cmvr-es/include/hardware/serial_interface.h

//
// Created by xtkuang on 2025/5/6.
//

#ifndef CMVR_ES_SERIAL_INTERFACE_H
#define CMVR_ES_SERIAL_INTERFACE_H

#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <boost/asio.hpp>
#include <iomanip>
#include <thread>

using namespace std;
using namespace boost::asio;

namespace cmvr {
    // 定义通信模式枚举
    enum class CommunicationMode {
        RS485,
        CAN
    };

    // 寄存器字典
    const struct {
        const char* name;
        int address;
    } regdict[] = {
        {"defaultSpeedSet",1032},
        {"defaultForceSet",1044},
        {"posSet",1474},
        {"angleSet", 1486},
        {"forceSet", 1498},
        {"speedSet", 1522},
        {"angleAct", 1546},
        {"posAct",1534},
        {"forceAct", 1582},
        {"current",1594},
        {"error",1606},
        {"temperature",1618},
        {"finger_one_touch",3000},
        {"finger_two_touch",3370},
        {"finger_the_touch",3740},
        {"finger_or_touch",4110},
        {"finger_fiv_touch",4480},
        {"finger_palm_touch",4900}
    };

    // 串口通信接口类
    class serial_interface {
    public:
        serial_interface(const string& port, unsigned int baudrate, CommunicationMode mode);

        void write(const vector<unsigned char>& data);
        vector<unsigned char> read(size_t length);

        bool isInitialized();

        CommunicationMode getCommunicationMode();

    private:
        void on_timeout(const boost::system::error_code& ec);
        void on_read_complete(const boost::system::error_code& ec
            , size_t bytes_transferred, boost::system::error_code* out_ec, size_t* out_bytes_transferred);

    private:
        bool is_initialized = false;
        io_context io;
        std::shared_ptr<serial_port> serial;
        CommunicationMode comm_mode;
        steady_timer timer;
        bool timeout;
    };

    // 根据寄存器名称获取地址
    int getAddressByName(const string& reg_name);

    // 写寄存器函数
    void write_register(serial_interface& serial, int address_decimal, const string& id_value, const vector<int>& values_to_write);

    /**
     * 从串口读取寄存器数据
     *
     * @param serial 串口通信接口引用
     * @param address_decimal 十进制表示的寄存器起始地址
     * @param id_value 设备ID字符串值
     * @param register_length 寄存器长度（字节数）
     * @param length_to_read 需要读取的数据长度（字节数）
     * @return 包含读取字节数据的向量
     */
    std::vector<unsigned char> read_register(serial_interface& serial, int address_decimal, const string& id_value
            ,size_t register_length, size_t length_to_read);
    std::vector<int> read_register_can(serial_interface& serial, int address_decimal, const std::string& id_value
        , size_t register_length, size_t length_to_read, bool parse_as_short = true);
    std::vector<unsigned char> read_register_can_single(serial_interface& serial, int address_decimal
        , const string& id_value, size_t register_length, size_t length_to_read);
    /**
     * 将字节数据解析为整数数组
     *
     * @param data 待解析的字节数据向量
     * @param start_byte 开始解析的起始字节位置
     * @param register_length 每个寄存器的长度（字节数）
     * @param per_byte 每个数据点占用的字节数
     * @return 解析后的整数值向量
     */
    std::vector<int> parse_register(const std::vector<unsigned char>& data,int start_byte, size_t register_length,int per_byte);

    /**
     * 将错误码解析为错误描述列表
     *
     * @param errorCode 待解析的错误码
     * @return 包含错误描述信息的字符串向量
     * @note 每个错误码可能对应多个错误描述
     */
    std::vector<std::string> parse_error(unsigned char errorCode);
} // cmvr

#endif //CMVR_ES_SERIAL_INTERFACE_H