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

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xb
2026-01-09 10:43:14 +08:00
parent 0fd98e248b
commit 10d2060201
10 changed files with 186 additions and 109 deletions
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108
ComHS-main.cpp
View File

@@ -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;
}
/*
* 简单读取配置文件
*/
bool read_config_simple(const char* filename, string& telec_port, string& telem_port, int& baudrate)
{
// 默认值
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
*
* 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[])
{
const char *dev_telec = "/dev/ttyUSB0"; /* 遥控串口 */
const char *dev_telem = "/dev/ttyUSB1"; /* 遥测串口 */
int baudrate = 115200;
string telec_port, telem_port;
int baudrate;
const char* config_file = "ComHS.json";
/* 从命令行参数获取配置 */
if (argc >= 3) {
dev_telec = argv[1];
dev_telem = argv[2];
}
if (argc >= 4) {
baudrate = atoi(argv[3]);
// 尝试读取配置文件
if (read_config_simple(config_file, telec_port, telem_port, baudrate)) {
cout << "[INFO] Loaded config from " << config_file << endl;
} else {
cout << "[INFO] Using default configuration" << endl;
}
start_scomm_service(telec_port.c_str(), telem_port.c_str(), baudrate);
/* 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);
while (keep_running) {
static int counter = 0;
if (counter++ >= 10) {
counter = 0;
}
if (S_COMM_ON_OFF != 1) {
return -1;
}
extern volatile int g_running;
while (g_running) {
sleep(1);
}
cout << "[INFO] Stopping service..." << endl;
stop_scomm_service();
cout << "[INFO] Service stopped successfully" << endl;
return 0;
}

41
ComHS.cpp
View File

@@ -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_telemetry = -1; /* 遥测串口 - 通信硬件服务化发送给通信机 */
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（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 */
uint8_t *cmd_data = data.data();
uint16_t cmd_len = data.size();
if (type == "request_command" ) {
if (data.size() == 1 && data[0] == 0x00) {
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;

4
ComHS.h
View File

@@ -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
*/

5
ComHS.json Executable file
View File

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

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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