zcanreceiver 支持 event 和 event confirm包 (没有测试)

zcanreceiver/zcanreceiver.cpp

@@ -20,6 +20,8 @@ static zcanbus_on_connected_t m_connectedlistener;
 static canrxbuffer_t m_rxbufcache;
 
 static uint16_t reportIndex;
+static uint16_t eventId;
+static uint16_t rxConfirmEventId;
 
 static uint8_t rxdata[200];
 static uint8_t txbuff[200];
@@ -52,7 +54,7 @@ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) { ZLOGI(TAG, "HAL_CAN_ErrorC
 }
 
 /***********************************************************************************************************************
- *                                                    ��消�处�                                                     *
+ *                                                    �?�?消�处�                                                     *
  ***********************************************************************************************************************/
 
 static void _oncanpacket(CAN_HandleTypeDef *hcan) {
@@ -66,7 +68,7 @@ static void _oncanpacket(CAN_HandleTypeDef *hcan) {
 
 static bool _getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
   /**
-   * @brief 读�当�FIFO�缓存了�少帧的数�
+   * @brief 读�当�FIFO�?缓存了�?�少帧的数�
    */
   uint32_t level = HAL_CAN_GetRxFifoFillLevel(CANHANDLER, CAN_FIFO_NUM);
   if (level == 0) {
@@ -99,7 +101,7 @@ static void _processOneCanPacket(CAN_RxHeaderTypeDef *pHeader, uint8_t *aData) {
     return;
   }
 
-  // �接收主机消�
+  // �?接收主机消�
   if (from != 1) {
     return;
   }
@@ -108,7 +110,7 @@ static void _processOneCanPacket(CAN_RxHeaderTypeDef *pHeader, uint8_t *aData) {
     return;
   }
 
-  // 上�接收到的消�还没有�的急��
+  // 上�?�接收到的消�?还没有�的急�?��
   if (m_rxbufcache.dataIsReady) {
     ZLOGI(TAG, "discard rx packet ,last packet not processed");
     return;
@@ -194,7 +196,7 @@ HAL_StatusTypeDef initializeFilter() {
   sFilterConfig.SlaveStartFilterBank = CAN_MAX_FILTER_NUM;     // slave filter start index
 
   /*******************************************************************************
-   *                        接收所有消�                                          *
+   *                        接收所有消�?                                          *
    *******************************************************************************/
   filterId                       = (0);                            //
   mask                           = (0);                            //
@@ -218,7 +220,7 @@ void zcanbus_init(uint8_t deviceId) {
   HAL_StatusTypeDef hal_status;
 
   m_rxbufcache.dataIsReady  = false;
-  m_rxbufcache.id           = 0;  // �接收�自主机的消�
+  m_rxbufcache.id           = 0;  // �?接收�自主机的消�?
   m_rxbufcache.canPacketNum = 0;
 
   hal_status = initializeFilter();
@@ -261,7 +263,7 @@ static char *hex2str(uint8_t *data, size_t len) {
 }
 
 bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len, int overtimems) {
-  ZLOGI(TAG, "sendPacket to:%d, %s(%d)", to, hex2str(packet, len), len);
+  // ZLOGI(TAG, "sendPacket to:%d, %s(%d)", to, hex2str(packet, len), len);
   int npacket = len / 8 + (len % 8 == 0 ? 0 : 1);
   if (npacket > 255) {
     ZLOGE(TAG, "sendPacket fail, len:%d", len);
@@ -328,6 +330,7 @@ bool zcanbus_send_sub_packet(uint8_t to, int npacket, int packetIndex, uint8_t *
     }
     zos_delay_ms(1);
   }
+  zos_delay_ms(1);
   return true;
 }
 
@@ -370,6 +373,29 @@ bool zcanbus_send_report(uint16_t function_id, uint8_t *param, size_t len, int32
   return zcanbus_send_packet(1 /*mainboard*/, (uint8_t *)&txpacket[0], sizeof(zcanbus_packet_t) + len, overtime);
 }
 
+bool zcanbus_send_event(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime) {
+  zlock_guard l(m_lock);
+  m_priority = kpriority_emergency_report;
+
+  eventId++;
+  rxConfirmEventId = 0;
+
+  for (size_t i = 0; i < 5; i++) {
+    zcanbus_packet_t *txpacket = (zcanbus_packet_t *)txbuff;
+    txpacket->index            = eventId;
+    txpacket->function_id      = function_id;
+    txpacket->ptype            = kevent;
+    memcpy(txpacket->params, param, len);
+    zcanbus_send_packet(1 /*mainboard*/, (uint8_t *)&txpacket[0], sizeof(zcanbus_packet_t) + len, 10);
+
+    for (size_t i = 0; i < 100; i++) {
+      if (rxConfirmEventId == eventId) break;
+      zos_delay_ms(1);
+    }
+  }
+  return true;
+}
+
 bool zcanbus_send_emergency_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime) {
   zlock_guard l(m_lock);
   m_priority = kpriority_emergency_report;
@@ -396,6 +422,10 @@ static void process_rx_packet(canrxbuffer_t *canrxbuf, uint8_t *rx, size_t len)
       m_rxlistener[i](canrxbuf->from, canrxbuf->to, rxdata, len);
     }
   }
+
+  if (packet->ptype == kevent_confirm) {
+    rxConfirmEventId = packet->index;
+  }
 }
 
 void zcanbus_schedule() {

zcanreceiver/zcanreceiver.hpp

@@ -42,4 +42,5 @@ bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, int32_t val);
 bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, bool _val);
 bool zcanbus_send_errorack(zcanbus_packet_t *rxpacket, int32_t errcode);
 bool zcanbus_send_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
+bool zcanbus_send_event(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
 bool zcanbus_send_emergency_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);