Initial commit from DCSP - 2025/12/30 17:02:25

2025-12-30 17:02:25 +08:00
commit 41777abf46
4 changed files with 176 additions and 0 deletions
--- a/AdHS.cpp
+++ b/AdHS.cpp
@@ -0,0 +1,83 @@
+#include "SimMsg.h"
+#include "AdHS.h"
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+
+using namespace std;
+
+void AdHSWriteLog(const std::string &msg)
+{
+	std::cout << msg<<std::endl;
+}
+
+string topic_name_cmd = "Command";
+string topic_name_tlm = "Telemetry";
+
+SimMsg* AdHS_part = nullptr;
+string servername = "AD_Hardware_Service";
+
+//初始化
+void AdHS_init(uint8_t domainid, std::string appname)
+{
+    std::vector<std::string> parameters;
+    string  expression = "dest = '"+ servername + "'";
+	if (nullptr == AdHS_part)
+	{
+		AdHS_part=new SimMsg(domainid, 3000, appname, AdHSWriteLog);
+        AdHS_part->create_pub(topic_name_cmd);
+		AdHS_part->create_pub(topic_name_tlm);
+		
+        AdHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters);
+        AdHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
+	}
+}
+
+// 遥控接收回调函数
+void command_callback(std::string src, std::string dest, std::string type,
+                      std::string reserve1, std::string reserve2,
+                      std::vector<uint8_t>& data) {
+    // 打印接收到的数据
+    std::cout << "Command received from " << src << " to " << dest << std::endl;
+    std::cout << "Type: " << type << std::endl;
+    std::cout << "Data (" << data.size() << " bytes): ";
+    for (size_t i = 0; i < data.size(); ++i) {
+        std::cout << std::hex << std::uppercase << (int)data[i];
+        if (i < data.size() - 1) {
+            std::cout << ", ";
+        }
+    }
+    std::cout << std::dec << std::endl;
+}
+
+// 遥测接收回调函数
+void telemetry_callback(std::string src, std::string dest, std::string type,
+                      std::string reserve1, std::string reserve2,
+                      std::vector<uint8_t>& data) {
+    // 打印接收到的数据
+    std::cout << "Telemetry received from " << src << " to " << dest << std::endl;
+    std::cout << "Type: " << type << std::endl;
+    std::cout << "Data (" << data.size() << " bytes): ";
+    for (size_t i = 0; i < data.size(); ++i) {
+        std::cout << std::hex << std::uppercase << (int)data[i];
+        if (i < data.size() - 1) {
+            std::cout << ", ";
+        }
+    }
+    std::cout << std::dec << std::endl;
+}
+
+
+// AD硬件服务化遥控发布
+void AdHS_command_Pub(uint8_t* data, string dest, uint16_t len)
+{
+	AdHS_part->publish(topic_name_cmd, "AD_Hardware_Service", dest, "command", data, len);
+}
+
+// AD硬件服务化遥测发布
+void AdHS_telemetry_Pub(uint8_t* data, string dest, uint16_t len)
+{
+	AdHS_part->publish(topic_name_tlm, "AD_Hardware_Service", dest, "telemetry", data, len);
+}