fix protocol parser bug

components/zcancmder/zcanreceiver.cpp

@@ -348,6 +348,7 @@ void ZCanCmder::loop() {
       dataoff += rxbuf->m_canPacket[i].dlc;
     }
     rxbuf->rxdataSize = dataoff;
+    // ZLOGI(TAG,"rx packet");
 
     for (auto &var : m_listenerList) {
       if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());

components/zcancmder_module/zcan_basic_order_module.cpp

@@ -1,75 +0,0 @@
-#include "zcan_basic_order_module.hpp"
-
-#include <stdio.h>
-#include <string.h>
-#ifdef HAL_CAN_MODULE_ENABLED
-
-using namespace iflytop;
-using namespace zcr;
-#if 0
-void ZCanBasicOrderModule::initialize(ZCanCmder* zcanReceiver) {
-  zcanReceiver->registerListener(this);
-  m_zcanReceiver = zcanReceiver;
-}
-#if 0
-void ZCanBasicOrderModule::reg_read_io(readfn_t fn) { m_readfn = fn; }
-void ZCanBasicOrderModule::reg_set_io(writefn_t fn) { m_writefn = fn; }
-void ZCanBasicOrderModule::reg_read_adc(readadcval_t fn) { m_readadcval = fn; }
-#endif
-void ZCanBasicOrderModule::reg_read_io(uint8_t id, readfn_t fn) { m_inputCtlMap[id] = fn; }
-void ZCanBasicOrderModule::reg_set_io(uint8_t id, writefn_t fn) { m_outCtlMap[id] = fn; }
-void ZCanBasicOrderModule::reg_read_adc(uint8_t id, readadcval_t fn) { m_readAdcValMap[id] = fn; }
-
-void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
-  if (rxbuf->iscmd(kcmd_ping)) {
-    kcmd_ping_cmd_t* pingcmd = rxbuf->get_param_as<kcmd_ping_cmd_t>();
-    kcmd_ping_ack_t* ack     = (kcmd_ping_ack_t*)txbuff;
-
-    if (pingcmd->boardid == m_zcanReceiver->getDeviceId()) {
-      ack->boardid = pingcmd->boardid;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), txbuff, sizeof(kcmd_ping_ack_t));
-      return;
-    }
-  } else if (rxbuf->iscmd(kcmd_read_io)) {
-    kcmd_read_io_cmd_t* cmd = rxbuf->get_param_as<kcmd_read_io_cmd_t>();
-    kcmd_read_io_ack_t* ack = (kcmd_read_io_ack_t*)txbuff;
-    bool                val = false;
-
-    if (m_inputCtlMap.find(cmd->ioid) != m_inputCtlMap.end()) {
-      val       = m_inputCtlMap[cmd->ioid]();
-      ack->ioid = cmd->ioid;
-      ack->val  = val;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), txbuff, sizeof(kcmd_read_io_ack_t));
-    }
-
-  } else if (rxbuf->iscmd(kcmd_set_io)) {
-    kcmd_set_io_cmd_t* cmd = rxbuf->get_param_as<kcmd_set_io_cmd_t>();
-    kcmd_set_io_ack_t  ack;
-    bool               val = cmd->val;
-
-    if (m_outCtlMap.find(cmd->ioid) != m_outCtlMap.end()) {
-      m_outCtlMap[cmd->ioid](val);
-      ack.ioid = cmd->ioid;
-      ack.val  = val;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), (uint8_t*)&ack, sizeof(ack));
-      return;
-    }
-
-  } else if (rxbuf->iscmd(kcmd_readadc_raw)) {
-    kcmd_readadc_raw_cmd_t* cmd = rxbuf->get_param_as<kcmd_readadc_raw_cmd_t>();
-    kcmd_readadc_raw_ack_t  ack;
-    int32_t                 val = 0;
-    if (m_readAdcValMap.find(cmd->sensorid) != m_readAdcValMap.end()) {
-      val          = m_readAdcValMap[cmd->sensorid]();
-      ack.sensorid = cmd->sensorid;
-      ack.val      = val;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), (uint8_t*)&ack, sizeof(ack));
-      return;
-    }
-  }
-}
-
-void ZCanBasicOrderModule::loop() {}
-
-#endif
-#endif

components/zcancmder_module/zcan_basic_order_module.hpp

@@ -1,54 +0,0 @@
-//
-// Created by zwsd
-//
-
-#pragma once
-//
-#include "sdk/os/zos.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
-#ifdef HAL_CAN_MODULE_ENABLED
-#include <map>
-
-namespace iflytop {
-using namespace std;
-#if 0
-class ZCanBasicOrderModule : public ZCanCmderListener {
- public:
- private:
-  ZCanCmder* m_zcanReceiver;
-
-  typedef function<bool()>         readfn_t;
-  typedef function<void(bool val)> writefn_t;
-  typedef function<int32_t()>      readadcval_t;
-
-  // readfn_t     m_readfn;
-  // writefn_t    m_writefn;
-  // readadcval_t m_readadcval;
-
-  uint8_t txbuff[32];
-
-  map<int, readfn_t>     m_inputCtlMap;
-  map<int, writefn_t>    m_outCtlMap;
-  map<int, readadcval_t> m_readAdcValMap;
-
- public:
-  ZCanBasicOrderModule(/* args */) {}
-  ~ZCanBasicOrderModule() {}
-
- public:
-  void initialize(ZCanCmder* zcanReceiver);
-
-  void reg_read_io(uint8_t id, readfn_t fn);
-  void reg_set_io(uint8_t id, writefn_t fn);
-  void reg_read_adc(uint8_t id, readadcval_t fn);
-
- public:
-  virtual void onRceivePacket(CanPacketRxBuffer* rxbuf);
-
- private:
-  void loop();
-};
-#endif
-}  // namespace iflytop
-
-#endif

components/zcancmder_module/zcan_eeprom_module.cpp

@@ -1,33 +0,0 @@
-#include "zcan_eeprom_module.hpp"
-using namespace iflytop;
-
-#define TAG "ZCanEepromModule"
-#if 0
-void ZCanEepromModule::initialize(ZCanCmder* cancmder, int id, I_EEPROMModule* module) {
-  m_cancmder = cancmder;
-  m_id       = id;
-  m_module   = module;
-  m_lock.init();
-  cancmder->registerListener(this);
-}
-void ZCanEepromModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {  //
-
-  PROCESS_PACKET(kcmd_eeprom_start_monitor_status, m_id) {
-    errorcode = m_module->start_monitor_status([this, cmdheader](I_EEPROMModule::eeprom_status_t& status) {  //
-      auto*       report = (kcmd_eeprom_start_monitor_status_report_t*)m_txbuf;
-      static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large");
-
-      ZLOGI(TAG, "kcmd_eeprom_start_monitor_status exec_status:%d", status);
-      report->status = status;
-      m_cancmder->sendStatusReport(cmdheader, (uint8_t*)report, sizeof(*report));
-    });
-  };
-  END_PP();
-
-  PROCESS_PACKET(kcmd_eeprom_stop_monitor_status, m_id) { errorcode = m_module->stop_monitor_status(); };
-  END_PP();
-
-  PROCESS_PACKET(kcmd_eeprom_read_block, m_id) { errorcode = m_module->read(cmd->sector_index, cmd->sector_size, ack->ack); };
-  END_PP();
-}
-#endif

components/zcancmder_module/zcan_eeprom_module.hpp

@@ -1,21 +0,0 @@
-#pragma once
-// #include "sdk/components/zprotocols/zcancmder/api/i_step_motor_ctrl_module.hpp"
-#include "sdk/components/zprotocols/zcancmder/api/i_eeprom.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
-namespace iflytop {
-
-#if 0
-class ZCanEepromModule : public ZCanCmderListener {
-  ZCanCmder*      m_cancmder = nullptr;
-  int             m_id       = 0;
-  I_EEPROMModule* m_module;
-
-  uint8_t m_txbuf[300] = {0};
-  zmutex  m_lock;
-
- public:
-  void         initialize(ZCanCmder* cancmder, int id, I_EEPROMModule* module);
-  virtual void onRceivePacket(CanPacketRxBuffer* rxcmd);
-};
-#endif
-}  // namespace iflytop

components/zcancmder_module/zcan_fan_ctrl_module.cpp

@@ -1,74 +0,0 @@
-#include "zcan_fan_ctrl_module.hpp"
-using namespace iflytop;
-using namespace std;
-#if 1
-#define TAG "ZcanFanCtrlModule"
-void ZcanFanCtrlModule::initialize(int32_t id, ZIPWMFanCtrlModule* fanmodule, int32_t default_speed) {
-  m_id        = id;
-  m_fanmodule = fanmodule;
-  ZASSERT(m_fanmodule != nullptr);
-
-  OSDefaultSchduler::getInstance()->regPeriodJob(
-      [this](OSDefaultSchduler::Context& context) {  //
-        if (m_isworking && m_com_reg.module_errorcode == 0) {
-          if (m_fanmodule->isError()) {
-            ZLOGE(TAG, "detect fan error,stop fan");
-            m_com_reg.module_errorcode = err::khwardware_error;
-            m_fanmodule->clearError();
-            module_stop();
-          }
-        }
-      },
-      10);
-}
-
-int32_t ZcanFanCtrlModule::getid(int32_t* id) {
-  *id = m_id;
-  return 0;
-}
-int32_t ZcanFanCtrlModule::module_get_status(int32_t* status) {
-  if (m_com_reg.module_errorcode != 0) {
-    *status = 2;
-  } else if (m_isworking) {
-    *status = 1;
-  } else {
-    *status = 0;
-  }
-  return 0;
-}
-int32_t ZcanFanCtrlModule::set_fan_default_speed(int32_t default_speed) {
-  m_default_speed = default_speed;
-  if (m_isworking) m_fanmodule->setFanSpeed(default_speed);
-  return 0;
-}
-
-int32_t ZcanFanCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
-  switch (param_id) {
-    MODULE_COMMON_PROCESS_REG_CB();
-    PROCESS_REG(kreg_fan0_ctrl_speed_level, REG_GET(m_default_speed), set_fan_default_speed(val));
-    break;
-    default:
-      return err::kmodule_not_find_config_index;
-  }
-  return err::kmodule_not_find_config_index;
-}
-
-int32_t ZcanFanCtrlModule::module_stop() {
-  m_isworking = false;
-  m_fanmodule->stop();
-  return 0;
-}
-int32_t ZcanFanCtrlModule::module_start() {
-  module_clear_error();
-
-  if (m_default_speed == 0) {
-    module_stop();
-  }
-
-  m_isworking = true;
-  m_fanmodule->setFanSpeed(m_default_speed);
-  return 0;
-}
-
-int32_t ZcanFanCtrlModule::do_action(int32_t actioncode) { return 0; }
-#endif

components/zcancmder_module/zcan_fan_ctrl_module.hpp

@@ -1,56 +0,0 @@
-#pragma once
-/**
- * @file tmp117.hpp
- * @author zhaohe (h_zhaohe@163.com)
- * @brief
- * @version 0.1
- * @date 2023-04-14
- *
- * @copyright Copyright (c) 2023
- *
- *
- *  1. 参考:https://github.com/rkiyak/TMP117.git
- *  2. 同级目录有芯片的datasheet。
- */
-#include <stdint.h>
-
-#include "sdk/os/zos.hpp"
-//
-#include "sdk\components\api\zi_pwm_fan_ctrl_module.hpp"
-#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
-
-namespace iflytop {
-/**
- * @brief
- *  水冷温度控制模块
- */
-
-class ZcanFanCtrlModule : public ZIModule {
-  ENABLE_MODULE(ZcanFanCtrlModule, kfan_ctrl_module, 1);
-
- public:
-  ZIPWMFanCtrlModule* m_fanmodule = nullptr;
-  int32_t             m_id        = 0;
-
-  bool m_isworking = false;
-
-  int32_t m_default_speed = 50;
-
- public:
-  ZcanFanCtrlModule(){};
-  virtual ~ZcanFanCtrlModule(){};
-
-  void initialize(int32_t id, ZIPWMFanCtrlModule* fanmodule, int32_t default_speed);
-
-  virtual int32_t getid(int32_t* id) override;
-  virtual int32_t module_get_status(int32_t* status) override;
-  virtual int32_t module_start() override;
-  virtual int32_t module_stop() override;
-  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;
-
- public:
-  virtual int32_t set_fan_default_speed(int32_t default_speed);
-  virtual int32_t do_action(int32_t actioncode) override;
-};
-
-}  // namespace iflytop

components/zcancmder_module/zcan_mini_servo_ctrl_module.cpp

@@ -1,5 +0,0 @@
-#include "zcan_mini_servo_ctrl_module.hpp"
-using namespace iflytop;
-#if 0
-
-#endif

components/zcancmder_module/zcan_mini_servo_ctrl_module.hpp

@@ -1,6 +0,0 @@
-#pragma once
-#include "sdk/components/zprotocols/zcancmder/api/i_mini_servo_module.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
-namespace iflytop {
-
-}  // namespace iflytop

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 7201808ad36b90b7036e397875ebdef9820f0047
+Subproject commit a7f08c437c511fee6176ebd704ae24464d23917f