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xb
2026-01-05 11:30:54 +08:00
parent 6980e8ade2
commit 0fd98e248b
9 changed files with 865 additions and 734 deletions
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62
ComHS-main.cpp
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@@ -2,41 +2,65 @@
#include <cstdlib>
#include <string>
#include <unistd.h>
#include <signal.h>
#include "ComHS.h"
using namespace std;
/* 全局运行标志 */
static volatile int keep_running = 1;
/* 信号处理函数 */
void signal_handler(int signum)
{
keep_running = 0;
cout << "\n[INFO] Received signal " << signum << ", stopping..." << endl;
}
/*
* 主函数
*
* 命令行参数:
* argv[1]: 遥控串口设备路径 (默认: /dev/ttyUSB0)
* argv[2]: 遥测串口设备路径 (默认: /dev/ttyUSB1)
* argv[3]: 波特率 (默认: 115200)
*/
int main(int argc, char *argv[])
{
// 默认串口配置
const char *dev_telec = "/dev/ttyUSB0"; // 遥控串口
const char *dev_telem = "/dev/ttyUSB1"; // 遥测串口
const char *dev_telec = "/dev/ttyUSB0"; /* 遥控串口 */
const char *dev_telem = "/dev/ttyUSB1"; /* 遥测串口 */
int baudrate = 115200;
// 从命令行参数获取配置
if (argc >= 3)
{
/* 从命令行参数获取配置 */
if (argc >= 3) {
dev_telec = argv[1];
dev_telem = argv[2];
}
if (argc >= 4)
{
if (argc >= 4) {
baudrate = atoi(argv[3]);
}
// 启动服务
/* 设置信号处理 */
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
/* 启动服务 */
start_scomm_service(dev_telec, dev_telem, baudrate);
// 主循环
int counter = 0;
while (1)
{
while (keep_running) {
static int counter = 0;
if (counter++ >= 10) {
counter = 0;
}
sleep(1);
}
// 服务停止
cout << "[INFO] Stopping service..." << endl;
stop_scomm_service();
cout << "[INFO] Service stopped successfully" << endl;
return 0;
}

1099
ComHS.cpp
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285
ComHS.h
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@@ -7,178 +7,195 @@
using namespace std;
// 遥测cmd定义
#define CON_TELEMETRY 0x0F //常规遥测查询
#define TELECONTROL_CMD 0x1E //遥控指令
#define QUERY_TELECMD 0x4B //遥控指令查询
#define SEND_TELEMETRY 0x5A //发送遥测
/* 遥测cmd定义 */
#define CON_TELEMETRY 0x0F /* 常规遥测查询 */
#define TELECONTROL_CMD 0x1E /* 遥控指令 */
#define QUERY_TELECMD 0x4B /* 遥控指令查询 */
#define SEND_TELEMETRY 0x5A /* 发送遥测 */
// 星间通信机子遥测
/* 所占bit长度定义 */
#define EPDU_ID_VERSION_SIZE 3 /* 版本号 */
#define EPDU_ID_TYPE_SIZE 1 /* 类型 */
#define EPDU_ID_HEAD_SIZE 1 /* 副导头 */
#define EPDU_APID 11 /* APID */
#define EPDU_CONTROL_GROUPID_SIZE 2 /* 分组标识 */
#define EPDU_CONTROL_COUNT_SIZE 14 /* 包序列计数 */
#define MULTI_EPDU_LENS 244
/* 星间通信机子遥测 */
typedef union {
uint8_t ext[9]; //72位数据的联合体
struct __attribute__((__packed__)) {
unsigned int temperature : 12; //温度遥测
unsigned int temperature_calibrated : 12; //温度遥测标校
unsigned int transmission_power : 12; //12V电源遥测
unsigned int power_supply_5v4 : 12; //5.4V电源遥测
unsigned int power_supply_2v5 : 12; //2.5V电源遥测
unsigned int power_supply_1v2 : 12; //1.2V电源遥测
};
uint8_t ext[9]; /* 72位数据的联合体 */
struct __attribute__((__packed__)) {
unsigned int temperature : 12; /* 温度遥测 */
unsigned int temperature_calibrated : 12; /* 温度遥测标校 */
unsigned int transmission_power : 12; /* 12V电源遥测 */
unsigned int power_supply_5v4 : 12; /* 5.4V电源遥测 */
unsigned int power_supply_2v5 : 12; /* 2.5V电源遥测 */
unsigned int power_supply_1v2 : 12; /* 1.2V电源遥测 */
};
} s_comm_telemetry_t;
// 星间通信机子遥测
/* 星间通信机子遥测 */
typedef union {
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int loadNo : 2; //加载程序编号
unsigned int loadMode : 2; //加载模式
unsigned int AorB : 1; //AB机状态
unsigned int FPGAFresh : 1; //FPGA刷新状态
unsigned int zaiboSync : 1; //信息载波同步
unsigned int weimaSync : 1; //信息伪码同步
};
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int loadNo : 2; /* 加载程序编号 */
unsigned int loadMode : 2; /* 加载模式 */
unsigned int AorB : 1; /* AB机状态 */
unsigned int FPGAFresh : 1; /* FPGA刷新状态 */
unsigned int zaiboSync : 1; /* 信息载波同步 */
unsigned int weimaSync : 1; /* 信息伪码同步 */
};
} s_comm_para0;
// 星间通信机子遥测
/* 星间通信机子遥测 */
typedef union {
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int recDampCtrlMode : 1; //接收衰减控制模式
unsigned int recDampCtrl : 3; //接收衰减控制字
unsigned int trans : 1; //发射通道开关
unsigned int transDampCtrl : 3; //发射衰减控制字
};
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int recDampCtrlMode : 1; /* 接收衰减控制模式 */
unsigned int recDampCtrl : 3; /* 接收衰减控制字 */
unsigned int trans : 1; /* 发射通道开关 */
unsigned int transDampCtrl : 3; /* 发射衰减控制字 */
};
} s_comm_para2;
// 星间通信机子遥测
/* 星间通信机子遥测 */
typedef union {
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int recStatus : 1; // 接收缓存状态
unsigned int workmode : 2; //工作模式
unsigned int sendStatus : 1; //发射缓存状态
unsigned int antsChoice : 1; //天线选择
unsigned int FreqChoice : 1; //频点选择
unsigned int telem_MM_Mode : 1; //遥测明/密状态
unsigned int telec_MM_Mode : 1; //遥控明/密状态
};
uint8_t ext;
struct __attribute__((__packed__)) {
unsigned int recStatus : 1; /* 接收缓存状态 */
unsigned int workmode : 2; /* 工作模式 */
unsigned int sendStatus : 1; /* 发射缓存状态 */
unsigned int antsChoice : 1; /* 天线选择 */
unsigned int FreqChoice : 1; /* 频点选择 */
unsigned int telem_MM_Mode : 1; /* 遥测明/密状态 */
unsigned int telec_MM_Mode : 1; /* 遥控明/密状态 */
};
} s_comm_para3;
// S通信机遥测结构体
typedef struct __attribute__((packed)){
uint8_t packet_cnt_1; // 遥测包计数
uint8_t cmd1_success_count; //接收指令1正确计数
uint8_t cmd1_err_type1_count; //接收指令1错误类型1计数
uint8_t cmd2_success_count; //接收指令2正确计数
uint8_t cmd2_err_count; //接收指令2错误计数
uint8_t reset_count; //复位计数
uint8_t refresh_count; //刷新状态计数
s_comm_para0 para0; //
uint8_t para1; //
int8_t dopplerFreqInfoChannel; //信息通道多普勒频偏
int8_t dopplerFreqMeasureChannel; //测量通道多普勒频偏
uint8_t snrInfoChannel; //信息通道接收信噪比
uint8_t snrMeasureChannel; //测量通道接收信噪比
uint8_t receive_RSSI; //接收RSSI
uint8_t generalQueryCount; //常规遥测查询计数
uint8_t forwardcmdcnt; //转发遥控指令计数
uint8_t cmdinquiryCount; //空空接收后遥控计数
uint8_t teletransmissionCount; //转发遥测计数
uint8_t res0[2]; //LVDS预留参数,不使用
s_comm_para2 para2; //
s_comm_telemetry_t s_telemetry;
uint8_t AD9364_configuration_count; //AD9364配置计数
s_comm_para3 para3;
uint8_t res1[3]; //预留参数,CJB不使用
uint8_t cmd1_err_type2_count; //接收指令1错误类型2计数
uint16_t teletransmission_secretkey; //遥测当前密钥
uint16_t telecmd_secretkey; //遥控当前密钥
/* S通信机遥测结构体 */
typedef struct __attribute__((packed)) {
uint8_t packet_cnt_1; /* 遥测包计数 */
uint8_t cmd1_success_count; /* 接收指令1正确计数 */
uint8_t cmd1_err_type1_count; /* 接收指令1错误类型1计数 */
uint8_t cmd2_success_count; /* 接收指令2正确计数 */
uint8_t cmd2_err_count; /* 接收指令2错误计数 */
uint8_t reset_count; /* 复位计数 */
uint8_t refresh_count; /* 刷新状态计数 */
s_comm_para0 para0;
uint8_t para1;
int8_t dopplerFreqInfoChannel; /* 信息通道多普勒频偏 */
int8_t dopplerFreqMeasureChannel; /* 测量通道多普勒频偏 */
uint8_t snrInfoChannel; /* 信息通道接收信噪比 */
uint8_t snrMeasureChannel; /* 测量通道接收信噪比 */
uint8_t receive_RSSI; /* 接收RSSI */
uint8_t generalQueryCount; /* 常规遥测查询计数 */
uint8_t forwardcmdcnt; /* 转发遥控指令计数 */
uint8_t cmdinquiryCount; /* 空空接收后遥控计数 */
uint8_t teletransmissionCount; /* 转发遥测计数 */
uint8_t res0[2]; /* LVDS预留参数,不使用 */
s_comm_para2 para2;
s_comm_telemetry_t s_telemetry;
uint8_t AD9364_configuration_count; /* AD9364配置计数 */
s_comm_para3 para3;
uint8_t res1[3]; /* 预留参数,CJB不使用 */
uint8_t cmd1_err_type2_count; /* 接收指令1错误类型2计数 */
uint16_t teletransmission_secretkey; /* 遥测当前密钥 */
uint16_t telecmd_secretkey; /* 遥控当前密钥 */
} S_Comm_telemetry_data_t;
// 指令/注数单元格式
typedef struct __attribute__((__packed__)){
uint8_t cmd_type; //指令类型
uint8_t cmd_len; //指令长度 数据内容+4
uint8_t device; //设备号
uint8_t REMAIN; //保留字
uint8_t data[255]; //数据内容 最大60
/* 指令/注数单元格式 */
typedef struct __attribute__((__packed__)) {
uint8_t cmd_type; /* 指令类型 */
uint8_t cmd_len; /* 指令长度 数据内容+4 */
uint8_t device; /* 设备号 */
uint8_t REMAIN; /* 保留字 */
uint8_t data[255]; /* 数据内容 最大60 */
} CMD_unit;
// 遥控包 仅单指令
/* 遥控包 仅单指令 */
typedef struct __attribute__((__packed__)) {
uint8_t serve_type; //服务类型 全为50H实时指令
uint8_t cmd_num; //指令数
CMD_unit cmd_unit; //指令单元
uint8_t serve_type; /* 服务类型 全为50H实时指令 */
uint8_t cmd_num; /* 指令数 */
CMD_unit cmd_unit; /* 指令单元 */
} CMD_pack_t;
/*所占bit长度定义*/
#define EPDU_ID_VERSION_SIZE 3 //版本号
#define EPDU_ID_TYPE_SIZE 1 //类型
#define EPDU_ID_HEAD_SIZE 1 //副导头
#define EPDU_APID 11 //APID
#define EPDU_CONTROL_GROUPID_SIZE 2 //分组标识
#define EPDU_CONTROL_COUNT_SIZE 14 //包序列计数
#define MULTI_EPDU_LENS 244
/*包识别*/
typedef union{
uint16_t ext; //16位数据的联合体
struct __attribute__((__packed__)) {
unsigned int version : EPDU_ID_VERSION_SIZE; //版本号
unsigned int type : EPDU_ID_TYPE_SIZE; //类型
unsigned int subhead : EPDU_ID_HEAD_SIZE; //副导头
unsigned int reserve : EPDU_APID; //应用过程标识符
};
/* 包识别 */
typedef union {
uint16_t ext; /* 16位数据的联合体 */
struct __attribute__((__packed__)) {
unsigned int version : EPDU_ID_VERSION_SIZE; /* 版本号 */
unsigned int type : EPDU_ID_TYPE_SIZE; /* 类型 */
unsigned int subhead : EPDU_ID_HEAD_SIZE; /* 副导头 */
unsigned int reserve : EPDU_APID; /* 应用过程标识符 */
};
} packet_id_t;
/*包序列控制*/
typedef union{
uint16_t ext; // 16位数据的联合体
struct __attribute__((__packed__)) {
unsigned int groupid : EPDU_CONTROL_GROUPID_SIZE; //分组标识
unsigned int count : EPDU_CONTROL_COUNT_SIZE; //包序列计数
};
/* 包序列控制 */
typedef union {
uint16_t ext; /* 16位数据的联合体 */
struct __attribute__((__packed__)) {
unsigned int groupid : EPDU_CONTROL_GROUPID_SIZE; /* 分组标识 */
unsigned int count : EPDU_CONTROL_COUNT_SIZE; /* 包序列计数 */
};
} sequence_control_t;
/*E-PDU源包格式*/
/* E-PDU源包格式 */
typedef struct __attribute__((__packed__)) {
packet_id_t id; //包识别
sequence_control_t seq; //包控制序列
uint16_t length; //包长
uint8_t data[MULTI_EPDU_LENS];
packet_id_t id; /* 包识别 */
sequence_control_t seq; /* 包控制序列 */
uint16_t length; /* 包长 */
uint8_t data[MULTI_EPDU_LENS];
} EPDU_packet_t;
typedef struct __attribute__((__packed__)) {
uint16_t epdu_len;
EPDU_packet_t epdu;
uint16_t epdu_len;
EPDU_packet_t epdu;
} Multi_EPDU_packet_t;
// 声明ComHS接口函数
void ComHSWriteLog(const string &msg);
void ComHS_init(uint8_t domainid, string appname);
void command_callback(string src, string dest, string type,
string reserve1, string reserve2,
vector<uint8_t>& data);
void telemetry_callback(string src, string dest, string type,
string reserve1, string reserve2,
vector<uint8_t>& data);
void ComHS_command_Pub(uint8_t* data, string dest, uint16_t len);
void ComHS_telemetry_Pub(uint8_t* data, string dest, uint16_t len);
/*
* ComHS接口函数声明
*/
// 声明串口操作函数
/* 日志函数 */
void ComHSWriteLog(const string &msg);
/* 初始化函数 */
void ComHS_init(uint8_t domainid, string appname);
/* 回调函数 */
void command_callback(string src, string dest, string type,
string reserve1, string reserve2,
vector<uint8_t> &data);
void telemetry_callback(string src, string dest, string type,
string reserve1, string reserve2,
vector<uint8_t> &data);
/* 发布函数 */
void ComHS_command_Pub(uint8_t *data, string dest, uint16_t len);
void ComHS_telemetry_Pub(uint8_t *data, string dest, uint16_t len);
/*
* 串口操作函数声明
*/
int scomm_uart_init(const char *dev_telec, const char *dev_telem, int baudrate);
void send_S_COMM_Cmder(uint8_t *cmd, uint16_t len);
void Get_S_COMM_Telemetry_Data(void);
void Get_S_COMM_UP_CMD(void);
void Send_Telemetry_From_S(uint8_t *tele, uint16_t len);
void S_UART_TELEMETRY_SEND(uint8_t cmd, uint16_t len, uint8_t *nums);
int read_scomm_response(void);
int process_received_data(uint8_t *data, uint16_t size);
// 声明运行控制函数
/* 同步读取函数声明 */
int scomm_read_with_select(int timeout_ms);
int S_UART_SEND_AND_WAIT(uint8_t cmd, uint16_t len, uint8_t *nums, int timeout_ms);
/*
* 运行控制函数声明
*/
void start_scomm_service(const char *dev_telec, const char *dev_telem, int baudrate);
void stop_scomm_service(void);
#endif // COMHS_H
#endif /* COMHS_H */

120
build/CMakeFiles/CMakeOutput.log
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@@ -28,10 +28,10 @@ The CXX compiler identification is GNU, found in "/home/xb/satellite/aircraft-1/
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/usr/include/x86_64-linux-gnu/bits/ioctls.h \
/usr/include/x86_64-linux-gnu/asm/ioctls.h \
/usr/include/asm-generic/ioctls.h /usr/include/linux/ioctl.h \
/usr/include/x86_64-linux-gnu/asm/ioctl.h \
/usr/include/asm-generic/ioctl.h \
/usr/include/x86_64-linux-gnu/bits/ioctl-types.h /usr/include/signal.h \
/usr/include/x86_64-linux-gnu/sys/ttydefaults.h /usr/include/signal.h \
/usr/include/x86_64-linux-gnu/bits/signum-generic.h \
/usr/include/x86_64-linux-gnu/bits/signum-arch.h \
/usr/include/x86_64-linux-gnu/bits/types/sig_atomic_t.h \
@@ -200,6 +193,7 @@ CMakeFiles/ComHS.dir/ComHS.cpp.o: \
/usr/include/x86_64-linux-gnu/bits/types/struct_sigstack.h \
/usr/include/x86_64-linux-gnu/bits/sigthread.h \
/usr/include/x86_64-linux-gnu/bits/signal_ext.h \
/usr/include/x86_64-linux-gnu/sys/time.h \
/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/ComHS.h \
/usr/local/include/simmsg/SimMsg.h \
/usr/local/include/simmsg/SimMessageType.h \

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