88 lines
2.4 KiB
C++
88 lines
2.4 KiB
C++
#include "CanHS.h"
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#include <iostream>
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#include <string>
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#include <cstring>
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#include <chrono>
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#include <thread>
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#include <signal.h>
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#include <stdlib.h>
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static volatile bool g_running = true;
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/* 信号处理函数 */
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static void signal_handler(int signum) {
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std::cout << "[INFO] Interrupt signal (" << signum << ") received." << std::endl;
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g_running = false;
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}
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/* 打印统计数据 */
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static void print_stats(void) {
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const CanStats* stats = can_service_get_stats();
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if (!stats) return;
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std::cout << "[STATS] TelemetryReq: " << (int)stats->rec_normal_telemetry
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<< ", TelemetryCtrl: " << (int)stats->rec_telemetry_control << std::endl;
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}
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/* 获取CAN设备路径 */
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static std::string get_can_device(int argc, char* argv[]) {
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/* 1. 命令行参数优先 */
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if (argc > 1) {
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return argv[1];
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}
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/* 2. 环境变量次之 */
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const char* env_can = getenv("CAN_DEV");
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if (env_can) {
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return env_can;
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}
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/* 3. 使用默认值 */
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return "/dev/canfd0";
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}
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int main(int argc, char* argv[]) {
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std::cout << "[INFO] CAN Hardware Service Starting..." << std::endl;
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/* 注册信号处理 */
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signal(SIGINT, signal_handler);
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signal(SIGTERM, signal_handler);
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/* 获取CAN设备路径 */
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std::string can_device = get_can_device(argc, argv);
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std::cout << "[CONFIG] Using CAN device: " << can_device << std::endl;
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/* 初始化CAN服务 */
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if (!can_service_init(can_device.c_str())) {
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std::cerr << "[ERROR] Failed to initialize CAN service" << std::endl;
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return -1;
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}
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/* 初始化FastDDS */
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CanHS_init(0, "Can_Hardware_Service");
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/* 启动CAN服务 */
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can_service_start();
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std::cout << "[INFO] CAN Service started successfully" << std::endl;
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std::cout << "[INFO] Press Ctrl+C to stop" << std::endl;
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/* 主循环 */
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int counter = 0;
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while (g_running) {
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std::this_thread::sleep_for(std::chrono::seconds(1));
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if (++counter % 30 == 0) { // 每30秒打印一次
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std::cout << "[INFO] Service running..." << std::endl;
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print_stats();
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}
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}
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/* 清理资源 */
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std::cout << "[INFO] Shutting down CAN Service..." << std::endl;
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can_service_stop();
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can_service_destroy();
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std::cout << "[INFO] CAN Service terminated successfully" << std::endl;
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return 0;
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} |