update

api/api.hpp

@@ -13,8 +13,6 @@
 //
 #include "zi_a8000_optical_module.hpp"
 //
-#include "zi_pipette_ctrl_module.hpp"
-//
 #include "zi_mini_servo.hpp"
 //
 #include "zi_board.hpp"

api/apibasic/errorcode.hpp

@@ -20,6 +20,7 @@ typedef enum {
   knoack              = 1107,
   kerrorack           = 1108,
   kdevice_offline     = 1109,
+  kcheck_sum_error    = 1110,
 
   ksubdevice_overtime  = 1111,
   kbuffer_not_enough   = 1112,

api/apibasic/packet_interface.hpp

@@ -22,8 +22,26 @@ typedef enum {
   kptv2_event     = 3,
 } zcan_cmd_packet_type_t;
 
+static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) {
+  if (len < sizeof(zcr_cmd_header_t)) {
+    return false;
+  }
+  if ((header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) {
+    return false;
+  }
 
-}  // namespace zcr
-}  // namespace iflytop
+  uint8_t* rawpacket = (uint8_t*)header;
+  uint8_t  checksum  = 0;
+  for (int i = 0; i < len - 1; i++) {
+    checksum += rawpacket[i];
+  }
+
+  if (checksum != rawpacket[len - 1]) {
+    return false;
+  }
 
+  return true;
+}
 
+}  // namespace zcr
+}  // namespace iflytop

api/zi_pipette_ctrl_module.hpp

@@ -1,11 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-#include <functional>
-
-#include "apibasic/basic.hpp"
-
-namespace iflytop {
-using namespace std;
-
-}  // namespace iflytop

i_zcanreceiver.hpp

@@ -9,7 +9,7 @@ using namespace zcr;
 
 class IZCanReceiverListener {
  public:
-  virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, uint8_t *data, int32_t len) = 0;
+  virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, int32_t len) = 0;
 };
 
 class IZCanReceiver {

protocol.hpp

@@ -1,6 +1,4 @@
 #pragma once
 #include "api/api.hpp"
 //
-#include "i_zcanreceiver.hpp"
-//
-#include "reg_index_table.hpp"
+#include "i_zcanreceiver.hpp"

reg_index_table.cpp

@@ -1,24 +0,0 @@
-#include "reg_index_table.hpp"
-
-#include <stdlib.h>
-#include <string.h>
-
-#include "api/api.hpp"
-using namespace iflytop;
-
-static reg_index_table_iterm_t iterms[] = {};
-namespace iflytop {
-void reg_index_table_get(reg_index_table_iterm_t** table, int32_t* size) {
-  *size  = sizeof(iterms) / sizeof(iterms[0]);
-  *table = iterms;
-}
-
-int32_t str_to_reg_index(const char* val) {
-  for (int32_t i = 0; i < sizeof(iterms) / sizeof(iterms[0]); i++) {
-    if (strcmp(iterms[i].name, val) == 0) {
-      return iterms[i].index;
-    }
-  }
-  return atoi(val);
-}
-}  // namespace iflytop

reg_index_table.hpp

@@ -1,13 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-namespace iflytop {
-typedef struct {
-  const char* name;
-  int32_t     index;
-} reg_index_table_iterm_t;
-
-void    reg_index_table_get(reg_index_table_iterm_t** table, int32_t* size);
-int32_t str_to_reg_index(const char* val);
-
-}  // namespace iflytop