a8000_protocol/protocol/packet.hpp

#pragma once
#include <stdint.h>
#define ZCANCMD_PACKET_MAX_LEN 64

namespace iflytop {

typedef enum {
  kboard                                 = 0,  // 板子
  khbot_module                           = 1,  // hbot模块
  kwater_cooling_temperature_ctrl_module = 2,  // 水冷温度控制
  kfan_ctrl_module                       = 3,  // 风扇控制
  kcode_scaner                           = 4,  // 扫码器
  ktmc_step_motor                        = 5,  // 步进电机
  kmini_servo_motor_module               = 6,  // 舵机
  kpipette_ctrl_module                   = 7,  // 移液体枪控制

  ka8000_optical_module    = 100,  // a8000光学模组
  ka8000_idcard_reader     = 101,  // id卡读卡器
  ka8000_plate_code_scaner = 102,  // 反应板条扫码器
} module_type_t;

namespace zcr {
#pragma pack(push, 1)
typedef struct {
  uint8_t  packetType;
  uint16_t cmdid;
  uint8_t  moduleId;
  uint16_t index;
  uint8_t  datalen;
  uint8_t  data[];
  /* int8_t  checksum;*/
} zcr_cmd_header_t;

#pragma pack(pop)

typedef enum {
  kptv2_cmd       = 0xA0,
  kptv2_ack       = 0xA1,
  kptv2_error_ack = 0xA2,
  kptv2_event     = 0xA3,
} zcan_cmd_packet_type_t;

static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) {
  if (len < (int)sizeof(zcr_cmd_header_t)) return false;
  if ((int)(header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) return false;

  uint8_t checksum = 0;
  for (int i = 0; i < len - 1; i++) checksum += ((uint8_t*)header)[i];

  return checksum == ((uint8_t*)header)[len - 1];
}

}  // namespace zcr
}  // namespace iflytop