zjk
54c32a180a
- 新增 pCCU 复合管控器程序（src/pCCU）：FC/PM 双链路(UDP)、协议编解码器 (FcProtocol/PmProtocol/Frame/Message/MessageRegistry)、快照与落库(DbStore)、 内置 WebServer；挂入 src/CMakeLists.txt 与板卡 mission（h100.moos） - 惯导/深度数据：新增 uDevice_insData 消息解析，接入 UpperCommManager， pPowerMangerHost 注册监视，UpmsgTest 覆盖 - pPowerMangerHost 设备控制页增强（web/index.html） - 部署/运维脚本改为 4 个 systemd 服务（moosdb/pPowerManger/pPowerMangerHost/pCCU）： deploy/clean-data/fetch-data 同步适配 - 协议文档：归档 0824 控制主机与复合管控器通信协议 xlsx 及关联 docx，移除旧 md - 测试：新增 pccu 单元/集成测试与 disSysTest Python 配电仿真 - 清理：移除未使用的 CCU 状态调试打印 coutMsg；.gitignore 补充编译产物/临时文件忽略
108 lines
3.2 KiB
C++
108 lines
3.2 KiB
C++
#include "LinkManager.h"
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#include "../protocol/Frame.h"
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#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
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#include "loguru.hpp"
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namespace ccu {
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LinkManager::LinkManager(const std::string& linkName, long localPort)
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: m_linkName(linkName), m_localPort(localPort) {}
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LinkManager::~LinkManager() {
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stop();
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}
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bool LinkManager::start() {
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if (m_running) return true;
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if (!m_endpoint.init(m_localPort)) {
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LOG_F(ERROR, "[%s] bind failed on port %ld", m_linkName.c_str(), m_localPort);
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return false;
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}
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m_running = true;
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m_rxThread = std::thread([this]() { rxThreadFunc(); });
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LOG_F(INFO, "[%s] listening on local port %ld", m_linkName.c_str(), m_localPort);
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return true;
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}
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void LinkManager::stop() {
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if (!m_running) return;
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m_running = false;
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if (m_rxThread.joinable()) m_rxThread.join();
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}
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bool LinkManager::sendMessage(uint16_t id, const void* value) {
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return sendMessageTo(id, value, defaultRemoteHost(), defaultRemotePort());
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}
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bool LinkManager::sendMessageTo(uint16_t id, const void* value,
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const std::string& host, long port) {
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if (host.empty() || port <= 0) return false;
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Message* msg = m_registry.find(id);
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if (!msg) {
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LOG_F(ERROR, "[%s] unknown message id 0x%04X", m_linkName.c_str(), id);
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return false;
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}
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std::vector<uint8_t> frame = msg->encode(value);
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if (!m_endpoint.sendTo(host, port, frame)) {
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LOG_F(ERROR, "[%s] send msg 0x%04X to %s:%ld failed",
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m_linkName.c_str(), id, host.c_str(), port);
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return false;
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}
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++m_txCount;
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if (m_logSink) m_logSink->onRawFrame(1, id, m_linkName, frame, true);
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if (m_onRawFrame) m_onRawFrame(1, frame, true);
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return true;
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}
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bool LinkManager::handleIncoming(const std::vector<uint8_t>& frame) {
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if (frame.size() < FRAME_HEADER_LEN) return false;
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uint16_t id = 0;
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if (!Frame::parseId(frame, id)) {
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LOG_F(WARNING, "[%s] bad frame header", m_linkName.c_str());
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++m_errorCount;
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return false;
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}
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Message* msg = m_registry.find(id);
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if (!msg) {
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LOG_F(WARNING, "[%s] unknown msg id 0x%04X, len=%zu",
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m_linkName.c_str(), id, frame.size());
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++m_errorCount;
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return false;
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}
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bool checksumOk = msg->checksum().verify(frame);
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++m_rxCount;
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m_lastRxTime = MOOSTime(false);
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// 原始帧落库 + 回调
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if (m_logSink) m_logSink->onRawFrame(0, id, m_linkName, frame, checksumOk);
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if (m_onRawFrame) m_onRawFrame(0, frame, checksumOk);
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if (!checksumOk) {
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LOG_F(WARNING, "[%s] checksum error msg 0x%04X", m_linkName.c_str(), id);
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++m_errorCount;
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return false;
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}
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// 解码交给上层（CCU 层知道具体消息类型）
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if (m_onMessage) m_onMessage(msg, frame);
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return true;
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}
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void LinkManager::rxThreadFunc() {
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uint8_t buf[2048];
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while (m_running) {
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int n = m_endpoint.receive(buf, sizeof(buf));
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if (n > 0) {
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std::vector<uint8_t> frame(buf, buf + n);
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handleIncoming(frame);
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} else {
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// 无数据，短暂休眠避免忙等
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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}
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}
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} // namespace ccu
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