Initial commit from DCSP - 2025/12/30 17:02:59

2025-12-30 17:02:59 +08:00
commit 172fb807f6
37 changed files with 4734 additions and 0 deletions
--- a/CanHS-main.cpp
+++ b/CanHS-main.cpp
@@ -0,0 +1,88 @@
+#include "CanHS.h"
+#include <iostream>
+#include <string>
+#include <cstring>
+#include <chrono>
+#include <thread>
+#include <signal.h>
+#include <stdlib.h>
+
+static volatile bool g_running = true;
+
+/* 信号处理函数 */
+static void signal_handler(int signum) {
+    std::cout << "[INFO] Interrupt signal (" << signum << ") received." << std::endl;
+    g_running = false;
+}
+
+/* 打印统计数据 */
+static void print_stats(void) {
+    const CanStats* stats = can_service_get_stats();
+    if (!stats) return;
+    
+    std::cout << "[STATS] TelemetryReq: " << (int)stats->rec_normal_telemetry 
+              << ", TelemetryCtrl: " << (int)stats->rec_telemetry_control << std::endl;
+}
+
+/* 获取CAN设备路径 */
+static std::string get_can_device(int argc, char* argv[]) {
+    /* 1. 命令行参数优先 */
+    if (argc > 1) {
+        return argv[1];
+    }
+    
+    /* 2. 环境变量次之 */
+    const char* env_can = getenv("CAN_DEV");
+    if (env_can) {
+        return env_can;
+    }
+    
+    /* 3. 使用默认值 */
+    return "/dev/canfd0";
+}
+
+int main(int argc, char* argv[]) {
+    std::cout << "[INFO] CAN Hardware Service Starting..." << std::endl;
+    
+    /* 注册信号处理 */
+    signal(SIGINT, signal_handler);
+    signal(SIGTERM, signal_handler);
+    
+    /* 获取CAN设备路径 */
+    std::string can_device = get_can_device(argc, argv);
+    std::cout << "[CONFIG] Using CAN device: " << can_device << std::endl;
+    
+    /* 初始化CAN服务 */
+    if (!can_service_init(can_device.c_str())) {
+        std::cerr << "[ERROR] Failed to initialize CAN service" << std::endl;
+        return -1;
+    }
+    
+    /* 初始化FastDDS */
+    CanHS_init(0, "Can_Hardware_Service");
+    
+    /* 启动CAN服务 */
+    can_service_start();
+    
+    std::cout << "[INFO] CAN Service started successfully" << std::endl;
+    std::cout << "[INFO] Press Ctrl+C to stop" << std::endl;
+    
+    /* 主循环 */
+    int counter = 0;
+    while (g_running) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+        
+        if (++counter % 30 == 0) {  // 每30秒打印一次
+            std::cout << "[INFO] Service running..." << std::endl;
+            print_stats();
+        }
+    }
+    
+    /* 清理资源 */
+    std::cout << "[INFO] Shutting down CAN Service..." << std::endl;
+    can_service_stop();
+    can_service_destroy();
+    
+    std::cout << "[INFO] CAN Service terminated successfully" << std::endl;
+    return 0;
+}