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

AdHS-main.cpp

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+#include "AdHS.h"
+#include <iostream>
+#include <cstring>
+#include <chrono>
+#include <thread>
+
+int main() {
+    // 初始化AD硬件服务化
+    AdHS_init(0, "AD_Hardware_Service");
+
+    // 测试数据: 0x55, 0xAA, 0x55, 0xAA
+    uint8_t test_data[] = {0x55, 0xAA, 0x55, 0xAA};
+    uint16_t data_len = sizeof(test_data);
+    
+    std::string dest = "AD_Service";
+    
+    int count = 0;
+    while (true) {
+        count++;
+
+        // 发送遥控数据
+        AdHS_command_Pub(test_data, dest, data_len);
+        
+        std::this_thread::sleep_for(std::chrono::seconds(3));
+    }
+    
+    return 0;
+}

AdHS.cpp

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+#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);
+}

AdHS.h

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+#include <stdint.h>
+#include <string>
+#include <vector>
+
+void AdHSWriteLog(const std::string &msg);
+
+void AdHS_init(uint8_t domainid, std::string appname);
+
+void command_callback(std::string src, std::string dest, std::string type,
+                      std::string reserve1, std::string reserve2,
+                      std::vector<uint8_t>& data);
+
+void telemetry_callback(std::string src, std::string dest, std::string type,
+                      std::string reserve1, std::string reserve2,
+                      std::vector<uint8_t>& data);
+                
+void AdHS_command_Pub(uint8_t* data, std::string dest, uint16_t len);
+
+void AdHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len);

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(AdHS)
+
+# 设置C++标准
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 设置编译选项
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread")
+
+# 包含头文件路径
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}           # 当前目录
+    /usr/local/include/simmsg             # simmsg头文件目录
+    /usr/local/include                    # 系统本地include
+    /usr/include                          # 系统include
+)
+
+# 链接库路径
+link_directories(
+    /usr/local/lib                        # 系统本地lib
+    /usr/lib                              # 系统lib  
+    /usr/lib/x86_64-linux-gnu             # 系统64位库
+)
+
+# 添加可执行文件
+add_executable(AdHS
+    AdHS-main.cpp
+    AdHS.cpp
+)
+
+# 链接库
+target_link_libraries(AdHS
+    pthread 
+    m 
+    rt 
+    simmsg
+    fastrtps
+    fastcdr
+    foonathan_memory
+)
+
+# 设置输出目录
+set_target_properties(AdHS PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+)