robot/RBcore/client_setting.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : client_setting.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年8月20日
  最近修改   :
  功能描述   : PVIV中间层
  
  修改历史   :
  1.日    期   : 2026年8月20日
    作    者   : radkil
    修改内容   : 创建文件

******************************************************************************/
#include "BHBF.h"
#include "pb.h"
#include "pb_decode.h"
#include "pb_encode.h"
#include "bsp_PV.pb.h"
#include "bsp_IV.pb.h"

/*----------------------------------------------*
 * 外部变量说明                                 *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 外部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 内部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/
static uint32_t g_uiIVModuleID = 0;
static PV_struct_define decoded_PV_variable = { 0 };
static PV_struct_define decoded_PV = { 0 };
static IV_struct_define IV = { 0 };
static char g_IV_buffer[1024] = {0};
/*----------------------------------------------*
 * 常量定义                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 宏定义                                       *
 *----------------------------------------------*/
int check_PV(char *_pBuffer, uint32_t _iSize)
{
    if (_pBuffer[0] != 0x55) return -1;
    if (_pBuffer[1] != 0x55) return -1;

    uint16_t crc_check = ((_pBuffer[_iSize - 1] << 8) | _pBuffer[_iSize - 2]);
    uint16_t crc_check1 = Rd_modbusCRC16((uint8_t *)_pBuffer, _iSize - 2);
    if (crc_check == crc_check1)
    {
        return _iSize;
    }
    else
    {
        return 0;
    }
}

void decode_PV(const char *_pBuffer, uint32_t _iSize)
{
    if (_pBuffer[2] == 0x01 && _pBuffer[3] == 0x01) //01 01 设置PV
    {
        pb_istream_t i_pv_stream;

        i_pv_stream = pb_istream_from_buffer((const pb_byte_t *)&_pBuffer[4], _iSize - 6);
        pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable);

        if(decoded_PV_variable.TimeStamp>decoded_PV.TimeStamp)
        {
            decoded_PV=decoded_PV_variable;
            MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_PV, (void *)&decoded_PV, sizeof(decoded_PV));
        }
    }
    else if (*(_pBuffer + 2) == 0x02 && *(_pBuffer + 3) == 0x01) //设置PV
    {

    }
    else if (*(_pBuffer + 2) == 0x03 && *(_pBuffer + 3) == 0x01) //返回IV
    {

    }
    else
    {

    }
}

static void SendIV_ModuleHandler(const Msg_t *pstMsg)
{
    if (NULL == pstMsg)
    {
        return;
    }

    switch (pstMsg->m_uiMsgID)
    {
		case CUSTOM_SET_IV:
		{
			if (pstMsg->m_uiDataLen >= sizeof(IV))
			{
				RD_MEMCPY(&IV, pstMsg->m_aucData, sizeof(IV));
				pb_ostream_t IV_o_stream = pb_ostream_from_buffer((pb_byte_t *)&g_IV_buffer[2], sizeof(g_IV_buffer) - 2);
                pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);

				g_IV_buffer[0] = 0x55;
				g_IV_buffer[1] = 0x55;

				uint16_t crc = Rd_modbusCRC16((const uint8_t *)&(g_IV_buffer[0]),  IV_o_stream.bytes_written + 2);

				g_IV_buffer[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff;
				g_IV_buffer[IV_o_stream.bytes_written + 3] =  crc & 0xff;;

				rd_ComSend(g_ptlpuart, g_IV_buffer, IV_o_stream.bytes_written + 4);
				Rd_Delay(1000);
			}
			break;
		}
        default:
            break;
    }
}

static void Send_IV(void *argument)
{
    while(1)
    {
    	MsgCenter_ProcessWait(g_uiIVModuleID, 2);
    }
}

void SendIV_Init(void)
{
	g_uiIVModuleID = MsgCenter_Register(MODULE_NAME_SENDIV, SendIV_ModuleHandler);

    const osThreadAttr_t Send_PV_attributes = {
		.name = MODULE_NAME_SENDIV,
		.stack_size = 1024,
		.priority = (osPriority_t) osPriorityHigh4,
	};
	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
}