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;                         \
    static_assert(sizeof(*ack) < sizeof(m_txbuf), "ack size too large"); \
    auto __attribute__((unused)) cmdheader = rxcmd->get_cmdheader();     \
    uint32_t errorcode                     = 0;                          \
    if (cmd->id == varid) {
#define PROCESS_REPORT(type)                                                 \
  auto*       report = (type##_report_t*)m_txbuf;                            \
  static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large"); \
  ZLOGI(TAG, #type " exec_status:%d", status);                               \
  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(), m_id, 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,
  kpt_report                 = 4,
} PacketType_t;

#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
#define SUBCMDID(cmdid)        (cmdid & 0xff)
#define MODULE_CMDID(cmdid)    (cmdid >> 8)

}  // namespace zcr
}  // namespace iflytop

#define ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST 200