Auto commit from DCSP - 2026/1/9 10:43:14

ComHS-main.cpp

@@ -3,6 +3,7 @@
 #include <string>
 #include <unistd.h>
 #include <signal.h>
+#include <fstream>
 
 #include "ComHS.h"
 
@@ -15,52 +16,99 @@ static volatile int keep_running = 1;
 void signal_handler(int signum)
 {
     keep_running = 0;
-    cout << "\n[INFO] Received signal " << signum << ", stopping..." << endl;
 }
 
 /*
- * 主函数
+ * 简单读取配置文件
- *
+ */
- * 命令行参数:
+bool read_config_simple(const char* filename, string& telec_port, string& telem_port, int& baudrate)
- *   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)
+    // 默认值
- *   argv[3]: 波特率 (默认: 115200)
+    telec_port = "/dev/pts/10";
+    telem_port = "/dev/pts/12";
+    baudrate = 115200;
+    
+    // 尝试打开文件
+    ifstream file(filename);
+    if (!file.is_open()) {
+        return false;  // 文件不存在，使用默认值
+    }
+    
+    string line;
+    while (getline(file, line)) {
+        // 查找关键字段
+        if (line.find("\"telecontrol_port\"") != string::npos) {
+            size_t pos = line.find(":");
+            if (pos != string::npos) {
+                size_t start = line.find("\"", pos + 1);
+                size_t end = line.find("\"", start + 1);
+                if (start != string::npos && end != string::npos) {
+                    telec_port = line.substr(start + 1, end - start - 1);
+                }
+            }
+        }
+        else if (line.find("\"telemetry_port\"") != string::npos) {
+            size_t pos = line.find(":");
+            if (pos != string::npos) {
+                size_t start = line.find("\"", pos + 1);
+                size_t end = line.find("\"", start + 1);
+                if (start != string::npos && end != string::npos) {
+                    telem_port = line.substr(start + 1, end - start - 1);
+                }
+            }
+        }
+        else if (line.find("\"baudrate\"") != string::npos) {
+            size_t pos = line.find(":");
+            if (pos != string::npos) {
+                // 跳过空格和冒号
+                pos++;
+                while (pos < line.length() && (line[pos] == ' ' || line[pos] == ':')) pos++;
+                
+                // 提取数字部分
+                string num_str;
+                while (pos < line.length() && isdigit(line[pos])) {
+                    num_str += line[pos];
+                    pos++;
+                }
+                
+                if (!num_str.empty()) {
+                    baudrate = stoi(num_str);
+                }
+            }
+        }
+    }
+    
+    return true;
+}
+
+/*
+ * 主函数 
  */
 int main(int argc, char *argv[])
 {
-    const char *dev_telec = "/dev/ttyUSB0";    /* 遥控串口 */
+    string telec_port, telem_port;
-    const char *dev_telem = "/dev/ttyUSB1";    /* 遥测串口 */
+    int baudrate;
-    int baudrate = 115200;
+    const char* config_file = "ComHS.json";
-
+    
-    /* 从命令行参数获取配置 */
+    // 尝试读取配置文件
-    if (argc >= 3) {
+    if (read_config_simple(config_file, telec_port, telem_port, baudrate)) {
-        dev_telec = argv[1];
+        cout << "[INFO] Loaded config from " << config_file << endl;
-        dev_telem = argv[2];
+    } else {
+        cout << "[INFO] Using default configuration" << endl;
     }
-    if (argc >= 4) {
+    
-        baudrate = atoi(argv[3]);
+    start_scomm_service(telec_port.c_str(), telem_port.c_str(), baudrate);
+    
+    if (S_COMM_ON_OFF != 1) {
+        return -1;
     }
-
+    
-
+    extern volatile int g_running;  
-    /* 设置信号处理 */
+    while (g_running) {
-    signal(SIGINT, signal_handler);
-    signal(SIGTERM, signal_handler);
-
-    /* 启动服务 */
-    start_scomm_service(dev_telec, dev_telem, baudrate);
-
-    while (keep_running) {
-        static int counter = 0;
-        if (counter++ >= 10) {
-            counter = 0;
-        }
-        
         sleep(1);
     }
 
-    cout << "[INFO] Stopping service..." << endl;
     stop_scomm_service();
 
-    cout << "[INFO] Service stopped successfully" << endl;
     return 0;
 }

ComHS.cpp

@@ -15,13 +15,15 @@
 
 using namespace std;
 
+static std::mutex scomm_mutex;
+
 /*
  * 全局变量定义
  */
 
 /* 串口文件描述符 */
-static int fd_telecontrol = -1;	/* 遥控串口 - 通信机发送给通信硬件服务化 */
+static int fd_telecontrol = -1;	/* 遥控串口 - 通信机发送给通信硬件服务化（遥控上行） */
-static int fd_telemetry = -1;		/* 遥测串口 - 通信硬件服务化发送给通信机 */
+static int fd_telemetry = -1;		/* 遥测串口 - 通信硬件服务化发送给通信机（遥测下行） */
 
 /* 遥测数据缓存 */
 S_Comm_telemetry_data_t S_TELE;		/* 维护遥测数据缓存，供状态查询使用 */
@@ -56,7 +58,7 @@ string topic_name_tlm = "Telemetry";
 const char *fastdds_dest = "Com_Service";
 
 /* 运行控制 */
-static volatile int g_running = 1;
+volatile int g_running = 1;
 
 /* 函数前向声明 */
 static int process_received_data(uint8_t *data, uint16_t size);
@@ -133,12 +135,16 @@ void ComHS_telemetry_Pub(uint8_t *data, string dest, uint16_t len)
 /*
  * ComHS命令回调函数
  *
- * 将接收到的遥控指令通过send_S_COMM_Cmder()函数发送给串口
+ * 1、当接收到的为取遥控类型，即为取遥控指令时，触发取上行遥控
+ * 2、当接收到的为遥控类型，即为控制指令时，触发向串口写入控制命令
+ * 
  */
 void command_callback(string src, string dest, string type,
 		      string reserve1, string reserve2,
 		      vector<uint8_t> &data)
 {
+    std::lock_guard<std::mutex> lock(scomm_mutex);
+
 	if (S_COMM_ON_OFF != 1) {
 		cerr << "S_COMM not available" << endl;
 		return;
@@ -149,12 +155,18 @@ void command_callback(string src, string dest, string type,
 		return;
 	}
 
-	/* 直接发送给通信机 */
+    if (type == "request_command" ) {
-	uint8_t *cmd_data = data.data();
+        if (data.size() == 1 && data[0] == 0x00) {
-	uint16_t cmd_len = data.size();
+            Get_S_COMM_UP_CMD();
+        }
+    } else if (type == "command") {
+	    uint8_t *cmd_data = data.data();
+	    uint16_t cmd_len = data.size();
+
+	    send_S_COMM_Cmder(cmd_data, cmd_len);
+    }
+
 
-	/* 发送控制指令 */
-	send_S_COMM_Cmder(cmd_data, cmd_len);
 }
 
 /*
@@ -167,6 +179,8 @@ void telemetry_callback(string src, string dest, string type,
 			string reserve1, string reserve2,
 			vector<uint8_t> &data)
 {
+    std::lock_guard<std::mutex> lock(scomm_mutex);
+
 	if (S_COMM_ON_OFF != 1) {
 		cerr << "S_COMM not available" << endl;
 		return;
@@ -177,9 +191,9 @@ void telemetry_callback(string src, string dest, string type,
 		return;
 	}
 
-    if (type == "command" ) {
+    if (type == "request_telemetry" ) {
         if (data.size() == 1 && data[0] == 0xFF) {
-            Get_S_COMM_UP_CMD();
+            Get_S_COMM_Telemetry_Data();
         }
     } else if (type == "telemetry") {
 	    if (data.size() >= sizeof(Multi_EPDU_packet_t)) {
@@ -662,7 +676,7 @@ static int process_received_data(uint8_t *data, uint16_t size)
 }
 
 /*
- * 启动SCOMM服务（同步模式，使用select超时）
+ * 启动SCOMM服务
  *
  * @dev_telec: 遥控串口设备
  * @dev_telem: 遥测串口设备
@@ -670,9 +684,6 @@ static int process_received_data(uint8_t *data, uint16_t size)
  */
 void start_scomm_service(const char *dev_telec, const char *dev_telem, int baudrate)
 {
-    signal(SIGINT, signal_handler);
-    signal(SIGTERM, signal_handler);
-
     if (scomm_uart_init(dev_telec, dev_telem, baudrate) < 0) {
         S_COMM_ON_OFF = 0;
         cerr << "S_COMM UART init failed" << endl;

ComHS.h

@@ -155,6 +155,10 @@ typedef struct __attribute__((__packed__)) {
 	EPDU_packet_t		epdu;
 } Multi_EPDU_packet_t;
 
+extern uint8_t S_COMM_ON_OFF;  // 通信机开关状态
+extern volatile int g_running;
+
+
 /*
  * ComHS接口函数声明
  */

ComHS.json

@@ -0,0 +1,5 @@
+{
+    "telecontrol_port": "/dev/tnt0",
+    "telemetry_port": "/dev/tnt2",
+    "baudrate": 115200
+}

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