zcancmder/zcancmder_protocol_basic.hpp

#pragma once
#include <stdint.h>

#define ZPACKET_STRUCT(ordername, type, ...) \
  typedef struct {                           \
    __VA_ARGS__                              \
  } ordername##_##type##_t

#define ZPACKET_CMD_ACK(ordername, cmdpara, ackpara) \
  typedef struct {                                   \
    cmdpara                                          \
  } ordername##_##cmd##_t;                           \
  typedef struct {                                   \
    ackpara                                          \
  } ordername##_##ack##_t

#define ZPACKET_CMD_ACK_AND_REPORT(ordername, cmdpara, ackpara, reportpara) \
  typedef struct {                                                          \
    cmdpara                                                                 \
  } ordername##_##cmd##_t;                                                  \
  typedef struct {                                                          \
    ackpara                                                                 \
  } ordername##_##ack##_t;                                                  \
  typedef struct {                                                          \
    reportpara                                                              \
  } ordername##_##report##_t

#define PROCESS_PACKET(ordername, varid)                              \
  if (rxcmd->iscmd(ordername)) {                                      \
    auto*    cmd       = rxcmd->get_data_as<ordername##_##cmd##_t>(); \
    auto*    ack       = (ordername##_##ack##_t*)m_txbuf;             \
    auto     cmdheader = rxcmd->get_cmdheader();                      \
    uint32_t errorcode = 0;                                           \
    if (cmd->id == varid) {                                           \
      ack->id = cmd->id;

#define PROCESS_REPORT(type)                   \
  osDelay(5);                                  \
  type##_report_t report = {0};                \
  ZLOGI(TAG, #type " exec_status:%d", status); \
  report.id          = m_id;                   \
  report.exec_status = status;                 \
  m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));

#define END_PROCESS_PACKET()                                            \
  if (errorcode == 0) {                                                 \
    m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \
  } else {                                                              \
    m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), errorcode);        \
  }                                                                     \
  }                                                                     \
  return;                                                               \
  }

#define END_PP    END_PROCESS_PACKET
#define CMD(x)    x
#define ACK(x)    x
#define REPORT(x) x
namespace iflytop {
namespace zcr {

#pragma pack(push, 1)
typedef struct {
  uint16_t packetindex;
  uint16_t cmdid;
  uint8_t  subcmdid;
  uint8_t  packetType;
  uint8_t  data[];
} Cmdheader_t;
#pragma pack(pop)

typedef enum {
  kpt_cmd                    = 0,
  kpt_ack                    = 1,
  kpt_error_ack              = 2,
  kpt_cmd_exec_status_report = 3,
} PacketType_t;

#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)

}  // namespace zcr
}  // namespace iflytop