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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。
112 lines
6.4 KiB
C++
112 lines
6.4 KiB
C++
/****************************************************************/
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/* NAME: CanBridge_Info */
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/* FILE: CanBridge_Info.cpp */
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/****************************************************************/
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#include <cstdlib>
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#include <iostream>
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#include "CanBridge_Info.h"
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#include "ColorParse.h"
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#include "ReleaseInfo.h"
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using namespace std;
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void showSynopsis() {
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blk("SYNOPSIS: ");
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blk("------------------------------------ ");
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blk(" The pCanBridge application bridges CAN bus frames between ");
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blk(" multi-channel CANET Ethernet-CAN converters (TCP Server mode) ");
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blk(" and the MOOSDB. Each channel uses its own TCP connection ");
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blk(" (CANET working port). Every CAN frame is parsed from the ");
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blk(" 13-byte CANET wire format and transparently published as a ");
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blk(" binary MOOS message (channel tagged via m_sSrcAux). ");
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blk(" ");
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}
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void showHelpAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("Usage: pCanBridge file.moos [OPTIONS] ");
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blu("=============================================================== ");
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blk(" ");
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showSynopsis();
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blk(" ");
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blk("Options: ");
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mag(" --alias","=<ProcessName> ");
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blk(" Launch pCanBridge with the given process name ");
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blk(" rather than pCanBridge. ");
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mag(" --example, -e ");
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blk(" Display example MOOS configuration block. ");
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mag(" --help, -h ");
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blk(" Display this help message. ");
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mag(" --interface, -i ");
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blk(" Display MOOS publications and subscriptions. ");
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mag(" --version,-v ");
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blk(" Display the release version of pCanBridge. ");
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blk(" ");
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blk("Note: If argv[2] does not otherwise match a known option, ");
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blk(" then it will be interpreted as a run alias. This is ");
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blk(" to support pAntler launching conventions. ");
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blk(" ");
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exit(0);
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}
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void showExampleConfigAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("pCanBridge Example MOOS Configuration ");
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blu("=============================================================== ");
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blk(" ");
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blk("ProcessConfig = pCanBridge ");
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blk("{ ");
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blk(" AppTick = 4 ");
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blk(" CommsTick = 4 ");
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blk(" ");
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blk(" // CANET 通道（可重复多行）：通道名,IP,工作端口 ");
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blk(" // 工作端口: CAN0=4001 CAN1=4002 ... CAN7=4008 ");
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blk(" channel = CAN0,192.168.0.222,4001 ");
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blk(" channel = CAN1,192.168.0.222,4002 ");
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blk(" ");
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blk(" // CAN_TX 下行默认通道（m_sSrcAux 为空时使用，可省略） ");
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blk(" default_channel = CAN0 ");
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blk(" ");
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blk(" // CAN 帧 SQLite 落库路径（can_frame 表） ");
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blk(" dbpath = pCanBridge_data.db ");
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blk("} ");
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blk(" ");
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exit(0);
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}
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void showInterfaceAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("pCanBridge INTERFACE ");
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blu("=============================================================== ");
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blk(" ");
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showSynopsis();
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blk(" ");
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blk("SUBSCRIPTIONS: ");
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blk("------------------------------------ ");
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blk(" CAN_TX_0x%08X = 下行 CAN 帧（每帧一条二进制消息） ");
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blk(" m_sVal: 二进制 data（dlc<=8 字节, MOOS_BINARY_STRING） ");
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blk(" m_sSrcAux: 目标通道名（如 CAN0；空时按回退规则： ");
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blk(" default_channel > 单通道 > 多通道告警丢弃） ");
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blk(" ");
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blk("PUBLICATIONS: ");
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blk("------------------------------------ ");
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blk(" CAN_0x%08X = CAN 帧（每帧一条二进制消息） ");
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blk(" 变量名: CAN ID 完整 4 字节十六进制, 如 CAN_0x10010001 ");
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blk(" m_sVal: 二进制 data（dlc 字节, MOOS_BINARY_STRING） ");
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blk(" m_sSrcAux: 通道名（如 CAN0） ");
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blk(" m_dfVal2: 原始帧信息字节 byte0 ");
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blk(" bit7=FF(1扩展/0标准) bit6=RTR(1远程/0数据) ");
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blk(" bit3~0=DLC ");
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blk(" ");
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exit(0);
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}
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void showReleaseInfoAndExit() {
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showReleaseInfo("pCanBridge", "gpl");
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exit(0);
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}
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