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.h
+++ b/CanHS.h
@@ -0,0 +1,130 @@
+#ifndef CANHS_H
+#define CANHS_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <pthread.h>
+#include <string>
+#include <vector>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 简化后的服务类型定义 */
+#define O2_NORMAL_TELEMETRY     0x2       /* 常规遥测 */
+#define O2_TELEMETRY_CONTROL    0x4       /* 遥控 */
+
+/* 帧序列定义 */
+#define O2_MID_FRAME    0x0
+#define O2_START_FRAME  0x1
+#define O2_END_FRAME    0x2
+#define O2_SINGLE_FRAME 0x3
+
+/* CAN帧结构体 */
+typedef struct {
+    uint32_t CAN_uiId;
+    uint8_t  CAN_bRtr;
+    uint8_t  CAN_bExtId;
+    uint8_t  CAN_ucLen;
+    uint8_t  CAN_ucData[8];
+} CAN_FRAME;
+
+/* 多帧重组状态 */
+typedef struct {
+    uint8_t buffer[1024];
+    uint16_t length;
+    uint8_t serve_type;
+    uint8_t expected_frame_index;
+    uint8_t active;
+    struct timeval start_time;
+} MultiFrameState;
+
+/* 统计计数器 */
+typedef struct {
+    uint8_t rec_normal_telemetry;    /* 接收遥测请求次数 */
+    uint8_t rec_telemetry_control;   /* 接收遥控指令次数 */
+    uint8_t send_single_frame;       /* 发送单帧次数 */
+    uint8_t send_multi_frame;        /* 发送多帧次数 */
+    uint8_t can_reset;               /* CAN重置次数 */
+} CanStats;
+
+/* CAN服务上下文 */
+typedef struct {
+    int fd_can;
+    bool running;
+    uint8_t send_id_on_o2;           /* CAN发送ID */
+    
+    CanStats stats;
+    
+    /* 遥测数据缓冲区 */
+    uint8_t telemetry_buffer[1024];
+    size_t telemetry_len;
+    pthread_mutex_t telemetry_mutex;
+    bool telemetry_request_pending;
+    
+    /* 多帧重组状态 */
+    MultiFrameState multi_frame_state;
+    pthread_mutex_t multi_frame_mutex;
+    
+    /* 线程相关 */
+    pthread_t listener_thread;
+} CanServiceContext;
+
+/* 函数声明 */
+
+/* 初始化与销毁 */
+bool can_service_init(const char* can_device);
+void can_service_destroy(void);
+
+/* 运行控制 */
+void can_service_start(void);
+void can_service_stop(void);
+
+/* 统计数据获取 */
+const CanStats* can_service_get_stats(void);
+
+/* CAN发送函数 */
+int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len);
+int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len);
+
+/* 遥测数据处理 */
+void can_set_telemetry_data(const uint8_t *data, size_t data_len);
+bool can_get_telemetry_data(uint8_t *buffer, size_t buffer_size, size_t *data_len);
+void send_telemetry_response(const uint8_t *data, size_t data_len);
+
+/* 快速查询接口 */
+static inline uint8_t can_get_normal_telemetry_count(void) {
+    const CanStats* stats = can_service_get_stats();
+    return stats ? stats->rec_normal_telemetry : 0;
+}
+
+static inline uint8_t can_get_telemetry_control_count(void) {
+    const CanStats* stats = can_service_get_stats();
+    return stats ? stats->rec_telemetry_control : 0;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+/* C++接口声明（与ComS保持一致） */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* FastDDS相关函数 */
+void CanHSWriteLog(const std::string &msg);
+void CanHS_init(uint8_t domainid, std::string appname);
+void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len);
+void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len);
+
+void telemetry_callback(std::string src, std::string dest, std::string type,
+                      std::string reserve1, std::string reserve2,
+                      std::vector<uint8_t>& data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CANHS_H */