130 lines
3.4 KiB
C++
130 lines
3.4 KiB
C++
#ifndef CANHS_H
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#define CANHS_H
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#include <stdint.h>
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#include <stdbool.h>
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#include <pthread.h>
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#include <string>
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#include <vector>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* 简化后的服务类型定义 */
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#define O2_NORMAL_TELEMETRY 0x2 /* 常规遥测 */
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#define O2_TELEMETRY_CONTROL 0x4 /* 遥控 */
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/* 帧序列定义 */
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#define O2_MID_FRAME 0x0
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#define O2_START_FRAME 0x1
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#define O2_END_FRAME 0x2
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#define O2_SINGLE_FRAME 0x3
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/* CAN帧结构体 */
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typedef struct {
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uint32_t CAN_uiId;
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uint8_t CAN_bRtr;
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uint8_t CAN_bExtId;
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uint8_t CAN_ucLen;
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uint8_t CAN_ucData[8];
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} CAN_FRAME;
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/* 多帧重组状态 */
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typedef struct {
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uint8_t buffer[1024];
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uint16_t length;
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uint8_t serve_type;
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uint8_t expected_frame_index;
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uint8_t active;
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struct timeval start_time;
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} MultiFrameState;
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/* 统计计数器 */
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typedef struct {
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uint8_t rec_normal_telemetry; /* 接收遥测请求次数 */
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uint8_t rec_telemetry_control; /* 接收遥控指令次数 */
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uint8_t send_single_frame; /* 发送单帧次数 */
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uint8_t send_multi_frame; /* 发送多帧次数 */
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uint8_t can_reset; /* CAN重置次数 */
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} CanStats;
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/* CAN服务上下文 */
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typedef struct {
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int fd_can;
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bool running;
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uint8_t send_id_on_o2; /* CAN发送ID */
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CanStats stats;
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/* 遥测数据缓冲区 */
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uint8_t telemetry_buffer[1024];
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size_t telemetry_len;
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pthread_mutex_t telemetry_mutex;
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bool telemetry_request_pending;
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/* 多帧重组状态 */
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MultiFrameState multi_frame_state;
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pthread_mutex_t multi_frame_mutex;
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/* 线程相关 */
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pthread_t listener_thread;
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} CanServiceContext;
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/* 函数声明 */
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/* 初始化与销毁 */
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bool can_service_init(const char* can_device);
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void can_service_destroy(void);
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/* 运行控制 */
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void can_service_start(void);
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void can_service_stop(void);
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/* 统计数据获取 */
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const CanStats* can_service_get_stats(void);
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/* CAN发送函数 */
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int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len);
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int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len);
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/* 遥测数据处理 */
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void can_set_telemetry_data(const uint8_t *data, size_t data_len);
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bool can_get_telemetry_data(uint8_t *buffer, size_t buffer_size, size_t *data_len);
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void send_telemetry_response(const uint8_t *data, size_t data_len);
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/* 快速查询接口 */
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static inline uint8_t can_get_normal_telemetry_count(void) {
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const CanStats* stats = can_service_get_stats();
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return stats ? stats->rec_normal_telemetry : 0;
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}
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static inline uint8_t can_get_telemetry_control_count(void) {
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const CanStats* stats = can_service_get_stats();
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return stats ? stats->rec_telemetry_control : 0;
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}
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#ifdef __cplusplus
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}
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#endif
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/* C++接口声明（与ComS保持一致） */
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* FastDDS相关函数 */
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void CanHSWriteLog(const std::string &msg);
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void CanHS_init(uint8_t domainid, std::string appname);
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void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len);
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void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len);
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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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#ifdef __cplusplus
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}
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#endif
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#endif /* CANHS_H */ |