update

dep/zlinuxcomponents

@@ -1 +1 @@
-Subproject commit 3be3c3ef0f52649cbc6e1b7d5fab7668d6b17edc
+Subproject commit c0d81c03b27786308a632063f146ecb34f1f2aee

src/configs/project_setting.hpp

@@ -0,0 +1,9 @@
+#pragma once
+#define LINUX_HARDWARE_ID (0x02)
+
+/*******************************************************************************
+ *                             LINUX_HARDWARE_REG                              *
+ *******************************************************************************/
+
+#define REG_REBOOT_FLAG    0x0000  // 重启标识
+#define REG_EXCEPTION_FLAG 0x0100  // 异常标志位

src/main.cpp

@@ -1,4 +1,8 @@
 #include "main.hpp"
+
+#include "service/can_service.hpp"
+#include "service/iflytop_hardware_ws_service.hpp"
+
 using namespace iflytop;
 using namespace core;
 using namespace std;
@@ -64,10 +68,16 @@ int Main::main(int argc, char *argv[]) {
   if (!device_id.empty()) GET_SERVICE(GConfig)->set_deviceId(device_id);
 
   updateRootfs();
-  /**
-   * @brief DeviceIOService初始化
-   */
   auto config = GET_SERVICE(GConfig);
+
+  // 构造iflytophardwarews
+  BUILD_AND_REG_SERRVICE(IflytopWSService);
+  GET_SERVICE(IflytopWSService)->initialize();
+
+  // 构造CanService
+  BUILD_AND_REG_SERRVICE(CanService);
+  GET_SERVICE(CanService)->initialize();
+
   // 构造MainControlService
   BUILD_AND_REG_SERRVICE(MainControlService);
   GET_SERVICE(MainControlService)->initialize();

src/service/can_service.cpp

@@ -50,14 +50,14 @@ void CanService::processIflytopRxPacket(shared_ptr<SocketCanFrame> frame) {
   onIflytopCanSubDevicePacket(icps_packet);
 }
 
-void CanService::sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet) {
+SocketCan::SocketCanError_t CanService::sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet, int overtime_ms) {
   auto frame = m_iflytopCanProtocolStack->createSocketCanFrame(icps_packet);
   if (!frame) {
     logger->error("createSocketCanFrame fail,{}", icps_packet->toString());
-    return;
-  }
-  SocketCan::SocketCanError_t erro = m_socketCan->sendFrame(frame);
-  if (erro != SocketCan::SocketCanError_t::kSuccess) {
-    logger->error("sendFrame fail,{}", SocketCan::SocketCanError_t2Str(erro));
+    return SocketCan::kErrorFrameFormat;
   }
+  return m_socketCan->sendFrame(frame, overtime_ms);
+  // if (erro != SocketCan::SocketCanError_t::kSuccess) {
+  // logger->error("sendFrame fail,{}", SocketCan::SocketCanError_t2Str(erro));
+  // }
 }

src/service/can_service.hpp

@@ -48,7 +48,7 @@ class CanService : public enable_shared_from_this<CanService> {
   void initialize();
   void startListen();
 
-  void sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> packet);
+  SocketCan::SocketCanError_t sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet, int overtime_ms);
 
  private:
   void processRx(shared_ptr<SocketCanFrame> frame);

src/service/iflytop_hardware_ws_service.cpp

@@ -29,10 +29,19 @@ void IflytopWSService::initialize() {
   m_server->start();
   m_server->wait();
 }
-void IflytopWSService::sendMessage(const string& message) {}
+void IflytopWSService::sendMessage(const string& message) {
+  /**
+   * @brief 广播消息给所有连接的客户端
+   */
+  auto clients = m_server->getClients();
+  for (auto& each : clients) {
+    if (each) {
+      each->sendText(message);
+    }
+  }
+}
 
-void IflytopWSService::onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState,
-                                         const ix::WebSocketMessagePtr& msg) {
+void IflytopWSService::onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState, const ix::WebSocketMessagePtr& msg) {
   if (msg->type == ix::WebSocketMessageType::Open) {
     logger->info("New connection");
     logger->info("id     : {}", connectionState->getId());

src/service/main_control_service.cpp

@@ -1,5 +1,6 @@
 #include "main_control_service.hpp"
 
+#include "configs/project_setting.hpp"
 #include "iflytopcpp/core/components/stringutils.hpp"
 #include "version.hpp"
 using namespace iflytop;
@@ -23,11 +24,193 @@ class Trace {
  * ======================================================代码======================================================= *
  *********************************************************************************************************************/
 
+bool MainControlService::createIflytopHardwareWSPacket(shared_ptr<icps::Packet> packetin, json& jout) {
+  if (!packetin) return false;
+#if 0
+{
+    "channel":"can0",
+    "protocol":"iflytopCanProtocolStackV1",
+    "message": {
+        "attribute": "normal/gbroadcast/subbroadcast",
+        "priority": 4, //0->7,0最高
+        "type": "w/r/receipt/report/set_auto_report/heart_packet",
+        "targetId": 128, // 128->255
+        "sourceId": 1, // 默认为1
+        "seq": 0, //0-65535,
+        "regAdd": 0, //0-65535
+        "regValue": 100 // -2^31->2^31-1
+    }
+}
+#endif
+
+  if (packetin->getSourceId() == LINUX_HARDWARE_ID) {
+    jout["channel"] = "local";
+  } else {
+    jout["channel"] = "can0";
+  }
+
+  jout["protocol"]             = "iflytopCanProtocolStackV1";
+  jout["message"]["attribute"] = packetin->getAttributeStr();
+  jout["message"]["priority"]  = packetin->getPriority();
+  jout["message"]["type"]      = packetin->getTypeStr();
+  jout["message"]["targetId"]  = packetin->getTargetId();
+  jout["message"]["sourceId"]  = packetin->getSourceId();
+  jout["message"]["seq"]       = packetin->getSeq();
+  jout["message"]["regAdd"]    = packetin->getRegAdd();
+  jout["message"]["regValue"]  = packetin->getRegValue();
+  return true;
+}
+
+bool MainControlService::createICPSPacket(json jin, shared_ptr<icps::Packet>& packetin) {  //
+  shared_ptr<icps::Packet> packetout(new icps::Packet());
+  if (jin["protocol"] != "iflytopCanProtocolStackV1") {
+    logger->error("create ICPSPacket failed, protocol not match,protocol:{}", jin["protocol"].get<string>());
+    return false;
+  }
+
+  packetin->setAttributeByStr(jin["message"]["attribute"]);
+  packetin->setPriority(jin["message"]["priority"]);
+  packetin->setTypeByStr(jin["message"]["type"]);
+  packetin->setTargetId(jin["message"]["targetId"]);
+  packetin->setSourceId(jin["message"]["sourceId"]);
+  packetin->setSeq(jin["message"]["seq"]);
+  packetin->setRegAdd(jin["message"]["regAdd"]);
+  packetin->setRegValue(jin["message"]["regValue"]);
+  return true;
+}
+
 void MainControlService::initialize() {
   GET_TO_SERVICE(m_zconfig);
-  // GET_TO_SERVICE(m_commonVoiceProcesser);
+  GET_TO_SERVICE(m_iflytopWSService);
+  GET_TO_SERVICE(m_canService);
+
+  localVirtualCanSlaveInitialize();
+  websocketServerInitialize();
 
+  /*******************************************************************************
+   *                              真实的CAN设备衔接                              *
+   *******************************************************************************/
+  m_canService->onIflytopCanSubDevicePacket.connect([this](shared_ptr<icps::Packet> packet) {  //
+    processCanMessageFromCanService(packet);
+  });
 };
-void MainControlService::processReceiveMessage(fromwhere_t fromwhere, const json& in, json& receipt) {
-  logger->info("process receive message from {},{}", fromwhere2str(fromwhere), in.dump());
+
+void MainControlService::websocketServerInitialize() {
+  /**
+   * @brief
+   *   对接下行消息
+   */
+  m_iflytopWSService->onMessage.connect([this](weak_ptr<WebSocket> webSocket, const ix::WebSocketMessagePtr& msg) {
+    if (msg->binary) {
+      logger->warn("receive binary message,ignore");
+      return;
+    }
+    string msgtext = msg->str;
+    try {
+      json message = json::parse(msgtext);
+      processIflytopWSMsg(message);
+    } catch (const std::exception& e) {
+    }
+  });
+}
+
+void MainControlService::localVirtualCanSlaveInitialize() {
+  m_localVirtualCanSlave.reset(new IflytopVirtualCanSlave());
+  m_localVirtualCanSlave->initialize(LINUX_HARDWARE_ID);
+  m_localVirtualCanSlave->activeReg(REG_REBOOT_FLAG, icps::kw | icps::kr, 0);
+  m_localVirtualCanSlave->activeReg(REG_EXCEPTION_FLAG, icps::kw | icps::kr, 0);
+  m_localVirtualCanSlave->setOnHostRegisterReadEvent(  //
+      [this](icps::Reg_t& reg, int32_t& value) {       //
+        return icps::kSuccess;
+      });
+  m_localVirtualCanSlave->setOnHostRegisterWriteEvent(                 //
+      [this](icps::Reg_t& reg, int32_t oldvalue, int32_t& newvalue) {  //
+        return icps::kSuccess;
+      });
+  m_localVirtualCanSlave->setOnRegisterValueAutoReportEvent(  //
+      [this](icps::Reg_t& reg, int32_t& value) {              //
+        return;
+      });
+  m_localVirtualCanSlave->IflytopVirtualCanIF_setUpstream(  //
+      [this](shared_ptr<icps::Packet> packet) {             //
+        /**
+         * @brief
+         *    本地虚拟can上报消息给Websocket
+         */
+        processCanMessageFromLocalCanService(packet);
+        return;
+      });
+}
+
+/*******************************************************************************
+ *                                上行消息处理                                 *
+ *******************************************************************************/
+
+/**
+ * @brief 处理从CanService接收到的上行消息
+ *
+ * @param packet
+ */
+void MainControlService::processCanMessageFromCanService(shared_ptr<icps::Packet> packet) {
+  /**
+   * @brief 处理从can收到的消息
+   */
+  json uppacket;
+  bool suc = createIflytopHardwareWSPacket(packet, uppacket);
+  if (!suc) {
+    logger->error("{}|createIflytopHardwareWSPacket failed,packet:{}", __LINE__, packet->toString());
+    return;
+  }
+  m_iflytopWSService->sendMessage(uppacket.dump());
+}
+/**
+ * @brief 处理本地虚拟can的上行消息
+ *
+ * @param packet
+ */
+void MainControlService::processCanMessageFromLocalCanService(shared_ptr<icps::Packet> packet) {
+  json uppacket;
+  bool suc = createIflytopHardwareWSPacket(packet, uppacket);
+  if (!suc) {
+    logger->error("{}|createIflytopHardwareWSPacket failed,packet:{}", __LINE__, packet->toString());
+    return;
+  }
+  m_iflytopWSService->sendMessage(uppacket.dump());
+}
+/*******************************************************************************
+ *                                下行消息处理                                 *
+ *******************************************************************************/
+void MainControlService::processIflytopWSMsg(const json& in) {
+  /**
+   * @brief
+   *    路由消息到CAN，Local，或者其他服务
+   *
+   *    1. 消息由json转换成packet
+   *    2. 根据地址陆游消息到CAN，Local，或者其他服务
+   */
+  shared_ptr<icps::Packet> packet;
+  createICPSPacket(in, packet);
+  if (packet == nullptr) {
+    logger->error("create ICPSPacket failed");
+    return;
+  }
+
+  if (packet->getTargetId() == LINUX_HARDWARE_ID) {
+    /**
+     * @brief
+     *    本地虚拟can设备
+     */
+    m_localVirtualCanSlave->IflytopVirtualCanIF_feedPacket(packet);
+  } else {
+    /**
+     * @brief
+     *    转发给can设备
+     */
+    SocketCan::SocketCanError_t error = m_canService->sendPacketToIflytopCanSubDevice(packet, 10);
+    if (error != SocketCan::SocketCanError_t::kSuccess) {
+      logger->error("sendPacketToIflytopCanSubDevice failed, error:{},({})",  //
+                    SocketCan::SocketCanError_t2Str(error), error);
+      IflytopCanProtocolStack().createErrorPacket(packet, icps::kOvertime);
+    }
+  }
 }

src/service/main_control_service.hpp

@@ -18,13 +18,15 @@
 //
 #include "configs/gconfig.hpp"
 #include "zservice_container/zservice_container.hpp"
-#include "zwebservice/zwebservice.hpp"
 
 //
 #include "configs/gconfig.hpp"
 #include "iflytopcpp/core/components/jobs/work_queue.hpp"
 #include "iflytopcpp/core/components/timer/simple_timer.hpp"
+#include "service/can_service.hpp"
+#include "service/iflytop_hardware_ws_service.hpp"
 #include "zlinuxcomponents/alsaplayer/smart_soundbox_player.hpp"
+#include "zlinuxcomponents/iflytop_can_protocol_stack/iflytop_virtual_can_slave.hpp"
 
 /**
  * @brief
@@ -44,7 +46,11 @@ using namespace core;
 class MainControlService : public enable_shared_from_this<MainControlService> {
   ENABLE_LOGGER(MainControlService);
 
-  shared_ptr<GConfig> m_zconfig;
+  shared_ptr<GConfig>          m_zconfig;
+  shared_ptr<IflytopWSService> m_iflytopWSService;
+  shared_ptr<CanService>       m_canService;
+
+  shared_ptr<IflytopVirtualCanSlave> m_localVirtualCanSlave;
 
   typedef enum {
     kzwebService,
@@ -57,7 +63,13 @@ class MainControlService : public enable_shared_from_this<MainControlService> {
   }
 
  private:
-  void processReceiveMessage(fromwhere_t fromwhere, const json& in, json& receipt);
+
+  void localVirtualCanSlaveInitialize();
+  void websocketServerInitialize();
+
+  void processIflytopWSMsg(const json& in);
+  void processCanMessageFromCanService(shared_ptr<icps::Packet> packet);
+  void processCanMessageFromLocalCanService(shared_ptr<icps::Packet> packet);
 
  public:
   MainControlService(){};
@@ -73,5 +85,9 @@ class MainControlService : public enable_shared_from_this<MainControlService> {
    * @brief 处理本次对话，一般接收完全部的ASR结果后，调用此函数
    */
   void triggerProcessConversationSession();
+
+ private:
+  bool createIflytopHardwareWSPacket(shared_ptr<icps::Packet> packetin, json& jout);
+  bool createICPSPacket(json jin, shared_ptr<icps::Packet>& packetin);
 };
 }  // namespace iflytop