update

components/zcancmder/zcanreceiver.cpp

@@ -173,8 +173,9 @@ void ZCanCmder::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, s
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
 }
 #endif
-int32_t ZCanCmder::sendAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
-  zlock_guard       l(m_lock);
+int32_t ZCanCmder::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
+  zlock_guard l(m_lock);
+  ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
   txheader->packetType = kptv2_ack;

components/zcancmder/zcanreceiver.hpp

@@ -71,7 +71,7 @@ class ZCanCmder : public ZCanIRQListener, public IZCanCmder {
   void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
 
   virtual void registerListener(IZcanCmderListener *listener) override;
-  virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) 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;
 

components/zcancmder/zcanreceiver_master.cpp

@@ -118,6 +118,53 @@ HAL_StatusTypeDef ZCanCommnaderMaster::initializeFilter() {
   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->cmdmoduleid      = MODULE_CMDID(cmdid);
+  cmdheader->subcmdid         = SUBCMDID(cmdid);
+  cmdheader->submoduleid      = submoduleid;
+  // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdmoduleid, cmdheader->subcmdid, 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_data_as<int32_t>();
+      errocode        = *error_ack;
+    } else if (*rxsize < report->get_datalen()) {
+      errocode = err::kbuffer_not_enough;
+    } else {
+      *rxsize = report->get_datalen();
+      memcpy(ack, report->get_data(), *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;
+}
 
 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;
@@ -143,7 +190,6 @@ int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t submoduleid, int32_t
     // ZLOGI(TAG, "....................................");
     if (report->get_cmdheader()->packetType == kptv2_error_ack) {
       auto *error_ack = report->get_data_as<int32_t>();
-
       errocode        = *error_ack;
       // ZLOGI(TAG, "error_ack %d %s", *error_ack, err::error2str(*error_ack));
     } else {

components/zcancmder/zcanreceiver_master.hpp

@@ -64,8 +64,9 @@ class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
   CFG *createCFG();
   void init(CFG *cfg);
 
-  void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
+  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;
 
  public:
   virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 481aede1a713fc1e3a12d91970ee9aea6d722d7d
+Subproject commit 4aed09f7ae4d1a12628abf0ef81e6a3ae88909c2