zjk
b547772709
新应用 src/pCanBridge（独立 MOOS App，单通道）： - CanEndpoint：TCP Client 连接 CANET/USBCAN-8E-U 工作端口 （目标 IP/端口可配置，默认 192.168.0.222:4001=CAN0）， 接收线程流式缓冲按 13 字节切帧，过滤无效 DLC(>8)， 断线自动重连（非阻塞 connect+超时 / SO_RCVTIMEO 读超时）。 - 帧协议（CANET-8E-U 手册 8.1）：byte0=帧信息(bit7 FF/bit6 RTR/ bit3~0 DLC)，byte1~4=ID 大端，byte5~12=数据。 - MOOS 映射：变量名 CAN_0x%08X=CAN ID（不缩减），m_sVal=二进制 data（逐帧透传不限流），m_sSrcAux=通道名(can_channel_name)， m_dfVal2=原始帧信息字节（用于区分标准/扩展、数据/远程帧）。 - CanDbStore：每帧落库 SQLite（can_frame 表：time/channel/ frame_info/can_id/dlc/hex，含 time、can_id 索引），参考 pCCU DbStore：预处理语句 + WAL + synchronous=NORMAL，路径由 dbpath 配置；复用 pPowerManger 的 sqlite3 amalgamation。 - AppCast 输出连接状态/收帧/发布/落库统计。 配套： - missions/h100.moos 新增 pCanBridge 配置块（板卡 dbpath 指向 data 目录）。 - build-board.sh / deploy.sh 支持 pCanBridge：产物部署 + pCanBridge.service 安装，服务列表加入第 5 个服务。 - .gitignore 忽略 bin/pCanBridge 与本机默认数据库。 已验证（板卡 192.168.0.223 实测）：服务 active，连接设备正常， ~60 帧/s 透传，落库 9000+ 行 integrity ok、无丢帧。
107 lines
6.0 KiB
C++
107 lines
6.0 KiB
C++
/****************************************************************/
|
||
/* NAME: CanBridge_Info */
|
||
/* FILE: CanBridge_Info.cpp */
|
||
/****************************************************************/
|
||
|
||
#include <cstdlib>
|
||
#include <iostream>
|
||
#include "CanBridge_Info.h"
|
||
#include "ColorParse.h"
|
||
#include "ReleaseInfo.h"
|
||
|
||
using namespace std;
|
||
|
||
void showSynopsis() {
|
||
blk("SYNOPSIS: ");
|
||
blk("------------------------------------ ");
|
||
blk(" The pCanBridge application bridges CAN bus frames from a ");
|
||
blk(" USBCAN-8E-U / CANET Ethernet-CAN converter (TCP Server mode) ");
|
||
blk(" into the MOOSDB. Each received CAN frame is parsed from the ");
|
||
blk(" 13-byte CANET wire format and transparently published as a ");
|
||
blk(" binary MOOS message. ");
|
||
blk(" ");
|
||
}
|
||
|
||
void showHelpAndExit() {
|
||
blk(" ");
|
||
blu("=============================================================== ");
|
||
blu("Usage: pCanBridge file.moos [OPTIONS] ");
|
||
blu("=============================================================== ");
|
||
blk(" ");
|
||
showSynopsis();
|
||
blk(" ");
|
||
blk("Options: ");
|
||
mag(" --alias","=<ProcessName> ");
|
||
blk(" Launch pCanBridge with the given process name ");
|
||
blk(" rather than pCanBridge. ");
|
||
mag(" --example, -e ");
|
||
blk(" Display example MOOS configuration block. ");
|
||
mag(" --help, -h ");
|
||
blk(" Display this help message. ");
|
||
mag(" --interface, -i ");
|
||
blk(" Display MOOS publications and subscriptions. ");
|
||
mag(" --version,-v ");
|
||
blk(" Display the release version of pCanBridge. ");
|
||
blk(" ");
|
||
blk("Note: If argv[2] does not otherwise match a known option, ");
|
||
blk(" then it will be interpreted as a run alias. This is ");
|
||
blk(" to support pAntler launching conventions. ");
|
||
blk(" ");
|
||
exit(0);
|
||
}
|
||
|
||
void showExampleConfigAndExit() {
|
||
blk(" ");
|
||
blu("=============================================================== ");
|
||
blu("pCanBridge Example MOOS Configuration ");
|
||
blu("=============================================================== ");
|
||
blk(" ");
|
||
blk("ProcessConfig = pCanBridge ");
|
||
blk("{ ");
|
||
blk(" AppTick = 4 ");
|
||
blk(" CommsTick = 4 ");
|
||
blk(" ");
|
||
blk(" // USBCAN-8E-U/CANET 目标地址（TCP Server 模式） ");
|
||
blk(" can_host = 192.168.0.222 // 转换器 IP ");
|
||
blk(" can_port = 4001 // 工作端口: CAN0=4001 CAN1=4002.. ");
|
||
blk(" ");
|
||
blk(" // 通道名（写入消息的 m_sSrcAux 辅助字段） ");
|
||
blk(" can_channel_name = CAN0 ");
|
||
blk(" ");
|
||
blk(" // CAN 帧 SQLite 落库路径（can_frame 表） ");
|
||
blk(" dbpath = pCanBridge_data.db ");
|
||
blk("} ");
|
||
blk(" ");
|
||
exit(0);
|
||
}
|
||
|
||
void showInterfaceAndExit() {
|
||
blk(" ");
|
||
blu("=============================================================== ");
|
||
blu("pCanBridge INTERFACE ");
|
||
blu("=============================================================== ");
|
||
blk(" ");
|
||
showSynopsis();
|
||
blk(" ");
|
||
blk("SUBSCRIPTIONS: ");
|
||
blk("------------------------------------ ");
|
||
blk(" (none: publish-only application) ");
|
||
blk(" ");
|
||
blk("PUBLICATIONS: ");
|
||
blk("------------------------------------ ");
|
||
blk(" CAN_0x%08X = CAN 帧（每帧一条二进制消息） ");
|
||
blk(" 变量名: CAN ID 完整 4 字节十六进制, 如 CAN_0x10010001 ");
|
||
blk(" m_sVal: 二进制 data（dlc 字节, MOOS_BINARY_STRING） ");
|
||
blk(" m_sSrcAux: 通道名（默认 CAN0） ");
|
||
blk(" m_dfVal2: 原始帧信息字节 byte0 ");
|
||
blk(" bit7=FF(1扩展/0标准) bit6=RTR(1远程/0数据) ");
|
||
blk(" bit3~0=DLC ");
|
||
blk(" ");
|
||
exit(0);
|
||
}
|
||
|
||
void showReleaseInfoAndExit() {
|
||
showReleaseInfo("pCanBridge", "gpl");
|
||
exit(0);
|
||
}
|