a8000_subboard_sdk/components/zcancmder/basic.hpp

//
// Created by zwsd
//

#pragma once
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"

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

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

};  // namespace zcr
using namespace zcr;

class CanPacketRxBuffer {
 public:
  uint16_t  id               = 0;
  CANPacket m_canPacket[125] = {0};  // ���ڽ���can��Ϣ
  uint8_t   m_canPacketNum   = 0;
  uint8_t   m_npacket        = 0;
  uint8_t   rxdata[1000]     = {0};
  int       rxdataSize       = 0;

  bool dataIsReady = false;
  bool isOnReceive = false;
  bool isUsed      = false;
  bool lostpacket  = false;

 public:
  uint16_t get_packetindex();
  uint16_t get_cmdid();
  uint8_t  get_subcmdid();
  uint8_t  get_packetType();
  uint8_t *get_data();
  uint16_t get_datalen();
  void     clear();

  zcr_cmd_header_t *get_cmdheader();

  bool iscmd(int32_t id);

  template <typename T>
  T *get_data_as() {
    return (T *)get_data();
  }
};

}  // namespace iflytop