Initial commit from DCSP - 2026/1/15 19:23:30

2026-01-15 19:23:30 +08:00
commit 3ea6e2f189
39 changed files with 4927 additions and 0 deletions
--- a/FlywheelHS-main.cpp
+++ b/FlywheelHS-main.cpp
@@ -0,0 +1,99 @@
+#include <iostream>
+#include <csignal>
+#include <cstdlib>
+#include <string>
+
+#include "FlywheelHS.h"
+
+using namespace std;
+
+// 全局变量用于信号处理
+static bool running = true;
+
+// 信号处理函数
+void signal_handler(int signal) {
+    running = false;
+    cout << "[INFO] Received signal " << signal << ", shutting down..." << endl;
+}
+
+int main(int argc, char* argv[]) {
+    // 设置信号处理
+    signal(SIGINT, signal_handler);
+    signal(SIGTERM, signal_handler);
+    
+    // 默认配置文件
+    string config_file = "FlywheelHS.json";
+    if (argc > 1) {
+        config_file = argv[1];
+    }
+    
+    cout << "[INFO] Starting Flywheel Hardware Service" << endl;
+    cout << "[INFO] Loading configuration from: " << config_file << endl;
+    
+    // 解析配置文件
+    const int MAX_CONFIGS = MAX_FLYWHEELS;
+    FlywheelConfig flywheel_configs[MAX_CONFIGS];
+    
+    int config_count = parse_config_file(config_file.c_str(), flywheel_configs, MAX_CONFIGS);
+    if (config_count <= 0) {
+        cerr << "[ERROR] No valid flywheels configured" << endl;
+        return -1;
+    }
+    
+    cout << "[INFO] Found " << config_count << " flywheels in configuration" << endl;
+    
+    // 初始化飞轮设备
+    flywheel_count = 0;
+    for (int i = 0; i < config_count; i++) {
+        FlywheelConfig config = flywheel_configs[i];
+        
+        // 验证ID范围
+        if (config.id >= MAX_FLYWHEELS) {
+            cerr << "[ERROR] Invalid flywheel ID: " << (int)config.id 
+                 << ", must be less than " << MAX_FLYWHEELS << endl;
+            continue;
+        }
+        
+        // 调用初始化函数
+        int result = flywheel_uart_init(config.id, config.device.c_str(), 
+                                        config.baudrate, config.hardware_id);
+        
+        if (result == SAT_ERR_OK) {
+            cout << "[OK] Flywheel " << (int)config.id << " initialized successfully" << endl;
+            flywheel_count++;
+            
+            // 初始化缓存
+            flywheels[config.id].id = config.id;
+            flywheels[config.id].hardware_id = config.hardware_id;
+            flywheels[config.id].is_data_valid = 0;
+            
+            // 初始化指令缓存
+            cmd_cache[config.id].has_cmd = 0;
+        } else {
+            cerr << "[ERROR] Failed to initialize flywheel " << (int)config.id 
+                 << ": " << flywheel_strerror(result) << endl;
+        }
+    }
+    
+    if (flywheel_count == 0) {
+        cerr << "[ERROR] No flywheels initialized successfully" << endl;
+        return -1;
+    }
+    
+    // 初始化FastDDS
+    Fastdds_init(0, "Flywheel_Hardware_Service");
+    
+    
+    // 主循环
+    while (running) {
+        // 检查并接收串口数据（非阻塞）
+        int frames = check_and_receive_serial_data();
+
+        usleep(10000);  // 10ms
+    }
+    
+    // 清理
+    FlywheelHS_cleanup();
+    
+    return 0;
+}