update

components/zcanreceiver/cmd.hpp

@@ -31,11 +31,16 @@ typedef enum {
   kcmd_high_power_electrical_ctl     = 1003,
   kcmd_peristaltic_pump_ctl          = 1004,
   kcmd_read_huacheng_pressure_sensor = 1005,
+  kcmd_set_proportional_valve        = 1006,  // {4:valveId,4:valveValue}
+  kcmd_air_compressor_ch_ctrl        = 1007,  // {4:chstate}
 } CmdID_t;
 
 }  // namespace zcr
 }  // namespace iflytop
 
+#define IS_CMD(cmdheader, cmd, subcmd)  ((cmdheader->cmdid == cmd) && (cmdheader->subcmdid == subcmd))
+#define CMD_GET_PARAM(cmdheader, index) (((int32_t*)cmdheader->data)[index])
+
 /**
  * @brief
  */

components/zcanreceiver/zcanreceiver.cpp

@@ -198,6 +198,8 @@ bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*
   }
   return false;
 }
+void ZCanReceiver::registerListener(CanPacketRxBufferCB_t cb) { m_listenerCBList.push_back(cb); }
+
 void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
   /**
    * @brief 中断上下文
@@ -268,6 +270,9 @@ void ZCanReceiver::loop() {
     for (auto &var : m_listenerList) {
       var->onRceivePacket(rxbuf, rxdata, dataoff);
     }
+    for (auto &var : m_listenerCBList) {
+      if (var) var(rxbuf, rxdata, dataoff);
+    }
     rxbuf->dataIsReady = false;
   }
 }

components/zcanreceiver/zcanreceiver.hpp

@@ -34,6 +34,8 @@ class ZCanRceiverListener {
   virtual void onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) = 0;
 };
 
+typedef function<void(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len)> CanPacketRxBufferCB_t;
+
 class ZCanReceiver : public ZCanIRQListener {
  public:
   class CFG {
@@ -65,6 +67,7 @@ class ZCanReceiver : public ZCanIRQListener {
   HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值
 
   list<ZCanRceiverListener *> m_listenerList;
+  list<CanPacketRxBufferCB_t> m_listenerCBList;
   CanPacketRxBuffer           m_canPacketRxBuffer[1];
 
  public:
@@ -73,6 +76,7 @@ class ZCanReceiver : public ZCanIRQListener {
   void init(CFG *cfg);
 
   void    registerListener(ZCanRceiverListener *listener);
+  void    registerListener(CanPacketRxBufferCB_t cb);
   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);