a8000_subboard_sdk/components/zcancmder/zcanreceiver.hpp

//
// Created by zwsd
//

#pragma once
#include "basic.hpp"
#include "sdk/os/zos.hpp"
#include "a8000_protocol\protocol.hpp"
#ifdef HAL_CAN_MODULE_ENABLED
namespace iflytop {
using namespace zcr;


typedef function<void(CanPacketRxBuffer *rxcmd)> zcanreceiver_listener_t;

class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
 public:
  class CFG {
   public:
    uint8_t deviceId;  //
    /*******************************************************************************
     *                                  CANConfig                                  *
     *******************************************************************************/
    CAN_HandleTypeDef *canHandle;            // 默认使用CAN1
    int                canFilterIndex0;      // 过滤器0 接收，发给自身的消息
    int                maxFilterNum;         // 使用的过滤器数量，最大值14，默认为7
    int                rxfifoNum;            // 使用的FIFO,默认使用FIFO0
    int                packetRxOvertime_ms;  //
  };

  uint8_t txbuff[2100];

 public:
  class LoopJobContext {
   public:
    bool hasDoneSomething;
  };

 private:
  CFG              *m_config           = NULL;   // 配置
  bool              m_canOnRxDataFlag  = false;  // 是否有数据接收，用于从中断上下文转移到MainLoop上下文
  uint32_t          m_lastPacketTicket = 0;      // 上一次接收到消息的时间，用于判断与主机是否断开连接
  HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值

  list<IZCanReceiverListener *> m_listenerList;
  CanPacketRxBuffer          m_canPacketRxBuffer[1];

  int    txPacketInterval_ms = 0;
  zmutex m_lock;

  int32_t m_reportIndex = 0;

 public:
  ZCanReceiver() {}
  CFG *createCFG(uint8_t deviceId);
  void initialize(CFG *cfg);

#if 0
  void    sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
  void    sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
  void    sendAck(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
  void    sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode);
#endif

  uint8_t getDeviceId() { return m_config->deviceId; }
  void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }

  virtual void    registerListener(IZCanReceiverListener *listener) override;
  virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) override;
  virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) override;
  virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) override;
  virtual int32_t triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) override;

  void loop();

 public:
  virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
  virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);

 private:
  void sendPacket(uint8_t *packet, size_t len);
  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);

  HAL_StatusTypeDef initializeFilter();
  HAL_StatusTypeDef activateRxIT();
  HAL_StatusTypeDef deactivateRxIT();
  bool              getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);
};

}  // namespace iflytop
#endif