From 3671588f43030f703af6e2f39bcc3f578f45f6e9 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 13 Aug 2023 16:56:26 +0800
Subject: [PATCH] add iflytop cancmd server

---
 .../iflytop_cancmd_server.cpp                      | 72 ++++++++++++++++++++++
 .../iflytop_cancmd_server.hpp                      | 65 +++++++++++++++++++
 2 files changed, 137 insertions(+)
 create mode 100644 src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.cpp
 create mode 100644 src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.hpp

diff --git a/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.cpp b/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.cpp
new file mode 100644
index 0000000..3842b29
--- /dev/null
+++ b/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.cpp
@@ -0,0 +1,72 @@
+#include "iflytop_cancmd_server.hpp"
+using namespace std;
+using namespace iflytop;
+using namespace icps;
+
+void IflytopCanCmdServer::initialize(string can_if_name, int baudrate, bool enablLoopback) {
+  // m_iflytopCanProtocolStack.reset(new IflytopCanProtocolStack());
+
+  m_can_if_name   = can_if_name;
+  m_baudrate      = baudrate;
+  m_enablLoopback = enablLoopback;
+  resetSocketCan();
+}
+void IflytopCanCmdServer::startListen() {}
+
+void IflytopCanCmdServer::processRx(shared_ptr<SocketCanFrame> frame) {
+  if (!frame) {
+    return;
+  }
+
+  if (frame->getCanIdentifier() == socketcan::kextFrame &&  //
+      frame->getFanFrameType() == socketcan::kdataframe) {
+    processIflytopRxPacket(frame);
+  } else {
+    logger->warn("Rx unknown can frame");
+  }
+}
+void IflytopCanCmdServer::processHamiltonCanRxPacket(shared_ptr<SocketCanFrame> frame) {  //
+  logger->info("Rx Hamilton packet : {}", frame->toString());
+}
+void IflytopCanCmdServer::processIflytopRxPacket(shared_ptr<SocketCanFrame> frame) {
+  // shared_ptr<icps::Packet> icps_packet = m_iflytopCanProtocolStack->parseSocketCanFrame(frame);
+  // if (!icps_packet) {
+  //   logger->error("parseSocketCanFrame fail,{}", frame->toString());
+  //   return;
+  // }
+  // onIflytopCanSubDevicePacket(icps_packet);
+}
+
+void IflytopCanCmdServer::resetSocketCan() {
+  auto socketCanConfig           = make_shared<SocketCanConfig>();
+  socketCanConfig->enablLoopback = m_enablLoopback;  // 根据 SocketCan::dumpCanDriverInfo() 的输出，确定该标志位是false还是true
+  socketCanConfig->m_canName     = m_can_if_name;
+  socketCanConfig->m_canBaudrate = m_baudrate;
+  socketCanConfig->m_canfilters  = {};
+
+  logger->info("IflytopCanCmdServer::initialize() m_canName:{} {}", socketCanConfig->m_canName, socketCanConfig->m_canBaudrate);
+
+  m_socketCan.reset(new SocketCan());
+  m_socketCan->initialize(socketCanConfig);
+  m_socketCan->startListen();
+  m_socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> canframe) {  //
+    processRx(canframe);
+  });
+}
+
+// SocketCan::SocketCanError_t IflytopCanCmdServer::sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet, int overtime_ms) {
+//   if (m_socketCan->isError()) {
+//     logger->error("m_socketCan->isError() exit process");
+//     exit(-1);
+//     resetSocketCan();
+//   }
+
+//   auto frame = m_iflytopCanProtocolStack->createSocketCanFrame(icps_packet);
+//   if (!frame) {
+//     logger->error("createSocketCanFrame fail,{}", icps_packet->toString());
+//     return SocketCan::kErrorFrameFormat;
+//   }
+//   logger->debug("tx:{}", frame->toString());
+
+//   return m_socketCan->sendFrame(frame, overtime_ms);
+// }
diff --git a/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.hpp b/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.hpp
new file mode 100644
index 0000000..2d144d4
--- /dev/null
+++ b/src/iflytop/components/iflytop_cancmd_server/iflytop_cancmd_server.hpp
@@ -0,0 +1,65 @@
+//
+// Created by iflytop
+//
+
+#pragma once
+#include <fstream>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "iflytop/core/basic/nlohmann/json.hpp"
+#include "iflytop/core/driver/socketcan/socket_can.hpp"
+#include "iflytop/core/spdlogfactory/logger.hpp"
+#include "zservice_container/zservice_container.hpp"
+
+/**
+ * @brief
+ *
+ * service: IflytopCanCmdServer
+ *
+ *    1. 负责监听，分流IflytopSubDevice的CAN消息和哈美顿的CAN消息
+ *    2. 负责将CanFrame转换成IflytopCanPacket
+ */
+
+namespace iflytop {
+namespace icps {
+using namespace std;
+using namespace iflytop;
+using namespace core;
+using namespace nlohmann;
+class IflytopCanCmdServer : public enable_shared_from_this<IflytopCanCmdServer> {
+  ENABLE_LOGGER(IflytopCanCmdServer);
+
+  shared_ptr<SocketCan> m_socketCan;
+
+  string m_can_if_name;
+  int    m_baudrate;
+  bool   m_enablLoopback;
+
+ public:
+  // nod::signal<void(shared_ptr<icps::Packet> packet)> onIflytopCanSubDevicePacket;
+
+  void initialize(string can_if_name, int baudrate, bool enablLoopback);
+  void startListen();
+
+  // SocketCan::SocketCanError_t sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet, int overtime_ms);
+
+ private:
+  void processRx(shared_ptr<SocketCanFrame> frame);
+  // 处理iflytop子设备的CAN消息
+  void processIflytopRxPacket(shared_ptr<SocketCanFrame> frame);
+  // 处理哈美顿的CAN消息
+  void processHamiltonCanRxPacket(shared_ptr<SocketCanFrame> frame);
+  void resetSocketCan();
+
+ private:
+};
+}  // namespace icps
+
+}  // namespace iflytop
\ No newline at end of file