Initial commit from DCSP - 2026/1/9 14:42:31

2026-01-09 14:42:31 +08:00
commit d341f044c3
39 changed files with 4660 additions and 0 deletions
--- a/gyroHS-main.cpp
+++ b/gyroHS-main.cpp
@@ -0,0 +1,62 @@
+#include <iostream>
+#include <csignal>
+#include <cstdlib>
+#include <string>
+
+#include "gyroHS.h"  // 注意：头文件名已经改为 gyroHS.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;
+}
+
+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 = "gyroHS.json";
+    
+    // 解析配置文件
+    GyroConfig config;
+    int result = parse_gyro_config_file(config_file.c_str(), &config);
+    if (result < 0) {
+        cerr << "[ERROR] Failed to parse config file" << endl;
+        return -1;
+    }
+    
+    if (!config.enabled) {
+        cout << "[INFO] Gyro is disabled, exiting" << endl;
+        return 0;
+    }
+    
+    // 初始化陀螺仪串口
+    result = gyro_uart_init(config.device.c_str(), config.baudrate);
+    if (result != SAT_ERR_OK) {
+        cerr << "[ERROR] Failed to initialize gyro UART: " << gyro_strerror(result) << endl;
+        gyro_device.on_off_status = 0;
+        // 继续启动服务，但设备状态为异常
+    } else {
+        gyro_device.on_off_status = 1;
+        cout << "[OK] Gyro initialized successfully" << endl;
+    }
+    
+    // 初始化FastDDS
+    Fastdds_init(0, "Gyro_Hardware_Service");
+    
+    // 主循环
+    while (running) {
+        usleep(500000); // 每500ms检查一次
+    }
+    
+    // 清理
+    GyroHS_cleanup();
+    
+    return 0;
+}