update

components/iflytop_can_slave_modules/device_base_control_service.cpp

@@ -7,6 +7,7 @@ void DeviceBaseControlService::initialize(IflytopCanProtocolStackProcesser* prot
   m_deviceId           = deviceId;
   ZASSERT(m_protocol_processer != NULL);
   activeRegs();
+  m_protocol_processer->registerListener(this);
 }
 void DeviceBaseControlService::activeRegs() {
   m_protocol_processer->activeReg(REG_DEVICE_ID, icps::kr, m_deviceId);
@@ -14,7 +15,7 @@ void DeviceBaseControlService::activeRegs() {
   m_protocol_processer->activeReg(REG_DEVICE_ENGINEER_MODE_MODE, icps::kwr, 0);
 }
 
-bool DeviceBaseControlService::isThisRegOwnToMe(icps::Reg_t* reg) {
+bool DeviceBaseControlService::isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg) {
   switch (reg->add) {
     case REG_DEVICE_ID:
     case REG_DEVICE_REBOOT:
@@ -26,7 +27,7 @@ bool DeviceBaseControlService::isThisRegOwnToMe(icps::Reg_t* reg) {
   return false;
 }
 
-icps::error_t DeviceBaseControlService::processIflytopCanRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent) {
+icps::error_t DeviceBaseControlService::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent) {
   switch (writeEvent->reg->add) {
     case REG_DEVICE_ID:
       return icps::kRegNotWritable;

components/iflytop_can_slave_modules/device_base_control_service.hpp

@@ -15,7 +15,7 @@ class DeviceBaseControlService;
 //  public:
 //   virtual icps::error_t onSetEngineerMode(DeviceBaseControlService* service, int32_t engineer_mode) = 0;
 // };
-class DeviceBaseControlService {
+class DeviceBaseControlService : public IflytopCanProtocolStackProcesserListener {
  public:
   typedef function<void(int32_t engineer_mode)> SetEngineerModeCallback_t;
 
@@ -31,8 +31,8 @@ class DeviceBaseControlService {
   void initialize(IflytopCanProtocolStackProcesser* protocol_processer, uint8_t deviceId);
   void setListener(SetEngineerModeCallback_t listener) { m_listener = listener; }
 
-  bool          isThisRegOwnToMe(icps::Reg_t* reg);
-  icps::error_t processIflytopCanRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
+  virtual bool          isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg);
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent);
 
  private:
   void activeRegs();

components/iflytop_can_slave_modules/idcard_reader_service.cpp

@@ -16,7 +16,7 @@ static int32_t littleEndianBigEnd(int32_t data) {
   return ret;
 }
 
-void IDCardReaderService::initialize(const char* name,  IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff,
+void IDCardReaderService::initialize(const char* name, IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff,
                                      M3078CodeScanner* codeScanner) {
   /*******************************************************************************
    *                             通用成员变量初始化                              *
@@ -25,7 +25,7 @@ void IDCardReaderService::initialize(const char* name,  IflytopCanProtocolStackP
   m_protocolProcesser = protocolProcesser;
   m_exceptionId       = 0;
   m_regStartOff       = regStartOff;
-  m_stateMachine.initialize(m_name,  10, &IDCardReaderService::onProcessState, this);
+  m_stateMachine.initialize(m_name, 10, &IDCardReaderService::onProcessState, this);
 
   /*******************************************************************************
    *                             专用成员变量初始化                              *
@@ -37,9 +37,10 @@ void IDCardReaderService::initialize(const char* name,  IflytopCanProtocolStackP
   m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_STATUS, icps::kr, 0);
   m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_EXCEPTION, icps::kr, 0);
   m_codeReg = m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_CODE, icps::kr | icps::kextreg, 0);
+  m_protocolProcesser->registerListener(this);
 }
 
-icps::error_t IDCardReaderService::processWriteEvent(icps::WriteEvent* event) {
+icps::error_t IDCardReaderService::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* event) {
   int regoff = event->reg->add - m_regStartOff;
   int val    = event->newvalue;
   switch (regoff) {
@@ -64,7 +65,7 @@ icps::error_t IDCardReaderService::processWriteEvent(icps::WriteEvent* event) {
   }
   return icps::kRegNotWritable;
 }
-icps::error_t IDCardReaderService::processReportEvent(icps::ReportEvent* event) {
+void IDCardReaderService::onHostRegisterReportEvent(IflytopCanProtocolStackProcesser* processer, icps::ReportEvent* event) {
   int      regoff = event->reg->add - m_regStartOff;
   int32_t* val    = &event->value;
 
@@ -79,7 +80,7 @@ icps::error_t IDCardReaderService::processReportEvent(icps::ReportEvent* event)
       *val          = data[event->extRegSubOff - 1];
     }
   }
-  return icps::kSuccess;
+  return;
 }
 
 void IDCardReaderService::onProcessState(StateMachine::StateProcessContext* context, StateMachine::Event* event) {
@@ -183,7 +184,7 @@ void IDCardReaderService::onProcessState(void* module, StateMachine::StateProces
  *                                  通用方法                                   *
  *******************************************************************************/
 void IDCardReaderService::writeRegVal(uint16_t regoff, uint16_t regval) { m_protocolProcesser->writeRegValue(uint16_t(m_regStartOff + regoff), regval, false); }
-bool IDCardReaderService::isThisRegOwnToMe(icps::Reg_t* reg) {
+bool IDCardReaderService::isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg) {
   int regoff = reg->add;
   if (regoff >= m_regStartOff && regoff < m_regStartOff + REG_CODE_SCANER_SIZE) {
     return true;

components/iflytop_can_slave_modules/idcard_reader_service.hpp

@@ -28,7 +28,7 @@ using namespace iflytop_can_slave_modules_pri;
  *  https://iflytop1.feishu.cn/wiki/OYZFwSNf2i0Hyek1zouc8eSsnsg
  *
  */
-class IDCardReaderService {
+class IDCardReaderService : public IflytopCanProtocolStackProcesserListener {
  public:
   typedef enum {
     kidle          = 0,
@@ -63,13 +63,15 @@ class IDCardReaderService {
   bool m_oneShutScan;
 
  public:
-  void initialize(const char* name,  IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff,
-                  M3078CodeScanner* codeScanner);
+  void initialize(const char* name, IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, M3078CodeScanner* codeScanner);
 
-  bool isThisRegOwnToMe(icps::Reg_t* reg);
+  virtual bool          isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg);
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent);
+  virtual void          onHostRegisterReportEvent(IflytopCanProtocolStackProcesser* processer, icps::ReportEvent* event);
 
-  icps::error_t processWriteEvent(icps::WriteEvent* event);
-  icps::error_t processReportEvent(icps::ReportEvent* event);
+  // bool isThisRegOwnToMe(icps::Reg_t* reg);
+  // icps::error_t processWriteEvent(icps::WriteEvent* event);
+  // icps::error_t processReportEvent(icps::ReportEvent* event);
 
   void periodicJob();
 

components/iflytop_can_slave_v1/iflytop_can_slave.cpp

@@ -2,8 +2,8 @@
 
 #ifdef HAL_CAN_MODULE_ENABLED
 #include <stdio.h>
-#include <string.h>
 #include <stdlib.h>
+#include <string.h>
 using namespace iflytop;
 
 #define TAG "IflytopCanProtocolStackProcesser"
@@ -12,7 +12,6 @@ using namespace iflytop;
 
 IflytopCanProtocolStackProcesser::IflytopCanProtocolStackProcesser() {
   memset(&m_config, 0, sizeof(m_config));
-  m_listener           = NULL;
   m_regList            = NULL;
   m_regListSize        = 0;
   m_canOnRxDataFlag    = false;
@@ -110,7 +109,9 @@ void IflytopCanProtocolStackProcesser::initialize(cfg_t *config) {
 }
 void IflytopCanProtocolStackProcesser::registerListener(   //
     IflytopCanProtocolStackProcesserListener *listener) {  //
-  m_listener = listener;
+  ZASSERT(m_listenerSize < ZARRAY_SIZE(m_listeners));
+  m_listeners[m_listenerSize] = listener;
+  m_listenerSize++;
 }
 void IflytopCanProtocolStackProcesser::periodicJob() {
   LoopJobContext loopContext = {0};
@@ -436,7 +437,7 @@ HAL_StatusTypeDef IflytopCanProtocolStackProcesser::activateRxIT() {
   return hal_status;
 }
 HAL_StatusTypeDef IflytopCanProtocolStackProcesser::deactivateRxIT() {
-	 HAL_StatusTypeDef hal_status = HAL_ERROR;
+  HAL_StatusTypeDef hal_status = HAL_ERROR;
   if (m_config->rxfifoNum == CAN_RX_FIFO0) {
     hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
   } else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
@@ -684,7 +685,13 @@ icps::error_t IflytopCanProtocolStackProcesser::callOnHostRegisterWriteEvent(icp
   writeEvent.newvalue                          = newvalue;
   writeEvent.oldvalue                          = oldvalue;
   writeEvent.reg                               = reg;
-  if (m_listener) return m_listener->onHostRegisterWriteEvent(this, &writeEvent);
+  // if (m_listener) return m_listener->onHostRegisterWriteEvent(this, &writeEvent);
+  for (size_t i = 0; i < m_listenerSize; i++) {
+    if (m_listeners[i]->isThisRegOwnToMe(this, reg)) {
+      return m_listeners[i]->onHostRegisterWriteEvent(this, &writeEvent);
+    }
+  }
+
   newvalue = writeEvent.newvalue;
   return icps::kSuccess;
 }
@@ -692,7 +699,12 @@ icps::error_t IflytopCanProtocolStackProcesser::callOnHostRegisterReadEvent(icps
   icps::ReadEvent eve = {0};
   eve.reg             = reg;
   eve.value           = value;
-  if (m_listener) return m_listener->onHostRegisterReadEvent(this, &eve);
+
+  for (size_t i = 0; i < m_listenerSize; i++) {
+    if (m_listeners[i]->isThisRegOwnToMe(this, reg)) {
+      return m_listeners[i]->onHostRegisterReadEvent(this, &eve);
+    }
+  }
   value = eve.value;
   return icps::kSuccess;
 }
@@ -700,7 +712,14 @@ void IflytopCanProtocolStackProcesser::callOnRegisterValueAutoReportEvent(icps::
   icps::ReportEvent eve = {0};
   eve.reg               = reg;
   eve.value             = value;
-  if (m_listener) m_listener->onHostRegisterReportEvent(this, &eve);
+  // if (m_listener) m_listener->onHostRegisterReportEvent(this, &eve);
+
+  for (size_t i = 0; i < m_listenerSize; i++) {
+    if (m_listeners[i]->isThisRegOwnToMe(this, reg)) {
+      m_listeners[i]->onHostRegisterReportEvent(this, &eve);
+    }
+  }
+
   value = eve.value;
 }
 #if 1
@@ -709,7 +728,13 @@ void IflytopCanProtocolStackProcesser::callOnRegisterExtEvent(icps::Reg_t *reg,
   eve.reg               = reg;
   eve.value             = value;
   eve.extRegSubOff      = subregindex;
-  if (m_listener) m_listener->onHostRegisterReportEvent(this, &eve);
+  // if (m_listener) m_listener->onHostRegisterReportEvent(this, &eve);
+
+  for (size_t i = 0; i < m_listenerSize; i++) {
+    if (m_listeners[i]->isThisRegOwnToMe(this, reg)) {
+      m_listeners[i]->onHostRegisterReportEvent(this, &eve);
+    }
+  }
   value = eve.value;
 }
 #endif

components/iflytop_can_slave_v1/iflytop_can_slave.hpp

@@ -27,6 +27,7 @@ typedef icps::WriteEvent IflytopCanProtocolStackWriteEvent;
 
 class IflytopCanProtocolStackProcesserListener {
  public:
+  virtual bool isThisRegOwnToMe(IflytopCanProtocolStackProcesser *processer, icps::Reg_t *reg) { return false; }
   /**
    * @brief onHostRegisterWriteEvent
    *
@@ -35,7 +36,7 @@ class IflytopCanProtocolStackProcesserListener {
    * @param newvalue 新的数值
    * @return icps::error_t 该方法返回kSuccess，寄存器的数值才会被赋值
    */
-  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) = 0;
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) { return icps::kSuccess; };
   /**
    * @brief
    *
@@ -43,12 +44,12 @@ class IflytopCanProtocolStackProcesserListener {
    * @param value 读取到的数值，该数值可以被修改,如果不修改怎么保持和寄存器的数值一致
    * @return icps::error_t 该方法返回kSuccess，数值才会被读走
    */
-  virtual icps::error_t onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) = 0;
+  virtual icps::error_t onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) { return icps::kSuccess; };
   /**
    * @brief onRegisterValuePeriodicReportEvent
    *  当寄存器数值发生变化时，如果设置了自动上报，该方法就会被回调，用来通知应用层产生了一次消息上报事件。
    */
-  virtual void onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event) = 0;
+  virtual void onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event){};
 };
 
 class IflytopCanProtocolStackProcesser : public ZCanIRQListener {
@@ -84,9 +85,9 @@ class IflytopCanProtocolStackProcesser : public ZCanIRQListener {
  private:
   cfg_t *m_config;  // 配置
   // IflytopMicroOS                           *m_os;           // 操作系统相关方法
-  IflytopCanProtocolStackProcesserListener *m_listener;     // 监听者
-  icps::Reg_t                              *m_regList;      // 寄存器列表
-  uint16_t                                  m_regListSize;  // 寄存器列表大小
+  // IflytopCanProtocolStackProcesserListener *m_listener;     // 监听者
+  icps::Reg_t *m_regList;      // 寄存器列表
+  uint16_t     m_regListSize;  // 寄存器列表大小
 
   bool m_canOnRxDataFlag;  // 是否有数据接收，用于从中断上下文转移到MainLoop上下文
 
@@ -96,6 +97,9 @@ class IflytopCanProtocolStackProcesser : public ZCanIRQListener {
   uint8_t           m_reportSeq;           // 上报序列号
   ReportTask        m_reportTask;
 
+  IflytopCanProtocolStackProcesserListener *m_listeners[30];
+  int                                       m_listenerSize = 0;
+
  public:
   IflytopCanProtocolStackProcesser();
   static cfg_t *createDefaultConfig(uint16_t deviceId, uint16_t regListSize);

components/single_axis_motor_control_v2/i_iflytop_can_slave_module.cpp

@@ -165,6 +165,7 @@ void IIflytopCanSlaveModule::initialize(const char* name, IflytopCanProtocolStac
   m_stateticket = 0;
 
   m_listener = NULL;
+  m_protocolProcesser->registerListener(this);
 }
 
 void IIflytopCanSlaveModule::regConfigParas(icsm::ConfigPara* configParas, int configParaNum) {
@@ -195,9 +196,9 @@ void IIflytopCanSlaveModule::writeRegValueByRegOff(uint16_t regaddoff, int32_t v
   m_protocolProcesser->writeRegValue(m_regStart + regaddoff, value, forceupdate);
 }
 uint32_t IIflytopCanSlaveModule::getRegOff(IflytopCanProtocolStackWriteEvent* writeEvent) { return writeEvent->reg->add - m_regStart; }
-bool     IIflytopCanSlaveModule::isMyWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent) {
-  if (writeEvent->reg->add >= getRegStartAdd() &&  //
-      writeEvent->reg->add <= getRegEndAdd()) {
+bool     IIflytopCanSlaveModule::isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg) {
+  if (reg->add >= getRegStartAdd() &&  //
+      reg->add <= getRegEndAdd()) {
     return true;
   }
   return false;
@@ -257,7 +258,7 @@ void IIflytopCanSlaveModule::activeReg(uint16_t mappingAdd, uint16_t mask, int32
   }
 }
 
-icps::error_t IIflytopCanSlaveModule::processIflytopCanRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent) {
+icps::error_t IIflytopCanSlaveModule::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent) {
   /**
    * @brief
    *  1.遍历所有配置参数，如果是配置地址，则进行配置

components/single_axis_motor_control_v2/i_iflytop_can_slave_module.hpp

@@ -135,12 +135,11 @@ class IIflytopCanSlaveModuleListener {
   virtual void onException(IIflytopCanSlaveModule* service, int32_t exceptionId) = 0;
 };
 
-class IIflytopCanSlaveModule {
+class IIflytopCanSlaveModule : public IflytopCanProtocolStackProcesserListener {
  public:
   const char* m_name;
 
  private:
-
   int32_t m_regStart;
   int32_t m_regNum;
 
@@ -185,7 +184,7 @@ class IIflytopCanSlaveModule {
   virtual ~IIflytopCanSlaveModule(){};
 
  protected:
-  void initialize(const char* name,  IflytopCanProtocolStackProcesser* processer, int32_t regoff, int32_t retNum);
+  void initialize(const char* name, IflytopCanProtocolStackProcesser* processer, int32_t regoff, int32_t retNum);
   void regConfigParas(icsm::ConfigPara* configParas, int configParaNum);
   void regActions(icsm::Action* action, int actionNum);
 
@@ -224,12 +223,14 @@ class IIflytopCanSlaveModule {
 
   int32_t getModuleTicket();
 
-
   /*******************************************************************************
    *                                  协议对接                                   *
    *******************************************************************************/
-  bool          isMyWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
-  icps::error_t processIflytopCanRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
+  // bool          isMyWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
+  // icps::error_t processIflytopCanRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
+
+  virtual bool          isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg);
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent);
   /*******************************************************************************
    *                                  协议助手                                   *
    *******************************************************************************/

components/single_axis_motor_control_v2/single_axis_motor_control_v2.cpp

@@ -531,7 +531,7 @@ icps::error_t SingleAxisMotorControlerV2::stop() {
   writeEvent.reg      = reg;
   writeEvent.newvalue = 1;
   writeEvent.oldvalue = reg->getValue();
-  processIflytopCanRegisterWriteEvent(&writeEvent);
+  onHostRegisterWriteEvent(getProtocolProcesser(), &writeEvent);
   return icps::kSuccess;
 }
 #endif