commit b6fe48ba79328c7f9563d4e2cfc8573222953bde Author: xb <18656218039@163.com> Date: Mon Jan 5 17:32:54 2026 +0800 Initial commit from DCSP - 2026/1/5 17:32:54 diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..686017b --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 3.10) +project(Com_kk) + +# 设置C++标准 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# 设置编译选项 +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread") + +# 包含头文件路径 +include_directories( + ${CMAKE_CURRENT_SOURCE_DIR} # 当前目录 + /usr/local/include/simmsg # simmsg头文件目录 + /usr/local/include # 系统本地include + /usr/include # 系统include +) + +# 链接库路径 +link_directories( + /usr/local/lib # 系统本地lib + /usr/lib # 系统lib + /usr/lib/x86_64-linux-gnu # 系统64位库 +) + +# 添加可执行文件 +add_executable(Com_kk + hook-rs422_kk.cpp + +) + +# 链接库 +target_link_libraries(Com_kk + pthread + m + rt + simmsg + fastrtps + fastcdr + foonathan_memory +) + +# 设置输出目录 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COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000..8b8c27e Binary files /dev/null and b/build/CMakeFiles/3.22.1/CompilerIdC/a.out differ diff --git a/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..25c62a8 --- /dev/null +++ b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,791 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif 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+ +// 全局变量定义 +volatile int keep_running = 1; +uint8_t scomm_enable = 1; + +// DDS相关全局变量 +SimMsg* simMsg = nullptr; +string pkgname = ""; +string topic_name_o2_can = "o2-can"; +string topic_name_o1_can = "o1-can"; +string topic_name_kk = "comu-kk"; + +// 互斥锁保护共享数据 +std::mutex g_data_mutex; + +// 本地参数声明 +uint8_t tm_buffer[256] = { 0 }; +S_Comm_telemetry_data_t s_tele = { 0 }; + +uint8_t isReceiveCmder = 0; +uint8_t rec_cmder_fromdds[255] = { 0 }; +uint16_t rec_len_fromdds = 0; + +string Msgfrom = "O2-A"; + +//====================================== 串口管理 ======================================// + +// Socat虚拟串口结构 +typedef struct { + int fd; // 文件描述符 + bool enabled; // 使能标志 + char device_path[256]; // 串口设备路径 + const char* port_name; // 串口名称（用于日志标识） + const char* port_role; // 串口角色 +} SocatPort; + +// 串口枚举定义 +enum SocatPortId { + PORT_TX = 0, // 发送串口 (argv[1]) + PORT_RX = 1 // 接收串口 (argv[2]) +}; + +// 串口实例 +static SocatPort socat_ports[2] = { + { -1, false, "", "发送串口", "发送" }, + { -1, false, "", "接收串口", "接收" } +}; + +// 线程相关 +static pthread_t listen_thread; + +//====================================== 函数声明 ======================================// + +// 日志函数 +void WriteLog(const string &msg); + +// DDS接口函数 +void pkginit(uint8_t domainid, string appname, string pkgname_); +void PkgToO2_AkkDataPub(uint8_t* o2_kk_data, uint16_t len); +void PkgToO_1kkDataPub(uint8_t* o1_kk_data, uint16_t len); +void pkgSubO_1KKData(message_func_t MessageCallback); +void PkgSubO2_AKkData(message_func_t MessageCallback); + +// 数据处理函数 +void cjb_rs422_kk_receive(string src, string dest, string type, string reserve1, + string reserve2, vector& data); +void process_tm_buffer(uint8_t* buffer, uint16_t length); +void generate_s_tele(uint8_t* tele); +uint8_t generate_cmder(uint8_t* tele); + +// 串口管理函数 +int init_socat_serial(SocatPortId port_id, const char* device_path); +int read_from_serial(SocatPortId port_id, uint8_t* buffer, uint16_t buffer_size); +void forward_to_socat(uint8_t* data, uint16_t len, SocatPortId port_id); +void cleanup_socat_serial(SocatPortId port_id); +void cleanup_all_socat_serial(); + +// 线程函数 +void* listen_serial_thread(void* arg); +int start_listen_thread(); +void stop_listen_thread(); + +// 主程序接口 +void hook_rs422_kk(const char* tx_port, const char* rx_port); +void set_scomm_enable(uint8_t s_en); +void cleanup_hook_rs422(); + +// 信号处理 +void signal_handler(int signum); + +//====================================== 日志函数 ======================================// + +void WriteLog(const string &msg) { + time_t now = time(0); + char buf[80]; + strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", localtime(&now)); + cout << "[" << buf << "] " << msg << endl; +} + +//====================================== FastDDS函数 ======================================// + +void pkginit(uint8_t domainid, string appname, string pkgname_) { + if (simMsg == nullptr) { + WriteLog("初始化FastDDS通信..."); + simMsg = new SimMsg(domainid, 3000, appname, WriteLog); + simMsg->create_pub(topic_name_o2_can); + simMsg->create_pub(topic_name_o1_can); + simMsg->create_pub(topic_name_kk); + pkgname = pkgname_; + WriteLog("FastDDS初始化完成: domainid=" + to_string(domainid) + + ", appname=" + appname + ", pkgname=" + pkgname_); + } +} + +void PkgToO2_AkkDataPub(uint8_t* o2_kk_data, uint16_t len) { + if (!simMsg || !scomm_enable) return; + + simMsg->publish(topic_name_kk, pkgname, "O2-A", "", o2_kk_data, len); + + string hex_str = "发送到O2-A DDS(" + to_string(len) + "字节): "; + for (int i = 0; i < (len < 10 ? len : 10); i++) { + char buf[4]; + snprintf(buf, sizeof(buf), "%02X ", o2_kk_data[i]); + hex_str += buf; + } + if (len > 10) hex_str += "..."; + WriteLog(hex_str); +} + +void PkgToO_1kkDataPub(uint8_t* o1_kk_data, uint16_t len) { + if (!simMsg || !scomm_enable) return; + + simMsg->publish(topic_name_kk, pkgname, "O-1", "", o1_kk_data, len); + + string hex_str = "发送到O-1 DDS(" + to_string(len) + "字节): "; + for (int i = 0; i < (len < 10 ? len : 10); i++) { + char buf[4]; + snprintf(buf, sizeof(buf), "%02X ", o1_kk_data[i]); + hex_str += buf; + } + if (len > 10) hex_str += "..."; + WriteLog(hex_str); +} + +void pkgSubO_1KKData(message_func_t MessageCallback) { + if (!simMsg) return; + + vector parameters; + string expression = "src = 'O-1'"; + simMsg->create_sub(topic_name_kk, + static_cast(MessageCallback), + expression, parameters); + WriteLog("订阅O-1数据成功"); +} + +void PkgSubO2_AKkData(message_func_t MessageCallback) { + if (!simMsg) return; + + vector parameters; + string expression = "src = 'O2-A'"; + simMsg->create_sub(topic_name_kk, + static_cast(MessageCallback), + expression, parameters); + WriteLog("订阅O2-A数据成功"); +} + +//====================================== DDS接收回调 ======================================// + +void cjb_rs422_kk_receive(string src, string dest, string type, string reserve1, + string reserve2, vector& data) { + if (data.empty()) { + WriteLog("警告：收到空数据"); + return; + } + + WriteLog("收到来自 " + src + " 的数据，大小: " + to_string(data.size()) + " 字节"); + + if (dest == "CJ") { + lock_guard lock(g_data_mutex); + + Msgfrom = src; + uint8_t checksum = 0; + uint16_t frameLen = 0; + + // 安全复制数据 + uint16_t copy_size = (data.size() < sizeof(rec_cmder_fromdds)) ? + data.size() : sizeof(rec_cmder_fromdds) - 1; + + for (size_t kc = 0; kc < copy_size; kc++) { + if (kc == 5 || kc == 6) continue; + + if (frameLen < sizeof(rec_cmder_fromdds)) { + rec_cmder_fromdds[frameLen++] = data[kc]; + } + } + + rec_len_fromdds = frameLen; + + // 更新指令ID为遥控指令查询ID 0x4B + if (rec_len_fromdds > 2) { + rec_cmder_fromdds[2] = 0xB4; + } + + // 调整长度字段 + if (rec_len_fromdds > 4) { + if (rec_cmder_fromdds[4] >= 0x02) { + rec_cmder_fromdds[4] -= 0x02; + } else { + rec_cmder_fromdds[4] = 0; + } + } + + // 重新计算校验和 + for (int kc = 2; kc < rec_len_fromdds - 1; kc++) { + checksum += rec_cmder_fromdds[kc]; + } + + if (rec_len_fromdds > 0) { + rec_cmder_fromdds[rec_len_fromdds - 1] = checksum; + } + + isReceiveCmder = 1; + WriteLog("已存储空空遥控指令，长度: " + to_string(rec_len_fromdds) + " 字节"); + + // 打印指令内容 + string hex_str = "指令内容: "; + int print_len = (rec_len_fromdds < 20 ? rec_len_fromdds : 20); + for (int i = 0; i < print_len; i++) { + char buf[4]; + snprintf(buf, sizeof(buf), "%02X ", rec_cmder_fromdds[i]); + hex_str += buf; + } + if (rec_len_fromdds > 20) hex_str += "..."; + WriteLog(hex_str); + } else { + WriteLog("非CJ目标的数据，忽略"); + } +} + +//====================================== 串口管理 ======================================// + +int init_socat_serial(SocatPortId port_id, const char* device_path) { + if (port_id < 0 || port_id >= 2) { + WriteLog("错误：无效的串口ID"); + return -1; + } + + SocatPort* port = &socat_ports[port_id]; + + // 更新设备路径 + if (device_path && strlen(device_path) > 0) { + strncpy(port->device_path, device_path, sizeof(port->device_path) - 1); + port->device_path[sizeof(port->device_path) - 1] = '\0'; + } + + if (strlen(port->device_path) == 0) { + WriteLog("错误：串口" + string(port->port_role) + "路径为空"); + return -1; + } + + // 打开串口 + port->fd = open(port->device_path, O_RDWR | O_NOCTTY); + if (port->fd < 0) { + WriteLog("错误：无法打开" + string(port->port_role) + " " + + string(port->device_path) + " (错误: " + strerror(errno) + ")"); + port->enabled = false; + return -1; + } + + // 配置串口参数 + struct termios tty; + memset(&tty, 0, sizeof(tty)); + + if (tcgetattr(port->fd, &tty) != 0) { + WriteLog("错误：无法获取" + string(port->port_role) + "属性"); + close(port->fd); + port->fd = -1; + port->enabled = false; + return -1; + } + + // 设置波特率 115200 + cfsetospeed(&tty, B115200); + cfsetispeed(&tty, B115200); + + // 8N1配置 + tty.c_cflag &= ~PARENB; // 无奇偶校验 + tty.c_cflag &= ~CSTOPB; // 1位停止位 + tty.c_cflag &= ~CSIZE; + tty.c_cflag |= CS8; // 8位数据位 + tty.c_cflag |= CREAD | CLOCAL; // 启用接收，忽略调制解调器状态 + + // 关闭硬件流控 + tty.c_cflag &= ~CRTSCTS; + + // 输入模式 + tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // 非规范模式 + tty.c_iflag &= ~(IXON | IXOFF | IXANY); // 关闭软件流控 + tty.c_iflag &= ~(INLCR | ICRNL | IGNCR); + + // 输出模式 + tty.c_oflag &= ~OPOST; // 原始输出 + tty.c_oflag &= ~ONLCR; + + // 超时设置 + if (port_id == PORT_RX) { + tty.c_cc[VMIN] = 1; // 至少读取1个字节 + tty.c_cc[VTIME] = 10; // 1秒超时 + } else { + tty.c_cc[VMIN] = 0; // 非阻塞 + tty.c_cc[VTIME] = 5; // 0.5秒超时 + } + + if (tcsetattr(port->fd, TCSANOW, &tty) != 0) { + WriteLog("错误：无法设置" + string(port->port_role) + "属性"); + close(port->fd); + port->fd = -1; + port->enabled = false; + return -1; + } + + // 清空缓冲区 + tcflush(port->fd, TCIOFLUSH); + + port->enabled = true; + WriteLog("成功初始化" + string(port->port_role) + "：" + + string(port->device_path) + " (" + string(port->port_name) + ")"); + return 0; +} + +int read_from_serial(SocatPortId port_id, uint8_t* buffer, uint16_t buffer_size) { + if (port_id < 0 || port_id >= 2 || buffer == nullptr || buffer_size == 0) { + return -1; + } + + SocatPort* port = &socat_ports[port_id]; + + if (!port->enabled || port->fd < 0) { + return -1; + } + + // 使用poll检查是否有数据可读 + struct pollfd fds[1]; + fds[0].fd = port->fd; + fds[0].events = POLLIN; + + int ret = poll(fds, 1, 100); // 100ms超时 + + if (ret > 0 && (fds[0].revents & POLLIN)) { + ssize_t bytes_read = read(port->fd, buffer, buffer_size); + if (bytes_read > 0) { + string hex_str = "从" + string(port->port_role) + "(" + + string(port->device_path) + ")收到数据(" + + to_string(bytes_read) + "字节): "; + for (int i = 0; i < (bytes_read < 8 ? bytes_read : 8); i++) { + char buf[4]; + snprintf(buf, sizeof(buf), "%02X ", buffer[i]); + hex_str += buf; + } + if (bytes_read > 8) hex_str += "..."; + WriteLog(hex_str); + return bytes_read; + } else if (bytes_read == 0) { + return 0; + } else { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + WriteLog("错误：读取" + string(port->port_role) + "数据失败: " + + string(strerror(errno))); + } + return -1; + } + } + + return 0; // 没有数据可读 +} + +void forward_to_socat(uint8_t* data, uint16_t len, SocatPortId port_id) { + if (port_id < 0 || port_id >= 2) return; + + SocatPort* port = &socat_ports[port_id]; + + if (!port->enabled || port->fd < 0 || len == 0) return; + + // 打印发送的数据 + string hex_str = "向" + string(port->port_role) + "(" + + string(port->device_path) + ")发送数据(" + + to_string(len) + "字节): "; + for (int i = 0; i < (len < 8 ? len : 8); i++) { + char buf[4]; + snprintf(buf, sizeof(buf), "%02X ", data[i]); + hex_str += buf; + } + if (len > 8) hex_str += "..."; + WriteLog(hex_str); + + // 写入数据 + ssize_t written = write(port->fd, data, len); + + if (written != len) { + WriteLog("警告：未能完全写入所有数据到" + string(port->port_role) + + " (期望" + to_string(len) + "字节，实际" + to_string(written) + "字节)"); + } + + // 确保数据发送完成 + tcdrain(port->fd); +} + +void cleanup_socat_serial(SocatPortId port_id) { + if (port_id < 0 || port_id >= 2) return; + + SocatPort* port = &socat_ports[port_id]; + port->enabled = false; + + if (port->fd >= 0) { + close(port->fd); + port->fd = -1; + WriteLog("清理" + string(port->port_role) + "：" + string(port->device_path)); + } +} + +void cleanup_all_socat_serial() { + for (int i = 0; i < 2; i++) { + cleanup_socat_serial(static_cast(i)); + } +} + +//====================================== 数据处理 ======================================// + +void process_tm_buffer(uint8_t* buffer, uint16_t length) { + if (length < 3) { + WriteLog("警告：接收数据长度不足"); + return; + } + + char type_str[10]; + snprintf(type_str, sizeof(type_str), "0x%02X", buffer[2]); + WriteLog("处理指令类型: " + string(type_str)); + + uint8_t scomm[56]; + uint8_t cmder[255]; + uint8_t cmder_len; + + switch (buffer[2]) { + case 0x0F: // 取常规遥测数据 + WriteLog("指令0x0F: 取常规遥测数据"); + generate_s_tele(scomm); + WriteLog("发送常规遥测数据到发送串口"); + forward_to_socat(scomm, 56, PORT_TX); + break; + + case 0x1E: // 遥控指令 + WriteLog("指令0x1E: 遥控指令（本地处理）"); + break; + + case 0x4B: // 取主星空空的遥控指令 + WriteLog("指令0x4B: 请求空空遥控指令"); + + { + lock_guard lock(g_data_mutex); + cmder_len = generate_cmder(cmder); + } + + if (cmder_len != 0) { + WriteLog("发送空空遥控指令到发送串口"); + forward_to_socat(cmder, cmder_len, PORT_TX); + } else { + WriteLog("没有可用的空空遥控指令，返回默认响应"); + forward_to_socat(cmder, 6, PORT_TX); + } + break; + + case 0x5A: // 发送下行遥测 + WriteLog("指令0x5A: 发送下行遥测到DDS"); + + if (Msgfrom == "O2-A") { + if (scomm_enable) { + PkgToO2_AkkDataPub(buffer, length); + WriteLog("发送到O2-A DDS"); + } + } else if (Msgfrom == "O-1") { + if (scomm_enable) { + PkgToO_1kkDataPub(buffer, length); + WriteLog("发送到O-1 DDS"); + } + } else { + if (scomm_enable) { + PkgToO2_AkkDataPub(buffer, length); + WriteLog("发送到默认O2-A DDS"); + } + } + break; + + default: + char unknown_str[10]; + snprintf(unknown_str, sizeof(unknown_str), "0x%02X", buffer[2]); + WriteLog("未知指令类型: " + string(unknown_str)); + WriteLog("数据将转发到发送串口"); + forward_to_socat(buffer, length, PORT_TX); + break; + } +} + +void generate_s_tele(uint8_t* tele) { + static uint8_t packet_cnt = 0; + uint8_t checksum = 0; + + s_tele.packet_cnt_1 = packet_cnt++; + s_tele.para2.trans = 1; + + // 填充示例数据 + s_tele.snrInfoChannel = 80; + s_tele.receive_RSSI = 60; + + tele[0] = 0xEB; tele[1] = 0x90; tele[2] = 0xF0; + tele[3] = 0x00; tele[4] = 0x32; + tele[5] = 0x00; tele[6] = 0x30; tele[7] = 0x01; + tele[8] = 0xA6; tele[9] = 0xC0; + tele[10] = packet_cnt; tele[11] = 0x00; tele[12] = 0x29; + + memcpy(&tele[13], &s_tele, sizeof(S_Comm_telemetry_data_t)); + + for (int kc = 2; kc < 55; kc++) + checksum += tele[kc]; + + tele[55] = checksum; + + WriteLog("生成遥测数据包，包计数: " + to_string(packet_cnt)); +} + +uint8_t generate_cmder(uint8_t* tele) { + if (isReceiveCmder) { + memcpy(tele, rec_cmder_fromdds, rec_len_fromdds); + isReceiveCmder = 0; + memset(rec_cmder_fromdds, 0, 255); + return rec_len_fromdds; + } else { + tele[0] = 0xEB; tele[1] = 0x90; tele[2] = 0xB4; + tele[3] = 0x00; tele[4] = 0x00; tele[5] = 0xB4; + return 6; + } +} + +//====================================== 监听线程 ======================================// + +void* listen_serial_thread(void* arg) { + WriteLog("串口监听线程启动，监听接收串口"); + + uint8_t read_buffer[256]; + + while (keep_running) { + int bytes_read = read_from_serial(PORT_RX, read_buffer, sizeof(read_buffer)); + + if (bytes_read > 0) { + process_tm_buffer(read_buffer, bytes_read); + } else if (bytes_read < 0) { + usleep(100000); // 100ms + } else { + usleep(10000); // 10ms + } + } + + WriteLog("串口监听线程停止"); + return NULL; +} + +int start_listen_thread() { + if (socat_ports[PORT_RX].fd < 0) { + WriteLog("错误：接收串口未初始化"); + return -1; + } + + keep_running = 1; + int ret = pthread_create(&listen_thread, NULL, listen_serial_thread, NULL); + if (ret != 0) { + WriteLog("错误：无法创建监听线程"); + return -1; + } + + return 0; +} + +void stop_listen_thread() { + keep_running = 0; + if (listen_thread) { + pthread_join(listen_thread, NULL); + listen_thread = 0; + } +} + +//====================================== 主程序接口 ======================================// + +void hook_rs422_kk(const char* tx_port, const char* rx_port) { + WriteLog("初始化RS422通信模块"); + WriteLog("发送串口: " + string(tx_port ? tx_port : "未指定")); + WriteLog("接收串口: " + string(rx_port ? rx_port : "未指定")); + + // 初始化串口 + int success_count = 0; + + if (init_socat_serial(PORT_TX, tx_port) == 0) { + success_count++; + } + + if (init_socat_serial(PORT_RX, rx_port) == 0) { + success_count++; + } + + if (success_count >= 2) { + WriteLog("成功初始化所有串口"); + } else if (success_count >= 1) { + WriteLog("警告：只初始化了 " + to_string(success_count) + " 个串口"); + WriteLog("错误：无法正常工作，至少需要两个串口"); + return; + } else { + WriteLog("错误：未能初始化任何串口"); + return; + } + + // 初始化DDS + pkginit(1, "rs422_app", "hook_rs422"); + + // 订阅DDS消息 + PkgSubO2_AKkData(cjb_rs422_kk_receive); + pkgSubO_1KKData(cjb_rs422_kk_receive); + WriteLog("已订阅O2-A和O-1数据"); + + // 启动监听线程 + if (start_listen_thread() == 0) { + WriteLog("串口监听线程已启动"); + } else { + WriteLog("错误：未能启动串口监听线程"); + } +} + +void set_scomm_enable(uint8_t s_en) { + scomm_enable = s_en; + WriteLog("设置通信使能: " + to_string(s_en)); +} + +void cleanup_hook_rs422() { + WriteLog("清理RS422通信模块资源"); + + stop_listen_thread(); + cleanup_all_socat_serial(); + + if (simMsg) { + delete simMsg; + simMsg = nullptr; + WriteLog("清理DDS资源"); + } +} + +//====================================== 信号处理 ======================================// + +void signal_handler(int signum) { + keep_running = 0; +} + +//====================================== 主函数 ======================================// + +int main(int argc, char* argv[]) { + WriteLog("========================================"); + WriteLog("RS422通信程序启动"); + WriteLog("使用方式: " + string(argv[0]) + " <发送串口> <接收串口>"); + WriteLog("示例: " + string(argv[0]) + " /dev/pts/12 /dev/pts/25"); + WriteLog("========================================"); + + // 检查参数 + if (argc < 3) { + WriteLog("错误：参数不足"); + WriteLog("请指定发送串口和接收串口:"); + WriteLog(" " + string(argv[0]) + " /dev/pts/12 /dev/pts/25"); + WriteLog("或使用默认值:"); + WriteLog(" " + string(argv[0]) + " /dev/pts/12 /dev/pts/25"); + return 1; + } + + const char* tx_port = argv[1]; + const char* rx_port = argv[2]; + + // 设置信号处理 + signal(SIGINT, signal_handler); + signal(SIGTERM, signal_handler); + signal(SIGQUIT, signal_handler); + + // 启动RS422通信模块 + hook_rs422_kk(tx_port, rx_port); + + // 主循环 + while (keep_running) { + sleep(1); + + static int counter = 0; + if (counter++ % 60 == 0) { + string tx_path = socat_ports[PORT_TX].device_path; + string rx_path = socat_ports[PORT_RX].device_path; + WriteLog("程序运行中... 发送串口:" + tx_path + " 接收串口:" + rx_path); + } + } + + // 清理资源 + cleanup_hook_rs422(); + + return 0; +} \ No newline at end of file diff --git a/hook-rs422_kk.h b/hook-rs422_kk.h new file mode 100644 index 0000000..d6cad36 --- /dev/null +++ b/hook-rs422_kk.h @@ -0,0 +1,115 @@ +/******************************************************************************* + * hook-rs422_kk.h + * + * FPGA扩展RS422串口外挂程序头文件 + ******************************************************************************/ + +#ifndef HOOK_RS422_KK_H_ +#define HOOK_RS422_KK_H_ + +#include "SimMsg.h" + +#include +#include +#include + +// 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 + }; +} s_comm_telemetry_t; + +// 星间通信机参数0 +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 + }; +} s_comm_para0; + +// 星间通信机参数2 +typedef union { + uint8_t ext; + struct __attribute__((__packed__)) { + unsigned int transDampCtrl : 3; // 发射衰减控制字 + unsigned int trans : 1; // 发射通道开关 + unsigned int recDampCtrl : 3; // 接收衰减控制字 + unsigned int recDampCtrlMode : 1; // 接收衰减控制模式 + }; +} s_comm_para2; + +// 星间通信机参数3 +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 + }; +} 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 + 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 + 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 + uint16_t LVDS_sendCnt; // LVDS发送计数 +} S_Comm_telemetry_data_t; + +// 全局变量声明 +extern volatile int keep_running; +extern uint8_t scomm_enable; + +// FastDDS接口函数 +void pkginit(uint8_t domainid, std::string appname, std::string pkgname_); +void PkgToO2_AkkDataPub(uint8_t* o2_kk_data, uint16_t len); +void PkgToO_1kkDataPub(uint8_t* o1_kk_data, uint16_t len); +void pkgSubO_1KKData(message_func_t MessageCallback); +void PkgSubO2_AKkData(message_func_t MessageCallback); + +// 主程序函数 +void hook_rs422_kk(const char* tx_port, const char* rx_port); +void set_scomm_enable(uint8_t s_en); +void cleanup_hook_rs422(); + +#endif /* HOOK_RS422_KK_H_ */ \ No newline at end of file