From 6907918344171e5a319110da5bda918c4ceae1f3 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 2 Jun 2024 10:47:30 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E9=83=A8=E5=88=86=E4=B8=8D?= =?UTF-8?q?=E5=BF=85=E8=A6=81=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- components/cmdscheduler/cmd_scheduler_uart_dma.cpp | 199 -------- components/cmdscheduler/cmd_scheduler_uart_dma.hpp | 51 -- components/cmdscheduler/cmd_scheduler_v2.cpp | 209 -------- components/cmdscheduler/cmd_scheduler_v2.hpp | 114 ----- components/modbus/modbus_client.hpp | 5 - components/subcanmodule/dep.hpp | 7 - .../subcanmodule/zcancmder_subboard_initer.cpp | 99 ---- .../subcanmodule/zcancmder_subboard_initer.hpp | 47 -- components/zcancmder/zcanreceiver.cpp | 6 +- components/zcancmder/zcanreceiver.hpp | 8 +- components/zcancmder/zcanreceiver_master.cpp | 541 --------------------- components/zcancmder/zcanreceiver_master.hpp | 113 ----- ...o_computer_module_device_script_cmder_paser.cpp | 219 --------- ...o_computer_module_device_script_cmder_paser.hpp | 33 -- components/zprotocols/zcancmder_v2 | 2 +- 15 files changed, 8 insertions(+), 1645 deletions(-) delete mode 100644 components/cmdscheduler/cmd_scheduler_uart_dma.cpp delete mode 100644 components/cmdscheduler/cmd_scheduler_uart_dma.hpp delete mode 100644 components/cmdscheduler/cmd_scheduler_v2.cpp delete mode 100644 components/cmdscheduler/cmd_scheduler_v2.hpp delete mode 100644 components/subcanmodule/dep.hpp delete mode 100644 components/subcanmodule/zcancmder_subboard_initer.cpp delete mode 100644 components/subcanmodule/zcancmder_subboard_initer.hpp delete mode 100644 components/zcancmder/zcanreceiver_master.cpp delete mode 100644 components/zcancmder/zcanreceiver_master.hpp delete mode 100644 components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp delete mode 100644 components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp diff --git a/components/cmdscheduler/cmd_scheduler_uart_dma.cpp b/components/cmdscheduler/cmd_scheduler_uart_dma.cpp deleted file mode 100644 index 55e1245..0000000 --- a/components/cmdscheduler/cmd_scheduler_uart_dma.cpp +++ /dev/null @@ -1,199 +0,0 @@ - -#include "cmd_scheduler_uart_dma.hpp" - -#include -#include - -#include "project_configs.h" -#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp" -using namespace iflytop; - -#define TAG "CMD" - -#if 0 - -void CmdSchedulerUartDMA::registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) { - CMD cmdinfo; - cmdinfo.call_cmd = cmdimpl; - cmdinfo.help_info = helpinfo; - cmdinfo.npara = paraNum; - m_cmdMap[cmdname] = cmdinfo; -} - -void CmdSchedulerUartDMA::regbasiccmd() { - this->registerCmd("help", "", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ZLOGI(TAG, "cmdlist:"); - for (auto it = m_cmdMap.begin(); it != m_cmdMap.end(); it++) { - ZLOGI(TAG, " %s %s", it->first.c_str(), it->second.help_info.c_str()); - } - return (int32_t)0; - }); - this->registerCmd("sleep_ms", "(ms)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - int ms = atoi(paraV[0]); - osDelay(ms); - return 0; - }); -} - -void CmdSchedulerUartDMA::initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize) { - m_huart = huart; - - rxbuf = new char[rxbufsize + 1]; - ZASSERT(rxbuf != NULL); - m_rxbufsize = rxbufsize; - - // m_uart->initialize(&cfg); - // ZASSERT(m_uart->startRxIt()); - // m_uart->setrxcb([this](uint8_t* data, size_t len) { - // if (m_dataisready) { - // return; - // } - // memcpy(rxbuf, data, len); - // rxbuf[len] = '\0'; - // m_rxsize = len; - // m_dataisready = true; - // // on data ,in irq context - // }); - // regbasiccmd(); -} -// int32_t getAckInt32Val(int index) { -// int32_t getAckInt32Num() { - -void CmdSchedulerUartDMA::schedule() { - static ICmdParserACK ack = {0}; - - HAL_UART_StateTypeDef state = HAL_UART_GetState(m_huart); - if (state == HAL_UART_STATE_BUSY_RX || state == HAL_UART_STATE_BUSY_TX_RX) { - HAL_UARTEx_ReceiveToIdle_DMA(m_huart, (uint8_t*)rxbuf, m_rxbufsize); - return; - } - - for (int i = 0; i < m_rxsize; i++) { - if (rxbuf[i] == '\r' || rxbuf[i] == '\n') { - rxbuf[i] = '\0'; - } - } - for (int i = 0; i < m_rxsize; i++) { - if (rxbuf[i] != '\0') { - // ZLOGI(TAG, "docmd: %s", &rxbuf[i]); - ZLOGI(TAG, "docmd: %s", &rxbuf[i]); - - int inext = strlen(&rxbuf[i]) + i; - memset(&ack, 0, sizeof(ack)); -#ifdef IFLYTOP_ENABLE_EXCEPTION - try { - callcmd(&rxbuf[i], &ack); - } catch (...) { - ack.ecode = err::kcatch_exception; - } -#else - callcmd(&rxbuf[i], &ack); -#endif - dumpack(&ack); - i = inext; - - if (ack.ecode != 0) { - break; - } - } - } - // if (m_rxsize != 1) { - // ZLOGI(TAG, "doscript:end"); - // } - m_dataisready = false; -} -void CmdSchedulerUartDMA::dumpack(ICmdParserACK* ack) { - if (ack->ecode == 0) { - if (ack->acktype == ack->kAckType_none) { - ZLOGI(TAG, "\tok"); - } else if (ack->acktype == ack->kAckType_int32) { - ZLOGI(TAG, "\tok-->"); - for (int i = 0; i < ack->getAckInt32Num(); i++) { - // printf(" %d", (int)ack->getAckInt32Val(i)); - ZLOGI(TAG, "\t\t%d", (int)ack->getAckInt32Val(i)); - } - } else if (ack->acktype == ack->kAckType_buf) { - ZLOGI(TAG, "\tok-->"); - for (int i = 0; i < ack->rawlen; i++) { - printf(" %02x", ack->rawdata[i]); - } - printf("\n"); - } else { - ZLOGI(TAG, "\tok"); - } - } else { - ZLOGI(TAG, "\tfailed:%s(%d)", err::error2str(ack->ecode), (int)ack->ecode); - } -} - -// void CmdSchedulerUartDMA::tx(const char* data, int len) { m_uart->tx((uint8_t*)data, len); } -int32_t CmdSchedulerUartDMA::callcmd(const char* cmd, ICmdParserACK* ack) { - int32_t argc = 0; - char* argv[10] = {0}; - memset(cmdcache, 0, sizeof(cmdcache)); - argc = 0; - memset(argv, 0, sizeof(argv)); - strcpy(cmdcache, cmd); - remove_note(cmdcache, strlen(cmdcache)); - prase_cmd(cmdcache, strlen(cmdcache), argc, argv); - if (argc == 0) { - return (int32_t)0; - } - - // printf("argc:%d\n", argc); - // for (size_t i = 0; i < argc; i++) { - // printf("argv[%d]:%s\n", i, argv[i]); - // } - /** - * @brief 在这里处理指令 - */ - auto cmder = m_cmdMap.find(string(argv[0])); - if (cmder != m_cmdMap.end()) { - if (cmder->second.npara != argc - 1) { - ack->ecode = err::kcmd_param_num_error; - return err::kcmd_param_num_error; - } - cmder->second.call_cmd((int32_t)(argc - 1), (const char**)(&argv[1]), ack); - return ack->ecode; - - } else { - ack->ecode = err::kcmd_not_found; - return err::kcmd_not_found; - } -} - -void CmdSchedulerUartDMA::remove_note(char* input, int inputlen) { - bool detect_note = false; - for (int i = 0; i < inputlen; i++) { - if (!detect_note && input[i] == '#') { - detect_note = true; - } - if (detect_note) { - input[i] = 0; - } - } -} - -void CmdSchedulerUartDMA::prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]) { - for (int i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n') { - input[i] = 0; - } - } - - int j = 0; - for (int i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] != 0 && j == 0) { - argv[argc++] = &input[i]; - j = 1; - continue; - } - - if (input[i] == 0 && j == 1) { - j = 0; - continue; - } - } -} - -#endif \ No newline at end of file diff --git a/components/cmdscheduler/cmd_scheduler_uart_dma.hpp b/components/cmdscheduler/cmd_scheduler_uart_dma.hpp deleted file mode 100644 index e8c99ef..0000000 --- a/components/cmdscheduler/cmd_scheduler_uart_dma.hpp +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once -#include -#include - -#include "sdk/os/zos.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp" -#if 0 -namespace iflytop { -using namespace std; - -class CmdSchedulerUartDMA : public ICmdParser { - public: - class CMD { - public: - ICmdFunction_t call_cmd; - string help_info; - int npara; - }; - - private: - map m_cmdMap; - - UART_HandleTypeDef* m_huart; - char* rxbuf; - uint32_t m_rxbufsize; - - int32_t m_rxsize = 0; - - bool m_dataisready = false; - - char cmdcache[1024] = {0}; - bool rxdmaisworking = false; - - public: - void initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize); - virtual void regCMD(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) override { registerCmd(cmdname, helpinfo, paraNum, cmdimpl); } - void registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl); - // void tx(const char* data, int len); - void schedule(); - - private: - void regbasiccmd(); - int32_t callcmd(const char* cmd, ICmdParserACK* ack); - void prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]); - void remove_note(char* input, int inputlen); - void dumpack(ICmdParserACK* ack); -}; -} // namespace iflytop - -#endif \ No newline at end of file diff --git a/components/cmdscheduler/cmd_scheduler_v2.cpp b/components/cmdscheduler/cmd_scheduler_v2.cpp deleted file mode 100644 index 2b665ef..0000000 --- a/components/cmdscheduler/cmd_scheduler_v2.cpp +++ /dev/null @@ -1,209 +0,0 @@ - -#include "cmd_scheduler_v2.hpp" - -#include -#include - -#include "project_configs.h" -#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp" -using namespace iflytop; - -#define TAG "CMD" - -void CmdSchedulerV2::registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) { - CMD cmdinfo; - cmdinfo.call_cmd = cmdimpl; - cmdinfo.help_info = helpinfo; - cmdinfo.npara = paraNum; - m_cmdMap[cmdname] = cmdinfo; -} - -void CmdSchedulerV2::regbasiccmd() { - this->registerCmd("help", "", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ZLOGI(TAG, "cmdlist:"); - for (auto it = m_cmdMap.begin(); it != m_cmdMap.end(); it++) { - ZLOGI(TAG, " %s %s", it->first.c_str(), it->second.help_info.c_str()); - } - return (int32_t)0; - }); - this->registerCmd("sleep_ms", "(ms)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - int ms = atoi(paraV[0]); - osDelay(ms); - return 0; - }); -} - -void CmdSchedulerV2::initialize(ZIUartReceiver* receiver) { - // m_uart = new ZUARTDmaReceiver(); - m_uart = receiver; - ZASSERT(m_uart != NULL); - - m_rxbufsize = receiver->gertRxBufSize(); - rxbuf = new char[m_rxbufsize + 1]; - ZASSERT(rxbuf != NULL); - - // m_uart->initialize(&cfg); - m_uart->startRx([this](uint8_t* data, size_t len) { - if (m_dataisready) return; - if (len == 0) return; - memcpy(rxbuf, data, len); - rxbuf[len] = '\0'; - m_rxsize = len; - m_dataisready = true; - // on data ,in irq context - }); - regbasiccmd(); -} -// int32_t getAckInt32Val(int index) { -// int32_t getAckInt32Num() { - -void CmdSchedulerV2::schedule() { - static ICmdParserACK ack = {0}; - - if (!m_dataisready) { - return; - } - ZLOGI(TAG, "----------------------------doscript:begin------------------------"); - for (int i = 0; i < m_rxsize; i++) { - if (rxbuf[i] == '\r' || rxbuf[i] == '\n') { - rxbuf[i] = '\0'; - } - } - for (int i = 0; i < m_rxsize; i++) { - if (rxbuf[i] != '\0') { - // ZLOGI(TAG, "docmd: %s", &rxbuf[i]); - ZLOGI(TAG, "docmd: %s", &rxbuf[i]); - - int inext = strlen(&rxbuf[i]) + i; - memset(&ack, 0, sizeof(ack)); -#ifdef IFLYTOP_ENABLE_EXCEPTION - try { - callcmd(&rxbuf[i], &ack); - } catch (...) { - ack.ecode = err::kcatch_exception; - } -#else - callcmd(&rxbuf[i], &ack); -#endif - dumpack(&ack); - i = inext; - - if (ack.ecode != 0) { - break; - } - } - } - // if (m_rxsize != 1) { - // ZLOGI(TAG, "doscript:end"); - // } - m_dataisready = false; -} -#define ALIAS_LEN 8 - -void CmdSchedulerV2::dumpack(ICmdParserACK* ack) { - if (ack->ecode == 0) { - ZLOGI(TAG, "\tok"); - if (ack->acktype == ack->kAckType_none) { - } else if (ack->acktype == ack->kAckType_int32) { - for (int i = 0; i < ack->getAckInt32Num(); i++) { - ZLOGI(TAG, "\tACK[%d] \t\t%d", i, (int)ack->getAckInt32Val(i)); - } - } else if (ack->acktype == ack->kAckType_buf) { - ZLOGI_NOT_END_LINE(TAG, "\t ACK_BUF(%d):\n", ack->rawlen); - for (int32_t i = 0; i * ALIAS_LEN < ack->rawlen; i++) { - ZLOGI_NOT_END_LINE(TAG, "%8x\t\t", i * ALIAS_LEN); - for (int32_t j = 0; j < ALIAS_LEN; j++) { - if (i * ALIAS_LEN + j < ack->rawlen) { - printf("%02x ", ack->rawdata[i * ALIAS_LEN + j]); - } - } - printf("|"); - for (int32_t j = 0; j < ALIAS_LEN; j++) { - if (i * ALIAS_LEN + j < ack->rawlen) { - if (ack->rawdata[i * ALIAS_LEN + j] >= 0x20 && ack->rawdata[i * ALIAS_LEN + j] <= 0x7e) { - printf("%c", ack->rawdata[i * ALIAS_LEN + j]); - } else { - printf("."); - } - } - } - printf("\n"); - } - } else if (ack->acktype == ack->kAckType_str) { - ZLOGI_NOT_END_LINE(TAG, "\t ACK_BUF(%d):", ack->rawlen); - printf("%s\n", (char*)ack->rawdata); - } - } else { - ZLOGI(TAG, "\tfailed:%s(%d)", err::error2str(ack->ecode), (int)ack->ecode); - } -} - -// void CmdSchedulerV2::tx(const char* data, int len) { m_uart->tx((uint8_t*)data, len); } -int32_t CmdSchedulerV2::callcmd(const char* cmd, ICmdParserACK* ack) { - int32_t argc = 0; - char* argv[10] = {0}; - memset(cmdcache, 0, sizeof(cmdcache)); - argc = 0; - memset(argv, 0, sizeof(argv)); - strcpy(cmdcache, cmd); - remove_note(cmdcache, strlen(cmdcache)); - prase_cmd(cmdcache, strlen(cmdcache), argc, argv); - if (argc == 0) { - return (int32_t)0; - } - - // printf("argc:%d\n", argc); - // for (size_t i = 0; i < argc; i++) { - // printf("argv[%d]:%s\n", i, argv[i]); - // } - /** - * @brief 在这里处理指令 - */ - auto cmder = m_cmdMap.find(string(argv[0])); - if (cmder != m_cmdMap.end()) { - if (cmder->second.npara >= 0 && cmder->second.npara != argc - 1) { - ack->ecode = err::kcmd_param_num_error; - return err::kcmd_param_num_error; - } - cmder->second.call_cmd((int32_t)(argc - 1), (const char**)(&argv[1]), ack); - return ack->ecode; - - } else { - ack->ecode = err::kcmd_not_found; - return err::kcmd_not_found; - } -} - -void CmdSchedulerV2::remove_note(char* input, int inputlen) { - bool detect_note = false; - for (int i = 0; i < inputlen; i++) { - if (!detect_note && input[i] == '#') { - detect_note = true; - } - if (detect_note) { - input[i] = 0; - } - } -} - -void CmdSchedulerV2::prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]) { - for (int i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n' || input[i] == '\t' || input[i] == '(' || input[i] == ')' || input[i] == ',') { - input[i] = 0; - } - } - - int j = 0; - for (int i = 0; input[i] == 0 || i < inputlen; i++) { - if (input[i] != 0 && j == 0) { - argv[argc++] = &input[i]; - j = 1; - continue; - } - - if (input[i] == 0 && j == 1) { - j = 0; - continue; - } - } -} diff --git a/components/cmdscheduler/cmd_scheduler_v2.hpp b/components/cmdscheduler/cmd_scheduler_v2.hpp deleted file mode 100644 index 37c2bdf..0000000 --- a/components/cmdscheduler/cmd_scheduler_v2.hpp +++ /dev/null @@ -1,114 +0,0 @@ -#pragma once -#include -#include - -#include "sdk/os/zos.hpp" -#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp" -// -#include "sdk\components\api\zi_uart_receiver.hpp" - -namespace iflytop { -using namespace std; - -class CmdSchedulerV2 : public ICmdParser { - public: - class CMD { - public: - ICmdFunction_t call_cmd; - string help_info; - int npara; - }; - - private: - map m_cmdMap; - - ZIUartReceiver* m_uart; - char* rxbuf; - int32_t m_rxsize = 0; - - uint32_t m_rxbufsize; - - bool m_dataisready = false; - - char cmdcache[1024] = {0}; - - public: - void initialize(ZIUartReceiver* receiver); - - virtual void regCMD(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) override { registerCmd(cmdname, helpinfo, paraNum, cmdimpl); } - void registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl); - // void tx(const char* data, int len); - void schedule(); - - private: - void regbasiccmd(); - int32_t callcmd(const char* cmd, ICmdParserACK* ack); - void prase_cmd(char* input, int inputlen, int32_t& argc, char* argv[]); - void remove_note(char* input, int inputlen); - void dumpack(ICmdParserACK* ack); -}; - -class __Params { - int32_t m_paramN; - const char** m_paraV; - - public: - __Params(int32_t paramN, const char** paraV) : m_paramN(paramN), m_paraV(paraV) {} - - int32_t getInt(int32_t index) { - index -= 1; - if (index >= m_paramN) { - return 0; - } - if (index < 0) { - return 0; - } - return atoi(m_paraV[index]); - } - - bool getBool(int32_t index) { - index -= 1; - if (index >= m_paramN) { - return false; - } - if (index < 0) { - return false; - } - return atoi(m_paraV[index]) != 0; - } -}; - -#define DO_CMD(cond) \ - { \ - int32_t ret = cond; \ - if (ret != 0) { \ - return ret; \ - } \ - } -#define IMPL_CMD(cmd, ...) \ - __Params con(paramN, paraV); \ - DO_CMD(findmodule(con.getInt(1), &module)); \ - DO_CMD(module->cmd(__VA_ARGS__)); \ - return (int32_t)0; - -#define IMPL_READ_STATE(cmd, ...) \ - __Params con(paramN, paraV); \ - DO_CMD(findmodule(con.getInt(1), &module)); \ - DO_CMD(module->cmd(__VA_ARGS__)); \ - cmd_dump_ack(ack); \ - return (int32_t)0; - -#define REG_CMD___NO_ACK(prefix, cmd, para, npara, ...) /**/ \ - m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](int32_t paramN, const char** paraV, ICmdParserACK* __ack) { /**/ \ - IMPL_CMD(cmd, __VA_ARGS__); /**/ \ - }); - -#define REG_CMD_WITH_ACK(prefix, cmd, para, npara, acktype, ...) /**/ \ - m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](int32_t paramN, const char** paraV, ICmdParserACK* __ack) { /**/ \ - acktype ack; /**/ \ - IMPL_READ_STATE(cmd, __VA_ARGS__); /**/ \ - }); - -} // namespace iflytop \ No newline at end of file diff --git a/components/modbus/modbus_client.hpp b/components/modbus/modbus_client.hpp index 5303aa6..0963f90 100644 --- a/components/modbus/modbus_client.hpp +++ b/components/modbus/modbus_client.hpp @@ -2,14 +2,9 @@ #include "modbus_processer.hpp" #include "sdk/os/zos.hpp" #include "sdk\components\api\zi_uart_sender.hpp" -#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp" #include "sdk\components\hardware\uart\zuart_dma_receiver.hpp" #include "sdk\components\zcancmder\zcan_board_module.hpp" #include "sdk\components\zcancmder\zcanreceiver.hpp" -#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\protocol_event_bus_sender.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp" namespace iflytop { diff --git a/components/subcanmodule/dep.hpp b/components/subcanmodule/dep.hpp deleted file mode 100644 index f4a8b99..0000000 --- a/components/subcanmodule/dep.hpp +++ /dev/null @@ -1,7 +0,0 @@ -#pragma once -#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp" -#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp" -#include "sdk\components\zcancmder\zcan_board_module.hpp" -#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp" \ No newline at end of file diff --git a/components/subcanmodule/zcancmder_subboard_initer.cpp b/components/subcanmodule/zcancmder_subboard_initer.cpp deleted file mode 100644 index f40f645..0000000 --- a/components/subcanmodule/zcancmder_subboard_initer.cpp +++ /dev/null @@ -1,99 +0,0 @@ -#include "zcancmder_subboard_initer.hpp" -// -#include "sdk\components\flash\znvs.hpp" -// -#include -#include - -#include "project_configs.h" -#ifdef HAL_CAN_MODULE_ENABLED - -using namespace iflytop; -const char* TAG = PC_PROJECT_NAME; - -__weak void nvs_init_cb() {} -extern DMA_HandleTypeDef PC_DEBUG_UART_DMA_HANDLER; - -int32_t ZCancmderSubboardIniter::get_module_id(int32_t moduleIndex) { return m_cfg.deviceId * 10 + moduleIndex; } - -void ZCancmderSubboardIniter::init(cfg_t* cfg) { - m_cfg = *cfg; - - chip_cfg_t chipcfg = {}; - chipcfg.us_dleay_tim = &PC_SYS_DELAY_US_TIMER; - chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER; - chipcfg.huart = &PC_DEBUG_UART; - chipcfg.debuglight = PC_DEBUG_LIGHT_GPIO; - - chip_init(&chipcfg); - - zos_cfg_t zoscfg; - zos_init(&zoscfg); - - ZLOGI(TAG, "boardId:%d,version:%d", m_cfg.deviceId, PC_VERSION); - - /******************************************************************************* - * NVSINIT * - *******************************************************************************/ -#if PC_NVS_ENABLE - if (PC_NVS_ENABLE) { - ZNVS::ins().initialize(PC_NVS_CONFIG_FLASH_SECTOR); - nvs_init_cb(); - ZNVS::ins().init_config(); - } -#endif - - auto zcanCmder_cfg = zcanCmder.createCFG(m_cfg.deviceId); - zcanCmder.init(zcanCmder_cfg); - ziProtocolParser.initialize(&zcanCmder); - - { - static ZUARTDmaReceiver dmaUartReceiver; - static ZUARTDmaReceiver::hardware_config_t cfg = { - .huart = &PC_DEBUG_UART, - .dma_rx = &PC_DEBUG_UART_DMA_HANDLER, - .rxbuffersize = PC_DEBUG_UART_RX_BUF_SIZE, - .rxovertime_ms = 10, - }; - dmaUartReceiver.initialize(&cfg); - cmder.initialize(&dmaUartReceiver); - zModuleDeviceManager.initialize(nullptr); - zModuleDeviceScriptCmderPaser.initialize(&cmder, &zModuleDeviceManager); - } - eventBusSender.initialize(&zcanCmder); - - initmodule(); -} - -void ZCancmderSubboardIniter::initmodule() { - static ZCanBoardModule boardmodule; - - ZCanBoardModule::hardware_config_t hcfg = {}; - static_assert(ZARRAY_SIZE(hcfg.input) == ZARRAY_SIZE(m_cfg.input_gpio)); - static_assert(ZARRAY_SIZE(hcfg.output) == ZARRAY_SIZE(m_cfg.output_gpio)); - static_assert(ZARRAY_SIZE(hcfg.temperature_sensor) == ZARRAY_SIZE(m_cfg.temperature_sensor)); - static_assert(ZARRAY_SIZE(hcfg.pwmctrl) == ZARRAY_SIZE(m_cfg.pwmctrl)); - - memcpy(&hcfg.input, &m_cfg.input_gpio, sizeof(m_cfg.input_gpio)); - memcpy(&hcfg.output, &m_cfg.output_gpio, sizeof(m_cfg.output_gpio)); - memcpy(&hcfg.temperature_sensor, &m_cfg.temperature_sensor, sizeof(m_cfg.temperature_sensor)); - memcpy(&hcfg.pwmctrl, &m_cfg.pwmctrl, sizeof(m_cfg.pwmctrl)); - - boardmodule.initialize(get_module_id(0), &hcfg); - ziProtocolParser.registerModule(&boardmodule); - zModuleDeviceManager.registerModule(&boardmodule); -} - -void ZCancmderSubboardIniter::register_module(ZIModule* module) { - ziProtocolParser.registerModule(module); - zModuleDeviceManager.registerModule(module); -} - -void ZCancmderSubboardIniter::loop() { - while (true) { - OSDefaultSchduler::getInstance()->loop(); - zcanCmder.loop(); - cmder.schedule(); - } -} -#endif \ No newline at end of file diff --git a/components/subcanmodule/zcancmder_subboard_initer.hpp b/components/subcanmodule/zcancmder_subboard_initer.hpp deleted file mode 100644 index 5c225b5..0000000 --- a/components/subcanmodule/zcancmder_subboard_initer.hpp +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once -#include "sdk/os/zos.hpp" -#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp" -#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp" -#include "sdk\components\zcancmder\zcan_board_module.hpp" -#include "sdk\components\zcancmder\zcanreceiver.hpp" -#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\protocol_event_bus_sender.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp" -#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp" -#ifdef HAL_CAN_MODULE_ENABLED - -namespace iflytop { -class ZCancmderSubboardIniter { - public: - typedef struct { - int32_t deviceId; - ZGPIO::InputGpioCfg_t input_gpio[32]; - ZGPIO::OutputGpioCfg_t output_gpio[32]; - ZITemperature* temperature_sensor[8]; - ZIPWMCtrl* pwmctrl[8]; - } cfg_t; - - private: - ZCanCmder zcanCmder; - ZIProtocolParser ziProtocolParser; - ZModuleDeviceManager zModuleDeviceManager; - MicroComputerModuleDeviceScriptCmderPaser zModuleDeviceScriptCmderPaser; - ProtocolEventBusSender eventBusSender; - CmdSchedulerV2 cmder; - cfg_t m_cfg; - - public: - void init(cfg_t* cfg); - void register_module(ZIModule* module); - int32_t get_module_id(int32_t moduleIndex); - // - void loop(); - - ZIEventBusSender* get_event_bus_sender() { return &eventBusSender; } - - private: - int32_t getDeviceId(); - void initmodule(); -}; -} // namespace iflytop -#endif \ No newline at end of file diff --git a/components/zcancmder/zcanreceiver.cpp b/components/zcancmder/zcanreceiver.cpp index f52d485..3adcd01 100644 --- a/components/zcancmder/zcanreceiver.cpp +++ b/components/zcancmder/zcanreceiver.cpp @@ -108,7 +108,7 @@ HAL_StatusTypeDef ZCanCmder::initializeFilter() { return HAL_Status; } -void ZCanCmder::registerListener(IZcanCmderListener *listener) { m_listenerList.push_back(listener); } +void ZCanCmder::registerListener(IZCanReceiverListener *listener) { m_listenerList.push_back(listener); } void ZCanCmder::sendPacket(uint8_t *packet, size_t len) { /** * @brief @@ -148,10 +148,10 @@ void ZCanCmder::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff; memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t)); txheader->packetType = kptv2_error_ack; - zcan_cmder_error_ack_t *error_ack = (zcan_cmder_error_ack_t *)txheader->data; + zcanreceiver_error_ack_t *error_ack = (zcanreceiver_error_ack_t *)txheader->data; error_ack->id = id; error_ack->errorcode = errcode; - sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(zcan_cmder_error_ack_t)); + sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(zcanreceiver_error_ack_t)); } void ZCanCmder::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) { diff --git a/components/zcancmder/zcanreceiver.hpp b/components/zcancmder/zcanreceiver.hpp index a2dcebe..3b29e5f 100644 --- a/components/zcancmder/zcanreceiver.hpp +++ b/components/zcancmder/zcanreceiver.hpp @@ -17,9 +17,9 @@ class ZCanCmderListener { }; #endif -typedef function zcan_cmder_listener_t; +typedef function zcanreceiver_listener_t; -class ZCanCmder : public ZCanIRQListener, public IZCanCmder { +class ZCanCmder : public ZCanIRQListener, public IZCanReceiver { public: class CFG { public: @@ -48,7 +48,7 @@ class ZCanCmder : public ZCanIRQListener, public IZCanCmder { 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 m_listenerList; + list m_listenerList; CanPacketRxBuffer m_canPacketRxBuffer[1]; int txPacketInterval_ms = 0; @@ -71,7 +71,7 @@ class ZCanCmder : public ZCanIRQListener, public IZCanCmder { uint8_t getDeviceId() { return m_config->deviceId; } void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; } - virtual void registerListener(IZcanCmderListener *listener) override; + 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; diff --git a/components/zcancmder/zcanreceiver_master.cpp b/components/zcancmder/zcanreceiver_master.cpp deleted file mode 100644 index 79490c0..0000000 --- a/components/zcancmder/zcanreceiver_master.cpp +++ /dev/null @@ -1,541 +0,0 @@ -#include "zcanreceiver_master.hpp" - -#include "project_configs.h" -#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp" -#ifdef HAL_CAN_MODULE_ENABLED -#include -#include -#include -using namespace iflytop; -using namespace zcr; - -#define TAG "ZCanCommnaderMaster" - -#define OVER_TIME_MS 5 - -#define MASK_32BIT(off) (0x01 << (off)) - -ZCanCommnaderMaster::CFG *ZCanCommnaderMaster::createCFG() { - CFG *cfg = new CFG(); - ZASSERT(cfg != NULL); - cfg->deviceId = 0; -#ifdef STM32F103xB - cfg->canHandle = &hcan; -#else - cfg->canHandle = &hcan1; -#endif - cfg->canFilterIndex0 = 0; - cfg->maxFilterNum = 7; - cfg->rxfifoNum = CAN_RX_FIFO0; - return cfg; -} -void ZCanCommnaderMaster::init(CFG *cfg) { - HAL_StatusTypeDef hal_status; - m_config = cfg; - m_on_packet_map_lock.init(); - txlock.init(); - - /** - * @brief 初始化CAN - */ - - /** - * @brief 初始化消息接收buf - */ - m_canPacketRxBuffer[0].dataIsReady = false; - m_canPacketRxBuffer[0].id = 1; // 只接收来自主机的消息 - m_canPacketRxBuffer[0].m_canPacketNum = 0; - - /** - * @brief 初始化过滤器 - */ - hal_status = initializeFilter(); - if (hal_status != HAL_OK) { - ZLOGE(TAG, "start can initializeFilter fail\r\n"); - return; - } - /** - * @brief 启动CAN - */ - hal_status = HAL_CAN_Start(m_config->canHandle); // 开启CAN - if (hal_status != HAL_OK) { - ZLOGE(TAG, "start can fail\r\n"); - return; - } - /** - * @brief 监听回调 - */ - ZCanIRQDispatcher::instance().regListener(this); - HAL_StatusTypeDef status = activateRxIT(); - if (status != HAL_OK) { - ZLOGE(TAG, "activateRxIT fail\r\n"); - return; - } - m_loopThread.init("ZCanCommnaderMaster", 1024, osPriorityAboveNormal); - m_loopThread.start([this]() { - while (true) { - loop(); - osDelay(1); - } - }); -} -HAL_StatusTypeDef ZCanCommnaderMaster::initializeFilter() { - /** - * @brief ID区帧格式 - * [ 27:0 ] - * [ STDID ] [ EXTID ] - * [11 :9] [8:6] [5:0] [17:16] [15:8] [7:0] - * 优先级 属性 帧类型 目标ID 源ID - */ - HAL_StatusTypeDef HAL_Status; - CAN_FilterTypeDef sFilterConfig; - - uint32_t filterId; - uint32_t mask; - - memset(&sFilterConfig, 0, sizeof(sFilterConfig)); - sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 设为MASK模式 - sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // CAN_FILTERSCALE_16BIT - sFilterConfig.FilterFIFOAssignment = m_config->rxfifoNum; // 关联过滤器到rxfifoNum - sFilterConfig.FilterActivation = ENABLE; // 激活过滤器 - sFilterConfig.SlaveStartFilterBank = m_config->maxFilterNum; // slave filter start index - - /******************************************************************************* - * 接收所有消息 * - *******************************************************************************/ - filterId = (0); // - mask = (0); // - sFilterConfig.FilterBank = m_config->canFilterIndex0; // - sFilterConfig.FilterMaskIdLow = mask & 0xffff; // - sFilterConfig.FilterMaskIdHigh = (mask & 0xffff0000) >> 16; // - sFilterConfig.FilterIdLow = filterId & 0xffff; // - sFilterConfig.FilterIdHigh = (filterId & 0xffff0000) >> 16; // - HAL_Status = HAL_CAN_ConfigFilter(m_config->canHandle, &sFilterConfig); - if (HAL_Status != HAL_OK) { - ZLOGE(TAG, "HAL_CAN_ConfigFilter filter0 fail"); - return HAL_Status; - } - ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3); - return HAL_Status; -} -int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t subModuleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) { - zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff; - cmdheader->packetType = kptv2_cmd; - cmdheader->packetindex = generateFreeIndex(); - cmdheader->cmdMainId = MODULE_CMDID(cmdid); - cmdheader->cmdSubId = CMD_SUB_ID(cmdid); - cmdheader->subModuleid = subModuleid; - // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid); - int32_t *sendparam = (int32_t *)cmdheader->data; - for (size_t i = 0; i < npara; i++) { - sendparam[i] = param[i]; - } - int32_t txlen = sizeof(zcr_cmd_header_t) + npara * sizeof(int32_t); - - // 注册监听者 - bool rxdataIsReady = false; - int32_t errocode = 0; - regListener(cmdheader->packetindex, [this, &rxdataIsReady, &ack, &rxsize, &errocode](CanPacketRxBuffer *report) { - if (report->get_cmdheader()->packetType == kptv2_error_ack) { - auto *error_ack = report->get_param_as(); - errocode = *error_ack; - } else if (*rxsize < report->get_params_len()) { - errocode = err::kbuffer_not_enough; - } else { - *rxsize = report->get_params_len(); - memcpy(ack, report->get_params(), *rxsize); - } - rxdataIsReady = true; - }); - - // 发送消息 - sendPacket(txbuff, txlen); - - // 等待回执 - uint32_t enterticket = zos_get_tick(); - while (!rxdataIsReady) { - if (zos_haspassedms(enterticket) > (uint32_t)overtime_ms) { - ZLOGE(TAG, "sendPacketBlock timeout"); - unregListener(cmdheader->packetindex); - return err::kovertime; - } - osDelay(1); - } - unregListener(cmdheader->packetindex); - - return errocode; -} - -void ZCanCommnaderMaster::sendRawPacket(uint8_t *packet, size_t len) { sendPacket(packet, len); } -void ZCanCommnaderMaster::regRawPacketListener(rawpacket_t rawpacketcb) { m_rawpacketcb = rawpacketcb; } - -int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t subModuleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) { - zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff; - cmdheader->packetType = kptv2_cmd; - cmdheader->packetindex = generateFreeIndex(); - cmdheader->cmdMainId = MODULE_CMDID(cmdid); - cmdheader->cmdSubId = CMD_SUB_ID(cmdid); - cmdheader->subModuleid = subModuleid; - // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid); - int32_t *sendparam = (int32_t *)cmdheader->data; - for (size_t i = 0; i < npara; i++) { - sendparam[i] = param[i]; - } - - int32_t txlen = sizeof(zcr_cmd_header_t) + npara * sizeof(int32_t); - - /** - * @brief 注册监听者 - */ - bool rxdataIsReady = false; - int32_t errocode = 0; - regListener(cmdheader->packetindex, [this, &rxdataIsReady, &ack, &nack, &errocode](CanPacketRxBuffer *report) { - // ZLOGI(TAG, "...................................."); - if (report->get_cmdheader()->packetType == kptv2_error_ack) { - auto *error_ack = report->get_param_as(); - errocode = *error_ack; - // ZLOGI(TAG, "error_ack %d %s", *error_ack, err::error2str(*error_ack)); - } else { - // ZLOGI(TAG, "%d %d", report->get_datalen(), nack); - int32_t *rxbuf = report->get_param_as(); - if (ack != nullptr && nack != 0) { - for (size_t i = 0; i < nack; i++) { - // ZLOGI(TAG, "ack[%d] = %d", i, rxbuf[i]); - ack[i] = rxbuf[i]; - } - } - } - rxdataIsReady = true; - }); - - /** - * @brief 发送消息 - */ - sendPacket(txbuff, txlen); - - /** - * @brief 等待回执 - */ - uint32_t enterticket = zos_get_tick(); - while (!rxdataIsReady) { - if (zos_haspassedms(enterticket) > (uint32_t)overtime_ms) { - // ZLOGE(TAG, "sendPacketBlock timeout"); - unregListener(cmdheader->packetindex); - return err::kovertime; - } - osDelay(1); - } - unregListener(cmdheader->packetindex); - - return errocode; -} - -void ZCanCommnaderMaster::regEventPacketListener(onpacket_t on_event) { m_on_event = on_event; } - -void ZCanCommnaderMaster::regListener(uint16_t index, zcan_commnader_master_onpacket_t onack) { - zlock_guard l(m_on_packet_map_lock); - if (m_on_packet_map.size() > 10000) { - ZLOGW(TAG, "m_on_packet_map.size() = %d>10000", m_on_packet_map.size()); - } - ZCanCommnaderMasterListener listener; - listener.on_ack = onack; - m_on_packet_map[index] = listener; -} -void ZCanCommnaderMaster::unregListener(uint16_t index) { - zlock_guard l(m_on_packet_map_lock); - auto it = m_on_packet_map.find(index); - if (it != m_on_packet_map.end()) { - m_on_packet_map.erase(it); - } -} - -int ZCanCommnaderMaster::getListenerNum() { - zlock_guard l(m_on_packet_map_lock); - return m_on_packet_map.size(); -} - -bool ZCanCommnaderMaster::isListenerReg(uint16_t index) { - zlock_guard l(m_on_packet_map_lock); - auto it = m_on_packet_map.find(index); - if (it != m_on_packet_map.end()) { - return true; - } - return false; -} - -void ZCanCommnaderMaster::callListener(CanPacketRxBuffer *report) { - uint16_t index = report->get_cmdheader()->packetindex; - - if (m_rawpacketcb) { - m_rawpacketcb(report->get_rx_raw(), report->get_rx_raw_len()); - } - - if (report->get_cmdheader()->packetType == kptv2_ack || report->get_cmdheader()->packetType == kptv2_error_ack) { - zlock_guard l(m_on_packet_map_lock); - auto it = m_on_packet_map.find(index); - if (it != m_on_packet_map.end()) { - if (it->second.on_ack) it->second.on_ack(report); - } - } - - if (report->get_cmdheader()->packetType == kptv2_event) { - if (m_on_event) m_on_event(report->id, report->get_cmdheader(), report->get_params_len()); - } -} - -uint16_t ZCanCommnaderMaster::generateFreeIndex() { - m_index_off++; - uint16_t count = 0; - if (m_index_off == 0) m_index_off = 1; - while (isListenerReg(m_index_off)) { - m_index_off++; - if (m_index_off == 0) m_index_off = 1; - count++; - if (count == 0) { - ZLOGE(TAG, "generateFreeIndex fail"); - NVIC_SystemReset(); - } - } - return m_index_off; -} - -void ZCanCommnaderMaster::sendPacket(uint8_t *packet, size_t len) { - zlock_guard txlock_guard(txlock); - /** - * @brief - */ - int npacket = len / 8 + (len % 8 == 0 ? 0 : 1); - if (npacket > 255) { - ZLOGE(TAG, "sendPacket fail, len:%d", len); - return; - } - int finalpacketlen = len % 8 == 0 ? 8 : len % 8; - - for (uint8_t i = 0; i < npacket; i++) { - bool suc = false; - if (i == npacket - 1) { - suc = sendPacketSub(npacket, i, packet + i * 8, finalpacketlen, OVER_TIME_MS); - } else { - suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS); - } - if (!suc) { - // ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i); - return; - } - } -} - -bool ZCanCommnaderMaster::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) { - // ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex); - CAN_TxHeaderTypeDef pHeader; - uint8_t aData[8] /*8byte table*/; - uint32_t txMailBox = 0; - - uint32_t enterticket = zos_get_tick(); - - memset(&pHeader, 0, sizeof(pHeader)); - memset(aData, 0, sizeof(aData)); - pHeader.StdId = 0x00; - pHeader.ExtId = (m_config->deviceId << 16) | (npacket << 8) | packetIndex; - pHeader.IDE = CAN_ID_EXT; - pHeader.RTR = CAN_RTR_DATA; - pHeader.DLC = len; - pHeader.TransmitGlobalTime = DISABLE; - - memcpy(aData, packet, len); - - m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox); - if (m_lastTransmitStatus != HAL_OK) { - ZLOGE(TAG, "HAL_CAN_AddTxMessage fail"); - return false; - } - - while (HAL_CAN_IsTxMessagePending(m_config->canHandle, txMailBox)) { - if (zos_haspassedms(enterticket) > (uint32_t)overtimems) { - m_lastTransmitStatus = HAL_TIMEOUT; - HAL_CAN_AbortTxRequest(m_config->canHandle, txMailBox); - return false; - } - // m_os->sleepMS(1); - } - if (txPacketInterval_ms > 0) { - osDelay(txPacketInterval_ms); - } - return true; -} - -bool ZCanCommnaderMaster::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) { - /** - * @brief 读取当前FIFO中缓存了多少帧的数据 - */ - uint32_t level = HAL_CAN_GetRxFifoFillLevel(m_config->canHandle, m_config->rxfifoNum); - if (level == 0) { - return false; - } - HAL_StatusTypeDef HAL_RetVal; - HAL_RetVal = HAL_CAN_GetRxMessage(m_config->canHandle, m_config->rxfifoNum, pHeader, aData); - if (HAL_OK == HAL_RetVal) { - // 处理接收到的can总线数据 - return true; - } - return false; -} -void ZCanCommnaderMaster::initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id) { - if (buf == nullptr) return; - buf->clear(); - buf->id = id; -} - -CanPacketRxBuffer *ZCanCommnaderMaster::allocCanPacketRxBufferInIRQ(uint16_t id) { - for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) { - CanPacketRxBuffer *packetbuf = &m_canPacketRxBuffer[i]; - if (packetbuf->dataIsReady) { - // 等待等待处理完成后释放 - if (packetbuf->dataIsProcessed) packetbuf->isUsed = false; - } else { - // 数据已经开始接收，但超时未处理，回收buffer - if (packetbuf->isUsed && zos_haspassedms(packetbuf->lastrxtime) > 100) { - packetbuf->isUsed = false; - } - // 数据开始接收了，但又收到了0号包，回收buffer - if (packetbuf->isUsed && id == packetbuf->id) { - packetbuf->isUsed = false; - } - } - } - - for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) { - if (!m_canPacketRxBuffer[i].isUsed) { - initCanPacketRxBuffer(&m_canPacketRxBuffer[i], id); - m_canPacketRxBuffer[i].isUsed = true; - return &m_canPacketRxBuffer[i]; - } - } - return nullptr; -} -CanPacketRxBuffer *ZCanCommnaderMaster::findCanPacketRxBufferInIRQ(uint16_t id) { - for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) { - if (!m_canPacketRxBuffer[i].dataIsReady && m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) { - return &m_canPacketRxBuffer[i]; - } - } - return nullptr; -} - -void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) { - /** - * @brief 中断上下文 - */ - // ZLOG_INFO("%s\n", __FUNCTION__); - // printf("------------------%s\n", __FUNCTION__); - if (canHandle != m_config->canHandle) { - return; - } - /** - * @brief 处理can接收到消息 - */ - CAN_RxHeaderTypeDef pHeader; - uint8_t aData[8] /*8byte table*/; - while (getRxMessage(&pHeader, aData)) { - /** - * @brief 消息格式 - * - * [2] [3bit] [8bit] [8bit] [8bit] - * , from frameNum frameId - */ - uint8_t from = (pHeader.ExtId >> 16 & 0xFF); - uint8_t nframe = (pHeader.ExtId & 0xFF00) >> 8; - uint8_t frameId = (pHeader.ExtId & 0x00FF); - CanPacketRxBuffer *rxbuf = nullptr; - if (frameId == 0) { - rxbuf = allocCanPacketRxBufferInIRQ(from); - rxbuf->m_npacket = nframe; - } else { - rxbuf = findCanPacketRxBufferInIRQ(from); - } - if (!rxbuf) { - ZLOGE(TAG, "board[%d] packetId[%d] find rx buff fail", from, frameId); - return; - } - - rxbuf->lastrxtime = zos_get_tick(); - - if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) { - rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC; - memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8); - rxbuf->m_canPacketNum++; - } - /** - * @brief 接收满了 - */ - if (nframe == frameId + 1) { - rxbuf->dataIsReady = true; - rxbuf->dataIsProcessed = false; - if ((rxbuf->m_canPacketNum) != rxbuf->m_npacket) rxbuf->lostpacket = true; - } - } - - // deactivateRxIT(); -} -void ZCanCommnaderMaster::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) { - if (canHandle != m_config->canHandle) { - return; - } - ZLOGE(TAG, "onCAN_Error\r\n"); -} -void ZCanCommnaderMaster::processReadyPacket(CanPacketRxBuffer *rxbuf) { - int dataoff = 0; - for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) { - memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc); - dataoff += rxbuf->m_canPacket[i].dlc; - rxbuf->rxdataSize = dataoff; - } - if (rxbuf->lostpacket) { - ZLOGE(TAG, "lostpacket %d %d", rxbuf->m_canPacketNum, rxbuf->m_npacket); - } else { - callListener(rxbuf); - } -} -void ZCanCommnaderMaster::loop() { - /** - * @brief MainLoop上下文 - */ - for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) { - if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].dataIsReady && !m_canPacketRxBuffer[i].dataIsProcessed) { - processReadyPacket(&m_canPacketRxBuffer[i]); - m_canPacketRxBuffer[i].dataIsProcessed = true; - } - } -} -HAL_StatusTypeDef ZCanCommnaderMaster::activateRxIT() { - HAL_StatusTypeDef hal_status = HAL_ERROR; - if (m_config->rxfifoNum == CAN_RX_FIFO0) { - hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING); - } else if (m_config->rxfifoNum == CAN_RX_FIFO1) { - hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING); - } else { - ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n"); - return hal_status; - } - return hal_status; -} -HAL_StatusTypeDef ZCanCommnaderMaster::deactivateRxIT() { - 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) { - hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING); - } else { - ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n"); - return hal_status; - } - return hal_status; -} - -size_t ZCanCommnaderMaster::safe_memcpy(void *dst, size_t dst_max_size, void *src, size_t src_len) { // - size_t cpysize = dst_max_size < src_len ? dst_max_size : src_len; - memcpy(dst, src, cpysize); - return cpysize; -} - -#endif diff --git a/components/zcancmder/zcanreceiver_master.hpp b/components/zcancmder/zcanreceiver_master.hpp deleted file mode 100644 index 87d4bc9..0000000 --- a/components/zcancmder/zcanreceiver_master.hpp +++ /dev/null @@ -1,113 +0,0 @@ -// -// Created by zwsd -// - -#pragma once -#include - -#include "basic.hpp" -#include "sdk/os/zos.hpp" -// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp" -#ifdef HAL_CAN_MODULE_ENABLED - -namespace iflytop { -using namespace std; -typedef function zcan_commnader_master_onpacket_t; - -class ZCanCommnaderMasterListener { - public: - zcan_commnader_master_onpacket_t on_ack; -}; - -typedef function rawpacket_t; - -class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster { - public: - class CFG { - public: - uint8_t deviceId = 0; // - /******************************************************************************* - * 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 - -#define CAN_PACKET_RX_BUFFER_NUM 5 - CanPacketRxBuffer m_canPacketRxBuffer[CAN_PACKET_RX_BUFFER_NUM]; - - int txPacketInterval_ms = 0; - - ZThread m_loopThread; - - map m_on_packet_map; - zmutex m_on_packet_map_lock; - uint16_t m_index_off = 0; - onpacket_t m_on_event; - - rawpacket_t m_rawpacketcb = nullptr; - - zmutex txlock; - - public: - ZCanCommnaderMaster() {} - CFG *createCFG(); - void init(CFG *cfg); - - void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; } - virtual int32_t sendCmd(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) override; - virtual int32_t sendCmdAndReceiveBuf(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) override; - virtual void regEventPacketListener(onpacket_t on_event) override; - - void sendRawPacket(uint8_t *packet, size_t len); - void regRawPacketListener(rawpacket_t rawpacketcb); - - public: - virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can); - virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can); - - private: - void loop(); - - uint8_t getDeviceId() { return m_config->deviceId; } - void sendPacket(uint8_t *packet, size_t len); - void regListener(uint16_t index, zcan_commnader_master_onpacket_t onack); - void unregListener(uint16_t index); - void callListener(CanPacketRxBuffer *report); - bool isListenerReg(uint16_t index); - int getListenerNum(); - uint16_t generateFreeIndex(); - 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*/); - - size_t safe_memcpy(void *dst, size_t dst_max_size, void *src, size_t src_len); - - void initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id); - CanPacketRxBuffer *allocCanPacketRxBufferInIRQ(uint16_t id); - CanPacketRxBuffer *findCanPacketRxBufferInIRQ(uint16_t id); - void processReadyPacket(CanPacketRxBuffer *buf); -}; - -} // namespace iflytop -#endif \ No newline at end of file diff --git a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp deleted file mode 100644 index 9b5ca7c..0000000 --- a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp +++ /dev/null @@ -1,219 +0,0 @@ -#include "micro_computer_module_device_script_cmder_paser.hpp" - -#include -#include -#include - -#include "sdk/os/zos.hpp" -using namespace iflytop; -using namespace std; - -#define TAG "CMD" - -static const char* dumpbit(int32_t bit) { - static char buf[100]; - sprintf(buf, "%d%d%d%d(0:3) %d%d%d%d(4:7) %d%d%d%d(8:11) %d%d%d%d(12:15)", // - (bit >> 0) & 0x1, (bit >> 1) & 0x1, (bit >> 2) & 0x1, (bit >> 3) & 0x1, // - (bit >> 4) & 0x1, (bit >> 5) & 0x1, (bit >> 6) & 0x1, (bit >> 7) & 0x1, // - (bit >> 8) & 0x1, (bit >> 9) & 0x1, (bit >> 10) & 0x1, (bit >> 11) & 0x1, // - (bit >> 12) & 0x1, (bit >> 13) & 0x1, (bit >> 14) & 0x1, (bit >> 15) & 0x1); - return buf; -} - -void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) { - ZModuleDeviceScriptCmderPaser::initialize(cancmder, deviceManager); - m_cmdParser = cancmder; - m_deviceManager = deviceManager; - - /******************************************************************************* - * 兼容接口 * - *******************************************************************************/ - cancmder->regCMD("dumpreg", "(mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - app_dump_reg(paramN, paraV, ack); - }); - cancmder->regCMD("scanmodule", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - do_scan_module(paramN, paraV, ack); - }); - - cancmder->regCMD("reboot", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - NVIC_SystemReset(); - }); - /******************************************************************************* - * 接口 * - *******************************************************************************/ - cancmder->regCMD("app_dump_regs", "(mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - app_dump_reg(paramN, paraV, ack); - }); - cancmder->regCMD("app_dump_reg", "(mid,regindex)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - app_dump_reg(paramN, paraV, ack); - }); - cancmder->regCMD("app_scanmodule", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - do_scan_module(paramN, paraV, ack); - }); - cancmder->regCMD("app_wait_for_module", "(mid,timeout)", -1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - do_wait_for_module(paramN, paraV, ack); - }); - cancmder->regCMD("app_scanmodule", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - do_scan_module(paramN, paraV, ack); - }); - cancmder->regCMD("app_module_read_raw_str", "(mid,size)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - app_module_read_raw_str(paramN, paraV, ack); - }); - cancmder->regCMD("app_set_reg", "(regindex,mid,val)", 3, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { // - app_set_reg(paramN, paraV, ack); - }); - deviceManager->regOnRegValChangeEvent([this](int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) { // - ZLOGI(TAG, "onRegValChangeEvent(moduleId[%d], reg[%d], %d->%d)", moduleid, regindex, oldval, toval); - }); -} - -void MicroComputerModuleDeviceScriptCmderPaser::app_dump_regs(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ack->ecode = 0; - uint16_t moduleId = atoi(paraV[0]); - ZLOGI(TAG, "app_dump_regs %s", paraV[0]); - app_dump_reg(moduleId, 0); -} -void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ack->ecode = 0; - uint16_t moduleId = atoi(paraV[0]); - uint16_t regid = atoi(paraV[1]); - ZLOGI(TAG, "app_dump_regs %s", paraV[0], paraV[1]); - app_dump_reg(moduleId, regid); -} - -void MicroComputerModuleDeviceScriptCmderPaser::app_set_reg(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ack->ecode = 0; - uint16_t regid = iflytop::str_to_reg_index(paraV[0]); - uint16_t moduleId = atoi(paraV[1]); - uint16_t regval = atoi(paraV[2]); - ZLOGI(TAG, "module_set_reg %d %d %d", moduleId, regid, regval); - ack->ecode = m_deviceManager->module_set_reg(moduleId, regid, regval); - m_deviceManager->module_active_cfg(moduleId); - return; -} - -void MicroComputerModuleDeviceScriptCmderPaser::app_module_read_raw_str(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - ack->ecode = 0; - uint16_t moduleId = atoi(paraV[0]); - uint16_t startadd = atoi(paraV[1]); - ack->rawlen = sizeof(ack->rawdata); - ack->ecode = m_deviceManager->module_read_raw(moduleId, startadd, ack->rawdata, &ack->rawlen); - ack->acktype = ICmdParserACK::kAckType_str; - return; -} - -void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int moduleId, const char* configtag, int configid, dump_type_t type) { - int32_t configval = 0; - int32_t ecode = 0; - ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); - if (ecode == 0) { - if (type == kint) { - ZLOGI(TAG, "%s(%d) :%d", configtag, configid, configval); - } else if (type == kbit) { - ZLOGI(TAG, "%s(%d) :%s", configtag, configid, dumpbit(configval)); - } - } else if (ecode != err::kmodule_not_find_config_index) { - ZLOGI(TAG, "%s(%d) :read_error %s(%d)", configtag, configid, err::error2str(ecode), ecode); - } -} -/** - * @brief - * - * @param moduleId - * @param regid 如果regid==0,则打印所有寄存器 - */ -void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, int32_t regid) { - int32_t configval = 0; - int32_t ecode = 0; - - ZLOGI(TAG, "-------------------------REG LIST--------------------------") - - // reg_index_table_get - - reg_index_table_iterm_t* iterms = nullptr; - int32_t num = 0; - - reg_index_table_get(&iterms, &num); - for (int32_t i = 0; i < num; i++) { - reg_index_table_iterm_t* iterm = &iterms[i]; - - if (regid != 0 && regid != iterm->index) { - continue; - } - - if (iterm->index == kreg_module_errorbitflag0 || // - iterm->index == kreg_module_errorbitflag1 || // - iterm->index == kreg_module_input_state || // - iterm->index == kreg_module_output_state) { - app_dump_reg(moduleId, iterm->name, iterm->index, kbit); - } else { - app_dump_reg(moduleId, iterm->name, iterm->index, kint); - } - } -} - -void MicroComputerModuleDeviceScriptCmderPaser::do_wait_for_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - if (paramN < 1) { - ack->ecode = err::kcmd_param_num_error; - return; - } - if (paramN > 2) { - ack->ecode = err::kcmd_param_num_error; - return; - } - - int32_t moduleId = atoi(paraV[0]); - int32_t timeout = 0; - if (paramN == 2) { - timeout = atoi(paraV[1]); - } - return do_wait_for_module(moduleId, timeout, ack); -} -void MicroComputerModuleDeviceScriptCmderPaser::do_wait_for_module(int32_t moduleid, int32_t timeout, ICmdParserACK* ack) { - ThisThread thisThread; - int32_t remaining = timeout; - int32_t i = 0; - while (!thisThread.getExitFlag()) { - int32_t status = 0; - int32_t ecode = m_deviceManager->module_get_status(moduleid, &status); - if (ecode == 0 && status == 0) { - ZLOGI(TAG, "wait for module %d ok", moduleid); - ack->ecode = 0; - return; - } - - /** - * @brief 超时退出 - */ - if (timeout > 0) { - remaining -= 30; - if (remaining <= 0) { - ack->ecode = err::kovertime; - return; - } - } - /** - * @brief - */ - i++; - if (i % 10 == 0) { - if (ack->ecode == 0) { - ZLOGI(TAG, "wait for module %d %d", moduleid, status); - } else { - ZLOGI(TAG, "wait for module %d err: %s(%d)", moduleid, err::error2str(ack->ecode), ack->ecode); - } - } - thisThread.sleep(100); - } -} - -void MicroComputerModuleDeviceScriptCmderPaser::do_scan_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { - m_deviceManager->for_each_module([this](int32_t id) { // - // ZLOGI(TAG, "ping %d", id); - int32_t ecode = m_deviceManager->module_ping(id); - if (ecode == 0) { - ZLOGI(TAG, "module %d : %s", id, ecode == 0 ? "online" : "offline"); - } - }); - ZLOGI(TAG, "scan module end..."); -} diff --git a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp deleted file mode 100644 index ad162e2..0000000 --- a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once -#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp" -namespace iflytop { -using namespace std; - -class MicroComputerModuleDeviceScriptCmderPaser : public ZModuleDeviceScriptCmderPaser { - ICmdParser* m_cmdParser = nullptr; - ZModuleDeviceManager* m_deviceManager; - - typedef enum { - kint, - kbit, - } dump_type_t; - - public: - void initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager); - - void app_dump_reg(int32_t moduleId, int32_t regid); - void do_wait_for_module(int32_t moduleid, int32_t timeout, ICmdParserACK* ack); - - private: - void do_scan_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - void do_wait_for_module(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - void app_dump_regs(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - void app_dump_reg(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - void app_module_read_raw_str(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - - void app_set_reg(int32_t paramN, const char* paraV[], ICmdParserACK* ack); - - void app_dump_reg(int moduleId, const char* configtag, int configid, dump_type_t type); -}; - -} // namespace iflytop diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2 index a7f08c4..1de9d70 160000 --- a/components/zprotocols/zcancmder_v2 +++ b/components/zprotocols/zcancmder_v2 @@ -1 +1 @@ -Subproject commit a7f08c437c511fee6176ebd704ae24464d23917f +Subproject commit 1de9d701ea909dd967426b1e728b896351c47d2a