iflytoplinuxsdk_ptdv1/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp

//
// Created by zwsd
//

#pragma once
#include <mutex>

#include "cmd.hpp"
#include "iflytop/core/basic/nlohmann/json.hpp"
#include "iflytop/core/core.hpp"
#include "iflytop/core/driver/socketcan/socket_can.hpp"
#include "iflytop/core/spdlogfactory/logger.hpp"
#include "zservice_container/zservice_container.hpp"

namespace iflytop {

using namespace std;
using namespace zcr;

class ZCanReceiverCMD {
 public:
  uint16_t packetindex;
  uint16_t cmdid;
  uint8_t  subcmdid;
  uint8_t  data[255 * 8];
  size_t   len;
};

class ZCanReceiverHost {
  ENABLE_LOGGER(ZCanReceiverHost);

 public:
  class CanPacketRxBuffer {
   public:
    uint16_t                   id;
    shared_ptr<SocketCanFrame> m_canPacket[256];  // 用于接收can消息
    uint8_t                    m_rxdata[255 * 8];
    uint8_t                    m_canPacketNum = 0;
    uint8_t                    m_rxdataLen    = 0;
  };

  class TxContext {
   public:
    shared_ptr<ZCanReceiverCMD> txcmdcache;
    shared_ptr<ZCanReceiverCMD> rx;
    bool                        isReady;
  };

  typedef function<void(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len)> onpacket_t;

 public:
  uint8_t           m_sendbuf[1000];
  CanPacketRxBuffer m_canPacketRxBuffer[255];
  onpacket_t        m_onpacket;
  uint8_t           m_deviceId = 1;

  shared_ptr<SocketCan> m_socketCan;

  mutex     m_txblocklock;
  mutex     m_txContextLock;
  TxContext m_txContext;

  string m_can_if_name;
  int    m_baudrate;
  bool   m_enablLoopback;

 public:
  ZCanReceiverHost();

  void initialize(string can_if_name, int baudrate, bool enablLoopback);
  void registerListener(onpacket_t onpacket);

  shared_ptr<ZCanReceiverCMD> sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms);

 private:
  void processRx(shared_ptr<SocketCanFrame> frame);
  void processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len);
  void resetSocketCan();
  void sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t subcmdid, uint8_t *data, size_t len);
  void sendPacket(uint8_t *packet, size_t len);
  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
};

}  // namespace iflytop