a8000_protocol/protocol/packet.hpp

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

namespace iflytop {

typedef enum {
  khbot_module             = 1,   // hbot模块
  ktemperature_ctrl_module = 3,   // 温度控制
  kfan_ctrl_module         = 5,   // 风扇控制
  kcode_scaner             = 6,   // 扫码器
  kpipette_ctrl_module     = 7,   // 移液体枪控制
  ka8000_optical_module    = 8,   // a8000光学模组
  ktmc_step_motor          = 10,  // 步进电机
  kmini_servo_motor_module = 11,  // 舵机
  kboard                   = 12,  // 板子
  ka8000_idcard_reader     = 13,  // id卡读卡器
  ka8000_plate_code_scaner = 14,  // 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;
  uint8_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