Initial commit from DCSP - 2026/1/14 21:30:32

2026-01-14 21:30:32 +08:00
commit 2f9e143d76
37 changed files with 4260 additions and 0 deletions
--- a/GncS-main.cpp
+++ b/GncS-main.cpp
@@ -0,0 +1,47 @@
+#include "GncS.h"
+#include <iostream>
+#include <cstring>
+#include <chrono>
+#include <thread>
+
+int main() {
+    // 初始化AD硬件服务化
+    GncS_init(0, "Gnc_Service");
+
+    uint8_t request_star0_data[] = {0, 1};
+    uint8_t request_star1_data[] = {0, 2};
+    uint8_t request_flywheel1_data[] = {0, 0xFF};
+
+    Flywheel_Command cmd;
+    cmd.wheel_id = 0;     // 飞轮1
+    cmd.mode = 0x58;      // 速度模式
+    cmd.reserved = 0x00;
+    cmd.torque = 1.5f;    // 1.5 Nm
+    cmd.speed = 2000.0f;  // 2000 rpm
+
+    uint8_t* command_data = (uint8_t*)&cmd;
+
+
+    uint8_t request_data[] = {0xFF};
+
+    
+    
+    int count = 0;
+    while (true) {
+        count++;
+
+        // 发送遥控数据
+        GncS_telemetry_Pub(request_star0_data, "Star_sensor_Hardware_Service", sizeof(request_star0_data));
+        GncS_telemetry_Pub(request_star1_data, "Star_sensor_Hardware_Service", sizeof(request_star1_data));
+        GncS_command_Pub(command_data, "Flywheel_Hardware_Service", sizeof(Flywheel_Command));
+        GncS_telemetry_Pub(request_flywheel1_data, "Flywheel_Hardware_Service", sizeof(request_flywheel1_data));
+
+
+        GncS_telemetry_Pub(request_data, "Gyro_Hardware_Service", sizeof(request_data));
+        GncS_telemetry_Pub(request_data, "Mems_Hardware_Service", sizeof(request_data));
+        
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    }
+    
+    return 0;
+}