hunting/middleware/McuManager/src/McuDevice.cpp

/*
 * Copyright (c) 2023 Fancy Code.
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#include "McuDevice.h"
#include "ILog.h"
#include <string.h>
constexpr int SLEEP_TIME_MS = 1000;
constexpr bool REMOVE_THE_ASK = true;
constexpr bool KEEP_THE_ASK = false;
/**
 * @brief Do not use static decoration on this constant pointer, as external test code needs to reference it.
 *
 */
const char *MCU_UART_DEVICE_PTR = MCU_UART_DEVICE;
McuDevice::McuDevice()
{
    mThreadRuning = false;
    mUartDevice = nullptr;
}
McuDevice::~McuDevice()
{
}
const StatusCode McuDevice::Init(void)
{
    UartInfo uartDevice = {
        MCU_UART_DEVICE_PTR,
        1152000,
        'N',
        8,
        1,
        'N',
    };
    mUartDevice = CreateUartDevice(uartDevice);
    if (nullptr == mUartDevice) {
        LogError("CreateUartDevice failed.\n");
        return CreateStatusCode(STATUS_CODE_NOT_OK);
    }
    StatusCode code = IUartOpen(mUartDevice);
    if (IsCodeOK(code) == false) {
        LogError("IUartOpen failed.\n");
        return code;
    }
    mThreadRuning = true;
    std::shared_ptr<McuDevice> device = std::dynamic_pointer_cast<McuDevice>(SharedFromThis());
    auto recvThread = [](std::shared_ptr<McuDevice> device) {
        device->DeviceRecvThread();
    };
    mUartRecvThread = std::thread(recvThread, device);
    auto mcuAskHandle = [](std::shared_ptr<McuDevice> device) {
        device->McuAskHandleThread();
    };
    mMcuAskHandleThread = std::thread(mcuAskHandle, device);
    return CreateStatusCode(STATUS_CODE_OK);
}
const StatusCode McuDevice::UnInit(void)
{
    mThreadRuning = false;
    if (mUartRecvThread.joinable()) {
        mUartRecvThread.join();
    }
    if (mMcuAskHandleThread.joinable()) {
        mMcuAskHandleThread.join();
    }
    if (nullptr != mUartDevice) {

        IUartDeviceFree(mUartDevice);
    }
    mUartDevice = nullptr;
    DeleteAllAsk();
    return CreateStatusCode(STATUS_CODE_OK);
}
ssize_t McuDevice::WriteData(const void *buff, const size_t buffLength, std::shared_ptr<VProtocolContext> &context,
                             const unsigned int &serialNumber)
{
    constexpr size_t WRITE_ERROR = -1;
    size_t length = WRITE_ERROR;
    if (context.get() == nullptr) {
        /**
         * @brief A null context pointer indicates that the data is the reply data.
         *
         */
        mMutex.lock();
        length = IUartSend(mUartDevice, buff, buffLength);
        mMutex.unlock();
        return length;
    }
    std::shared_ptr<ProtocolContext<std::shared_ptr<VMcuAsk>>> ctx =
        std::dynamic_pointer_cast<ProtocolContext<std::shared_ptr<VMcuAsk>>>(context);
    if (!ctx) {
        return WRITE_ERROR;
    }
    std::shared_ptr<VMcuAsk> ask = ctx->mData;
    ask->mSerialNumber = serialNumber;
    mMutex.lock();
    AddMcuAsk(ask);
    length = IUartSend(mUartDevice, buff, buffLength);
    mMutex.unlock();
    if (WRITE_ERROR == length) {
        LogError("Uart send failed, something wrong happened.\n");
        ask->ReplyFinished(false);
        DeleteMcuAsk(ask);
        goto END;
    }
    if (ask->NeedReply() == true) {
        ask->Blocking();
    }
END:
    return length;
}
void McuDevice::GetIpcMissionReply(const unsigned int &serialNumber, const unsigned char &mission)
{
    std::shared_ptr<VMcuAsk> ask;
    SearchMcuAsk(serialNumber, ask);
    if (ask) {
        std::shared_ptr<McuAsk<IpcMission>> realAsk = std::dynamic_pointer_cast<McuAsk<IpcMission>>(ask);
        if (realAsk) {
            realAsk->mDataReply = static_cast<IpcMission>(mission);
            ask->ReplyFinished(true);
        }
        else {
            ask->ReplyFinished(false);
        }
        DeleteMcuAsk(ask);
    }
}
void McuDevice::OnlyResultReply(const unsigned int &serialNumber, const ReplyResult &result)
{
    std::shared_ptr<VMcuAsk> ask;
    SearchMcuAsk(serialNumber, ask);
    if (ask) {
        std::shared_ptr<McuAsk<ASK_RESULT>> realAsk = std::dynamic_pointer_cast<McuAsk<ASK_RESULT>>(ask);
        if (realAsk) {
            realAsk->mDataReply = static_cast<ASK_RESULT>(result);
            ask->ReplyFinished(true);
        }
        else {
            ask->ReplyFinished(false);
        }
        DeleteMcuAsk(ask);
    }
}
void McuDevice::DeviceRecvThread(void)
{
    constexpr int RECV_TIMEOUT_MS = 1000;
    size_t recvTotalLength = 0;
    const size_t keyHeadLength = GetKeyHeadLength();
    char *keyHeadBuf = (char *)malloc(keyHeadLength);
    if (nullptr == keyHeadBuf) {
        LogError("malloc failed, DeviceRecvThread return.\n");
        return;
    }
    memset(keyHeadBuf, 0, keyHeadLength);
    while (mThreadRuning) {
        ssize_t recvLength =
            IUartRecv(mUartDevice, keyHeadBuf + recvTotalLength, keyHeadLength - recvTotalLength, RECV_TIMEOUT_MS);
        if (recvLength <= 0) { // recv failed or recv nothing
            continue;
        }
        LogInfo("mcu recv length = %ld\n", recvLength);
        recvTotalLength += recvLength;
        if (keyHeadLength == recvTotalLength) {
            DeviceRecvData(keyHeadBuf, keyHeadLength);
            memset(keyHeadBuf, 0, keyHeadLength);
            recvTotalLength = 0;
        }
    }
    free(keyHeadBuf);
}
void McuDevice::McuAskHandleThread(void)
{
    while (mThreadRuning) {
        TraverseCheckAllAsk();
        std::this_thread::sleep_for(std::chrono::milliseconds(SLEEP_TIME_MS));
    }
}
void McuDevice::DeviceRecvData(const char *keyHead, const size_t headLength)
{
    constexpr int RECV_TIMEOUT_MS = 1000;
    size_t recvTotalLength = 0;
    size_t dataLength = 0;
    // const size_t keyHeadLength = GetKeyHeadLength();
    const StatusCode code = GetDataLength(keyHead, headLength, dataLength);
    if (IsCodeOK(code) == false || 0 == dataLength || dataLength <= headLength) {
        LogError("Recv data error.\n");
        return;
    }
    char *dataBuf = (char *)malloc(dataLength);
    if (nullptr == dataBuf) {
        LogError("malloc failed, DeviceRecvData return.\n");
        return;
    }
    LogInfo("dataLength = %d\n", dataLength);
    memset(dataBuf, 0, dataLength);
    memcpy(dataBuf, keyHead, headLength);
    while (mThreadRuning) {
        ssize_t recvLength = IUartRecv(mUartDevice,
                                       dataBuf + headLength + recvTotalLength,
                                       dataLength - headLength - recvTotalLength,
                                       RECV_TIMEOUT_MS);
        LogInfo("recv data length = %d\n", recvLength);
        recvTotalLength += recvLength;
        if (dataLength - headLength == recvTotalLength) {
            PushMcuData(dataBuf, dataLength);
            break;
        }
    }
    free(dataBuf);
}
void McuDevice::AddMcuAsk(std::shared_ptr<VMcuAsk> &ask)
{
    // std::lock_guard<std::mutex> locker(mMutex);
    if (ask->NeedReply() == true) {
        LogInfo("AddMcuAsk push back one ask serial number = %u.\n", ask->mSerialNumber);
        mAllAsk.push_back(ask);
    }
}
bool McuDevice::SearchMcuAsk(const unsigned int &serialNumber, std::shared_ptr<VMcuAsk> &ask)
{
    // LogInfo("SearchMcuAsk serialNumber = %d\n", serialNumber);
    std::lock_guard<std::mutex> locker(mMutex);
    for (auto iter = mAllAsk.begin(); iter != mAllAsk.end(); ++iter) {
        std::shared_ptr<VMcuAsk> listData = *iter;
        if (!listData) {
            LogError("Illegal data.\n");
            continue;
        }
        if (serialNumber == listData->mSerialNumber) {
            ask = listData;
            return true;
        }
    }
    LogWarning("Can't find mcu ask recork.\n");
    return false;
}
void McuDevice::DeleteMcuAsk(std::shared_ptr<VMcuAsk> &ask)
{
    std::lock_guard<std::mutex> locker(mMutex);
    auto searchMcuAsk = [&ask](std::shared_ptr<VMcuAsk> &askList) -> bool {
        if (ask->mSerialNumber == askList->mSerialNumber) {
            LogInfo("DeleteMcuAsk mSerialNumber = %d\n", askList->mSerialNumber);
            return REMOVE_THE_ASK;
        }
        return KEEP_THE_ASK;
    };
    mAllAsk.remove_if(searchMcuAsk);
}
void McuDevice::DeleteAllAsk(void)
{
    std::lock_guard<std::mutex> locker(mMutex);
    auto deleteAllAsk = [](std::shared_ptr<VMcuAsk> &askList) -> bool {
        askList->ReplyFinished(false);
        return REMOVE_THE_ASK;
    };
    mAllAsk.remove_if(deleteAllAsk);
}
void McuDevice::TraverseCheckAllAsk(void)
{
    std::lock_guard<std::mutex> locker(mMutex);
    auto ifTimeout = [](std::shared_ptr<VMcuAsk> &ask) -> bool {
        if (!ask) {
            return REMOVE_THE_ASK;
        }
        if (ask->IfTimeout(SLEEP_TIME_MS) == true) {
            LogWarning("Mcu ask time out.\n");
            ask->ReplyFinished(false);
            return REMOVE_THE_ASK;
        }
        return KEEP_THE_ASK;
    };
    mAllAsk.remove_if(ifTimeout);
}