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84 lines
3.6 KiB
84 lines
3.6 KiB
#pragma once
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#include <stdint.h>
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#define ZPACKET_STRUCT(ordername, type, ...) \
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typedef struct { \
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__VA_ARGS__ \
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} ordername##_##type##_t
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#define ZPACKET_CMD_ACK(ordername, cmdpara, ackpara) \
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typedef struct { \
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cmdpara \
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} ordername##_##cmd##_t; \
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typedef struct { \
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ackpara \
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} ordername##_##ack##_t
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#define ZPACKET_CMD_ACK_AND_REPORT(ordername, cmdpara, ackpara, reportpara) \
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typedef struct { \
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cmdpara \
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} ordername##_##cmd##_t; \
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typedef struct { \
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ackpara \
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} ordername##_##ack##_t; \
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typedef struct { \
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reportpara \
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} ordername##_##report##_t
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#define PROCESS_PACKET(ordername, varid) \
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if (rxcmd->iscmd(ordername)) { \
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auto* cmd = rxcmd->get_data_as<ordername##_##cmd##_t>(); \
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auto* ack = (ordername##_##ack##_t*)m_txbuf; \
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static_assert(sizeof(*ack) < sizeof(m_txbuf), "ack size too large"); \
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auto cmdheader = rxcmd->get_cmdheader(); \
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uint32_t errorcode = 0; \
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if (cmd->id == varid) { \
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ack->id = cmd->id;
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#define PROCESS_REPORT(type) \
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zlock_guard l(m_lock); \
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auto* report = (type##_report_t*)m_txbuf; \
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static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large"); \
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ZLOGI(TAG, #type " exec_status:%d", status); \
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report->id = m_id; \
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report->exec_status = status; \
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)report, sizeof(*report));
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#define END_PROCESS_PACKET() \
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if (errorcode == 0) { \
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m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \
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} else { \
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m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), m_id, errorcode); \
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} \
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} \
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return; \
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}
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#define END_PP END_PROCESS_PACKET
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#define CMD(x) x
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#define ACK(x) x
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#define REPORT(x) x
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namespace iflytop {
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namespace zcr {
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#pragma pack(push, 1)
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typedef struct {
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uint16_t packetindex;
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uint16_t cmdid;
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uint8_t subcmdid;
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uint8_t packetType;
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uint8_t data[];
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} Cmdheader_t;
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#pragma pack(pop)
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typedef enum {
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kpt_cmd = 0,
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kpt_ack = 1,
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kpt_error_ack = 2,
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kpt_cmd_exec_status_report = 3,
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} PacketType_t;
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#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
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} // namespace zcr
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} // namespace iflytop
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