BMS查询改成远程帧

src/base/mc/include/mc/can_struct.h

@@ -1,10 +1,12 @@
 #ifndef CAN_STRUCT_H
 #define CAN_STRUCT_H
 
-#include <cstdint>
-#include <array>
 #include <string.h>
+
+#include <array>
+#include <cstdint>
 #include <iostream>
+
 #include "can_driver.h"
 
 #pragma pack(push, 1)  // 禁止结构体补齐，确保8字节紧密排列
@@ -14,17 +16,14 @@ struct can_BMS_query_0x100
     // 报文ID与控制标志定义
     static constexpr uint32_t CMD_ID = 0x100;  // 标准帧ID
     static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = false;   // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
     static constexpr uint8_t DLC = 8;          // 数据长度为8字节
 
     // 数据区（主机查询时通常发送全0）
     uint8_t data[8];
 
     // 构造函数：初始化数据为0
-    can_BMS_query_0x100()
+    can_BMS_query_0x100() { memset(data, 0, sizeof(data)); }
-    {
-        memset(data, 0, sizeof(data));
-    }
 
     // 生成CAN帧
     CANFrame toFrame() const
@@ -44,17 +43,14 @@ struct can_BMS_query_0x101
     // 报文ID与控制标志定义
     static constexpr uint32_t CMD_ID = 0x101;  // 标准帧ID
     static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = false;   // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
     static constexpr uint8_t DLC = 8;          // 数据长度为8字节
 
     // 数据区（主机查询时通常发送全0）
     uint8_t data[8];
 
     // 构造函数：初始化数据为0
-    can_BMS_query_0x101()
+    can_BMS_query_0x101() { memset(data, 0, sizeof(data)); }
-    {
-        memset(data, 0, sizeof(data));
-    }
 
     // 生成CAN帧
     CANFrame toFrame() const
@@ -140,10 +136,7 @@ struct can_MCU_cmd
     }
 
     // 设置使能状态
-    void setEnabled(bool en)
+    void setEnabled(bool en) { data.fields.can_enabled = en ? 1 : 0; }
-    {
-        data.fields.can_enabled = en ? 1 : 0;
-    }
 
     // 设置档位 (0空挡,1后退,2前进,3保留)
     void setGear(uint8_t gear)
@@ -152,10 +145,7 @@ struct can_MCU_cmd
     }
 
     // 设置刹车状态
-    void setBrake(bool brake_on)
+    void setBrake(bool brake_on) { data.fields.switch_status.brake = brake_on ? 1 : 0; }
-    {
-        data.fields.switch_status.brake = brake_on ? 1 : 0;
-    }
 
     // 设置转速 (0-6000rpm)
     void setRPM(uint16_t rpm)
@@ -208,10 +198,7 @@ struct can_EPS_cmd
         data.fields.angle_l = raw & 0xFF;
     }
 
-    void setCenterCmd(uint8_t cmd)
+    void setCenterCmd(uint8_t cmd) { data.fields.center_cmd = cmd; }
-    {
-        data.fields.center_cmd = cmd;
-    }
 
     void setAngularSpeed(uint16_t angle_speed)
     {
@@ -285,52 +272,28 @@ struct can_VCU_motor1_cmd
     int8_t data[8]{};
 
     // 设置Byte0
-    void setByte0(int8_t direction)
+    void setByte0(int8_t direction) { data[0] = std::clamp(direction, static_cast<int8_t>(0), static_cast<int8_t>(2)); }
-    {
-        data[0] = std::clamp(direction, static_cast<int8_t>(0), static_cast<int8_t>(2));
-    }
 
     // 设置Byte1
-    void setByte1(int8_t value)
+    void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte2
-    void setByte2(int8_t value)
+    void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte3
-    void setByte3(int8_t value)
+    void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte4
-    void setByte4(int8_t value)
+    void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte5
-    void setByte5(int8_t value)
+    void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte6
-    void setByte6(int8_t value)
+    void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte7
-    void setByte7(int8_t value)
+    void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     CANFrame toFrame() const
     {
@@ -354,52 +317,28 @@ struct can_VCU_motor2_cmd
     int8_t data[8]{};
 
     // 设置Byte0
-    void setByte0(int8_t value)
+    void setByte0(int8_t value) { data[0] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[0] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte1
-    void setByte1(int8_t value)
+    void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte2
-    void setByte2(int8_t value)
+    void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte3
-    void setByte3(int8_t value)
+    void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte4
-    void setByte4(int8_t value)
+    void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte5
-    void setByte5(int8_t value)
+    void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte6
-    void setByte6(int8_t value)
+    void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     // 设置Byte7
-    void setByte7(int8_t value)
+    void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }
-    {
-        data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
-    }
 
     CANFrame toFrame() const
     {