a8000_subboard/sdk/components/zcancmder/basic.hpp

//
// Created by zwsd
//

#pragma once
#include "a8000_protocol\protocol.hpp"
#include "sdk/os/zos.hpp"

namespace iflytop {
namespace zcr {
typedef enum {
  kpacketHeader = 0,
  kpacketData   = 1,
  kpacketTail   = 2,
} packet_type_t;

typedef struct {
  // CAN_RxHeaderTypeDef pHeader;
  uint8_t dlc;
  uint8_t aData[8]; /*8byte table*/
} CANPacket;

};  // namespace zcr
using namespace zcr;

class CanPacketRxBuffer {
 public:
  uint16_t  id              = 0;
  CANPacket m_canPacket[20] = {0};  // 用于接收can消息
  uint8_t   m_canPacketNum  = 0;
  uint8_t   m_npacket       = 0;
  uint8_t   rxdata[256]     = {0};
  int       rxdataSize      = 0;

  bool    dataIsReady     = false;
  bool    isOnReceive     = false;
  bool    isUsed          = false;
  bool    lostpacket      = false;
  bool    dataIsProcessed = false;
  int32_t lastrxtime      = 0;

 public:
  uint16_t get_packetindex();
  uint16_t get_cmdid();
  uint8_t  get_packetType();
  uint8_t *get_params();
  uint16_t get_params_len();
  void     clear();

  uint8_t *get_rx_raw();
  uint16_t get_rx_raw_len();

  zcr_cmd_header_t *get_cmdheader();

  bool iscmd(int32_t id);

  template <typename T>
  T *get_param_as() {
    return (T *)get_params();
  }
};

}  // namespace iflytop