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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
118 lines
3.5 KiB
Python
118 lines
3.5 KiB
Python
"""UDP 通信层：socket 管理、收发线程、按消息 ID 分发。
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线程安全：start/stop/reconfigure 可随时调用；
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收包在独立线程解析，解析成功后回调 on_feedback / on_command，
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原始帧经 on_raw 回调（用于转发/透传）。
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"""
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import socket
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import threading
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import time
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from . import protocol
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class UdpComm:
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def __init__(self, logger=None):
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self.logger = logger
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self.sock = None
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self.running = False
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self._thread = None
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self._lock = threading.Lock()
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# 回调
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self.on_feedback = None # callable(msg, addr)
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self.on_command = None # callable(msg, addr)
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self.on_raw = None # callable(data, addr)
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self.on_unknown = None # callable(data, addr) 解析失败/未知ID
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# 统计
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self.rx_count = 0
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self.tx_count = 0
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self.last_rx_time = None
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def bind(self, ip, port):
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"""创建并绑定监听 socket（带超时 + 地址复用）。失败抛 OSError。"""
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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s.settimeout(0.1)
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s.bind((ip, int(port)))
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with self._lock:
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old = self.sock
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self.sock = s
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if old:
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old.close()
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return self
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@property
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def bound(self):
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return self.sock is not None
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def start(self):
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if self.running:
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return
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if self.sock is None:
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raise RuntimeError("socket 未绑定")
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self.running = True
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self._thread = threading.Thread(target=self._recv_loop, daemon=True,
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name="udp-recv")
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self._thread.start()
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def stop(self):
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self.running = False
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t = self._thread
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self._thread = None
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if t:
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t.join(timeout=1.5)
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def _recv_loop(self):
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while self.running:
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try:
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data, addr = self.sock.recvfrom(2048)
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except socket.timeout:
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continue
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except OSError:
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break
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self.rx_count += 1
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self.last_rx_time = time.time()
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try:
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self._dispatch(data, addr)
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except Exception as e:
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if self.logger:
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self.logger.error(f"分发消息异常: {e}")
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def _dispatch(self, data, addr):
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if self.on_raw:
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self.on_raw(data, addr)
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msg_id = protocol.msg_id_of(data)
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cls = protocol.ALL_MESSAGES.get(msg_id)
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msg = None
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if cls:
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msg = cls()
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if not msg.unpack(data):
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msg = None
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if msg is None:
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if self.on_unknown:
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self.on_unknown(data, addr)
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return
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if msg_id in protocol.CMD_MESSAGES:
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if self.on_command:
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self.on_command(msg, addr)
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else:
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if self.on_feedback:
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self.on_feedback(msg, addr)
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def sendto(self, data, ip, port):
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"""发送原始字节。返回 True/False。"""
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if self.sock is None:
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return False
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try:
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self.sock.sendto(data, (ip, int(port)))
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self.tx_count += 1
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return True
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except OSError as e:
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if self.logger:
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self.logger.error(f"发送到 {ip}:{port} 失败: {e}")
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return False
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def send_message(self, msg, ip, port):
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return self.sendto(msg.pack(), ip, port)
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