transmit_disinfection_iflytop_sdk_v1/components/zcanreceiver/zcanreceiver.hpp

//
// Created by zwsd
//

#pragma once
#include "cmd.hpp"
#include "sdk/hal/zhal.hpp"
namespace iflytop {
namespace zcr {
typedef enum {
  kpacketHeader = 0,
  kpacketData   = 1,
  kpacketTail   = 2,
} packet_type_t;

class CANPacket {
 public:
  CAN_RxHeaderTypeDef pHeader;
  uint8_t             aData[8]; /*8byte table*/
};

class CanPacketRxBuffer {
 public:
  uint16_t  id;
  CANPacket m_canPacket[256];  // 用于接收can消息
  uint8_t   m_canPacketNum = 0;
  bool      dataIsReady;
};
};  // namespace zcr

using namespace zcr;
class ZCanRceiverListener {
 public:
  virtual void onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) = 0;
};

class ZCanReceiver : public ZCanIRQListener {
 public:
  class CFG {
   public:
    uint8_t deviceId;  //
    /*******************************************************************************
     *                                  CANConfig                                  *
     *******************************************************************************/
    CAN_HandleTypeDef *canHandle;            // 默认使用CAN1
    int                canFilterIndex0;      // 过滤器0 接收，发给自身的消息
    int                maxFilterNum;         // 使用的过滤器数量，最大值14，默认为7
    int                rxfifoNum;            // 使用的FIFO,默认使用FIFO0
    int                packetRxOvertime_ms;  //
  };

  uint8_t rxdata[1000];
  uint8_t txbuff[1000];

 public:
  class LoopJobContext {
   public:
    bool hasDoneSomething;
  };

 private:
  CFG              *m_config           = NULL;   // 配置
  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
  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
  HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值

  list<ZCanRceiverListener *> m_listenerList;
  CanPacketRxBuffer           m_canPacketRxBuffer[1];

 public:
  ZCanReceiver() {}
  CFG *createCFG(uint8_t deviceId);
  void init(CFG *cfg);

  void    registerListener(ZCanRceiverListener *listener);
  void    sendPacket(uint8_t *packet, size_t len);
  void    sendAck(Cmdheader_t *cmdheader, uint8_t *data, size_t len);
  void    sendErrorAck(Cmdheader_t *cmdheader, int16_t errcode);
  bool    sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
  uint8_t getDeviceId() { return m_config->deviceId; }

 public:
  virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
  virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);

 private:
  void              loop();
  HAL_StatusTypeDef initializeFilter();
  HAL_StatusTypeDef activateRxIT();
  HAL_StatusTypeDef deactivateRxIT();
  bool              getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);
};

}  // namespace iflytop