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。
2026-08-31 19:14:59 +08:00
parent 7e4d08808a
commit b547772709
16 changed files with 1048 additions and 17 deletions
@@ -0,0 +1,169 @@
+#include "CanBridge.h"
+#include "CanBridge_Info.h"
+#include "MBUtils.h"
+#include "MOOS/libMOOS/Comms/MOOSMsg.h"
+#include <cstdio>
+
+using namespace std;
+
+namespace canbridge {
+
+//---------------------------------------------------------
+// Constructor / Destructor
+
+CanBridge::CanBridge() {}
+
+CanBridge::~CanBridge() {
+    if (m_endpoint) {
+        m_endpoint->stop();
+        delete m_endpoint;
+        m_endpoint = nullptr;
+    }
+    if (m_db) {
+        m_db->close();
+        delete m_db;
+        m_db = nullptr;
+    }
+}
+
+//---------------------------------------------------------
+// OnStartUp：读取配置并启动 CAN 链路
+
+bool CanBridge::OnStartUp() {
+    AppCastingMOOSApp::OnStartUp();
+
+    STRING_LIST sParams;
+    m_MissionReader.EnableVerbatimQuoting(false);
+    if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
+        reportConfigWarning("No config block found for " + GetAppName());
+
+    STRING_LIST::iterator p;
+    for (p = sParams.begin(); p != sParams.end(); p++) {
+        string orig  = *p;
+        string line  = *p;
+        string param = stripBlankEnds(tolower(biteStringX(line, '=')));
+        string value = stripBlankEnds(line);
+
+        bool handled = true;
+        if      (param == "can_host")         m_canHost     = value;
+        else if (param == "can_port")         m_canPort     = atol(value.c_str());
+        else if (param == "can_channel_name") m_channelName = value;
+        else if (param == "dbpath")           m_dbPath      = value;
+        else handled = false;
+
+        if (!handled)
+            reportUnhandledConfigWarning(orig);
+    }
+
+    registerVariables();
+
+    // 数据库（CAN 帧落库）
+    m_db = new CanDbStore(m_dbPath);
+    if (!m_db->open()) {
+        reportRunWarning("CAN db open failed: " + m_dbPath + " (" + m_db->lastError() + ")");
+        delete m_db;
+        m_db = nullptr;
+    }
+
+    // CAN 链路（TCP Client，收帧回调在接收线程中触发）
+    m_endpoint = new CanEndpoint();
+    m_endpoint->configure(m_canHost, m_canPort);
+    m_endpoint->setFrameCallback(
+        [this](uint8_t fi, uint32_t id, const uint8_t* data, int dlc) {
+            handleFrame(fi, id, data, dlc);
+        });
+    if (!m_endpoint->start()) {
+        reportRunWarning("CAN endpoint start failed: " + m_canHost);
+    }
+
+    cout << "pCanBridge started: " << m_canHost << ":" << m_canPort
+         << " (" << m_channelName << "), db: " << m_dbPath << endl;
+    return true;
+}
+
+//---------------------------------------------------------
+// OnConnectToServer
+
+bool CanBridge::OnConnectToServer() {
+    registerVariables();
+    return true;
+}
+
+//---------------------------------------------------------
+// registerVariables：纯发布应用，无需注册订阅变量
+
+void CanBridge::registerVariables() {
+    AppCastingMOOSApp::RegisterVariables();
+}
+
+//---------------------------------------------------------
+// OnNewMail：当前无订阅指令，预留
+
+bool CanBridge::OnNewMail(MOOSMSG_LIST &NewMail) {
+    AppCastingMOOSApp::OnNewMail(NewMail);
+    MOOSMSG_LIST::iterator p;
+    for (p = NewMail.begin(); p != NewMail.end(); p++) {
+        CMOOSMsg &msg = *p;
+        (void)msg;
+    }
+    return true;
+}
+
+//---------------------------------------------------------
+// Iterate：周期任务
+
+bool CanBridge::Iterate() {
+    AppCastingMOOSApp::Iterate();
+    AppCastingMOOSApp::PostReport();
+    return true;
+}
+
+//---------------------------------------------------------
+// handleFrame：CAN 帧 -> CMOOSMsg（二进制） -> MOOSDB
+//
+// 在 CanEndpoint 接收线程中调用；m_Comms::Post 线程安全。
+
+void CanBridge::handleFrame(uint8_t frameInfo, uint32_t id,
+                            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