a8000_subboard_sdk/components/zcancmder/basic.cpp

#include "basic.hpp"

#include <stdio.h>
#include <string.h>

using namespace iflytop;
using namespace std;
uint16_t CanPacketRxBuffer::get_packetindex() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  return cmdheader->packetindex;
}
uint16_t CanPacketRxBuffer::get_cmdid() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;

  return CMDID(cmdheader->cmdMainId, cmdheader->cmdSubId);
}
uint8_t CanPacketRxBuffer::get_cmdSubId() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  return cmdheader->cmdSubId;
}
uint8_t CanPacketRxBuffer::get_packetType() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  return cmdheader->packetType;
}
uint8_t *CanPacketRxBuffer::get_params() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  return cmdheader->data;
}
uint16_t CanPacketRxBuffer::get_params_len() { return rxdataSize - sizeof(zcr_cmd_header_t); }
void     CanPacketRxBuffer::clear() {
  id = 0;
  memset(&m_canPacket, 0, sizeof(m_canPacket) / sizeof(m_canPacket[0]));
  m_canPacketNum = 0;
  m_npacket      = 0;
  memset(rxdata, 0, sizeof(rxdata));
  rxdataSize = 0;

  dataIsReady = false;
  isOnReceive = false;
  isUsed      = false;
  lostpacket  = false;
}

bool CanPacketRxBuffer::iscmd(int32_t id) {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  uint16_t          maincmdid = ((uint32_t)id >> 8) & 0xFFFF;
  uint8_t           cmdSubId  = ((uint32_t)id) & 0xFF;
  return cmdheader->cmdMainId == maincmdid && cmdheader->cmdSubId == cmdSubId;
}
zcr_cmd_header_t *CanPacketRxBuffer::get_cmdheader() {
  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
  return cmdheader;
}

uint8_t *CanPacketRxBuffer::get_rx_raw() { return rxdata; }
uint16_t CanPacketRxBuffer::get_rx_raw_len() { return rxdataSize; }