Initial commit from DCSP - 2026/1/12 19:40:21

2026-01-12 19:40:22 +08:00
commit 0755ab4a06
39 changed files with 4710 additions and 0 deletions
--- a/MemsHS-main.cpp
+++ b/MemsHS-main.cpp
@@ -0,0 +1,61 @@
+#include <iostream>
+#include <csignal>
+#include <cstdlib>
+#include <string>
+
+#include "MemsHS.h"
+
+using namespace std;
+
+// 全局变量用于信号处理
+static bool running = true;
+
+// 信号处理函数
+void signal_handler(int signal) {
+    running = false;
+}
+
+int main(int argc, char* argv[]) {
+    // 设置信号处理
+    signal(SIGINT, signal_handler);
+    signal(SIGTERM, signal_handler);
+    
+    // 默认配置文件
+    string config_file = "MemsHS.json";
+    
+    cout << "[INFO] Starting MEMS Hardware Service" << endl;
+    cout << "[INFO] Loading configuration from: " << config_file << endl;
+    
+    // 解析配置文件
+    MemsConfig config;
+    int result = parse_mems_config_file(config_file.c_str(), &config);
+    if (result != 0) {
+        cerr << "[ERROR] Failed to parse config file" << endl;
+        // 使用默认配置
+        config.device = "/dev/tnt5";
+        config.baudrate = 115200;
+        cout << "[WARN] Using default config: device=" << config.device 
+             << ", baudrate=" << config.baudrate << endl;
+    }
+    
+    // 初始化MEMS设备
+    result = mems_uart_init(config.device.c_str(), config.baudrate);
+    if (result == MEMS_ERR_OK) {
+        cout << "[OK] MEMS initialized successfully" << endl;
+    } else {
+        cerr << "[ERROR] Failed to initialize MEMS" << endl;
+    }
+    
+    // 初始化FastDDS
+    Fastdds_init(0, "Mems_Hardware_Service");
+    
+    // 主循环
+    while (running) {
+        usleep(1000000); // 每1秒检查一次
+    }
+    
+    // 清理
+    MEMS_hardware_cleanup();
+    
+    return 0;
+}