新增 pCanBridge：USBCAN-8E-U CAN->MOOSDB 透传桥 + SQLite 落库
新应用 src/pCanBridge（独立 MOOS App，单通道）： - CanEndpoint：TCP Client 连接 CANET/USBCAN-8E-U 工作端口 （目标 IP/端口可配置，默认 192.168.0.222:4001=CAN0）， 接收线程流式缓冲按 13 字节切帧，过滤无效 DLC(>8)， 断线自动重连（非阻塞 connect+超时 / SO_RCVTIMEO 读超时）。 - 帧协议（CANET-8E-U 手册 8.1）：byte0=帧信息(bit7 FF/bit6 RTR/ bit3~0 DLC)，byte1~4=ID 大端，byte5~12=数据。 - MOOS 映射：变量名 CAN_0x%08X=CAN ID（不缩减），m_sVal=二进制 data（逐帧透传不限流），m_sSrcAux=通道名(can_channel_name)， m_dfVal2=原始帧信息字节（用于区分标准/扩展、数据/远程帧）。 - CanDbStore：每帧落库 SQLite（can_frame 表：time/channel/ frame_info/can_id/dlc/hex，含 time、can_id 索引），参考 pCCU DbStore：预处理语句 + WAL + synchronous=NORMAL，路径由 dbpath 配置；复用 pPowerManger 的 sqlite3 amalgamation。 - AppCast 输出连接状态/收帧/发布/落库统计。 配套： - missions/h100.moos 新增 pCanBridge 配置块（板卡 dbpath 指向 data 目录）。 - build-board.sh / deploy.sh 支持 pCanBridge：产物部署 + pCanBridge.service 安装，服务列表加入第 5 个服务。 - .gitignore 忽略 bin/pCanBridge 与本机默认数据库。 已验证（板卡 192.168.0.223 实测）：服务 active，连接设备正常， ~60 帧/s 透传，落库 9000+ 行 integrity ok、无丢帧。
This commit is contained in:
@@ -282,6 +282,8 @@ src/pPowerMangerHost/webassets_gen.h
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# ============================================================
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bin/pCCU
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bin/pccuTest
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bin/pCanBridge
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pCanBridge_data.db
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# ============================================================
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# MS Office 临时锁文件 / 编辑器、备份残留
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+18
-2
@@ -1,6 +1,7 @@
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// MOOS file
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// 板卡 (RK3588 / Ubuntu 20.04) 专用 mission 配置
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// 四个 systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）共用本文件。
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// 五个 systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU / pCanBridge）
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// 共用本文件。
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// 由 scripts/deploy.sh 推送到板卡 /root/work/h100/missions/h100.moos
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ServerHost = localhost
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@@ -61,10 +62,25 @@ ProcessConfig = pCCU
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ins_bat_remote_port = 7000
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// 电池工况设定：10工房调试 / 30试验实航 / 50科研模式
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bat_work_condition = 10
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dbpath = /root/work/h100/data/pccu_data.db
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logpath = /root/work/h100/data/pCCU.log
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web_port = 8080
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web_enable = true
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}
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ProcessConfig = pCanBridge
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{
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AppTick = 4
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CommsTick = 4
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// CAN->MOOSDB 透传：USBCAN-8E-U/CANET（TCP Server 模式）
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// 工作端口：CAN0=4001，CAN1=4002，...，CAN7=4008
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can_host = 192.168.0.222
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can_port = 4001
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// 通道名（写入消息 m_sSrcAux 辅助字段）
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can_channel_name = CAN0
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// CAN 帧 SQLite 落库路径（can_frame 表）
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dbpath = /root/work/h100/data/pCanBridge_data.db
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}
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+27
-3
@@ -7,7 +7,7 @@
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#
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# 用法:
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# ./scripts/build-board.sh # 同步+编译+部署（不重启）
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# ./scripts/build-board.sh --start # 编译后重启 3 个服务
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# ./scripts/build-board.sh --start # 编译后重启全部服务（含 pCanBridge）
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# ./scripts/build-board.sh --clean # 板卡上重新 cmake 再编译
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# ./scripts/build-board.sh --jobs 4 # 指定并行度（默认板卡 nproc）
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#
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@@ -68,7 +68,7 @@ DO_CLEAN=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
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info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
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@@ -210,10 +210,34 @@ ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
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cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
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cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
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cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
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chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU" \
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cp -f ${BOARD_SRC}/bin/pCanBridge ${BOARD_BIN}/pCanBridge && \
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chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU ${BOARD_BIN}/pCanBridge" \
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|| { err "部署产物失败"; exit 1; }
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ok "产物已部署"
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#-------------------------------------------------------------------
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# 4.5 安装/刷新 pCanBridge systemd unit（幂等，其它 4 个 unit 已装）
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#-------------------------------------------------------------------
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info "安装 pCanBridge.service ..."
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${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pCanBridge.service" <<EOF
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[Unit]
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Description=pCanBridge for H100 Power Manager
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After=moosdb.service
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Requires=moosdb.service
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[Service]
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Type=simple
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WorkingDirectory=${BOARD_BIN}
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ExecStart=${BOARD_BIN}/pCanBridge --alias=pCanBridge /root/work/h100/missions/h100.moos
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Restart=on-failure
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RestartSec=5
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[Install]
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WantedBy=multi-user.target
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EOF
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${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pCanBridge 2>/dev/null || true"
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ok "pCanBridge.service 已安装"
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echo ""
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ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
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${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"
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+14
-12
@@ -1,10 +1,10 @@
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#!/bin/bash
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#=======================================================================
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# FILE: scripts/deploy.sh
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# DESC: 部署 pPowerManger / pPowerMangerHost / pCCU（aarch64 二进制 +
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# mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用四个独立
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# systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）
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# 管理。只安装服务 + daemon-reload，默认不启动、不自启。
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# DESC: 部署 pPowerManger / pPowerMangerHost / pCCU / pCanBridge（aarch64 二进制 +
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# mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用五个独立
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# systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU /
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# pCanBridge）管理。只安装服务 + daemon-reload，默认不启动、不自启。
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#
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# 用法:
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# ./scripts/deploy.sh setup-ssh 一次性：生成 ed25519 key + ssh-copy-id
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@@ -28,7 +28,8 @@
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# /root/work/h100/missions/ 板卡 mission h100.moos
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# /root/work/h100/data/ 数据库存储目录 (power_data.db 等)
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# /etc/systemd/system/ moosdb.service / pPowerManger.service /
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# pPowerMangerHost.service / pCCU.service
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# pPowerMangerHost.service / pCCU.service /
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# pCanBridge.service
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#=======================================================================
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set -uo pipefail
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@@ -42,7 +43,7 @@ DO_START=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
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info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
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@@ -101,7 +102,7 @@ cmd_setup_ssh() {
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#-------------------------------------------------------------------
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check_local() {
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local missing=0
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for b in pPowerManger pPowerMangerHost pCCU; do
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for b in pPowerManger pPowerMangerHost pCCU pCanBridge; do
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if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
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err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
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elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
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@@ -204,6 +205,7 @@ cmd_deploy() {
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${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
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"${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
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"${PROJECT_ROOT}/bin/arm64/pCCU" \
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"${PROJECT_ROOT}/bin/arm64/pCanBridge" \
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"${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
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info "推送 mission h100.moos ..."
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@@ -221,7 +223,7 @@ cmd_deploy() {
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"${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
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[ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU"
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU ${BOARD_DIR}/bin/pCanBridge"
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ok "二进制与 mission 已推送"
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# 2. 生成并安装 4 个 systemd unit
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@@ -248,7 +250,7 @@ cmd_deploy() {
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else
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echo ""
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info "部署完成。手动启动（或加 --start）:"
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echo " systemctl start moosdb pPowerManger pPowerMangerHost pCCU"
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echo " systemctl start moosdb pPowerManger pPowerMangerHost pCCU pCanBridge"
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echo " 浏览器: http://${HOST}:18080 (上位机模拟)"
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echo " http://${HOST}:8090 (pPowerManger)"
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echo " http://${HOST}:8080 (pCCU)"
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@@ -259,9 +261,9 @@ cmd_deploy() {
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# 命令: start / status / stop
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#-------------------------------------------------------------------
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cmd_start() {
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info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU) ..."
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info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU / pCanBridge) ..."
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${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
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systemctl start pPowerManger pPowerMangerHost pCCU" || { err "启动失败"; return 1; }
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systemctl start pPowerManger pPowerMangerHost pCCU pCanBridge" || { err "启动失败"; return 1; }
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ok "服务已启动"
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cmd_status
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}
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@@ -271,7 +273,7 @@ cmd_status() {
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}
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cmd_stop() {
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${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger pCCU moosdb" && \
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${SSH} "${SSH_TARGET}" "systemctl stop pCanBridge pPowerMangerHost pPowerManger pCCU moosdb" && \
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ok "服务已停止" || err "停止服务失败"
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}
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@@ -21,6 +21,7 @@ ADD_SUBDIRECTORY(pPowerManger)
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add_subdirectory(pPMtest)
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add_subdirectory(pPowerMangerHost)
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add_subdirectory(pCCU)
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add_subdirectory(pCanBridge)
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##############################################################################
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# END of CMakeLists.txt
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##############################################################################
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@@ -0,0 +1,43 @@
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#--------------------------------------------------------
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# The CMakeLists.txt for: pCanBridge
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# CAN(USBCAN-8E-U/CANET TCP) -> MOOSDB 透传桥 + SQLite 落库
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#--------------------------------------------------------
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if (${WIN32})
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SET(SYSTEM_LIBS wsock32)
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else (${WIN32})
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SET(SYSTEM_LIBS m pthread)
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endif (${WIN32})
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# 复用仓库内 pPowerManger 的 sqlite3 amalgamation（相对路径引用，避免重复维护）
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SET(PM_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../pPowerManger)
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SET(SHARED_SRC
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${PM_DIR}/sqlit3/sqlite3.c
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)
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SET(SRC
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${SHARED_SRC}
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CanEndpoint.cpp
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CanDbStore.cpp
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CanBridge.cpp
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CanBridge_Info.cpp
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main.cpp
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)
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ADD_EXECUTABLE(pCanBridge ${SRC})
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TARGET_INCLUDE_DIRECTORIES(pCanBridge PRIVATE
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${PM_DIR}
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${PM_DIR}/sqlit3
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)
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TARGET_LINK_LIBRARIES(pCanBridge
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${MOOS_LIBRARIES}
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apputil
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mbutil
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m
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pthread
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dl
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${SYSTEM_LIBS}
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)
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@@ -0,0 +1,169 @@
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#include "CanBridge.h"
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#include "CanBridge_Info.h"
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#include "MBUtils.h"
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#include "MOOS/libMOOS/Comms/MOOSMsg.h"
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#include <cstdio>
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using namespace std;
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namespace canbridge {
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//---------------------------------------------------------
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// Constructor / Destructor
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CanBridge::CanBridge() {}
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CanBridge::~CanBridge() {
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if (m_endpoint) {
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m_endpoint->stop();
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delete m_endpoint;
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m_endpoint = nullptr;
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}
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if (m_db) {
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m_db->close();
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delete m_db;
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m_db = nullptr;
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}
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}
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//---------------------------------------------------------
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// OnStartUp：读取配置并启动 CAN 链路
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bool CanBridge::OnStartUp() {
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AppCastingMOOSApp::OnStartUp();
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STRING_LIST sParams;
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m_MissionReader.EnableVerbatimQuoting(false);
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if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
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reportConfigWarning("No config block found for " + GetAppName());
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STRING_LIST::iterator p;
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for (p = sParams.begin(); p != sParams.end(); p++) {
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string orig = *p;
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string line = *p;
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string param = stripBlankEnds(tolower(biteStringX(line, '=')));
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string value = stripBlankEnds(line);
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bool handled = true;
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if (param == "can_host") m_canHost = value;
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else if (param == "can_port") m_canPort = atol(value.c_str());
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else if (param == "can_channel_name") m_channelName = value;
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else if (param == "dbpath") m_dbPath = value;
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else handled = false;
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if (!handled)
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reportUnhandledConfigWarning(orig);
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}
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registerVariables();
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// 数据库（CAN 帧落库）
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m_db = new CanDbStore(m_dbPath);
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if (!m_db->open()) {
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reportRunWarning("CAN db open failed: " + m_dbPath + " (" + m_db->lastError() + ")");
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delete m_db;
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m_db = nullptr;
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}
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// CAN 链路（TCP Client，收帧回调在接收线程中触发）
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m_endpoint = new CanEndpoint();
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m_endpoint->configure(m_canHost, m_canPort);
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m_endpoint->setFrameCallback(
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[this](uint8_t fi, uint32_t id, const uint8_t* data, int dlc) {
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handleFrame(fi, id, data, dlc);
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});
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if (!m_endpoint->start()) {
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reportRunWarning("CAN endpoint start failed: " + m_canHost);
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}
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cout << "pCanBridge started: " << m_canHost << ":" << m_canPort
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<< " (" << m_channelName << "), db: " << m_dbPath << endl;
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return true;
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}
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//---------------------------------------------------------
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// OnConnectToServer
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bool CanBridge::OnConnectToServer() {
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registerVariables();
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return true;
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}
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//---------------------------------------------------------
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// registerVariables：纯发布应用，无需注册订阅变量
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void CanBridge::registerVariables() {
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AppCastingMOOSApp::RegisterVariables();
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}
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//---------------------------------------------------------
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// OnNewMail：当前无订阅指令，预留
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bool CanBridge::OnNewMail(MOOSMSG_LIST &NewMail) {
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AppCastingMOOSApp::OnNewMail(NewMail);
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MOOSMSG_LIST::iterator p;
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for (p = NewMail.begin(); p != NewMail.end(); p++) {
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CMOOSMsg &msg = *p;
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(void)msg;
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}
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return true;
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}
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//---------------------------------------------------------
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// Iterate：周期任务
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bool CanBridge::Iterate() {
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AppCastingMOOSApp::Iterate();
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AppCastingMOOSApp::PostReport();
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return true;
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}
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//---------------------------------------------------------
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// handleFrame：CAN 帧 -> CMOOSMsg（二进制） -> MOOSDB
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//
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// 在 CanEndpoint 接收线程中调用；m_Comms::Post 线程安全。
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void CanBridge::handleFrame(uint8_t frameInfo, uint32_t id,
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const uint8_t* data, int dlc) {
|
||||
// 落库（WAL + 预处理语句，~60帧/秒无压力）
|
||||
if (m_db) m_db->onFrame(m_channelName, frameInfo, id, data, dlc);
|
||||
|
||||
char key[32];
|
||||
std::snprintf(key, sizeof(key), "CAN_0x%08X", id);
|
||||
|
||||
// 二进制构造：m_cDataType = MOOS_BINARY_STRING
|
||||
CMOOSMsg msg(MOOS_NOTIFY, key,
|
||||
static_cast<unsigned int>(dlc),
|
||||
const_cast<uint8_t*>(data));
|
||||
msg.SetSourceAux(m_channelName); // 通道 -> m_sSrcAux
|
||||
msg.SetDoubleAux(static_cast<double>(frameInfo)); // FF/RTR/DLC -> m_dfVal2
|
||||
m_Comms.Post(msg);
|
||||
++m_notifyCount;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// buildReport：AppCasting 报告
|
||||
|
||||
bool CanBridge::buildReport() {
|
||||
m_msgs << "============================================" << "\n";
|
||||
m_msgs << "pCanBridge CAN->MOOSDB 透传" << "\n";
|
||||
m_msgs << "============================================" << "\n";
|
||||
if (m_endpoint) {
|
||||
m_msgs << "目标: " << m_endpoint->host() << ":"
|
||||
<< m_endpoint->port() << " (" << m_channelName << ")" << "\n";
|
||||
m_msgs << "连接状态: " << (m_endpoint->isConnected() ? "已连接" : "断开") << "\n";
|
||||
m_msgs << "收帧数: " << m_endpoint->frameCount() << "\n";
|
||||
m_msgs << "发布数: " << m_notifyCount << "\n";
|
||||
m_msgs << "错误数: " << m_endpoint->errorCount() << "\n";
|
||||
m_msgs << "重连次数: " << m_endpoint->reconnectCount() << "\n";
|
||||
m_msgs << "最近收帧: " << m_endpoint->lastFrameTime() << "\n";
|
||||
}
|
||||
if (m_db) {
|
||||
m_msgs << "数据库: " << m_dbPath
|
||||
<< (m_db->isOpen() ? " (已打开)" : " (未打开)") << "\n";
|
||||
m_msgs << "落库记录数: " << m_db->count() << "\n";
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
} // namespace canbridge
|
||||
@@ -0,0 +1,62 @@
|
||||
#ifndef PCANBRIDGE_CAN_BRIDGE_H
|
||||
#define PCANBRIDGE_CAN_BRIDGE_H
|
||||
|
||||
#define UNIX
|
||||
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
|
||||
#include "CanEndpoint.h"
|
||||
#include "CanDbStore.h"
|
||||
#include <atomic>
|
||||
|
||||
namespace canbridge {
|
||||
|
||||
//============================================================================
|
||||
// CanBridge：CAN -> MOOSDB 透传桥（MOOS 应用外壳）。
|
||||
//
|
||||
// 数据流：
|
||||
// USBCAN-8E-U (TCP Server, 默认 192.168.0.222:4001 = CAN0)
|
||||
// -> CanEndpoint（TCP Client，13 字节切帧）
|
||||
// -> handleFrame() 解析
|
||||
// -> Notify 到 MOOSDB
|
||||
//
|
||||
// MOOS 消息映射：
|
||||
// m_sKey = "CAN_0x%08X" CAN ID（完整 4 字节，标准/扩展帧同格式）
|
||||
// m_sVal = 二进制 data（dlc 字节，MOOS_BINARY_STRING）
|
||||
// m_sSrcAux = 通道名（默认 "CAN0"，配置项 can_channel_name）
|
||||
// m_dfVal2 = 原始帧信息字节 byte0（bit7 FF / bit6 RTR / bit3~0 DLC）
|
||||
// m_nID 不使用（MOOS 内部消息序号）
|
||||
//
|
||||
// 每帧同时落库 SQLite（can_frame 表，配置项 dbpath）。
|
||||
//============================================================================
|
||||
|
||||
class CanBridge : public AppCastingMOOSApp {
|
||||
public:
|
||||
CanBridge();
|
||||
~CanBridge();
|
||||
|
||||
protected:
|
||||
bool OnNewMail(MOOSMSG_LIST &NewMail);
|
||||
bool Iterate();
|
||||
bool OnConnectToServer();
|
||||
bool OnStartUp();
|
||||
bool buildReport();
|
||||
void registerVariables();
|
||||
|
||||
private:
|
||||
// 收帧回调（CanEndpoint 接收线程调用）
|
||||
void handleFrame(uint8_t frameInfo, uint32_t id, const uint8_t* data, int dlc);
|
||||
|
||||
// 配置
|
||||
std::string m_canHost = "192.168.0.222";
|
||||
long m_canPort = 4001;
|
||||
std::string m_channelName = "CAN0"; // 写入 m_sSrcAux
|
||||
std::string m_dbPath = "pCanBridge_data.db"; // SQLite 路径（moos 配置项 dbpath）
|
||||
|
||||
// 组件
|
||||
CanEndpoint* m_endpoint = nullptr;
|
||||
CanDbStore* m_db = nullptr;
|
||||
std::atomic<unsigned long> m_notifyCount{0};
|
||||
};
|
||||
|
||||
} // namespace canbridge
|
||||
|
||||
#endif // PCANBRIDGE_CAN_BRIDGE_H
|
||||
@@ -0,0 +1,106 @@
|
||||
/****************************************************************/
|
||||
/* NAME: CanBridge_Info */
|
||||
/* FILE: CanBridge_Info.cpp */
|
||||
/****************************************************************/
|
||||
|
||||
#include <cstdlib>
|
||||
#include <iostream>
|
||||
#include "CanBridge_Info.h"
|
||||
#include "ColorParse.h"
|
||||
#include "ReleaseInfo.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
void showSynopsis() {
|
||||
blk("SYNOPSIS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" The pCanBridge application bridges CAN bus frames from a ");
|
||||
blk(" USBCAN-8E-U / CANET Ethernet-CAN converter (TCP Server mode) ");
|
||||
blk(" into the MOOSDB. Each received CAN frame is parsed from the ");
|
||||
blk(" 13-byte CANET wire format and transparently published as a ");
|
||||
blk(" binary MOOS message. ");
|
||||
blk(" ");
|
||||
}
|
||||
|
||||
void showHelpAndExit() {
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("Usage: pCanBridge file.moos [OPTIONS] ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("Options: ");
|
||||
mag(" --alias","=<ProcessName> ");
|
||||
blk(" Launch pCanBridge with the given process name ");
|
||||
blk(" rather than pCanBridge. ");
|
||||
mag(" --example, -e ");
|
||||
blk(" Display example MOOS configuration block. ");
|
||||
mag(" --help, -h ");
|
||||
blk(" Display this help message. ");
|
||||
mag(" --interface, -i ");
|
||||
blk(" Display MOOS publications and subscriptions. ");
|
||||
mag(" --version,-v ");
|
||||
blk(" Display the release version of pCanBridge. ");
|
||||
blk(" ");
|
||||
blk("Note: If argv[2] does not otherwise match a known option, ");
|
||||
blk(" then it will be interpreted as a run alias. This is ");
|
||||
blk(" to support pAntler launching conventions. ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void showExampleConfigAndExit() {
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("pCanBridge Example MOOS Configuration ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
blk("ProcessConfig = pCanBridge ");
|
||||
blk("{ ");
|
||||
blk(" AppTick = 4 ");
|
||||
blk(" CommsTick = 4 ");
|
||||
blk(" ");
|
||||
blk(" // USBCAN-8E-U/CANET 目标地址（TCP Server 模式） ");
|
||||
blk(" can_host = 192.168.0.222 // 转换器 IP ");
|
||||
blk(" can_port = 4001 // 工作端口: CAN0=4001 CAN1=4002.. ");
|
||||
blk(" ");
|
||||
blk(" // 通道名（写入消息的 m_sSrcAux 辅助字段） ");
|
||||
blk(" can_channel_name = CAN0 ");
|
||||
blk(" ");
|
||||
blk(" // CAN 帧 SQLite 落库路径（can_frame 表） ");
|
||||
blk(" dbpath = pCanBridge_data.db ");
|
||||
blk("} ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void showInterfaceAndExit() {
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("pCanBridge INTERFACE ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("SUBSCRIPTIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" (none: publish-only application) ");
|
||||
blk(" ");
|
||||
blk("PUBLICATIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" CAN_0x%08X = CAN 帧（每帧一条二进制消息） ");
|
||||
blk(" 变量名: CAN ID 完整 4 字节十六进制, 如 CAN_0x10010001 ");
|
||||
blk(" m_sVal: 二进制 data（dlc 字节, MOOS_BINARY_STRING） ");
|
||||
blk(" m_sSrcAux: 通道名（默认 CAN0） ");
|
||||
blk(" m_dfVal2: 原始帧信息字节 byte0 ");
|
||||
blk(" bit7=FF(1扩展/0标准) bit6=RTR(1远程/0数据) ");
|
||||
blk(" bit3~0=DLC ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void showReleaseInfoAndExit() {
|
||||
showReleaseInfo("pCanBridge", "gpl");
|
||||
exit(0);
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
/****************************************************************/
|
||||
/* NAME: CanBridge_Info */
|
||||
/* FILE: CanBridge_Info.h */
|
||||
/****************************************************************/
|
||||
|
||||
#ifndef PCANBRIDGE_INFO_HEADER
|
||||
#define PCANBRIDGE_INFO_HEADER
|
||||
|
||||
void showSynopsis();
|
||||
void showHelpAndExit();
|
||||
void showExampleConfigAndExit();
|
||||
void showInterfaceAndExit();
|
||||
void showReleaseInfoAndExit();
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,158 @@
|
||||
#include "CanDbStore.h"
|
||||
#include "sqlite3.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
|
||||
#include <cstdio>
|
||||
|
||||
namespace canbridge {
|
||||
|
||||
namespace {
|
||||
void toHex(const uint8_t* data, int len, std::string& out) {
|
||||
static const char* hex = "0123456789ABCDEF";
|
||||
out.clear();
|
||||
out.reserve(static_cast<size_t>(len) * 2);
|
||||
for (int i = 0; i < len; ++i) {
|
||||
out += hex[(data[i] >> 4) & 0xF];
|
||||
out += hex[data[i] & 0xF];
|
||||
}
|
||||
}
|
||||
} // namespace
|
||||
|
||||
CanDbStore::CanDbStore(const std::string& dbPath) : m_dbPath(dbPath) {}
|
||||
|
||||
CanDbStore::~CanDbStore() {
|
||||
close();
|
||||
}
|
||||
|
||||
bool CanDbStore::exec(const char* sql) {
|
||||
char* err = nullptr;
|
||||
int rc = sqlite3_exec(m_db, sql, nullptr, nullptr, &err);
|
||||
if (rc != SQLITE_OK) {
|
||||
m_lastError = err ? err : "sqlite error";
|
||||
sqlite3_free(err);
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool CanDbStore::open() {
|
||||
if (m_db) return true;
|
||||
if (sqlite3_open(m_dbPath.c_str(), &m_db) != SQLITE_OK) {
|
||||
m_lastError = m_db ? sqlite3_errmsg(m_db) : "cannot open database";
|
||||
sqlite3_close(m_db);
|
||||
m_db = nullptr;
|
||||
return false;
|
||||
}
|
||||
sqlite3_busy_timeout(m_db, 2000);
|
||||
exec("PRAGMA journal_mode=WAL;");
|
||||
exec("PRAGMA synchronous=NORMAL;");
|
||||
|
||||
// can_frame：收到的每个 CAN 帧一条记录
|
||||
if (!exec(
|
||||
"CREATE TABLE IF NOT EXISTS can_frame ("
|
||||
" id INTEGER PRIMARY KEY AUTOINCREMENT,"
|
||||
" time REAL NOT NULL," // unix 时间（含小数秒）
|
||||
" channel TEXT NOT NULL," // 通道名（CAN0~CAN7）
|
||||
" frame_info INTEGER NOT NULL," // 原始帧信息字节 byte0
|
||||
" can_id INTEGER NOT NULL," // CAN ID
|
||||
" dlc INTEGER NOT NULL," // 数据长度 0~8
|
||||
" hex TEXT NOT NULL" // 数据十六进制
|
||||
");")) return false;
|
||||
exec("CREATE INDEX IF NOT EXISTS idx_can_frame_time ON can_frame(time);");
|
||||
exec("CREATE INDEX IF NOT EXISTS idx_can_frame_id ON can_frame(can_id);");
|
||||
|
||||
return prepareInsert();
|
||||
}
|
||||
|
||||
bool CanDbStore::prepareInsert() {
|
||||
const char* sql =
|
||||
"INSERT INTO can_frame (time, channel, frame_info, can_id, dlc, hex) "
|
||||
"VALUES (?1, ?2, ?3, ?4, ?5, ?6);";
|
||||
if (sqlite3_prepare_v2(m_db, sql, -1, &m_stmtInsert, nullptr) != SQLITE_OK) {
|
||||
m_lastError = sqlite3_errmsg(m_db);
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void CanDbStore::close() {
|
||||
std::lock_guard<std::mutex> lock(m_mutex);
|
||||
if (m_stmtInsert) {
|
||||
sqlite3_finalize(m_stmtInsert);
|
||||
m_stmtInsert = nullptr;
|
||||
}
|
||||
if (m_db) {
|
||||
sqlite3_close(m_db);
|
||||
m_db = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
void CanDbStore::onFrame(const std::string& channel, uint8_t frameInfo,
|
||||
uint32_t canId, const uint8_t* data, int dlc) {
|
||||
std::lock_guard<std::mutex> lock(m_mutex);
|
||||
if (!m_db || !m_stmtInsert) return;
|
||||
|
||||
std::string hex;
|
||||
if (data && dlc > 0) toHex(data, dlc, hex);
|
||||
|
||||
sqlite3_reset(m_stmtInsert);
|
||||
sqlite3_clear_bindings(m_stmtInsert);
|
||||
sqlite3_bind_double(m_stmtInsert, 1, MOOSTime(false));
|
||||
sqlite3_bind_text(m_stmtInsert, 2, channel.c_str(), -1, SQLITE_TRANSIENT);
|
||||
sqlite3_bind_int(m_stmtInsert, 3, frameInfo);
|
||||
sqlite3_bind_int64(m_stmtInsert, 4, static_cast<sqlite3_int64>(canId));
|
||||
sqlite3_bind_int(m_stmtInsert, 5, dlc);
|
||||
sqlite3_bind_text(m_stmtInsert, 6, hex.c_str(), -1, SQLITE_TRANSIENT);
|
||||
|
||||
if (sqlite3_step(m_stmtInsert) != SQLITE_DONE) {
|
||||
m_lastError = sqlite3_errmsg(m_db);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<CanFrameRow> CanDbStore::queryRecent(uint32_t canId, int limit) {
|
||||
std::lock_guard<std::mutex> lock(m_mutex);
|
||||
std::vector<CanFrameRow> rows;
|
||||
if (!m_db) return rows;
|
||||
if (limit <= 0) limit = 100;
|
||||
|
||||
std::string sql = "SELECT id, time, channel, frame_info, can_id, dlc, hex "
|
||||
"FROM can_frame";
|
||||
if (canId != 0) {
|
||||
sql += " WHERE can_id=" + std::to_string(canId);
|
||||
}
|
||||
sql += " ORDER BY id DESC LIMIT " + std::to_string(limit) + ";";
|
||||
|
||||
sqlite3_stmt* stmt = nullptr;
|
||||
if (sqlite3_prepare_v2(m_db, sql.c_str(), -1, &stmt, nullptr) != SQLITE_OK) {
|
||||
m_lastError = sqlite3_errmsg(m_db);
|
||||
return rows;
|
||||
}
|
||||
while (sqlite3_step(stmt) == SQLITE_ROW) {
|
||||
CanFrameRow r;
|
||||
r.id = sqlite3_column_int64(stmt, 0);
|
||||
r.time = sqlite3_column_double(stmt, 1);
|
||||
r.channel = sqlite3_column_text(stmt, 2)
|
||||
? reinterpret_cast<const char*>(sqlite3_column_text(stmt, 2)) : "";
|
||||
r.frameInfo = sqlite3_column_int(stmt, 3);
|
||||
r.canId = static_cast<uint32_t>(sqlite3_column_int64(stmt, 4));
|
||||
r.dlc = sqlite3_column_int(stmt, 5);
|
||||
r.hex = sqlite3_column_text(stmt, 6)
|
||||
? reinterpret_cast<const char*>(sqlite3_column_text(stmt, 6)) : "";
|
||||
rows.push_back(std::move(r));
|
||||
}
|
||||
sqlite3_finalize(stmt);
|
||||
return rows;
|
||||
}
|
||||
|
||||
long long CanDbStore::count() const {
|
||||
std::lock_guard<std::mutex> lock(m_mutex);
|
||||
if (!m_db) return 0;
|
||||
sqlite3_stmt* stmt = nullptr;
|
||||
if (sqlite3_prepare_v2(m_db, "SELECT COUNT(*) FROM can_frame;", -1, &stmt, nullptr) != SQLITE_OK)
|
||||
return 0;
|
||||
long long n = 0;
|
||||
if (sqlite3_step(stmt) == SQLITE_ROW) n = sqlite3_column_int64(stmt, 0);
|
||||
sqlite3_finalize(stmt);
|
||||
return n;
|
||||
}
|
||||
|
||||
} // namespace canbridge
|
||||
@@ -0,0 +1,67 @@
|
||||
#ifndef PCANBRIDGE_CAN_DB_STORE_H
|
||||
#define PCANBRIDGE_CAN_DB_STORE_H
|
||||
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
|
||||
struct sqlite3;
|
||||
struct sqlite3_stmt;
|
||||
|
||||
namespace canbridge {
|
||||
|
||||
//============================================================================
|
||||
// CanDbStore：CAN 帧 SQLite 存储。
|
||||
//
|
||||
// 设计参考 src/pCCU/store/DbStore（原始帧日志模式）：
|
||||
// - 收到的每个 CAN 帧逐条落库（can_frame 表），
|
||||
// 存原始帧信息/ID/DLC/十六进制数据，语义解析交给下游。
|
||||
// - 预处理语句 + WAL + synchronous=NORMAL，满足 ~60 帧/秒持续写入。
|
||||
// - 内部互斥锁：接收线程写入，Iterate 线程查询/统计。
|
||||
// 复用仓库内 src/pPowerManger/sqlit3/sqlite3.c 与 sqlite3.h。
|
||||
//============================================================================
|
||||
|
||||
struct CanFrameRow {
|
||||
long long id;
|
||||
double time; // unix 时间（含小数秒）
|
||||
std::string channel; // 通道名（CAN0~CAN7）
|
||||
int frameInfo; // 原始帧信息字节 byte0（bit7 FF / bit6 RTR / bit3~0 DLC）
|
||||
uint32_t canId; // CAN ID
|
||||
int dlc;
|
||||
std::string hex; // 数据十六进制
|
||||
};
|
||||
|
||||
class CanDbStore {
|
||||
public:
|
||||
explicit CanDbStore(const std::string& dbPath);
|
||||
~CanDbStore();
|
||||
|
||||
bool open();
|
||||
void close();
|
||||
bool isOpen() const { return m_db != nullptr; }
|
||||
std::string lastError() const { return m_lastError; }
|
||||
|
||||
// 收帧落库（CanEndpoint 接收线程调用，内部加锁）
|
||||
void onFrame(const std::string& channel, uint8_t frameInfo,
|
||||
uint32_t canId, const uint8_t* data, int dlc);
|
||||
|
||||
// 查询最近 N 条（canId=0 表示不过滤；limit<=0 表示默认 100）
|
||||
std::vector<CanFrameRow> queryRecent(uint32_t canId, int limit);
|
||||
|
||||
long long count() const;
|
||||
|
||||
private:
|
||||
bool exec(const char* sql);
|
||||
bool prepareInsert();
|
||||
|
||||
std::string m_dbPath;
|
||||
sqlite3* m_db = nullptr;
|
||||
sqlite3_stmt* m_stmtInsert = nullptr;
|
||||
mutable std::mutex m_mutex;
|
||||
std::string m_lastError;
|
||||
};
|
||||
|
||||
} // namespace canbridge
|
||||
|
||||
#endif // PCANBRIDGE_CAN_DB_STORE_H
|
||||
@@ -0,0 +1,200 @@
|
||||
#include "CanEndpoint.h"
|
||||
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <netinet/tcp.h>
|
||||
#include <arpa/inet.h>
|
||||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
|
||||
|
||||
namespace canbridge {
|
||||
|
||||
namespace {
|
||||
// CANET 系列固定帧长
|
||||
const size_t kFrameLen = 13;
|
||||
// 非阻塞 connect 超时（ms）
|
||||
const int kConnectTOms = 2000;
|
||||
// recv 读超时（s）：保证断线能及时检出、stop() 能及时退出
|
||||
const int kRecvTimeoutS = 1;
|
||||
// 连接失败后的重试间隔（ms）
|
||||
const int kRetryInterval = 2000;
|
||||
} // namespace
|
||||
|
||||
CanEndpoint::CanEndpoint() {
|
||||
m_buf.reserve(4096);
|
||||
}
|
||||
|
||||
CanEndpoint::~CanEndpoint() {
|
||||
stop();
|
||||
}
|
||||
|
||||
void CanEndpoint::configure(const std::string& host, long port) {
|
||||
m_host = host;
|
||||
m_port = port;
|
||||
}
|
||||
|
||||
void CanEndpoint::setFrameCallback(CanFrameCallback cb) {
|
||||
m_onFrame = std::move(cb);
|
||||
}
|
||||
|
||||
bool CanEndpoint::start() {
|
||||
if (m_running) return true;
|
||||
if (m_host.empty() || m_port <= 0) {
|
||||
std::cerr << "[CanEndpoint] invalid target: " << m_host << ":" << m_port << std::endl;
|
||||
return false;
|
||||
}
|
||||
m_running = true;
|
||||
m_thread = std::thread([this]() { threadFunc(); });
|
||||
std::cout << "[CanEndpoint] started, target " << m_host << ":" << m_port << std::endl;
|
||||
return true;
|
||||
}
|
||||
|
||||
void CanEndpoint::stop() {
|
||||
if (!m_running) return;
|
||||
m_running = false;
|
||||
if (m_thread.joinable()) m_thread.join();
|
||||
closeSocket();
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// 连接一次目标（非阻塞 connect + poll 超时）
|
||||
//----------------------------------------------------------------------
|
||||
bool CanEndpoint::connectOnce() {
|
||||
m_fd = ::socket(AF_INET, SOCK_STREAM, 0);
|
||||
if (m_fd < 0) return false;
|
||||
|
||||
// 非阻塞 connect，避免目标不可达时线程长时间卡死
|
||||
int flags = ::fcntl(m_fd, F_GETFL, 0);
|
||||
::fcntl(m_fd, F_SETFL, flags | O_NONBLOCK);
|
||||
|
||||
struct sockaddr_in addr;
|
||||
std::memset(&addr, 0, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(static_cast<uint16_t>(m_port));
|
||||
if (::inet_pton(AF_INET, m_host.c_str(), &addr.sin_addr) != 1) {
|
||||
std::cerr << "[CanEndpoint] bad host: " << m_host << std::endl;
|
||||
closeSocket();
|
||||
return false;
|
||||
}
|
||||
|
||||
int rc = ::connect(m_fd, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr));
|
||||
if (rc < 0 && errno != EINPROGRESS) {
|
||||
closeSocket();
|
||||
return false;
|
||||
}
|
||||
if (rc < 0) {
|
||||
struct pollfd pfd;
|
||||
pfd.fd = m_fd;
|
||||
pfd.events = POLLOUT;
|
||||
int pr = ::poll(&pfd, 1, kConnectTOms);
|
||||
if (pr <= 0) {
|
||||
closeSocket();
|
||||
return false;
|
||||
}
|
||||
int err = 0;
|
||||
socklen_t elen = sizeof(err);
|
||||
if (::getsockopt(m_fd, SOL_SOCKET, SO_ERROR, &err, &elen) < 0 || err != 0) {
|
||||
closeSocket();
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// 恢复阻塞模式 + 读超时 + 禁用 Nagle
|
||||
::fcntl(m_fd, F_SETFL, flags);
|
||||
struct timeval tv;
|
||||
tv.tv_sec = kRecvTimeoutS;
|
||||
tv.tv_usec = 0;
|
||||
::setsockopt(m_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
|
||||
int one = 1;
|
||||
::setsockopt(m_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
|
||||
|
||||
m_connected = true;
|
||||
++m_reconnectCount;
|
||||
std::cout << "[CanEndpoint] connected to " << m_host << ":" << m_port << std::endl;
|
||||
return true;
|
||||
}
|
||||
|
||||
void CanEndpoint::closeSocket() {
|
||||
m_connected = false;
|
||||
if (m_fd >= 0) {
|
||||
::close(m_fd);
|
||||
m_fd = -1;
|
||||
}
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// 切帧：缓冲 >= 13 字节即解析并回调
|
||||
//----------------------------------------------------------------------
|
||||
void CanEndpoint::processBuffer() {
|
||||
while (m_buf.size() >= kFrameLen) {
|
||||
const uint8_t* f = m_buf.data();
|
||||
|
||||
uint8_t frameInfo = f[0];
|
||||
uint8_t dlc = frameInfo & 0x0F;
|
||||
uint32_t id = (static_cast<uint32_t>(f[1]) << 24) |
|
||||
(static_cast<uint32_t>(f[2]) << 16) |
|
||||
(static_cast<uint32_t>(f[3]) << 8) |
|
||||
static_cast<uint32_t>(f[4]);
|
||||
|
||||
// 无效 DLC（>8）按坏帧丢弃；同时覆盖以太网心跳包(AA 00 ... 55)
|
||||
if (dlc > 8) {
|
||||
++m_errorCount;
|
||||
m_buf.erase(m_buf.begin(), m_buf.begin() + kFrameLen);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (m_onFrame) {
|
||||
m_onFrame(frameInfo, id, f + 5, static_cast<int>(dlc));
|
||||
}
|
||||
++m_frameCount;
|
||||
m_lastFrameTime = MOOSTime(false);
|
||||
|
||||
m_buf.erase(m_buf.begin(), m_buf.begin() + kFrameLen);
|
||||
}
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// 接收线程：连接 -> 读流 -> 切帧 -> 断线重连
|
||||
//----------------------------------------------------------------------
|
||||
void CanEndpoint::threadFunc() {
|
||||
uint8_t tmp[4096];
|
||||
while (m_running) {
|
||||
if (!m_connected) {
|
||||
if (!connectOnce()) {
|
||||
++m_errorCount;
|
||||
// 分片休眠，保证 stop() 能及时退出
|
||||
for (int i = 0; i < kRetryInterval / 100 && m_running; ++i) {
|
||||
struct timespec ts = {0, 100 * 1000 * 1000}; // 100ms
|
||||
nanosleep(&ts, nullptr);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
m_buf.clear();
|
||||
}
|
||||
|
||||
ssize_t n = ::recv(m_fd, tmp, sizeof(tmp), 0);
|
||||
if (n > 0) {
|
||||
m_buf.insert(m_buf.end(), tmp, tmp + n);
|
||||
processBuffer();
|
||||
} else if (n == 0) {
|
||||
// 对端关闭
|
||||
std::cerr << "[CanEndpoint] connection closed by peer" << std::endl;
|
||||
closeSocket();
|
||||
} else {
|
||||
if (errno == EAGAIN || errno == EWOULDBLOCK || errno == EINTR) {
|
||||
// 读超时/中断：回环检查 m_running
|
||||
continue;
|
||||
}
|
||||
std::cerr << "[CanEndpoint] recv error: " << std::strerror(errno) << std::endl;
|
||||
closeSocket();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace canbridge
|
||||
@@ -0,0 +1,87 @@
|
||||
#ifndef PCANBRIDGE_CAN_ENDPOINT_H
|
||||
#define PCANBRIDGE_CAN_ENDPOINT_H
|
||||
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <atomic>
|
||||
#include <thread>
|
||||
#include <functional>
|
||||
|
||||
namespace canbridge {
|
||||
|
||||
//============================================================================
|
||||
// CanEndpoint：USBCAN-8E-U（CANET 系列）TCP 工作端口的客户端封装。
|
||||
//
|
||||
// 协议（CANET-8E-U 用户手册 8.1 节）：TCP 为字节流，每个 CAN 帧固定 13 字节：
|
||||
// byte0 帧信息：bit7=FF(1扩展/0标准) bit6=RTR(1远程/0数据) bit3~0=DLC(0~8)
|
||||
// byte1~4 帧 ID（大端，标准帧 11 位有效 / 扩展帧 29 位有效）
|
||||
// byte5~12 数据 8 字节（有效长度由 DLC 决定）
|
||||
//
|
||||
// 职责：
|
||||
// - 以 TCP Client 连接目标 host:port（非阻塞 connect + 超时）
|
||||
// - 接收线程阻塞读流 -> 缓冲 -> 按 13 字节切帧 -> 回调
|
||||
// - 断线（recv 返回 0 / 错误）自动重连
|
||||
//
|
||||
// 说明：采用 POSIX socket 而非 XPCTcpSocket，便于精确控制连接超时与
|
||||
// 读超时（SO_RCVTIMEO），并避免 XPC 系列的异常式错误处理。
|
||||
//============================================================================
|
||||
|
||||
// 收帧回调：frameInfo 为原始帧信息字节；data 有效长度为 dlc 字节
|
||||
using CanFrameCallback = std::function<void(uint8_t frameInfo, uint32_t id,
|
||||
const uint8_t* data, int dlc)>;
|
||||
|
||||
class CanEndpoint {
|
||||
public:
|
||||
CanEndpoint();
|
||||
~CanEndpoint();
|
||||
|
||||
// 配置目标地址（须在 start 前调用）
|
||||
void configure(const std::string& host, long port);
|
||||
|
||||
// 收帧回调（须在 start 前调用）
|
||||
void setFrameCallback(CanFrameCallback cb);
|
||||
|
||||
// 启动接收线程（内部自动连接/重连）；返回是否成功启动线程
|
||||
bool start();
|
||||
void stop();
|
||||
|
||||
bool isConnected() const { return m_connected; }
|
||||
|
||||
// 统计
|
||||
unsigned long frameCount() const { return m_frameCount; }
|
||||
unsigned long errorCount() const { return m_errorCount; }
|
||||
unsigned long reconnectCount() const { return m_reconnectCount; }
|
||||
double lastFrameTime() const { return m_lastFrameTime; }
|
||||
|
||||
const std::string& host() const { return m_host; }
|
||||
long port() const { return m_port; }
|
||||
|
||||
private:
|
||||
void threadFunc();
|
||||
bool connectOnce();
|
||||
void closeSocket();
|
||||
void processBuffer();
|
||||
|
||||
std::string m_host;
|
||||
long m_port = 4001;
|
||||
int m_fd = -1;
|
||||
|
||||
std::atomic<bool> m_running{false};
|
||||
std::atomic<bool> m_connected{false};
|
||||
std::thread m_thread;
|
||||
|
||||
CanFrameCallback m_onFrame;
|
||||
|
||||
// TCP 流式接收缓冲（跨 recv 保持半包/粘包状态）
|
||||
std::vector<uint8_t> m_buf;
|
||||
|
||||
std::atomic<unsigned long> m_frameCount{0};
|
||||
std::atomic<unsigned long> m_errorCount{0};
|
||||
std::atomic<unsigned long> m_reconnectCount{0};
|
||||
std::atomic<double> m_lastFrameTime{0.0};
|
||||
};
|
||||
|
||||
} // namespace canbridge
|
||||
|
||||
#endif // PCANBRIDGE_CAN_ENDPOINT_H
|
||||
@@ -0,0 +1,49 @@
|
||||
/************************************************************/
|
||||
/* NAME: pCanBridge */
|
||||
/* FILE: main.cpp */
|
||||
/************************************************************/
|
||||
|
||||
#include <string>
|
||||
#include "MBUtils.h"
|
||||
#include "ColorParse.h"
|
||||
#include "CanBridge.h"
|
||||
#include "CanBridge_Info.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
string mission_file;
|
||||
string run_command = argv[0];
|
||||
// 默认以程序文件名（去掉路径）作为进程名，保证与 .moos 中 ProcessConfig 匹配
|
||||
{
|
||||
size_t slash = run_command.find_last_of('/');
|
||||
if (slash != string::npos) run_command = run_command.substr(slash + 1);
|
||||
}
|
||||
|
||||
for (int i = 1; i < argc; i++) {
|
||||
string argi = argv[i];
|
||||
if ((argi == "-v") || (argi == "--version") || (argi == "-version"))
|
||||
showReleaseInfoAndExit();
|
||||
else if ((argi == "-e") || (argi == "--example") || (argi == "-example"))
|
||||
showExampleConfigAndExit();
|
||||
else if ((argi == "-h") || (argi == "--help") || (argi == "-help"))
|
||||
showHelpAndExit();
|
||||
else if ((argi == "-i") || (argi == "--interface"))
|
||||
showInterfaceAndExit();
|
||||
else if (strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
|
||||
mission_file = argv[i];
|
||||
else if (strBegins(argi, "--alias="))
|
||||
run_command = argi.substr(8);
|
||||
else if (i == 2)
|
||||
run_command = argi;
|
||||
}
|
||||
|
||||
if (mission_file == "")
|
||||
showHelpAndExit();
|
||||
|
||||
canbridge::CanBridge bridge;
|
||||
bridge.Run(run_command.c_str(), mission_file.c_str());
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
//============================================================================
|
||||
// pCanBridge 配置示例
|
||||
//
|
||||
// 拓扑：
|
||||
// USBCAN-8E-U（CANET 系列，TCP Server 模式）
|
||||
// 192.168.0.222:4001 = CAN0 工作端口（CAN1=4002 ... CAN7=4008）
|
||||
// pCanBridge 以 TCP Client 连接目标，收帧后透传 MOOSDB：
|
||||
// 变量名 CAN_0x%08X = CAN ID；m_sVal = 二进制 data；
|
||||
// m_sSrcAux = 通道名；m_dfVal2 = 原始帧信息字节(FF/RTR/DLC)
|
||||
//============================================================================
|
||||
|
||||
ProcessConfig = pCanBridge
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
//======== 目标 USBCAN-8E-U 地址（TCP Server 模式） ========
|
||||
// 转换器 IP
|
||||
can_host = 192.168.0.222
|
||||
// 工作端口：CAN0=4001，CAN1=4002，...，CAN7=4008
|
||||
can_port = 4001
|
||||
|
||||
//======== 通道标识 ========
|
||||
// 写入消息 m_sSrcAux 辅助字段，用于下游区分通道
|
||||
can_channel_name = CAN0
|
||||
|
||||
//======== 存储 ========
|
||||
// CAN 帧 SQLite 落库路径（can_frame 表）
|
||||
dbpath = pCanBridge_data.db
|
||||
}
|
||||
Reference in New Issue
Block a user