H100PowerManger/src/pCanBridge/CanBridge.cpp

#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