gs_usb.hpp

#pragma once
 
#include <algorithm>
#include <array>
#include <cstddef>
#include <cstdint>
#include <cstring>
#include <initializer_list>
#include <type_traits>
 
#include "can.hpp"
#include "dev_core.hpp"
#include "gpio.hpp"
#include "gs_usb_protocol.hpp"
#include "libxr_def.hpp"
#include "timebase.hpp"
#include "usb/core/desc_cfg.hpp"
 
namespace LibXR::USB
{
 
template <std::size_t CanChNum>
class GsUsbClass : public DeviceClass
{
  static_assert(CanChNum > 0 && CanChNum <= 255, "CanChNum must be in (0, 255]");
  static constexpr uint8_t CAN_CH_NUM = static_cast<uint8_t>(CanChNum);
 
  // ===== Linux gs_usb 线缆格式（header 固定 12 字节） / Linux gs_usb wire format
  // (12-byte header) =====
#pragma pack(push, 1)
 
  struct WireHeader
  {
    uint32_t echo_id;  
    uint32_t can_id;   
    uint8_t can_dlc;   
    uint8_t channel;   
    uint8_t flags;     
    uint8_t reserved;  
  };
#pragma pack(pop)
 
  static constexpr uint32_t ECHO_ID_RX =
      0xFFFFFFFFu;  
 
  static constexpr std::size_t WIRE_HDR_SIZE =
      sizeof(WireHeader);  
  static constexpr std::size_t WIRE_CLASSIC_DATA_SIZE =
      8;  
  static constexpr std::size_t WIRE_FD_DATA_SIZE = 64;  
  static constexpr std::size_t WIRE_TS_SIZE =
      4;  
 
  static constexpr std::size_t WIRE_CLASSIC_SIZE =
      WIRE_HDR_SIZE + 8;  
  static constexpr std::size_t WIRE_CLASSIC_TS_SIZE =
      WIRE_HDR_SIZE + 8 + 4;  
  static constexpr std::size_t WIRE_FD_SIZE =
      WIRE_HDR_SIZE + 64;  
  static constexpr std::size_t WIRE_FD_TS_SIZE =
      WIRE_HDR_SIZE + 64 + 4;  
  static constexpr std::size_t WIRE_MAX_SIZE =
      WIRE_FD_TS_SIZE;  
 
 public:
  GsUsbClass(std::initializer_list<LibXR::CAN*> cans,
             Endpoint::EPNumber data_in_ep_num = Endpoint::EPNumber::EP1,
             Endpoint::EPNumber data_out_ep_num = Endpoint::EPNumber::EP2,
             size_t rx_queue_size = 32, size_t echo_queue_size = 32,
             LibXR::GPIO* identify_gpio = nullptr,
             std::initializer_list<LibXR::GPIO*> termination_gpios = {},
             LibXR::Database* database = nullptr)
      : data_in_ep_num_(data_in_ep_num),
        data_out_ep_num_(data_out_ep_num),
        identify_gpio_(identify_gpio),
        database_(database),
        rx_queue_(rx_queue_size),
        echo_queue_(echo_queue_size)
  {
    ASSERT(cans.size() == CAN_CH_NUM);
    std::size_t i = 0;
    for (auto* p : cans)
    {
      cans_[i++] = p;
    }
 
    if (termination_gpios.size() == 0)
    {
      termination_gpios_.fill(nullptr);
    }
    else
    {
      ASSERT(termination_gpios.size() == CAN_CH_NUM);
      i = 0;
      for (auto* g : termination_gpios)
      {
        termination_gpios_[i++] = g;
      }
    }
 
    InitDeviceConfigClassic();
  }
 
  GsUsbClass(std::initializer_list<LibXR::FDCAN*> fd_cans,
             Endpoint::EPNumber data_in_ep_num = Endpoint::EPNumber::EP_AUTO,
             Endpoint::EPNumber data_out_ep_num = Endpoint::EPNumber::EP_AUTO,
             size_t rx_queue_size = 32, size_t echo_queue_size = 32,
             LibXR::GPIO* identify_gpio = nullptr,
             std::initializer_list<LibXR::GPIO*> termination_gpios = {},
             LibXR::Database* database = nullptr)
      : fd_supported_(true),
        data_in_ep_num_(data_in_ep_num),
        data_out_ep_num_(data_out_ep_num),
        identify_gpio_(identify_gpio),
        database_(database),
        rx_queue_(rx_queue_size),
        echo_queue_(echo_queue_size)
  {
    ASSERT(fd_cans.size() == CAN_CH_NUM);
    std::size_t i = 0;
    for (auto* p : fd_cans)
    {
      fdcans_[i] = p;
      cans_[i] = p;  // 向上转 CAN* / Upcast to CAN*
      ++i;
    }
 
    if (termination_gpios.size() == 0)
    {
      termination_gpios_.fill(nullptr);
    }
    else
    {
      ASSERT(termination_gpios.size() == CAN_CH_NUM);
      i = 0;
      for (auto* g : termination_gpios)
      {
        termination_gpios_[i++] = g;
      }
    }
 
    InitDeviceConfigFd();
  }
 
  bool IsHostFormatOK() const { return host_format_ok_; }
 
 protected:
  void BindEndpoints(EndpointPool& endpoint_pool, uint8_t start_itf_num, bool) override
  {
    inited_ = false;
    interface_num_ = start_itf_num;
 
    auto ans = endpoint_pool.Get(ep_data_in_, Endpoint::Direction::IN, data_in_ep_num_);
    ASSERT(ans == ErrorCode::OK);
 
    ans = endpoint_pool.Get(ep_data_out_, Endpoint::Direction::OUT, data_out_ep_num_);
    ASSERT(ans == ErrorCode::OK);
 
    // UINT16_MAX 只是上限，底层会选不超过该值的可用最大长度
    ep_data_in_->Configure(
        {Endpoint::Direction::IN, Endpoint::Type::BULK, UINT16_MAX, true});
    ep_data_out_->Configure(
        {Endpoint::Direction::OUT, Endpoint::Type::BULK, UINT16_MAX, true});
 
    desc_block_.intf = {9,
                        static_cast<uint8_t>(DescriptorType::INTERFACE),
                        interface_num_,
                        0,
                        2,
                        0xFF,
                        0xFF,
                        0xFF,
                        0};
 
    desc_block_.ep_out = {7,
                          static_cast<uint8_t>(DescriptorType::ENDPOINT),
                          static_cast<uint8_t>(ep_data_out_->GetAddress()),
                          static_cast<uint8_t>(Endpoint::Type::BULK),
                          ep_data_out_->MaxPacketSize(),
                          0};
 
    desc_block_.ep_in = {7,
                         static_cast<uint8_t>(DescriptorType::ENDPOINT),
                         static_cast<uint8_t>(ep_data_in_->GetAddress()),
                         static_cast<uint8_t>(Endpoint::Type::BULK),
                         ep_data_in_->MaxPacketSize(),
                         0};
 
    SetData(RawData{reinterpret_cast<uint8_t*>(&desc_block_), sizeof(desc_block_)});
 
    ep_data_out_->SetOnTransferCompleteCallback(on_data_out_cb_);
    ep_data_in_->SetOnTransferCompleteCallback(on_data_in_cb_);
 
    host_format_ok_ = false;
 
    for (uint8_t i = 0; i < can_count_; ++i)
    {
      can_enabled_[i] = false;
      berr_enabled_[i] = false;
      fd_enabled_[i] = false;
      term_state_[i] = GsUsb::TerminationState::OFF;
      timestamps_enabled_ch_[i] = false;
    }
 
    // 注册 CAN RX 回调 / Register CAN RX callbacks
    if (!can_rx_registered_)
    {
      for (uint8_t ch = 0; ch < can_count_; ++ch)
      {
        if (!cans_[ch])
        {
          continue;
        }
 
        can_rx_ctx_[ch].self = this;
        can_rx_ctx_[ch].ch = ch;
        can_rx_cb_[ch] = LibXR::CAN::Callback::Create(OnCanRxStatic, &can_rx_ctx_[ch]);
 
        cans_[ch]->Register(can_rx_cb_[ch], LibXR::CAN::Type::STANDARD);
        cans_[ch]->Register(can_rx_cb_[ch], LibXR::CAN::Type::EXTENDED);
        cans_[ch]->Register(can_rx_cb_[ch], LibXR::CAN::Type::REMOTE_STANDARD);
        cans_[ch]->Register(can_rx_cb_[ch], LibXR::CAN::Type::REMOTE_EXTENDED);
        cans_[ch]->Register(can_rx_cb_[ch], LibXR::CAN::Type::ERROR);
      }
      can_rx_registered_ = true;
    }
 
    if (fd_supported_ && !fd_can_rx_registered_)
    {
      for (uint8_t ch = 0; ch < can_count_; ++ch)
      {
        if (!fdcans_[ch])
        {
          continue;
        }
 
        fd_can_rx_ctx_[ch].self = this;
        fd_can_rx_ctx_[ch].ch = ch;
        fd_can_rx_cb_[ch] =
            LibXR::FDCAN::CallbackFD::Create(OnFdCanRxStatic, &fd_can_rx_ctx_[ch]);
 
        fdcans_[ch]->Register(fd_can_rx_cb_[ch], LibXR::CAN::Type::STANDARD);
        fdcans_[ch]->Register(fd_can_rx_cb_[ch], LibXR::CAN::Type::EXTENDED);
      }
      fd_can_rx_registered_ = true;
    }
 
    inited_ = true;
    MaybeArmOutTransfer();
  }
 
  void UnbindEndpoints(EndpointPool& endpoint_pool, bool) override
  {
    inited_ = false;
    host_format_ok_ = false;
 
    for (uint8_t i = 0; i < can_count_; ++i)
    {
      can_enabled_[i] = false;
      berr_enabled_[i] = false;
      fd_enabled_[i] = false;
      term_state_[i] = GsUsb::TerminationState::OFF;
      timestamps_enabled_ch_[i] = false;
    }
 
    if (ep_data_in_)
    {
      ep_data_in_->Close();
      ep_data_in_->SetActiveLength(0);
      endpoint_pool.Release(ep_data_in_);
      ep_data_in_ = nullptr;
    }
 
    if (ep_data_out_)
    {
      ep_data_out_->Close();
      ep_data_out_->SetActiveLength(0);
      endpoint_pool.Release(ep_data_out_);
      ep_data_out_ = nullptr;
    }
  }
 
  size_t GetInterfaceCount() override { return 1; }
 
  bool HasIAD() override { return false; }
 
  bool OwnsEndpoint(uint8_t ep_addr) const override
  {
    if (!inited_)
    {
      return false;
    }
 
    return (ep_data_in_ && ep_data_in_->GetAddress() == ep_addr) ||
           (ep_data_out_ && ep_data_out_->GetAddress() == ep_addr);
  }
 
  size_t GetMaxConfigSize() override { return sizeof(desc_block_); }
 
  ErrorCode OnClassRequest(bool, uint8_t, uint16_t, uint16_t, uint16_t,
                           DeviceClass::ControlTransferResult&) override
  {
    return ErrorCode::NOT_SUPPORT;
  }
 
  ErrorCode OnVendorRequest(bool in_isr, uint8_t bRequest, uint16_t wValue,
                            uint16_t wLength, uint16_t wIndex,
                            DeviceClass::ControlTransferResult& result) override
  {
    UNUSED(in_isr);
    UNUSED(wIndex);
 
    auto req = static_cast<GsUsb::BReq>(bRequest);
 
    switch (req)
    {
      // ===== Device -> Host =====
      case GsUsb::BReq::BT_CONST:
      {
        if (wLength < sizeof(bt_const_))
        {
          return ErrorCode::ARG_ERR;
        }
        result.write_data =
            ConstRawData{reinterpret_cast<const uint8_t*>(&bt_const_), sizeof(bt_const_)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::BT_CONST_EXT:
      {
        if (!fd_supported_)
        {
          return ErrorCode::NOT_SUPPORT;
        }
        if (wLength < sizeof(bt_const_ext_))
        {
          return ErrorCode::ARG_ERR;
        }
        result.write_data = ConstRawData{reinterpret_cast<const uint8_t*>(&bt_const_ext_),
                                         sizeof(bt_const_ext_)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::DEVICE_CONFIG:
      {
        if (wLength < sizeof(dev_cfg_))
        {
          return ErrorCode::ARG_ERR;
        }
        result.write_data =
            ConstRawData{reinterpret_cast<const uint8_t*>(&dev_cfg_), sizeof(dev_cfg_)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::TIMESTAMP:
      {
        ctrl_buf_.timestamp_us = MakeTimestampUsGlobal();
        if (wLength < sizeof(ctrl_buf_.timestamp_us))
        {
          return ErrorCode::ARG_ERR;
        }
 
        result.write_data =
            ConstRawData{reinterpret_cast<const uint8_t*>(&ctrl_buf_.timestamp_us),
                         sizeof(ctrl_buf_.timestamp_us)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::GET_TERMINATION:
      {
        if (wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_buf_.term.state = static_cast<uint32_t>(term_state_[wValue]);
        if (wLength < sizeof(ctrl_buf_.term))
        {
          return ErrorCode::ARG_ERR;
        }
 
        result.write_data = ConstRawData{
            reinterpret_cast<const uint8_t*>(&ctrl_buf_.term), sizeof(ctrl_buf_.term)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::GET_STATE:
      {
        if (wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
 
        GsUsb::CanState st = GsUsb::CanState::ERROR_ACTIVE;
        uint32_t rxerr = 0;
        uint32_t txerr = 0;
 
        auto* can = cans_[wValue];
        if (can != nullptr)
        {
          LibXR::CAN::ErrorState es;
          if (can->GetErrorState(es) == ErrorCode::OK)
          {
            if (es.bus_off)
            {
              st = GsUsb::CanState::BUS_OFF;
            }
            else if (es.error_passive)
            {
              st = GsUsb::CanState::ERROR_PASSIVE;
            }
            else if (es.error_warning)
            {
              st = GsUsb::CanState::ERROR_WARNING;
            }
            else
            {
              st = GsUsb::CanState::ERROR_ACTIVE;
            }
 
            rxerr = es.rx_error_counter;
            txerr = es.tx_error_counter;
          }
        }
 
        ctrl_buf_.dev_state.state = static_cast<uint32_t>(st);
        ctrl_buf_.dev_state.rxerr = rxerr;
        ctrl_buf_.dev_state.txerr = txerr;
 
        if (wLength < sizeof(ctrl_buf_.dev_state))
        {
          return ErrorCode::ARG_ERR;
        }
 
        result.write_data =
            ConstRawData{reinterpret_cast<const uint8_t*>(&ctrl_buf_.dev_state),
                         sizeof(ctrl_buf_.dev_state)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::GET_USER_ID:
      {
        ctrl_buf_.user_id = GetUserIdFromStorage();
        if (wLength < sizeof(ctrl_buf_.user_id))
        {
          return ErrorCode::ARG_ERR;
        }
 
        result.write_data =
            ConstRawData{reinterpret_cast<const uint8_t*>(&ctrl_buf_.user_id),
                         sizeof(ctrl_buf_.user_id)};
        return ErrorCode::OK;
      }
 
      // ===== Host -> Device（有 DATA 阶段） / Host -> Device (with DATA stage) =====
      case GsUsb::BReq::HOST_FORMAT:
      {
        if (wLength != sizeof(GsUsb::HostConfig))
        {
          return ErrorCode::ARG_ERR;
        }
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.host_cfg),
                                   sizeof(GsUsb::HostConfig)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::BITTIMING:
      {
        if (wLength != sizeof(GsUsb::DeviceBitTiming) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.bt),
                                   sizeof(GsUsb::DeviceBitTiming)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::DATA_BITTIMING:
      {
        if (!fd_supported_)
        {
          return ErrorCode::NOT_SUPPORT;
        }
        if (wLength != sizeof(GsUsb::DeviceBitTiming) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.bt),
                                   sizeof(GsUsb::DeviceBitTiming)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::MODE:
      {
        if (wLength != sizeof(GsUsb::DeviceMode) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.mode),
                                   sizeof(GsUsb::DeviceMode)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::BERR:
      {
        if (wLength != sizeof(uint32_t) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data =
            RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.berr_on), sizeof(uint32_t)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::IDENTIFY:
      {
        if (wLength != sizeof(GsUsb::Identify) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.identify),
                                   sizeof(GsUsb::Identify)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::SET_TERMINATION:
      {
        if (wLength != sizeof(GsUsb::DeviceTerminationState) || wValue >= can_count_)
        {
          return ErrorCode::ARG_ERR;
        }
        ctrl_target_channel_ = static_cast<uint8_t>(wValue);
        result.read_data = RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.term),
                                   sizeof(GsUsb::DeviceTerminationState)};
        return ErrorCode::OK;
      }
 
      case GsUsb::BReq::SET_USER_ID:
      {
        if (wLength != sizeof(uint32_t))
        {
          return ErrorCode::ARG_ERR;
        }
        result.read_data =
            RawData{reinterpret_cast<uint8_t*>(&ctrl_buf_.user_id), sizeof(uint32_t)};
        return ErrorCode::OK;
      }
 
      default:
        return ErrorCode::NOT_SUPPORT;
    }
  }
 
  ErrorCode OnClassData(bool in_isr, uint8_t bRequest, LibXR::ConstRawData& data) override
  {
    UNUSED(in_isr);
 
    auto req = static_cast<GsUsb::BReq>(bRequest);
 
    switch (req)
    {
      case GsUsb::BReq::HOST_FORMAT:
        if (data.size_ != sizeof(GsUsb::HostConfig))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleHostFormat(ctrl_buf_.host_cfg);
 
      case GsUsb::BReq::BITTIMING:
        if (data.size_ != sizeof(GsUsb::DeviceBitTiming))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleBitTiming(ctrl_target_channel_, ctrl_buf_.bt);
 
      case GsUsb::BReq::DATA_BITTIMING:
        if (!fd_supported_)
        {
          return ErrorCode::NOT_SUPPORT;
        }
        if (data.size_ != sizeof(GsUsb::DeviceBitTiming))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleDataBitTiming(ctrl_target_channel_, ctrl_buf_.bt);
 
      case GsUsb::BReq::MODE:
        if (data.size_ != sizeof(GsUsb::DeviceMode))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleMode(ctrl_target_channel_, ctrl_buf_.mode);
 
      case GsUsb::BReq::BERR:
        if (data.size_ != sizeof(uint32_t))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleBerr(ctrl_target_channel_, ctrl_buf_.berr_on);
 
      case GsUsb::BReq::IDENTIFY:
        if (data.size_ != sizeof(GsUsb::Identify))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleIdentify(ctrl_target_channel_, ctrl_buf_.identify);
 
      case GsUsb::BReq::SET_TERMINATION:
        if (data.size_ != sizeof(GsUsb::DeviceTerminationState))
        {
          return ErrorCode::ARG_ERR;
        }
        return HandleSetTermination(ctrl_target_channel_, ctrl_buf_.term);
 
      case GsUsb::BReq::SET_USER_ID:
        if (data.size_ != sizeof(uint32_t))
        {
          return ErrorCode::ARG_ERR;
        }
        SetUserIdToStorage(ctrl_buf_.user_id);
        return ErrorCode::OK;
 
      case GsUsb::BReq::DEVICE_CONFIG:
      case GsUsb::BReq::BT_CONST:
      case GsUsb::BReq::BT_CONST_EXT:
      case GsUsb::BReq::TIMESTAMP:
      case GsUsb::BReq::GET_TERMINATION:
      case GsUsb::BReq::GET_STATE:
      case GsUsb::BReq::GET_USER_ID:
        return ErrorCode::OK;
 
      default:
        return ErrorCode::NOT_SUPPORT;
    }
  }
 
  // ================= Bulk 端点回调 / Bulk endpoint callbacks =================
 
  static void OnDataOutCompleteStatic(bool in_isr, GsUsbClass* self, ConstRawData& data)
  {
    if (!self->inited_)
    {
      return;
    }
    self->OnDataOutComplete(in_isr, data);
  }
 
  static void OnDataInCompleteStatic(bool in_isr, GsUsbClass* self, ConstRawData& data)
  {
    if (!self->inited_)
    {
      return;
    }
    self->OnDataInComplete(in_isr, data);
  }
 
  void OnDataOutComplete(bool in_isr, ConstRawData& data)
  {
    UNUSED(in_isr);
 
    if (!ep_data_out_)
    {
      return;
    }
 
    const std::size_t RXLEN = data.size_;
    if (RXLEN < WIRE_CLASSIC_SIZE)
    {
      MaybeArmOutTransfer();
      return;
    }
 
    // 解析 wire header / Parse wire header
    const WireHeader& wh = *reinterpret_cast<const WireHeader*>(data.addr_);
 
    const uint8_t CH = wh.channel;
    if (CH >= can_count_ || !cans_[CH])
    {
      MaybeArmOutTransfer();
      return;
    }
 
    const bool IS_FD = (wh.flags & GsUsb::CAN_FLAG_FD) != 0;
    const uint8_t* payload = reinterpret_cast<const uint8_t*>(data.addr_) + WIRE_HDR_SIZE;
 
    if (IS_FD)
    {
      if (!fd_supported_ || !fdcans_[CH] || !fd_enabled_[CH])
      {
        MaybeArmOutTransfer();
        return;
      }
 
      if (RXLEN < WIRE_FD_SIZE)
      {
        MaybeArmOutTransfer();
        return;
      }
 
      LibXR::FDCAN::FDPack pack;
      HostWireToFdPack(wh, payload, pack);
      (void)fdcans_[CH]->AddMessage(pack);
    }
    else
    {
      if (!can_enabled_[CH])
      {
        MaybeArmOutTransfer();
        return;
      }
 
      if (RXLEN < WIRE_CLASSIC_SIZE)
      {
        MaybeArmOutTransfer();
        return;
      }
 
      LibXR::CAN::ClassicPack pack;
      HostWireToClassicPack(wh, payload, pack);
      (void)cans_[CH]->AddMessage(pack);
    }
 
    // TX echo：Host 通过 echo_id 跟踪 TX buffer；设备需回送 echo_id
    // TX echo: host tracks TX buffer via echo_id; device should echo it back
    if (wh.echo_id != ECHO_ID_RX)
    {
      QueueItem qi;
      qi.hdr = wh;
      qi.is_fd = IS_FD;
      qi.data_len = IS_FD ? 64u : 8u;
      qi.timestamp_us = MakeTimestampUs(CH);
      Memory::FastCopy(qi.data.data(), payload, qi.data_len);
      (void)EnqueueFrame(qi, true, in_isr);
    }
 
    MaybeArmOutTransfer();
  }
 
  void OnDataInComplete(bool in_isr, ConstRawData& data)
  {
    UNUSED(in_isr);
    UNUSED(data);
    TryKickTx(false);
  }
 
 private:
  // ================= 成员 / Members =================
  std::array<LibXR::CAN*, CanChNum> cans_{};  
  std::array<LibXR::FDCAN*, CanChNum>
      fdcans_{};               
  bool fd_supported_ = false;  
 
  uint8_t can_count_ = CAN_CH_NUM;  
 
  Endpoint::EPNumber data_in_ep_num_;   
  Endpoint::EPNumber data_out_ep_num_;  
 
  Endpoint* ep_data_in_ = nullptr;   
  Endpoint* ep_data_out_ = nullptr;  
 
  bool inited_ = false;        
  uint8_t interface_num_ = 0;  
 
  LibXR::GPIO* identify_gpio_ =
      nullptr;  
  std::array<LibXR::GPIO*, CanChNum>
      termination_gpios_{};  
 
  LibXR::Database* database_ = nullptr;  
  uint32_t user_id_ram_ = 0;             
 
  LibXR::Callback<LibXR::ConstRawData&> on_data_out_cb_ =
      LibXR::Callback<LibXR::ConstRawData&>::Create(OnDataOutCompleteStatic,
                                                    this);  
 
  LibXR::Callback<LibXR::ConstRawData&> on_data_in_cb_ =
      LibXR::Callback<LibXR::ConstRawData&>::Create(OnDataInCompleteStatic,
                                                    this);  
 
  GsUsb::DeviceConfig dev_cfg_{};    
  GsUsb::DeviceBTConst bt_const_{};  
  GsUsb::DeviceBTConstExtended
      bt_const_ext_{};  
 
  union
  {
    GsUsb::HostConfig host_cfg;          
    GsUsb::DeviceBitTiming bt;           
    GsUsb::DeviceMode mode;              
    uint32_t berr_on;                    
    GsUsb::Identify identify;            
    uint32_t timestamp_us;               
    GsUsb::DeviceTerminationState term;  
    GsUsb::DeviceState dev_state;        
    uint32_t user_id;                    
  } ctrl_buf_{};
 
  std::array<LibXR::CAN::Configuration, CanChNum>
      config_{};  
  std::array<LibXR::FDCAN::Configuration, CanChNum>
      fd_config_{};  
 
  bool host_format_ok_ = false;  
 
  bool can_enabled_[CanChNum] = {
      false};  
  bool berr_enabled_[CanChNum] = {false};  
  bool fd_enabled_[CanChNum] = {false};    
 
  bool timestamps_enabled_ch_[CanChNum] = {
      false};  
  GsUsb::TerminationState term_state_[CanChNum] = {
      GsUsb::TerminationState::OFF};  
  uint8_t ctrl_target_channel_ =
      0;  
 
#pragma pack(push, 1)
  struct GsUsbDescBlock
  {
    InterfaceDescriptor intf;   
    EndpointDescriptor ep_out;  
    EndpointDescriptor ep_in;   
  } desc_block_{};
#pragma pack(pop)
 
  uint8_t rx_buf_[WIRE_MAX_SIZE]{};  
  std::array<uint8_t, WIRE_MAX_SIZE>
      tx_buf_{};  
 
  // ================= CAN RX 回调 & BULK IN 发送队列 / CAN RX callbacks & Bulk IN TX
  // queues =================
 
  struct CanRxCtx
  {
    GsUsbClass* self;  
    uint8_t ch;        
  };
 
  struct FdCanRxCtx
  {
    GsUsbClass* self;  
    uint8_t ch;        
  };
 
  bool can_rx_registered_ =
      false;  
  CanRxCtx can_rx_ctx_[CanChNum]{};  
  LibXR::CAN::Callback
      can_rx_cb_[CanChNum]{};  
 
  bool fd_can_rx_registered_ =
      false;  
  FdCanRxCtx fd_can_rx_ctx_[CanChNum]{};  
  LibXR::FDCAN::CallbackFD
      fd_can_rx_cb_[CanChNum]{};  
 
  static void OnCanRxStatic(bool in_isr, CanRxCtx* ctx,
                            const LibXR::CAN::ClassicPack& pack)
  {
    if (!ctx || !ctx->self || !ctx->self->inited_)
    {
      return;
    }
    ctx->self->OnCanRx(in_isr, ctx->ch, pack);
  }
 
  static void OnFdCanRxStatic(bool in_isr, FdCanRxCtx* ctx,
                              const LibXR::FDCAN::FDPack& pack)
  {
    if (!ctx || !ctx->self || !ctx->self->inited_)
    {
      return;
    }
    ctx->self->OnFdCanRx(in_isr, ctx->ch, pack);
  }
 
  struct QueueItem
  {
    WireHeader hdr;                
    bool is_fd;                    
    uint8_t data_len;              
    uint32_t timestamp_us;         
    std::array<uint8_t, 64> data;  
  };
 
  LibXR::LockFreeQueue<QueueItem>
      rx_queue_;  
  LibXR::LockFreeQueue<QueueItem>
      echo_queue_;  
 
  void OnCanRx(bool in_isr, uint8_t ch, const LibXR::CAN::ClassicPack& pack)
  {
    if (ch >= can_count_ || !ep_data_in_)
    {
      return;
    }
 
    if (pack.type == LibXR::CAN::Type::ERROR)
    {
      QueueItem qi;
      if (ErrorPackToHostErrorFrame(ch, pack, qi))
      {
        (void)EnqueueFrame(qi, false, in_isr);
      }
      return;
    }
 
    if (!can_enabled_[ch])
    {
      return;
    }
 
    QueueItem qi;
    ClassicPackToQueueItem(pack, ch, qi);
    (void)EnqueueFrame(qi, false, in_isr);
  }
 
  void OnFdCanRx(bool in_isr, uint8_t ch, const LibXR::FDCAN::FDPack& pack)
  {
    if (!fd_supported_ || ch >= can_count_ || !fd_enabled_[ch] || !ep_data_in_)
    {
      return;
    }
 
    QueueItem qi;
    FdPackToQueueItem(pack, ch, qi);
 
    const auto& fd_cfg = fd_config_[ch];
    if (fd_cfg.fd_mode.brs)
    {
      qi.hdr.flags |= GsUsb::CAN_FLAG_BRS;
    }
    if (fd_cfg.fd_mode.esi)
    {
      qi.hdr.flags |= GsUsb::CAN_FLAG_ESI;
    }
 
    (void)EnqueueFrame(qi, false, in_isr);
  }
 
  bool EnqueueFrame(const QueueItem& qi, bool is_echo, bool in_isr)
  {
    UNUSED(in_isr);
 
    const ErrorCode EC = is_echo ? echo_queue_.Push(qi) : rx_queue_.Push(qi);
    if (EC != ErrorCode::OK)
    {
      return false;
    }
 
    TryKickTx(in_isr);
    MaybeArmOutTransfer();
    return true;
  }
 
  void TryKickTx(bool in_isr)
  {
    UNUSED(in_isr);
 
    if (!ep_data_in_)
    {
      return;
    }
    if (ep_data_in_->GetState() != Endpoint::State::IDLE)
    {
      return;
    }
 
    QueueItem qi;
    ErrorCode ec = echo_queue_.Pop(qi);
    if (ec != ErrorCode::OK)
    {
      ec = rx_queue_.Pop(qi);
      if (ec != ErrorCode::OK)
      {
        return;
      }
    }
 
    const std::size_t SEND_LEN = PackQueueItemToWire(qi, tx_buf_.data(), tx_buf_.size());
    if (SEND_LEN == 0)
    {
      return;
    }
 
    RawData tx_raw{tx_buf_.data(), SEND_LEN};
    (void)ep_data_in_->TransferMultiBulk(tx_raw);
 
    MaybeArmOutTransfer();
  }
 
  void MaybeArmOutTransfer()
  {
    if (!ep_data_out_)
    {
      return;
    }
    if (ep_data_out_->GetState() != Endpoint::State::IDLE)
    {
      return;
    }
 
    if (rx_queue_.EmptySize() == 0 || echo_queue_.EmptySize() == 0)
    {
      return;
    }
 
    RawData rx_raw{rx_buf_, static_cast<size_t>(WIRE_MAX_SIZE)};
    (void)ep_data_out_->TransferMultiBulk(rx_raw);
  }
 
  // ================= 业务处理函数 / Handlers =================
 
  bool HasAnyTerminationGpio() const
  {
    for (uint8_t i = 0; i < can_count_; ++i)
    {
      if (termination_gpios_[i] != nullptr)
      {
        return true;
      }
    }
    return false;
  }
 
  void InitDeviceConfigClassic()
  {
    can_count_ = CAN_CH_NUM;
    ASSERT(can_count_ > 0);
    ASSERT(cans_[0] != nullptr);
 
    dev_cfg_.reserved1 = 0;
    dev_cfg_.reserved2 = 0;
    dev_cfg_.reserved3 = 0;
    dev_cfg_.icount = static_cast<uint8_t>(can_count_ - 1);
    dev_cfg_.sw_version = 2;
    dev_cfg_.hw_version = 1;
 
    const uint32_t FCLK = cans_[0]->GetClockFreq();
 
    bt_const_.feature = GsUsb::CAN_FEAT_LISTEN_ONLY | GsUsb::CAN_FEAT_LOOP_BACK |
                        GsUsb::CAN_FEAT_TRIPLE_SAMPLE | GsUsb::CAN_FEAT_ONE_SHOT |
                        GsUsb::CAN_FEAT_HW_TIMESTAMP | GsUsb::CAN_FEAT_BERR_REPORTING |
                        GsUsb::CAN_FEAT_GET_STATE | GsUsb::CAN_FEAT_USER_ID;
 
    if (identify_gpio_)
    {
      bt_const_.feature |= GsUsb::CAN_FEAT_IDENTIFY;
    }
    if (HasAnyTerminationGpio())
    {
      bt_const_.feature |= GsUsb::CAN_FEAT_TERMINATION;
    }
 
    bt_const_.fclk_can = FCLK;
    bt_const_.btc.tseg1_min = 1;
    bt_const_.btc.tseg1_max = 16;
    bt_const_.btc.tseg2_min = 1;
    bt_const_.btc.tseg2_max = 8;
    bt_const_.btc.sjw_max = 4;
    bt_const_.btc.brp_min = 1;
    bt_const_.btc.brp_max = 1024;
    bt_const_.btc.brp_inc = 1;
 
    bt_const_ext_.feature = bt_const_.feature;
    bt_const_ext_.fclk_can = FCLK;
    bt_const_ext_.btc = bt_const_.btc;
    bt_const_ext_.dbtc = bt_const_.btc;
 
    Memory::FastSet(config_.data(), 0, sizeof(config_));
    Memory::FastSet(fd_config_.data(), 0, sizeof(fd_config_));
  }
 
  void InitDeviceConfigFd()
  {
    can_count_ = CAN_CH_NUM;
    ASSERT(can_count_ > 0);
    ASSERT(cans_[0] != nullptr);
 
    dev_cfg_.reserved1 = 0;
    dev_cfg_.reserved2 = 0;
    dev_cfg_.reserved3 = 0;
    dev_cfg_.icount = static_cast<uint8_t>(can_count_ - 1);
    dev_cfg_.sw_version = 2;
    dev_cfg_.hw_version = 1;
 
    const uint32_t FCLK = cans_[0]->GetClockFreq();
 
    bt_const_.feature = GsUsb::CAN_FEAT_LISTEN_ONLY | GsUsb::CAN_FEAT_LOOP_BACK |
                        GsUsb::CAN_FEAT_TRIPLE_SAMPLE | GsUsb::CAN_FEAT_ONE_SHOT |
                        GsUsb::CAN_FEAT_HW_TIMESTAMP | GsUsb::CAN_FEAT_BERR_REPORTING |
                        GsUsb::CAN_FEAT_GET_STATE | GsUsb::CAN_FEAT_USER_ID |
                        GsUsb::CAN_FEAT_FD | GsUsb::CAN_FEAT_BT_CONST_EXT;
 
    if (identify_gpio_)
    {
      bt_const_.feature |= GsUsb::CAN_FEAT_IDENTIFY;
    }
    if (HasAnyTerminationGpio())
    {
      bt_const_.feature |= GsUsb::CAN_FEAT_TERMINATION;
    }
 
    bt_const_.fclk_can = FCLK;
    bt_const_.btc.tseg1_min = 1;
    bt_const_.btc.tseg1_max = 16;
    bt_const_.btc.tseg2_min = 1;
    bt_const_.btc.tseg2_max = 8;
    bt_const_.btc.sjw_max = 4;
    bt_const_.btc.brp_min = 1;
    bt_const_.btc.brp_max = 1024;
    bt_const_.btc.brp_inc = 1;
 
    bt_const_ext_.feature = bt_const_.feature;
    bt_const_ext_.fclk_can = FCLK;
    bt_const_ext_.btc = bt_const_.btc;
    bt_const_ext_.dbtc = bt_const_.btc;
 
    Memory::FastSet(config_.data(), 0, sizeof(config_));
    Memory::FastSet(fd_config_.data(), 0, sizeof(fd_config_));
  }
 
  ErrorCode HandleHostFormat(const GsUsb::HostConfig& cfg)
  {
    host_format_ok_ = (cfg.byte_order == 0x0000beefu);
    return ErrorCode::OK;
  }
 
  ErrorCode HandleBitTiming(uint8_t ch, const GsUsb::DeviceBitTiming& bt)
  {
    if (!host_format_ok_ || ch >= can_count_ || !cans_[ch])
    {
      return ErrorCode::ARG_ERR;
    }
 
    const uint32_t TSEG1 = bt.prop_seg + bt.phase_seg1;
    const uint32_t TSEG2 = bt.phase_seg2;
    const uint32_t TQ_NUM = 1u + TSEG1 + TSEG2;
 
    const uint32_t FCLK = cans_[ch]->GetClockFreq();
 
    auto& cfg = config_[ch];
    cfg.bit_timing.brp = bt.brp;
    cfg.bit_timing.prop_seg = bt.prop_seg;
    cfg.bit_timing.phase_seg1 = bt.phase_seg1;
    cfg.bit_timing.phase_seg2 = bt.phase_seg2;
    cfg.bit_timing.sjw = bt.sjw;
 
    if (bt.brp != 0u && TQ_NUM != 0u)
    {
      cfg.bitrate = FCLK / (bt.brp * TQ_NUM);
      cfg.sample_point = static_cast<float>(1u + TSEG1) / static_cast<float>(TQ_NUM);
    }
    else
    {
      cfg.bitrate = 0;
      cfg.sample_point = 0.0f;
    }
 
    if (fd_supported_ && fdcans_[ch])
    {
      auto& fd_cfg = fd_config_[ch];
      static_cast<CAN::Configuration&>(fd_cfg) = cfg;
    }
 
    return cans_[ch]->SetConfig(cfg);
  }
 
  ErrorCode HandleDataBitTiming(uint8_t ch, const GsUsb::DeviceBitTiming& bt)
  {
    if (!host_format_ok_)
    {
      return ErrorCode::ARG_ERR;
    }
    if (!fd_supported_ || ch >= can_count_ || !fdcans_[ch])
    {
      return ErrorCode::NOT_SUPPORT;
    }
 
    const uint32_t TSEG1 = bt.prop_seg + bt.phase_seg1;
    const uint32_t TSEG2 = bt.phase_seg2;
    const uint32_t TQ_NUM = 1u + TSEG1 + TSEG2;
 
    const uint32_t FCLK = fdcans_[ch]->GetClockFreq();
 
    auto& fd_cfg = fd_config_[ch];
    static_cast<CAN::Configuration&>(fd_cfg) = config_[ch];
 
    fd_cfg.data_timing.brp = bt.brp;
    fd_cfg.data_timing.prop_seg = bt.prop_seg;
    fd_cfg.data_timing.phase_seg1 = bt.phase_seg1;
    fd_cfg.data_timing.phase_seg2 = bt.phase_seg2;
    fd_cfg.data_timing.sjw = bt.sjw;
 
    if (bt.brp != 0u && TQ_NUM != 0u)
    {
      fd_cfg.data_bitrate = FCLK / (bt.brp * TQ_NUM);
      fd_cfg.data_sample_point =
          static_cast<float>(1u + TSEG1) / static_cast<float>(TQ_NUM);
    }
    else
    {
      fd_cfg.data_bitrate = 0;
      fd_cfg.data_sample_point = 0.0f;
    }
 
    return fdcans_[ch]->SetConfig(fd_cfg);
  }
 
  ErrorCode HandleMode(uint8_t ch, const GsUsb::DeviceMode& mode)
  {
    if (!host_format_ok_ || ch >= can_count_ || !cans_[ch])
    {
      return ErrorCode::ARG_ERR;
    }
 
    switch (static_cast<GsUsb::CanMode>(mode.mode))
    {
      case GsUsb::CanMode::RESET:
        can_enabled_[ch] = false;
        fd_enabled_[ch] = false;
        break;
 
      case GsUsb::CanMode::START:
        can_enabled_[ch] = true;
        if (fd_supported_ && fdcans_[ch] && (mode.flags & GsUsb::GSCAN_MODE_FD))
        {
          fd_enabled_[ch] = true;
        }
        break;
 
      default:
        return ErrorCode::ARG_ERR;
    }
 
    auto& cfg = config_[ch];
    cfg.mode.loopback = (mode.flags & GsUsb::GSCAN_MODE_LOOP_BACK) != 0;
    cfg.mode.listen_only = (mode.flags & GsUsb::GSCAN_MODE_LISTEN_ONLY) != 0;
    cfg.mode.triple_sampling = (mode.flags & GsUsb::GSCAN_MODE_TRIPLE_SAMPLE) != 0;
    cfg.mode.one_shot = (mode.flags & GsUsb::GSCAN_MODE_ONE_SHOT) != 0;
 
    timestamps_enabled_ch_[ch] = (mode.flags & GsUsb::GSCAN_MODE_HW_TIMESTAMP) != 0;
    berr_enabled_[ch] = (mode.flags & GsUsb::GSCAN_MODE_BERR_REPORTING) != 0;
 
    const ErrorCode EC = cans_[ch]->SetConfig(cfg);
 
    if (fd_supported_ && fdcans_[ch])
    {
      auto& fd_cfg = fd_config_[ch];
      static_cast<CAN::Configuration&>(fd_cfg) = cfg;
      fd_cfg.fd_mode.fd_enabled = (mode.flags & GsUsb::GSCAN_MODE_FD) != 0;
      (void)fdcans_[ch]->SetConfig(fd_cfg);
    }
 
    return EC;
  }
 
  ErrorCode HandleBerr(uint8_t ch, uint32_t berr_on)
  {
    if (ch >= can_count_)
    {
      return ErrorCode::ARG_ERR;
    }
    berr_enabled_[ch] = (berr_on != 0);
    return ErrorCode::OK;
  }
 
  ErrorCode HandleIdentify(uint8_t, const GsUsb::Identify& id)
  {
    const bool ON = (id.mode == static_cast<uint32_t>(GsUsb::IdentifyMode::ON));
    if (identify_gpio_)
    {
      (void)identify_gpio_->Write(ON);
    }
    return ErrorCode::OK;
  }
 
  ErrorCode HandleSetTermination(uint8_t ch, const GsUsb::DeviceTerminationState& st)
  {
    if (ch >= can_count_)
    {
      return ErrorCode::ARG_ERR;
    }
 
    term_state_[ch] = static_cast<GsUsb::TerminationState>(
        st.state != 0 ? static_cast<uint32_t>(GsUsb::TerminationState::ON)
                      : static_cast<uint32_t>(GsUsb::TerminationState::OFF));
 
    if (termination_gpios_[ch])
    {
      const bool ON = (term_state_[ch] == GsUsb::TerminationState::ON);
      (void)termination_gpios_[ch]->Write(ON);
    }
 
    return ErrorCode::OK;
  }
 
  static void HostWireToClassicPack(const WireHeader& wh, const uint8_t* payload,
                                    LibXR::CAN::ClassicPack& pack)
  {
    const uint32_t CID = wh.can_id;
    const bool IS_EFF = (CID & GsUsb::CAN_EFF_FLAG) != 0;
    const bool IS_RTR = (CID & GsUsb::CAN_RTR_FLAG) != 0;
 
    if (IS_EFF)
    {
      pack.id = CID & GsUsb::CAN_EFF_MASK;
      pack.type = IS_RTR ? LibXR::CAN::Type::REMOTE_EXTENDED : LibXR::CAN::Type::EXTENDED;
    }
    else
    {
      pack.id = CID & GsUsb::CAN_SFF_MASK;
      pack.type = IS_RTR ? LibXR::CAN::Type::REMOTE_STANDARD : LibXR::CAN::Type::STANDARD;
    }
 
    uint8_t dlc = wh.can_dlc;
    if (dlc > 8u)
    {
      dlc = 8u;
    }
    pack.dlc = dlc;
 
    if (dlc > 0u)
    {
      Memory::FastCopy(pack.data, payload, dlc);
    }
  }
 
  static void HostWireToFdPack(const WireHeader& wh, const uint8_t* payload,
                               LibXR::FDCAN::FDPack& pack)
  {
    const uint32_t CID = wh.can_id;
    const bool IS_EFF = (CID & GsUsb::CAN_EFF_FLAG) != 0;
    const bool IS_RTR = (CID & GsUsb::CAN_RTR_FLAG) != 0;
 
    if (IS_EFF)
    {
      pack.id = CID & GsUsb::CAN_EFF_MASK;
      pack.type = IS_RTR ? LibXR::CAN::Type::REMOTE_EXTENDED : LibXR::CAN::Type::EXTENDED;
    }
    else
    {
      pack.id = CID & GsUsb::CAN_SFF_MASK;
      pack.type = IS_RTR ? LibXR::CAN::Type::REMOTE_STANDARD : LibXR::CAN::Type::STANDARD;
    }
 
    uint8_t len = DlcToLen(wh.can_dlc);
    if (len > 64)
    {
      len = 64;
    }
    pack.len = len;
 
    if (len > 0u)
    {
      Memory::FastCopy(pack.data, payload, len);
    }
  }
 
  void ClassicPackToQueueItem(const LibXR::CAN::ClassicPack& pack, uint8_t ch,
                              QueueItem& qi)
  {
    uint32_t cid = 0;
    switch (pack.type)
    {
      case LibXR::CAN::Type::STANDARD:
        cid = (pack.id & GsUsb::CAN_SFF_MASK);
        break;
      case LibXR::CAN::Type::EXTENDED:
        cid = (pack.id & GsUsb::CAN_EFF_MASK) | GsUsb::CAN_EFF_FLAG;
        break;
      case LibXR::CAN::Type::REMOTE_STANDARD:
        cid = (pack.id & GsUsb::CAN_SFF_MASK) | GsUsb::CAN_RTR_FLAG;
        break;
      case LibXR::CAN::Type::REMOTE_EXTENDED:
        cid = (pack.id & GsUsb::CAN_EFF_MASK) | GsUsb::CAN_EFF_FLAG | GsUsb::CAN_RTR_FLAG;
        break;
      default:
        cid = pack.id & GsUsb::CAN_SFF_MASK;
        break;
    }
 
    qi.hdr.echo_id = ECHO_ID_RX;
    qi.hdr.can_id = cid;
    qi.hdr.can_dlc = (pack.dlc <= 8u) ? pack.dlc : 8u;
    qi.hdr.channel = ch;
    qi.hdr.flags = 0;
    qi.hdr.reserved = 0;
 
    qi.is_fd = false;
    qi.data_len = 8;
    qi.timestamp_us = MakeTimestampUs(ch);
 
    Memory::FastSet(qi.data.data(), 0, 8);
    if (qi.hdr.can_dlc > 0u)
    {
      Memory::FastCopy(qi.data.data(), pack.data, qi.hdr.can_dlc);
    }
  }
 
  void FdPackToQueueItem(const LibXR::FDCAN::FDPack& pack, uint8_t ch, QueueItem& qi)
  {
    uint32_t cid = 0;
    switch (pack.type)
    {
      case LibXR::CAN::Type::STANDARD:
        cid = (pack.id & GsUsb::CAN_SFF_MASK);
        break;
      case LibXR::CAN::Type::EXTENDED:
        cid = (pack.id & GsUsb::CAN_EFF_MASK) | GsUsb::CAN_EFF_FLAG;
        break;
      case LibXR::CAN::Type::REMOTE_STANDARD:
        cid = (pack.id & GsUsb::CAN_SFF_MASK) | GsUsb::CAN_RTR_FLAG;
        break;
      case LibXR::CAN::Type::REMOTE_EXTENDED:
        cid = (pack.id & GsUsb::CAN_EFF_MASK) | GsUsb::CAN_EFF_FLAG | GsUsb::CAN_RTR_FLAG;
        break;
      default:
        cid = pack.id & GsUsb::CAN_SFF_MASK;
        break;
    }
 
    qi.hdr.echo_id = ECHO_ID_RX;
    qi.hdr.can_id = cid;
    qi.hdr.can_dlc = LenToDlc(pack.len);
    qi.hdr.channel = ch;
    qi.hdr.flags = GsUsb::CAN_FLAG_FD;
    qi.hdr.reserved = 0;
 
    qi.is_fd = true;
    qi.data_len = 64;
    qi.timestamp_us = MakeTimestampUs(ch);
 
    const uint8_t LEN = (pack.len <= 64) ? pack.len : 64;
 
    if (LEN > 0u)
    {
      Memory::FastCopy(qi.data.data(), pack.data, LEN);
    }
    if (LEN < 64u)
    {
      Memory::FastSet(qi.data.data() + LEN, 0, 64u - LEN);
    }
  }
 
  std::size_t PackQueueItemToWire(const QueueItem& qi, uint8_t* out,
                                  std::size_t cap) const
  {
    if (cap < WIRE_HDR_SIZE)
    {
      return 0;
    }
 
    const uint8_t CH = qi.hdr.channel;
    const bool TS = (CH < can_count_) ? timestamps_enabled_ch_[CH] : false;
    const std::size_t PAYLOAD = qi.is_fd ? WIRE_FD_DATA_SIZE : WIRE_CLASSIC_DATA_SIZE;
    const std::size_t TOTAL = WIRE_HDR_SIZE + PAYLOAD + (TS ? WIRE_TS_SIZE : 0);
 
    if (TOTAL > cap)
    {
      return 0;
    }
 
    Memory::FastCopy(out, &qi.hdr, WIRE_HDR_SIZE);
    Memory::FastCopy(out + WIRE_HDR_SIZE, qi.data.data(), PAYLOAD);
 
    if (TS)
    {
      Memory::FastCopy(out + WIRE_HDR_SIZE + PAYLOAD, &qi.timestamp_us, WIRE_TS_SIZE);
    }
 
    return TOTAL;
  }
 
  bool ErrorPackToHostErrorFrame(uint8_t ch, const LibXR::CAN::ClassicPack& err_pack,
                                 QueueItem& qi)
  {
    if (ch >= can_count_ || !cans_[ch])
    {
      return false;
    }
    if (!berr_enabled_[ch])
    {
      return false;
    }
    if (!LibXR::CAN::IsErrorId(err_pack.id))
    {
      return false;
    }
 
    // Linux can/error.h 对齐（同你之前版本）
    constexpr uint8_t LNX_CAN_ERR_CRTL_UNSPEC = 0x00;
    constexpr uint8_t LNX_CAN_ERR_CRTL_RX_WARNING = 0x04;
    constexpr uint8_t LNX_CAN_ERR_CRTL_TX_WARNING = 0x08;
    constexpr uint8_t LNX_CAN_ERR_CRTL_RX_PASSIVE = 0x10;
    constexpr uint8_t LNX_CAN_ERR_CRTL_TX_PASSIVE = 0x20;
 
    constexpr uint8_t LNX_CAN_ERR_PROT_UNSPEC = 0x00;
    constexpr uint8_t LNX_CAN_ERR_PROT_FORM = 0x02;
    constexpr uint8_t LNX_CAN_ERR_PROT_STUFF = 0x04;
    constexpr uint8_t LNX_CAN_ERR_PROT_BIT0 = 0x08;
    constexpr uint8_t LNX_CAN_ERR_PROT_BIT1 = 0x10;
    constexpr uint8_t LNX_CAN_ERR_PROT_TX = 0x80;
 
    constexpr uint8_t LNX_CAN_ERR_PROT_LOC_UNSPEC = 0x00;
    constexpr uint8_t LNX_CAN_ERR_PROT_LOC_ACK = 0x19;
 
    constexpr uint32_t LNX_CAN_ERR_CNT = 0x00000200U;
 
    bool ec_valid = false;
    uint32_t txerr = 0, rxerr = 0;
    {
      LibXR::CAN::ErrorState es;
      if (cans_[ch]->GetErrorState(es) == ErrorCode::OK)
      {
        ec_valid = true;
        txerr = es.tx_error_counter;
        rxerr = es.rx_error_counter;
      }
    }
 
    const uint8_t TXERR_U8 = (txerr > 255U) ? 255U : static_cast<uint8_t>(txerr);
    const uint8_t RXERR_U8 = (rxerr > 255U) ? 255U : static_cast<uint8_t>(rxerr);
 
    const auto EID = LibXR::CAN::ToErrorID(err_pack.id);
 
    uint32_t cid = GsUsb::CAN_ERR_FLAG;
    std::array<uint8_t, 8> d{};
    switch (EID)
    {
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_BUS_OFF:
        cid |= GsUsb::CAN_ERR_BUSOFF;
        break;
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_ERROR_WARNING:
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_ERROR_PASSIVE:
      {
        cid |= GsUsb::CAN_ERR_CRTL;
        uint8_t ctrl = LNX_CAN_ERR_CRTL_UNSPEC;
 
        if (ec_valid)
        {
          if (EID == LibXR::CAN::ErrorID::CAN_ERROR_ID_ERROR_PASSIVE)
          {
            if (txerr >= 128U)
            {
              ctrl |= LNX_CAN_ERR_CRTL_TX_PASSIVE;
            }
            if (rxerr >= 128U)
            {
              ctrl |= LNX_CAN_ERR_CRTL_RX_PASSIVE;
            }
          }
          else
          {
            if (txerr >= 96U)
            {
              ctrl |= LNX_CAN_ERR_CRTL_TX_WARNING;
            }
            if (rxerr >= 96U)
            {
              ctrl |= LNX_CAN_ERR_CRTL_RX_WARNING;
            }
          }
        }
 
        if (ctrl == LNX_CAN_ERR_CRTL_UNSPEC)
        {
          ctrl = (EID == LibXR::CAN::ErrorID::CAN_ERROR_ID_ERROR_PASSIVE)
                     ? static_cast<uint8_t>(LNX_CAN_ERR_CRTL_TX_PASSIVE |
                                            LNX_CAN_ERR_CRTL_RX_PASSIVE)
                     : static_cast<uint8_t>(LNX_CAN_ERR_CRTL_TX_WARNING |
                                            LNX_CAN_ERR_CRTL_RX_WARNING);
        }
 
        d[1] = ctrl;
        break;
      }
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_ACK:
        cid |= GsUsb::CAN_ERR_ACK;
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_UNSPEC | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_ACK;
        break;
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_STUFF:
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_STUFF | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_UNSPEC;
        break;
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_FORM:
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_FORM | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_UNSPEC;
        break;
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_BIT0:
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_BIT0 | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_UNSPEC;
        break;
 
      case LibXR::CAN::ErrorID::CAN_ERROR_ID_BIT1:
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_BIT1 | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_UNSPEC;
        break;
 
      default:
        cid |= GsUsb::CAN_ERR_PROT;
        d[2] = static_cast<uint8_t>(LNX_CAN_ERR_PROT_UNSPEC | LNX_CAN_ERR_PROT_TX);
        d[3] = LNX_CAN_ERR_PROT_LOC_UNSPEC;
        break;
    }
 
    cid |= LNX_CAN_ERR_CNT;
    d[6] = TXERR_U8;
    d[7] = RXERR_U8;
 
    qi.hdr.echo_id = ECHO_ID_RX;
    qi.hdr.can_id = cid;
    qi.hdr.can_dlc = GsUsb::CAN_ERR_DLC;
    qi.hdr.channel = ch;
    qi.hdr.flags = 0;
    qi.hdr.reserved = 0;
 
    qi.is_fd = false;
    qi.data_len = 8;
    qi.timestamp_us = MakeTimestampUs(ch);
 
    Memory::FastCopy(qi.data.data(), d.data(), 8);
 
    return true;
  }
 
  // ================= 工具函数 / Utilities =================
 
  uint32_t MakeTimestampUs(uint8_t ch) const
  {
    if (ch < can_count_ && timestamps_enabled_ch_[ch] &&
        LibXR::Timebase::timebase != nullptr)
    {
      return static_cast<uint32_t>(LibXR::Timebase::GetMicroseconds() & 0xFFFFFFFFu);
    }
    return 0u;
  }
 
  uint32_t MakeTimestampUsGlobal() const
  {
    if (LibXR::Timebase::timebase != nullptr)
    {
      return static_cast<uint32_t>(LibXR::Timebase::GetMicroseconds() & 0xFFFFFFFFu);
    }
    return 0u;
  }
 
  static uint8_t DlcToLen(uint8_t dlc)
  {
    static constexpr uint8_t TABLE[16] = {0, 1,  2,  3,  4,  5,  6,  7,
                                          8, 12, 16, 20, 24, 32, 48, 64};
    return (dlc < 16) ? TABLE[dlc] : 64;
  }
 
  static uint8_t LenToDlc(uint8_t len)
  {
    if (len <= 8)
    {
      return len;
    }
    if (len <= 12)
    {
      return 9;
    }
    if (len <= 16)
    {
      return 10;
    }
    if (len <= 20)
    {
      return 11;
    }
    if (len <= 24)
    {
      return 12;
    }
    if (len <= 32)
    {
      return 13;
    }
    if (len <= 48)
    {
      return 14;
    }
    return 15;
  }
 
  uint32_t GetUserIdFromStorage() const
  {
    if (database_ == nullptr)
    {
      return user_id_ram_;
    }
 
    LibXR::Database::Key<uint32_t> key(*database_, "user_id", user_id_ram_);
    return static_cast<uint32_t>(key);
  }
 
  void SetUserIdToStorage(uint32_t value)
  {
    user_id_ram_ = value;
 
    if (database_ == nullptr)
    {
      return;
    }
 
    LibXR::Database::Key<uint32_t> key(*database_, "user_id", 0u);
    (void)key.Set(value);
  }
};
 
}  // namespace LibXR::USB