update

src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.hpp

@@ -65,7 +65,7 @@ class IflytopFrontEndService : public enable_shared_from_this<IflytopFrontEndSer
   // void sendMessage(const string& message);
   void sendReport(json& report);
 
-  void sendToUDP(struct sockaddr_in* from, char* data, size_t len) { m_udp->sendto(from, data, len); }
+  void sendToUDP(struct sockaddr_in* from,const char* data, size_t len) { m_udp->sendto(from, data, len); }
 
  private:
   void onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState, const ix::WebSocketMessagePtr& msg);

src/iflytop/components/simple_udp/simple_udp.cpp

@@ -1,7 +1,8 @@
 #include "simple_udp.hpp"
 
-
-
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
 using namespace std;
 using namespace iflytop;
 using namespace core;
@@ -33,15 +34,15 @@ void SimpleUDP::initialize(int port) {
     socklen_t          peerlen;
     while (true) {
       memset(m_rxbuf, 0, sizeof(m_rxbuf));
-      // 网络节点的信息，用来保存客户端的网络信息
-      // sockaddr_in clientAddr;
+
       memset(&peeraddr, 0, sizeof(sockaddr_in));
-      int clientAddrLen = sizeof(sockaddr);
-      // 接收客户端发来的数据
+      peerlen = sizeof(sockaddr_in);
+
       int ret = recvfrom(m_socket, m_rxbuf, sizeof(m_rxbuf), 0, (struct sockaddr *)&peeraddr, &peerlen);
-      //   printf("Recv msg:%s from IP:[%s] Port:[%d]\n", m_rxbuf, inet_ntoa(m_context.clientAddr.sin_addr), ntohs(m_context.clientAddr.sin_port));
-      //   process_rx_cmd(m_rxbuf, ret);
-      // sendto(m_socket, "Hello World!", strlen("Hello World!"), 0, (sockaddr *)&m_context.clientAddr, clientAddrLen);
+      logger->debug("Recv msg {} from IP:{} Port:{}\n", m_rxbuf, inet_ntoa(peeraddr.sin_addr), ntohs(peeraddr.sin_port));
+      // int wret =  ::sendto(m_socket, "Hello World!", strlen("Hello World!"), 0, (sockaddr *)&peeraddr, peerlen);
+      // logger->debug("sendto ret:{}", wret);
+      // perror("sendto");
       if (ret < 0) {
         logger->error("recvfrom failed, {}", strerror(errno));
         continue;

src/iflytop/components/zcanreceiver/zcanhost.cpp

@@ -7,9 +7,64 @@ using namespace zcr;
 #define zint16p(x) ((int16_t*)(x))
 #define zint32p(x) ((int32_t*)(x))
 
+#define CHECK_ARGC_NUM(x)                       \
+  if (argc != (x + 1)) {                        \
+    logger->error("do {},argc error", argv[0]); \
+    retval = "argc num error";                  \
+    return false;                               \
+  }
+
 void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback) {
   m_zcanReceiverHost = make_shared<ZCanReceiverHost>();
   m_zcanReceiverHost->initialize(can_if_name, baudrate, enablLoopback);
+
+  m_cmdMap["pumpctrl_c1004"] = [this](int argc, char** argv, string& retval) {
+    CHECK_ARGC_NUM(4);
+    uint8_t id  = atoi(argv[1]);
+    int16_t acc = atoi(argv[2]);
+    int16_t rpm = atoi(argv[3]);
+    return pumpctrl_c1004(id, acc, rpm) != 0;
+  };
+
+  // ZCanHost::readio(int id, bool& value)
+  // ZCanHost::writeio(int id, bool value)
+  // ZCanHost::readadc(int id, int& value)
+
+  m_cmdMap["readio"] = [this](int argc, char** argv, string& retval) {
+    CHECK_ARGC_NUM(1);
+    uint8_t id = atoi(argv[1]);
+    bool    v  = false;
+    if (readio(id, v) != 0) {
+      logger->error("readio fail");
+      return false;
+    }
+    retval = to_string(v);
+    return true;
+  };
+
+  m_cmdMap["writeio"] = [this](int argc, char** argv, string& retval) {
+    CHECK_ARGC_NUM(2);
+    uint8_t id = atoi(argv[1]);
+    bool    v  = atoi(argv[2]);
+    if (writeio(id, v) != 0) {
+      logger->error("writeio fail");
+      return false;
+    }
+    return true;
+  };
+
+  m_cmdMap["readadc"] = [this](int argc, char** argv, string& retval) {
+    CHECK_ARGC_NUM(1);
+    uint8_t id = atoi(argv[1]);
+    int     v  = 0;
+    if (readadc(id, v) != 0) {
+      logger->error("readadc fail");
+      return false;
+    }
+    logger->info("readadc:{},{}", id, v);
+    retval = fmt::format("ACK:{}", v);
+    return true;
+  };
 }
 
 static void prase_cmd(char* input, int inputlen, int& argc, char* argv[]) {

src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp

@@ -24,6 +24,15 @@ void ZCanReceiverHost::registerListener(onpacket_t onpacket) { m_onpacket = onpa
 shared_ptr<ZCanReceiverCMD> ZCanReceiverHost::sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms) {  //
   lock_guard<mutex> lock(m_txblocklock);
 
+  m_index++;
+  if (m_index == 0) {
+    m_index = 1;
+  }
+  if (m_index == UINT16_MAX) {
+    m_index = 1;
+  }
+  cmd->packetindex = m_index;
+
   {
     lock_guard<mutex> lock(m_txContextLock);
     m_txContext.txcmdcache = cmd;
@@ -52,15 +61,7 @@ shared_ptr<ZCanReceiverCMD> ZCanReceiverHost::sendcmdblock(shared_ptr<ZCanReceiv
 
 void ZCanReceiverHost::sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t subcmdid, uint8_t *data, size_t len) {
   Cmdheader_t *header = (Cmdheader_t *)m_sendbuf;
-
-  m_index++;
-  if (m_index == 0) {
-    m_index = 1;
-  }
-  if (m_index == UINT16_MAX) {
-    m_index = 1;
-  }
-  header->packetindex = m_index;
+  header->packetindex = packetindex;
   header->cmdid       = cmdid;
   header->subcmdid    = subcmdid;
   header->packetType  = 0x00;
@@ -88,7 +89,7 @@ void ZCanReceiverHost::sendPacket(uint8_t *packet, size_t len) {
       suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS);
     }
     if (!suc) {
-      printf("sendPacket fail, packet(%d:%d)\n", npacket, i);
+      logger->warn("sendPacket fail, packet(%d:%d)\n", npacket, i);
       return;
     }
   }
@@ -123,9 +124,12 @@ void ZCanReceiverHost::processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packe
   /**
    * @brief 匹配下发的命令
    */
+  logger->debug("processOnePacket(index {}, packetType {} ,cmd {},subcmd {}),rx(index {})", header->packetindex, header->packetType, header->cmdid,
+                header->subcmdid, rx->packetindex);
   if (header->packetType == kpt_ack || header->packetType == kpt_error_ack) {
     if (header->packetindex == m_txContext.txcmdcache->packetindex) {
       lock_guard<mutex> lock(m_txContextLock);
+      logger->debug("rx ack");
       m_txContext.rx      = rx;
       m_txContext.isReady = true;
     }