84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
#include "SimMsg.h"
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#include "AdHS.h"
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#include <iostream>
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#include <string>
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#include <vector>
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using namespace std;
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void AdHSWriteLog(const std::string &msg)
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{
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std::cout << msg<<std::endl;
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}
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string topic_name_cmd = "Command";
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string topic_name_tlm = "Telemetry";
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SimMsg* AdHS_part = nullptr;
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string servername = "AD_Hardware_Service";
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//初始化
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void AdHS_init(uint8_t domainid, std::string appname)
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{
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std::vector<std::string> parameters;
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string expression = "dest = '"+ servername + "'";
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if (nullptr == AdHS_part)
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{
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AdHS_part=new SimMsg(domainid, 3000, appname, AdHSWriteLog);
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AdHS_part->create_pub(topic_name_cmd);
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AdHS_part->create_pub(topic_name_tlm);
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AdHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters);
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AdHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
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}
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}
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// 遥控接收回调函数
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void command_callback(std::string src, std::string dest, std::string type,
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std::string reserve1, std::string reserve2,
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std::vector<uint8_t>& data) {
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// 打印接收到的数据
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std::cout << "Command received from " << src << " to " << dest << std::endl;
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std::cout << "Type: " << type << std::endl;
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std::cout << "Data (" << data.size() << " bytes): ";
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for (size_t i = 0; i < data.size(); ++i) {
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std::cout << std::hex << std::uppercase << (int)data[i];
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if (i < data.size() - 1) {
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std::cout << ", ";
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}
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}
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std::cout << std::dec << std::endl;
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}
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// 遥测接收回调函数
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void telemetry_callback(std::string src, std::string dest, std::string type,
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std::string reserve1, std::string reserve2,
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std::vector<uint8_t>& data) {
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// 打印接收到的数据
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std::cout << "Telemetry received from " << src << " to " << dest << std::endl;
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std::cout << "Type: " << type << std::endl;
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std::cout << "Data (" << data.size() << " bytes): ";
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for (size_t i = 0; i < data.size(); ++i) {
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std::cout << std::hex << std::uppercase << (int)data[i];
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if (i < data.size() - 1) {
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std::cout << ", ";
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}
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}
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std::cout << std::dec << std::endl;
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}
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// AD硬件服务化遥控发布
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void AdHS_command_Pub(uint8_t* data, string dest, uint16_t len)
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{
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AdHS_part->publish(topic_name_cmd, "AD_Hardware_Service", dest, "command", data, len);
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}
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// AD硬件服务化遥测发布
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void AdHS_telemetry_Pub(uint8_t* data, string dest, uint16_t len)
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{
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AdHS_part->publish(topic_name_tlm, "AD_Hardware_Service", dest, "telemetry", data, len);
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}
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