zjk
67e732045a
pCanBridge： - 配置改为 channel = <通道名>,<IP>,<工作端口> 重复行（兼容旧 can_host/can_port 单通道回退）， 每通道一条独立 CanEndpoint(TCP Client) + 接收线程，对应 CANET 的 CAN0=4001..CAN7=4008 - 上行 CAN_0x%08X 不变，m_sSrcAux=通道名区分来源通道 - 下行按 m_sSrcAux 路由到对应通道；回退规则：default_channel > 单通道 > 多通道告警丢弃 - buildReport 逐通道统计（连接/收发帧数/错误/重连） pCCU： - 新增 bcu_can_channel 配置（默认 CAN0），BCU 断路器下行 Post 前 SetSourceAux 指定目标通道， key 保持 CAN_TX_0x%08X（与上行通道标注对称，key 格式不变） 配置/文档：pCanBridge.moos、CanBridge_Info、pCCU.moos、missions/h100.moos、 test/pccu/pccu_it.moos 同步新格式。 验证：伪造 CANET Server 冒烟通过（多通道建链/上行解析发布/SQLite channel 列/ 下行通道路由与回退丢弃/srcAux 经 MOOSDB 往返）； pccu 集成测试 PASSED（BCU 断路器下行 3 帧经新路由全部正确）； pccuTest 183/183、PowerMangerTests 64/64 通过。
332 lines
12 KiB
C++
332 lines
12 KiB
C++
#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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for (size_t i = 0; i < m_channels.size(); ++i) {
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if (m_channels[i].endpoint) {
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m_channels[i].endpoint->stop();
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delete m_channels[i].endpoint;
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m_channels[i].endpoint = nullptr;
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}
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}
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m_channels.clear();
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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：读取配置并启动各通道 CAN 链路
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//
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// 通道配置（可重复多行）：
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// channel = <通道名>,<转换器IP>,<工作端口>
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// 兼容旧单通道配置：can_host / can_port / can_channel_name
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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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// 旧单通道配置缓存（存在 can_host 时回退使用）
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bool hasLegacy = false;
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string legacyHost, legacyName = "CAN0";
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long legacyPort = 0;
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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 == "channel") {
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// channel = <通道名>,<IP>,<端口>
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string name = stripBlankEnds(biteStringX(value, ','));
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string host = stripBlankEnds(biteStringX(value, ','));
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string port = stripBlankEnds(value);
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ChannelCfg cfg;
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cfg.name = name;
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cfg.host = host;
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cfg.port = atol(port.c_str());
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if (cfg.name.empty() || cfg.host.empty() || cfg.port <= 0) {
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reportConfigWarning("bad channel line (want name,host,port): " + orig);
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} else {
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Channel ch;
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ch.cfg = cfg;
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m_channels.push_back(ch);
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}
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}
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else if (param == "default_channel") m_defaultChannel = value;
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else if (param == "dbpath") m_dbPath = value;
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// 旧单通道配置（向后兼容）
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else if (param == "can_host") { legacyHost = value; hasLegacy = true; }
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else if (param == "can_port") { legacyPort = atol(value.c_str()); hasLegacy = true; }
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else if (param == "can_channel_name") { legacyName = 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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// 无 channel 行但有旧配置 -> 构造单通道
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if (m_channels.empty() && hasLegacy &&
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!legacyHost.empty() && legacyPort > 0) {
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ChannelCfg cfg;
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cfg.name = legacyName;
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cfg.host = legacyHost;
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cfg.port = legacyPort;
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Channel ch;
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ch.cfg = cfg;
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m_channels.push_back(ch);
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reportConfigWarning("legacy can_host/can_port config used; "
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"prefer 'channel = name,host,port' lines");
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}
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registerVariables();
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if (m_channels.empty())
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reportRunWarning("no CAN channel configured");
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// 数据库（CAN 帧落库，channel 列区分通道）
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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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// 各通道 CAN 链路（TCP Client，收帧回调在各自接收线程中触发）
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for (size_t i = 0; i < m_channels.size(); ++i) {
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Channel& ch = m_channels[i];
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ch.endpoint = new CanEndpoint();
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ch.endpoint->configure(ch.cfg.host, ch.cfg.port);
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const string name = ch.cfg.name; // 按通道捕获
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ch.endpoint->setFrameCallback(
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[this, name](uint8_t fi, uint32_t id, const uint8_t* data, int dlc) {
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handleFrame(name, fi, id, data, dlc);
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});
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if (!ch.endpoint->start())
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reportRunWarning("CAN endpoint start failed: " + ch.cfg.name +
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" (" + ch.cfg.host + ")");
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}
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cout << "pCanBridge started with " << m_channels.size() << " channel(s):";
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for (size_t i = 0; i < m_channels.size(); ++i)
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cout << " " << m_channels[i].cfg.name << "="
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<< m_channels[i].cfg.host << ":" << m_channels[i].cfg.port;
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cout << ", 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：订阅下行指令（CAN_TX_0x*，pCCU 发布的
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// BCU 断路器控制帧等，通道经 m_sSrcAux 指定）。
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void CanBridge::registerVariables() {
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AppCastingMOOSApp::RegisterVariables();
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// 通配订阅必须用三参数重载（变量模式 + 来源模式）
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Register("CAN_TX_0x*", "*", 0);
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}
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//---------------------------------------------------------
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// OnNewMail：下行指令 CAN_TX_0x%08X（二进制数据域）
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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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if (msg.m_sKey.rfind("CAN_TX_0x", 0) == 0)
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handleTxMessage(msg);
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}
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return true;
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}
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//---------------------------------------------------------
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// findChannel：按通道名查找运行通道
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CanBridge::Channel* CanBridge::findChannel(const std::string& name) {
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for (size_t i = 0; i < m_channels.size(); ++i) {
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if (m_channels[i].cfg.name == name && m_channels[i].endpoint)
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return &m_channels[i];
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}
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return nullptr;
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}
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//---------------------------------------------------------
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// resolveTxChannel：下行目标通道解析（回退规则）
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// 1) srcAux 非空：命中通道则用之，否则告警丢弃
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// 2) srcAux 为空：default_channel 命中则用之
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// 3) 仍无：仅单通道时用该通道，多通道告警丢弃
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CanBridge::Channel* CanBridge::resolveTxChannel(const std::string& srcAux) {
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if (!srcAux.empty()) {
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Channel* ch = findChannel(srcAux);
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if (!ch)
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reportRunWarning("CAN_TX unknown channel: '" + srcAux + "'");
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return ch;
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}
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if (!m_defaultChannel.empty()) {
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Channel* ch = findChannel(m_defaultChannel);
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if (ch) return ch;
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}
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if (m_channels.size() == 1)
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return m_channels[0].endpoint ? &m_channels[0] : nullptr;
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reportRunWarning("CAN_TX no channel (empty srcAux) with " +
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to_string(m_channels.size()) + " channels, dropped");
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return nullptr;
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}
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//---------------------------------------------------------
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// handleTxMessage：MOOS 下行消息 -> CANET 13 字节帧 -> 对应通道
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//
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// m_sKey = "CAN_TX_0x%08X"（CAN ID）
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// m_sVal = 二进制数据域（dlc<=8）
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// m_sSrcAux = 目标通道名（空时按回退规则）
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// 帧信息：id>0x7FF 视为扩展帧(bit7=1)，DLC=数据字节数。
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void CanBridge::handleTxMessage(CMOOSMsg& msg) {
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++m_txCount;
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uint32_t id = 0;
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// "CAN_TX_0x" 前缀长 9 字符（注意不是 8）
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int sr = std::sscanf(msg.m_sKey.c_str() + 9, "%x", &id);
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if (sr != 1) {
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++m_txDropCount;
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reportRunWarning("CAN_TX bad key: " + msg.m_sKey);
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return;
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}
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if (!msg.IsBinary() || msg.GetBinaryDataSize() <= 0 ||
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msg.GetBinaryDataSize() > 8) {
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++m_txDropCount;
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reportRunWarning("CAN_TX bad data size: " + msg.m_sKey);
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return;
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}
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Channel* ch = resolveTxChannel(msg.GetSourceAux());
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if (!ch) {
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++m_txDropCount;
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return;
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}
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const unsigned char* d = msg.GetBinaryData();
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if (!d) {
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++m_txDropCount;
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return;
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}
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int dlc = static_cast<int>(msg.GetBinaryDataSize());
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uint8_t frameInfo = static_cast<uint8_t>(((id > 0x7FF) ? 0x80 : 0x00) | dlc);
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if (ch->endpoint->sendFrame(frameInfo, id, d, dlc)) {
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char hex[32] = {0};
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for (int i = 0; i < dlc && i < 8; ++i)
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std::snprintf(hex + i * 2, 3, "%02X", d[i]);
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std::cout << "[CAN-TX " << ch->cfg.name << "] 0x" << std::hex << id
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<< std::dec << " dlc=" << dlc << " data=" << hex << std::endl;
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} else {
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reportRunWarning("CAN_TX send failed on " + ch->cfg.name + ": " +
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msg.m_sKey +
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(ch->endpoint->isConnected() ? "" : " (未连接)"));
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}
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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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// 在各通道 CanEndpoint 接收线程中调用；m_Comms::Post 线程安全。
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void CanBridge::handleFrame(const std::string& channel, uint8_t frameInfo,
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uint32_t id, const uint8_t* data, int dlc) {
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// 落库（WAL + 预处理语句，~60帧/秒无压力）
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if (m_db) m_db->onFrame(channel, frameInfo, id, data, dlc);
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char key[32];
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std::snprintf(key, sizeof(key), "CAN_0x%08X", id);
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// 二进制构造：m_cDataType = MOOS_BINARY_STRING
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CMOOSMsg msg(MOOS_NOTIFY, key,
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static_cast<unsigned int>(dlc),
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const_cast<uint8_t*>(data));
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msg.SetSourceAux(channel); // 通道 -> m_sSrcAux
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msg.SetDoubleAux(static_cast<double>(frameInfo)); // FF/RTR/DLC -> m_dfVal2
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m_Comms.Post(msg);
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}
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//---------------------------------------------------------
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// buildReport：AppCasting 报告（逐通道）
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bool CanBridge::buildReport() {
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m_msgs << "============================================" << "\n";
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m_msgs << "pCanBridge CAN<->MOOSDB 多通道双向透传" << "\n";
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m_msgs << "============================================" << "\n";
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m_msgs << "通道数: " << m_channels.size() << "\n";
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if (!m_defaultChannel.empty())
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m_msgs << "默认通道: " << m_defaultChannel << "\n";
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m_msgs << "MOOS下发数: " << m_txCount << " (丢弃 " << m_txDropCount << ")\n";
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for (size_t i = 0; i < m_channels.size(); ++i) {
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const Channel& ch = m_channels[i];
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m_msgs << "--------------------------------------------" << "\n";
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m_msgs << "[" << ch.cfg.name << "] " << ch.cfg.host << ":"
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<< ch.cfg.port << "\n";
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if (ch.endpoint) {
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m_msgs << " 连接状态: "
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<< (ch.endpoint->isConnected() ? "已连接" : "断开") << "\n";
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m_msgs << " 收帧数: " << ch.endpoint->frameCount() << "\n";
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m_msgs << " 下行帧数: " << ch.endpoint->txCount()
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<< " (错误 " << ch.endpoint->txErrorCount() << ")\n";
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m_msgs << " 错误数: " << ch.endpoint->errorCount() << "\n";
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m_msgs << " 重连次数: " << ch.endpoint->reconnectCount() << "\n";
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m_msgs << " 最近收帧: " << ch.endpoint->lastFrameTime() << "\n";
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}
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}
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m_msgs << "============================================" << "\n";
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if (m_db) {
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m_msgs << "数据库: " << m_dbPath
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<< (m_db->isOpen() ? " (已打开)" : " (未打开)") << "\n";
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m_msgs << "落库记录数: " << m_db->count() << "\n";
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}
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return true;
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}
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} // namespace canbridge
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