72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
#pragma once
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#include "line_laser_modbus/protocol.hpp"
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#include <array>
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namespace line_laser_modbus {
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constexpr std::size_t kRegisterBankSize =
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static_cast<std::size_t>(kLastMappedAddress - kModeCommandAddress + 1U);
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class RegisterBank {
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public:
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RegisterBank();
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// 地址检查集中在这里处理。V1.2 寄存器表从 0xD000 到 0xD06B 是连续区域，
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// 包含预留寄存器，因此紧凑数组比 map 更快、更省内存，同时保留后续启用
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// 预留寄存器的空间。
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[[nodiscard]] bool contains(std::uint16_t start_address,
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std::uint16_t quantity) const noexcept;
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[[nodiscard]] std::optional<RegisterVector> read(
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std::uint16_t start_address,
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std::uint16_t quantity) const;
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[[nodiscard]] bool write(std::uint16_t start_address,
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const RegisterVector& registers);
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[[nodiscard]] WorkMode mode() const noexcept;
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[[nodiscard]] DeviceState state() const noexcept;
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bool set_mode(WorkMode mode) noexcept;
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void set_state(DeviceState state) noexcept;
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void set_current_pose(const Pose6D& pose);
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[[nodiscard]] std::optional<Pose6D> current_pose() const;
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[[nodiscard]] std::optional<Pose6D> target_pose() const;
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[[nodiscard]] std::optional<Pose6D> correction() const;
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private:
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[[nodiscard]] static std::size_t index_of(std::uint16_t address) noexcept;
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void apply_mode_side_effects(WorkMode mode) noexcept;
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std::array<std::uint16_t, kRegisterBankSize> registers_{};
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};
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// DeviceServer 是下位机/从站侧帧处理器。
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//
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// 固件应在 UART 收到一个完整 RTU 帧后再调用 process_request()。该类会校验
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// CRC、功能码、地址范围和模式切换规则，然后返回可直接发送的完整响应帧。
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// 如果返回空字节数组，表示该帧应被忽略；在共享 RS-485 总线上，错误从站
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// 地址或 CRC 损坏的流量都属于这种情况。
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class DeviceServer {
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public:
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explicit DeviceServer(std::uint8_t slave_id = kDefaultSlaveId);
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[[nodiscard]] std::uint8_t slave_id() const noexcept;
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[[nodiscard]] RegisterBank& bank() noexcept;
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[[nodiscard]] const RegisterBank& bank() const noexcept;
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[[nodiscard]] ByteVector process_request(const ByteVector& request);
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private:
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[[nodiscard]] ByteVector process_read_request(const ReadRequest& request) const;
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[[nodiscard]] ByteVector process_write_request(const WriteRequest& request);
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[[nodiscard]] bool mode_write_is_valid(const WriteRequest& request) const noexcept;
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std::uint8_t slave_id_;
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RegisterBank bank_;
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};
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} // 命名空间 line_laser_modbus
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