Auto commit from DCSP - 2026/1/5 20:36:13

2026-01-05 20:36:13 +08:00
commit 292c313b15
49 changed files with 6994 additions and 0 deletions
--- a/星敏硬件服务化/Star_sensorHS-main.cpp
+++ b/星敏硬件服务化/Star_sensorHS-main.cpp
@@ -0,0 +1,120 @@
+#include <iostream>
+#include <cstdlib>
+#include <unistd.h>
+#include <signal.h>
+#include <pthread.h>
+
+#include "Star_sensorHS.h"
+
+/* ------------------ 全局变量 ------------------ */
+extern Star_Device nano_stars[MAX_STAR_NUM_PER_TYPE];
+extern Star_Device pico_stars[MAX_STAR_NUM_PER_TYPE];
+extern uint8_t nano_star_count;
+extern uint8_t pico_star_count;
+
+/* ------------------ 信号处理 ------------------ */
+static volatile bool running = true;
+
+static void signal_handler(int sig) {
+    running = false;
+    std::cout << "[INFO] Received signal " << sig << ", shutting down..." << std::endl;
+}
+
+/* ------------------ 打印使用帮助 ------------------ */
+static void print_usage(const char* program_name) {
+    std::cout << "Usage: " << program_name << " [OPTIONS]" << std::endl;
+    std::cout << "Options:" << std::endl;
+    std::cout << "  -h, --help           Show this help message" << std::endl;
+    std::cout << "  -v, --version        Show version information" << std::endl;
+    std::cout << "  -i, --interval MS    Set publish interval in milliseconds (default: 500)" << std::endl;
+    std::cout << std::endl;
+    std::cout << "Environment variables:" << std::endl;
+    std::cout << "  STAR_NANO_DEVS       Comma-separated list of nano star devices (e.g., /dev/ttyS0:115200,/dev/ttyS1:115200)" << std::endl;
+    std::cout << "  STAR_PICO_DEVS       Comma-separated list of pico star devices" << std::endl;
+}
+
+/* ------------------ 主函数 ------------------ */
+int main(int argc, char *argv[]) {
+    // 解析命令行参数
+    int publish_interval_ms = 500;
+    
+    for (int i = 1; i < argc; i++) {
+        std::string arg = argv[i];
+        if (arg == "-h" || arg == "--help") {
+            print_usage(argv[0]);
+            return 0;
+        } else if (arg == "-v" || arg == "--version") {
+            std::cout << "Star Sensor Hardware Service v1.0.0" << std::endl;
+            return 0;
+        } else if (arg == "-i" || arg == "--interval") {
+            if (i + 1 < argc) {
+                publish_interval_ms = std::atoi(argv[++i]);
+                if (publish_interval_ms <= 0) {
+                    std::cerr << "[ERROR] Invalid interval value: " << publish_interval_ms << std::endl;
+                    return -1;
+                }
+            } else {
+                std::cerr << "[ERROR] Missing interval value" << std::endl;
+                print_usage(argv[0]);
+                return -1;
+            }
+        } else {
+            std::cerr << "[ERROR] Unknown option: " << arg << std::endl;
+            print_usage(argv[0]);
+            return -1;
+        }
+    }
+    
+    
+    // 设置信号处理
+    signal(SIGINT, signal_handler);
+    signal(SIGTERM, signal_handler);
+    signal(SIGPIPE, SIG_IGN);  // 忽略管道中断信号
+    
+    // 初始化星敏设备
+    if (star_devices_init() != 0) {
+        std::cerr << "[ERROR] No star sensors initialized" << std::endl;
+        return -1;
+    }
+    std::cout << "[OK] Initialized " << (int)nano_star_count << " nano stars, "
+              << (int)pico_star_count << " pico stars" << std::endl;
+    
+    // 初始化FastDDS硬件服务化
+    if (Star_sensorHS_init(0, "Star_sensor_Hardware_Service") != 0) {
+        std::cerr << "[ERROR] Failed to initialize FastDDS hardware service" << std::endl;
+        return -1;
+    }
+    std::cout << "[OK] FastDDS hardware service initialized" << std::endl;
+    
+    // 创建发布线程
+    pthread_t publish_tid;
+    if (pthread_create(&publish_tid, NULL, star_publish_thread, NULL) != 0) {
+        perror("[ERROR] Failed to create publish thread");
+        return -1;
+    }
+
+    while (running) {
+        sleep(1);
+    }
+    
+    // 等待线程退出
+    pthread_join(publish_tid, NULL);
+    
+    // 关闭所有串口
+    for (int i = 0; i < MAX_STAR_NUM_PER_TYPE; i++) {
+        if (nano_stars[i].fd > 0) {
+            close(nano_stars[i].fd);
+            nano_stars[i].fd = -1;
+            std::cout << "[INFO] Closed nano star " << (i+1) << " UART" << std::endl;
+        }
+        if (pico_stars[i].fd > 0) {
+            close(pico_stars[i].fd);
+            pico_stars[i].fd = -1;
+            std::cout << "[INFO] Closed pico star " << (i+1) << " UART" << std::endl;
+        }
+    }
+    
+    // 清理FastDDS资源
+    Star_sensorHS_cleanup();
+    return 0;
+}