transmit_disinfection_upper/iflytop_canbus/waveshare_can.hpp

#pragma once

#include <stdint.h>
#include <stdio.h>
#include <windows.h>

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

#include "idatachannel.hpp"
namespace iflytop {
#define CANUSB_TTY_BAUD_RATE_DEFAULT 2000000

typedef enum {
  CANUSB_SPEED_1000000 = 0x01,
  CANUSB_SPEED_800000  = 0x02,
  CANUSB_SPEED_500000  = 0x03,
  CANUSB_SPEED_400000  = 0x04,
  CANUSB_SPEED_250000  = 0x05,
  CANUSB_SPEED_200000  = 0x06,
  CANUSB_SPEED_125000  = 0x07,
  CANUSB_SPEED_100000  = 0x08,
  CANUSB_SPEED_50000   = 0x09,
  CANUSB_SPEED_20000   = 0x0a,
  CANUSB_SPEED_10000   = 0x0b,
  CANUSB_SPEED_5000    = 0x0c,
} CANUSB_SPEED;

typedef enum {
  CANUSB_MODE_NORMAL          = 0x00,
  CANUSB_MODE_LOOPBACK        = 0x01,
  CANUSB_MODE_SILENT          = 0x02,
  CANUSB_MODE_LOOPBACK_SILENT = 0x03,
} CANUSB_MODE;

typedef enum {
  CANUSB_FRAME_STANDARD = 0x01,
  CANUSB_FRAME_EXTENDED = 0x02,
} CANUSB_FRAME;

typedef enum {
  CANUSB_INJECT_PAYLOAD_MODE_RANDOM      = 0,
  CANUSB_INJECT_PAYLOAD_MODE_INCREMENTAL = 1,
  CANUSB_INJECT_PAYLOAD_MODE_FIXED       = 2,
} CANUSB_PAYLOAD_MODE;

typedef struct {
  uint8_t packet_header0;
  uint8_t packet_header1;
  uint8_t type;
  uint8_t frame_type;
  uint8_t frame_format;
  uint8_t frame_id_data_1;
  uint8_t frame_id_data_2;
  uint8_t frame_id_data_3;
  uint8_t frame_id_data_4;
  uint8_t frame_data_length;
  uint8_t frame_data_1;
  uint8_t frame_data_2;
  uint8_t frame_data_3;
  uint8_t frame_data_4;
  uint8_t frame_data_5;
  uint8_t frame_data_6;
  uint8_t frame_data_7;
  uint8_t frame_data_8;
  uint8_t reserve;
  uint8_t check_code;
} waveshare_can_packet_t;

class WaveshareCan {
 public:
  typedef struct {
    uint32_t id;
    uint8_t  dlc;
    uint8_t  data[8];
  } can_rx_frame_t;

  typedef function<void(can_rx_frame_t*)> frame_callback_t;

 private:
  unique_ptr<thread> m_thread;
  frame_callback_t   m_frame_callback;
  IDataChannel*      m_ch = nullptr;
  mutex              lock_;

  uint8_t m_rxcache[1024] = {0};
  uint8_t m_rxlen         = 0;

 public:
  bool init(IDataChannel* ch, frame_callback_t framecb);

  void setCanpPrameter(CANUSB_SPEED speed, CANUSB_MODE mode, CANUSB_FRAME frame);
  bool sendStdframe(uint32_t id, unsigned char data[], int data_length_code) { return sendframe(CANUSB_FRAME_STANDARD, id, data, data_length_code); }
  bool sendExtframe(uint32_t id, unsigned char data[], int data_length_code) { return sendframe(CANUSB_FRAME_EXTENDED, id, data, data_length_code); }
  bool sendframe(CANUSB_FRAME frame, uint32_t id, unsigned char data[], int data_length_code);

 private:
  int onReceivePacket(uint8_t* data, size_t len);
};

}  // namespace iflytop