return InternalClock_readOutFreq(freq);
    } else if (sig == SIGNAL_SYS_CLK_OUTPUT) {
      return SysClock_readOutSigFreq(freq);
    } else if (sig == SIGNAL_SYS_GENLOCK_OUTPUT) {
      return SysGenlock_readFreq(freq);
    } else if (sig == SIGNAL_SYS_TIMECODE_FREQ_OUTPUT) {
      return SysTimecode_readFreq(freq);
    } else if (sig == SIGNAL_BUSINESS_RECORD_SIG) {
      return kxs_ec_param_error;
    } else if (sig == SIGNAL_BUSINESS_RECORD_EXPOSURE_SIG) {
      return kxs_ec_param_error;
    }
    return kxs_ec_param_error;
  }
  virtual xs_error_code_t TTLInputModule1_detectFreq(float &freq) override { return readfreq(reg::k_ttlin1_freq_detector_reg, freq); }
  virtual xs_error_code_t TTLInputModule2_detectFreq(float &freq) override { return readfreq(reg::k_ttlin2_freq_detector_reg, freq); }
  virtual xs_error_code_t TTLInputModule3_detectFreq(float &freq) override { return readfreq(reg::k_ttlin3_freq_detector_reg, freq); }
  virtual xs_error_code_t TTLInputModule4_detectFreq(float &freq) override { return readfreq(reg::k_ttlin4_freq_detector_reg, freq); }
  virtual xs_error_code_t TimecodeOutputModule_setBncOutputLevel(int level) { REG_WRITE(reg::timecode_output_bnc_outut_level_select, level); }
  virtual xs_error_code_t TimecodeOutputModule_getBncOutputLevel(int &level) { REG_READ(reg::timecode_output_bnc_outut_level_select, level); }
  virtual xs_error_code_t TimecodeOutputModule_setHeadphoneOutputLevel(int level) { REG_WRITE(reg::timecode_output_headphone_outut_level_select, level); }
  virtual xs_error_code_t TimecodeOutputModule_getHeadphoneOutputLevel(int &level) { REG_READ(reg::timecode_output_headphone_outut_level_select, level); }
  virtual xs_error_code_t ExternalGenlock_detectFreq(float &freq) override { return readfreq(reg::external_genlock_freq, freq); }
  virtual xs_error_code_t SysGenlock_setSrc(uint32_t source) override { return reg_write(reg::sys_genlock_source, source); }
  virtual xs_error_code_t SysGenlock_getSrc(uint32_t &extern_or_internal) override {
    REG_READ(reg::sys_genlock_source, extern_or_internal);
    return kxs_ec_success;
  }
  virtual xs_error_code_t SysGenlock_readFreq(float &freq) override { return readfreq(reg::sys_genlock_freq, freq); }
  virtual xs_error_code_t SysClock_setSrc(SignalType_t sig) override {
    if (sig != SIGNAL_TTLIN1 &&              //
        sig != SIGNAL_TTLIN2 &&              //
        sig != SIGNAL_TTLIN3 &&              //
        sig != SIGNAL_TTLIN4 &&              //
        sig != SIGNAL_INTERNAL_CLOCK_SIG &&  //
        sig != SIGNAL_SYS_GENLOCK_OUTPUT &&  //
        sig != SIGNAL_SYS_TIMECODE_FREQ_OUTPUT) {
      return kxs_ec_param_error;
    }
    return reg_write(reg::sys_clock_source, sig);
  }
  virtual xs_error_code_t SysClock_getSrc(SignalType_t &sig) override { REG_READ(reg::sys_clock_source, sig); }
  virtual xs_error_code_t SysClock_setTriggerEdge(TriggerEdge_t edge) override { return reg_write(reg::sys_clock_trigger_edge_select, edge); }
  virtual xs_error_code_t SysClock_getTriggerEdge(TriggerEdge_t &edge) override { return _reg_read(reg::sys_clock_trigger_edge_select, edge); }
  virtual xs_error_code_t SysClock_setFreqDivision(uint32_t div) override { return reg_write(reg::sys_clock_freq_division_ctrl, div); }
  virtual xs_error_code_t SysClock_geFreqtDivision(uint32_t &div) override { return _reg_read(reg::sys_clock_freq_division_ctrl, div); }
  virtual xs_error_code_t SysClock_setFreqMultiplication(uint32_t muti) override { return reg_write(reg::sys_clock_freq_multiplication_ctrl, muti); }
  virtual xs_error_code_t SysClock_getFreqMultiplication(uint32_t &muti) override { return _reg_read(reg::sys_clock_freq_multiplication_ctrl, muti); }
  virtual xs_error_code_t SysClock_readOutSigFreq(float &freq) override { return readfreq(reg::sys_clock_outfreq_detect, freq); }
  virtual xs_error_code_t SysClock_readInSigFreq(float &freq) override { return readfreq(reg::sys_clock_infreq_detect, freq); }
  virtual xs_error_code_t storageConfig() override;

  xs_error_code_t DelayContrl_setDelay(int index, uint32_t delay_us) {  //
    DO_XSYNC(reg_write(reg::delayer_delay_sig_index, index, 10));
    DO_XSYNC(reg_write(reg::delayer_delay_us, delay_us, 10));
    return kxs_ec_success;
  }
  xs_error_code_t DelayContrl_getDelay(int index, uint32_t &delay_us) {
    DO_XSYNC(reg_write(reg::delayer_delay_sig_index, index, 10));
    DO_XSYNC(reg_read(reg::delayer_delay_us, delay_us, 10));
    return kxs_ec_success;
  }

  // assign sys_sig_delay_in[0]             = sync_ttl_in1;  //
  // assign sys_sig_delay_in[1]             = sync_ttl_in2;  //
  // assign sys_sig_delay_in[2]             = sync_ttl_in3;  //
  // assign sys_sig_delay_in[3]             = sync_ttl_in4;  //
  // assign sys_sig_delay_in[4]             = timecode_headphone_in;  //
  // assign sys_sig_delay_in[5]             = timecode_bnc_in;  //
  // assign sys_sig_delay_in[6]             = genlock_in_hsync;  //
  // assign sys_sig_delay_in[7]             = genlock_in_vsync;  //
  // assign sys_sig_delay_in[8]             = genlock_in_fsync;  //
  // assign sys_sig_delay_in[9]             = before_delay__sync_ttl_out1;  //
  // assign sys_sig_delay_in[10]            = before_delay__sync_ttl_out2;  //
  // assign sys_sig_delay_in[11]            = before_delay__sync_ttl_out3;  //
  // assign sys_sig_delay_in[12]            = before_delay__sync_ttl_out4;  //
  // assign sys_sig_delay_in[13]            = before_delay__stm32if_start_signal_out;  //
  // assign sys_sig_delay_in[14]            = before_delay__stm32if_camera_sync_out;  //
  // assign sys_sig_delay_in[15]            = before_delay__stm32if_timecode_sync_out;  //

  virtual xs_error_code_t DelayContrl_setInputDelay(uint32_t delay_us) override {
    DO_XSYNC(DelayContrl_setDelay(0, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(1, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(2, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(3, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(4, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(5, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(6, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(7, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(8, delay_us * 10));
    return kxs_ec_success;
  }
  virtual xs_error_code_t DelayContrl_getInputDelay(uint32_t &delay_us) override {
    uint32_t delay_cnt;
    DO_XSYNC(DelayContrl_getDelay(8, delay_cnt));
    delay_us = delay_cnt / 10;
    return kxs_ec_success;
  }

  virtual xs_error_code_t DelayContrl_setOutputDelay(uint32_t delay_us) override {
    DO_XSYNC(DelayContrl_setDelay(9, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(10, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(11, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(12, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(13, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(14, delay_us * 10));
    DO_XSYNC(DelayContrl_setDelay(15, delay_us * 10));
    return kxs_ec_success;
  }
  virtual xs_error_code_t DelayContrl_getOutputDelay(uint32_t &delay_us) override {
    uint32_t delay_cnt;
    DO_XSYNC(DelayContrl_getDelay(15, delay_cnt));
    delay_us = delay_cnt / 10;
    return kxs_ec_success;
  }

 private:
  xs_error_code_t doaction(uint32_t action, uint32_t actionval, uint32_t *ackreturn, int32_t overtime_ms = 100);

  xs_error_code_t xsync_send_cmd_block(iflytop_xsync_packet_header_t *cmd, iflytop_xsync_packet_header_t *rx_data, int32_t buffersize, int32_t overtime_ms);

  xs_error_code_t readtimecode(uint32_t reg0, uint32_t reg1, XsyncTimecode_t &timecode);
  xs_error_code_t writetimecode(uint32_t reg0, uint32_t reg1, XsyncTimecode_t timecode);
  xs_error_code_t readfreq(uint32_t reg, float &freq);

  xs_error_code_t reg_write(uint32_t regadd, uint32_t regvalue, int32_t overtime_ms = 100);
  xs_error_code_t reg_read_muti(uint32_t regadd, uint32_t nreg, vector<uint32_t> &regvalues, int32_t overtime_ms = 100);

  xs_error_code_t readTimecodeFormat(uint32_t freqreg, uint32_t timecode_reg0, uint32_t timecode_reg1, TimecodeFormat_t &format) {
    float    freq;
    uint32_t timecode_regval;
    DO_XSYNC(readfreq(freqreg, freq));
    DO_XSYNC(reg_read(timecode_reg0, timecode_regval, 10));

    uint32_t bit10 = (timecode_regval >> 10) & 0x1;

    if (Xsync_feq(freq, 23.98, 0.01)) {
      format = TIMECODE_FPS2398;
    } else if (Xsync_feq(freq, 24, 0.01)) {
      format = TIMECODE_FPS2400;
    } else if (Xsync_feq(freq, 25, 0.01)) {
      format = TIMECODE_FPS2500;
    } else if (Xsync_feq(freq, 29.97, 0.01)) {
      if (bit10) {
        format = TIMECODE_FPS2997Drop;
      } else {
        format = TIMECODE_FPS2997;
      }
    } else if (Xsync_feq(freq, 30, 0.01)) {
      format = TIMECODE_FPS3000;
    } else {
      format = TIMECODE_NONE;
    }
    return kxs_ec_success;
  }

  template <typename T>
  xs_error_code_t _reg_read(uint32_t regadd, T &regvalue, int32_t overtime_ms = 100) {
    uint32_t        regvalue_u32;
    xs_error_code_t ret = reg_read(regadd, regvalue_u32, overtime_ms);
    if (ret == kxs_ec_success) {
      regvalue = (T)regvalue_u32;
    }
    return ret;
  }
  void parseTimecodeMsgAndReport(XsyncNetAdd &from, uint8_t *data, size_t length);
  void parseCameraSyncMsgAndReport(XsyncNetAdd &from, uint8_t *data, size_t length);
};

/*******************************************************************************
 *                                    Xsync                                    *
 *******************************************************************************/

Xsync &Xsync::Ins() {
  static Xsync xsync;
  return xsync;
}

xs_error_code_t Xsync::readSn(string &sn) {
  uint32_t sn0;
  uint32_t sn1;
  uint32_t sn2;

  DO_XSYNC(reg_read(reg::ksn_id0, sn0));
  DO_XSYNC(reg_read(reg::ksn_id1, sn1));
  DO_XSYNC(reg_read(reg::ksn_id2, sn2));

  char buf[128] = {0};
  sprintf(buf, "%02d%02d%04d", sn0, sn1, sn2);
  sn = buf;

  return kxs_ec_success;
}
xs_error_code_t Xsync::readMac(string &mac) {
  // mac = "";
  uint32_t mac0;
  uint32_t mac1;

  DO_XSYNC(reg_read(reg::kmac0, mac0));
  DO_XSYNC(reg_read(reg::kmac1, mac1));

  char buf[128] = {0};
  sprintf(buf, "%02x-%02x-%02x-%02x-%02x-%02x", (mac0 >> 0) & 0xff, (mac0 >> 8) & 0xff, (mac0 >> 16) & 0xff, (mac0 >> 24) & 0xff, (mac1 >> 0) & 0xff, (mac1 >> 8) & 0xff);
  mac = buf;

  return kxs_ec_success;
}
#if 0
xs_error_code_t Xsync::xsync_send_cmd_block(iflytop_xsync_packet_header_t *cmd, iflytop_xsync_packet_header_t *rx_data, int32_t buffersize, int32_t overtime_ms) {
  lock_guard<recursive_mutex> lock(lock_);

  string xsyncip = _getXsyncIp();
  m_xsync_reg_udp->clearRxBuffer();

  if (!m_xsync_reg_udp) return kxs_ec_device_offline;
  if (xsyncip.empty()) return kxs_ec_device_offline;

  cmd->index = txpacket_index++;

  XsyncNetAdd     toadd = {xsyncip, IFLYTOP_XSYNC_SERVICE_XSYNC_PORT};
  xs_error_code_t ecode =  //
      m_xsync_reg_udp->sendto(toadd, (const char *)cmd, sizeof(iflytop_xsync_packet_header_t) + cmd->ndata * 4, nullptr);
  if (ecode != kxs_ec_success) {
    return ecode;
  }

  XsyncNetAdd fromadd;
  while (true) {
    ecode = m_xsync_reg_udp->receive((char *)rx_data, buffersize, fromadd, overtime_ms);
    if (ecode != kxs_ec_success) {
      return ecode;
    }
    if (rx_data->index != cmd->index) {
      continue;
    }
    break;
  }

  return (xs_error_code_t)rx_data->data[0];
}
#endif

xs_error_code_t Xsync::xsync_send_cmd_block(iflytop_xsync_packet_header_t *cmd, iflytop_xsync_packet_header_t *rx_data, int32_t buffersize, int32_t overtime_ms) {
  lock_guard<recursive_mutex> lock(lock_);

  string xsyncip = _getXsyncIp();
  m_xsync_reg_udp->clearRxBuffer();

  if (!m_xsync_reg_udp) return kxs_ec_device_offline;
  if (xsyncip.empty()) return kxs_ec_device_offline;

  cmd->index = txpacket_index++;

  rxContext.clear();
  rxContext.setWait(true, cmd->index);

  XsyncNetAdd     toadd = {xsyncip, IFLYTOP_XSYNC_SERVICE_XSYNC_PORT};
  xs_error_code_t ecode =  //
      m_xsync_reg_udp->sendto(toadd, (const char *)cmd, sizeof(iflytop_xsync_packet_header_t) + cmd->ndata * 4, nullptr);
  if (ecode != kxs_ec_success) {
    return ecode;
  }

  for (int32_t i = 0; i < overtime_ms; i++) {
    if (rxContext.isReady()) {
      memcpy(rx_data, rxContext.data(), rxContext.size());
      return (xs_error_code_t)rx_data->data[0];
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
  }
  return kxs_ec_overtime;
}

xs_error_code_t Xsync::reg_write(uint32_t regadd, uint32_t regvalue, int32_t overtime_ms) {  //
  uint32_t readbak = 0;
  return reg_write(regadd, regvalue, readbak, overtime_ms);
}
xs_error_code_t Xsync::reg_write(uint32_t regadd, uint32_t regvalue, uint32_t &regbackvalue, int32_t overtime_ms) {
  /**
   * @brief
   *      协议说明
   *
   * kxsync_packet_type_reg_write
   *  tx: regadd,regdata
   *  rx: ecode,regdata
   */

  uint8_t txdata[128] = {0};
  uint8_t rxdata[128] = {0};

  iflytop_xsync_packet_header_t *txpacket = (iflytop_xsync_packet_header_t *)txdata;
  iflytop_xsync_packet_header_t *rxpacket = (iflytop_xsync_packet_header_t *)rxdata;

  txpacket->type    = kxsync_packet_type_cmd;
  txpacket->index   = txpacket_index++;
  txpacket->cmd     = kxsync_packet_type_reg_write;
  txpacket->ndata   = 2;
  txpacket->data[0] = regadd;
  txpacket->data[1] = regvalue;

  auto ecode = xsync_send_cmd_block(txpacket, rxpacket, sizeof(rxdata), overtime_ms);
  if (ecode != kxs_ec_success) {
    return ecode;
  }

  regbackvalue = rxpacket->data[1];
  return ecode;
}

xs_error_code_t Xsync::reg_read(uint32_t regadd, uint32_t &regvalue, int32_t overtime_ms) {
  /**
   * @brief
   *      协议说明
   *
   * kxsync_packet_type_reg_write
   *  tx: regadd,regdata
   *  rx: ecode,regdata
   */

  uint8_t txdata[128] = {0};
  uint8_t rxdata[128] = {0};

  iflytop_xsync_packet_header_t *txpacket = (iflytop_xsync_packet_header_t *)txdata;
  iflytop_xsync_packet_header_t *rxpacket = (iflytop_xsync_packet_header_t *)rxdata;

  txpacket->type    = kxsync_packet_type_cmd;
  txpacket->index   = txpacket_index++;
  txpacket->cmd     = kxsync_packet_type_reg_read;
  txpacket->ndata   = 2;
  txpacket->data[0] = regadd;
  txpacket->data[1] = regvalue;

  auto ecode = xsync_send_cmd_block(txpacket, rxpacket, sizeof(rxdata), overtime_ms);
  if (ecode != kxs_ec_success) {
    return ecode;
  }
  regvalue = rxpacket->data[1];
  return ecode;
}
xs_error_code_t Xsync::reg_read_muti(uint32_t regadd, uint32_t nreg, vector<uint32_t> &regvalues, int32_t overtime_ms) {
  /**
   * @brief
   *      协议说明
   *
   * kxsync_packet_type_reg_read_regs
   *  tx: regstartadd,nreg
   *  rx: ecode,regdatas
   */

  uint8_t txdata[128]  = {0};
  uint8_t rxdata[1280] = {0};

  iflytop_xsync_packet_header_t *txpacket = (iflytop_xsync_packet_header_t *)txdata;
  iflytop_xsync_packet_header_t *rxpacket = (iflytop_xsync_packet_header_t *)rxdata;

  txpacket->type    = kxsync_packet_type_cmd;
  txpacket->index   = txpacket_index++;
  txpacket->cmd     = kxsync_packet_type_reg_read_regs;
  txpacket->ndata   = 2;
  txpacket->data[0] = regadd;
  txpacket->data[1] = nreg;

  auto ecode = xsync_send_cmd_block(txpacket, rxpacket, sizeof(rxdata), overtime_ms);
  if (ecode != kxs_ec_success) {
    return ecode;
  }

  if (rxpacket->ndata > 0) {
    for (int i = 0; i < rxpacket->ndata - 1; i++) {
      regvalues.push_back(rxpacket->data[i + 1]);
    }
  }
  return ecode;
}

xs_error_code_t Xsync::readtimecode(uint32_t reg0, uint32_t reg1, XsyncTimecode_t &timecode) {
  uint32_t        readbak = 0;
  xs_error_code_t ecode   = kxs_ec_success;

  uint32_t tc0 = 0;
  uint32_t tc1 = 0;

  ecode = reg_read(reg0, tc0, 10);
  if (ecode != kxs_ec_success) return ecode;
  ecode = reg_read(reg1, tc1, 10);
  if (ecode != kxs_ec_success) return ecode;

  Timecode64_t tc64 = {0};
  tc64.tc0          = tc0;
  tc64.tc1          = tc1;

  timecode = timecode64ToXsyncTimeCode(tc64);
  return ecode;
}
xs_error_code_t Xsync::writetimecode(uint32_t reg0, uint32_t reg1, XsyncTimecode_t timecode) {
  uint32_t        readbak = 0;
  xs_error_code_t ecode   = kxs_ec_success;

  Timecode64_t tc64 = timecodeTo64(timecode);

  ecode = reg_write(reg0, tc64.tc0, readbak, 10);
  if (ecode != kxs_ec_success) return ecode;
  ecode = reg_write(reg1, tc64.tc1, readbak, 10);
  if (ecode != kxs_ec_success) return ecode;

  return ecode;
}

xs_error_code_t Xsync::readfreq(uint32_t reg, float &freqfloat) {
  uint32_t freq_cnt = 0;
  DO_XSYNC(reg_read(reg, freq_cnt));
  if (freq_cnt == 0) {
    freqfloat = 0;
  }

  if (freq_cnt != 0) {
    uint32_t freq_100x = ((1.0 / (freq_cnt * 1.0 / (10 * 1000 * 1000))) * 100 + 0.5);  //+0.5是因为c++ 小数强转成整数时是取整，而非四舍五入
    // ZLOGI(TAG, "freq_10x %f", freq_10x);
    freqfloat = freq_100x / 100.0;
  } else {
    freqfloat = 0;
  }
  return kxs_ec_success;
}

void Xsync::parseTimecodeMsgAndReport(XsyncNetAdd &from, uint8_t *data, size_t length) {}
void Xsync::parseCameraSyncMsgAndReport(XsyncNetAdd &from, uint8_t *data, size_t length) {
  uint32_t count = 0;

  uint32_t data0 = data[7];
  uint32_t data1 = data[6];
  uint32_t data2 = data[5];
  uint32_t data3 = data[4];

  count = data0 + (data1 << 8) + (data2 << 16) + (data3 << 24);

  xysnc_camera_sync_data_t camera_sync_data;
  camera_sync_data.frameIndex = count;

  if (m_on_camera_sync_msg_cb) m_on_camera_sync_msg_cb(&camera_sync_data);
}

xs_error_code_t Xsync::generatorNewMac() { return doaction(xsync_stm32_action_generator_new_mac, 0, nullptr, 2000); }
xs_error_code_t Xsync::factoryReset() { return doaction(xsync_stm32_action_factory_reset, 0, nullptr, 1000); }
xs_error_code_t Xsync::reboot() { return doaction(xsync_stm32_action_reboot, 0, nullptr); }
xs_error_code_t Xsync::storageConfig() { return doaction(xsync_stm32_action_storage_cfg, 0, nullptr, 1000); }

xs_error_code_t Xsync::doaction(uint32_t action, uint32_t actionval, uint32_t *ackreturn, int32_t overtime_ms) {
  //
  uint32_t        readbak = 0;
  xs_error_code_t ecode;
  ecode = reg_write(reg::kstm32_action_val0, actionval, readbak);
  if (ecode != kxs_ec_success) return ecode;

  ecode = reg_write(reg::kstm32_action0, action, readbak, overtime_ms);
  if (ecode != kxs_ec_success) return ecode;
  if (ackreturn) *ackreturn = readbak;
  return ecode;
}

namespace xsync {
void    XsyncInit(I_XSUDPFactory *xsync_udp_factory) { g_xsync_udp_factory = xsync_udp_factory; }
IXsync *XsyncIns() { return &Xsync::Ins(); }
}  // namespace xsync