update

.project/cmake/deps.cmake

@@ -4,7 +4,11 @@ include(${CMAKE_SOURCE_DIR}/dep/websocketpp/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zservice_container/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zwebservice/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/alsaplayer/module.cmake)
-include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/rootfs_auto_update/module.cmake)
+include(
+  ${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/rootfs_auto_update/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/mycroft_precise/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/audio/module.cmake)
 include(${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/aiui_ws/module.cmake)
+include(
+  ${CMAKE_SOURCE_DIR}/dep/zlinuxcomponents/iflytop_can_protocol_stack/module.cmake
+)

.project/cmake/target.cmake

@@ -14,6 +14,7 @@ zadd_executable_simple(
   # src/test/socketcan.cpp
   src/service/main_control_service.cpp #
   src/service/iflytop_hardware_ws_service.cpp
+  src/service/can_service.cpp
   #
 )
 

dep/iflytopcpp

@@ -1 +1 @@
-Subproject commit f186de7700bf4550ce2420d1cd87d43a5a1bfc39
+Subproject commit 5bcf536387d8b316efc986e3497c14c5e61cfdaa

dep/zlinuxcomponents

@@ -1 +1 @@
-Subproject commit eb8fc79706c1d240c399db75fda5c9f4e592514c
+Subproject commit 3be3c3ef0f52649cbc6e1b7d5fab7668d6b17edc

src/configs/gconfig.hpp

@@ -14,7 +14,12 @@
 
 #include "iflytopcpp/core/components/config_template/config_template.hpp"
 
-#define ConfigELEMENT_LIST(marco) marco(string /*  */, deviceId, "") /*设备ID*/
+#define ConfigELEMENT_LIST(marco)                                                              \
+  marco(string /*  */, deviceId, "")                           /*设备ID*/                    \
+      marco(string /*  */, iflytopSubDeviceCanIFName, "can0")  /*子设备Can设备名称*/    \
+      marco(int32_t /* */, iflytopSubDeviceCanBitrate, 500000) /*子设备Can设备波特率*/ \
+      marco(string /*  */, pipettingRobotCanIFName, "can1")    /*移液臂Can设备名称*/    \
+      marco(int32_t /* */, pipettingRobotCanBitrate, 500000)   /*移液臂Can设备波特率*/
 
 configTemplateDEFILE_CONFIG_SERVICE2(  //
     GConfig,                           //

src/service/can_service.cpp

@@ -0,0 +1,63 @@
+#include "can_service.hpp"
+using namespace std;
+using namespace iflytop;
+
+void CanService::initialize() {
+  GET_TO_SERVICE(m_config);
+
+  m_socketCan.reset(new SocketCan());
+  m_iflytopCanProtocolStack.reset(new IflytopCanProtocolStack());
+
+  auto socketCanConfig           = make_shared<SocketCanConfig>();
+  socketCanConfig->enablLoopback = false;  // 根据 SocketCan::dumpCanDriverInfo() 的输出，确定该标志位是false还是true
+  socketCanConfig->m_canName     = m_config->get_iflytopSubDeviceCanIFName();
+  socketCanConfig->m_canBaudrate = m_config->get_iflytopSubDeviceCanBitrate();
+  socketCanConfig->m_canfilters  = {};
+
+  logger->info("CanService::initialize() m_canName:{} {}", socketCanConfig->m_canName, socketCanConfig->m_canBaudrate);
+
+  m_socketCan->initialize(socketCanConfig);
+  m_socketCan->startListen();
+
+  m_socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> canframe) {  //
+    processRx(canframe);
+  });
+
+  // m_socketCan->initialize()
+}
+
+void CanService::processRx(shared_ptr<SocketCanFrame> frame) {
+  if (frame) {
+    return;
+  }
+
+  if (frame->getCanIdentifier() == socketcan::kextFrame &&  //
+      frame->getFanFrameType() == socketcan::kdataframe) {
+    processIflytopRxPacket(frame);
+  } else {
+    logger->warn("Rx unknown can frame");
+  }
+}
+void CanService::processHamiltonCanRxPacket(shared_ptr<SocketCanFrame> frame) {  //
+  logger->info("Rx Hamilton packet : {}", frame->toString());
+}
+void CanService::processIflytopRxPacket(shared_ptr<SocketCanFrame> frame) {
+  shared_ptr<icps::Packet> icps_packet = m_iflytopCanProtocolStack->parseSocketCanFrame(frame);
+  if (!icps_packet) {
+    logger->error("parseSocketCanFrame fail,{}", frame->toString());
+    return;
+  }
+  onIflytopCanSubDevicePacket(icps_packet);
+}
+
+void CanService::sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet) {
+  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));
+  }
+}

src/service/can_service.hpp

@@ -13,29 +13,50 @@
 #include <string>
 #include <vector>
 
+#include "configs/gconfig.hpp"
+#include "iflytopcpp/core/basic/nlohmann/json.hpp"
+#include "iflytopcpp/core/driver/socketcan/socket_can.hpp"
 #include "iflytopcpp/core/spdlogfactory/logger.hpp"
+#include "zlinuxcomponents/iflytop_can_protocol_stack/iflytop_can_protocol_stack.hpp"
+#include "zservice_container/zservice_container.hpp"
 
 /**
  * @brief
  *
  * service: CanService
  *
- * 监听事件:
- * 依赖状态:
- * 依赖服务:
- * 作用:
- *
+ *    1. 负责监听，分流IflytopSubDevice的CAN消息和哈美顿的CAN消息
+ *    2. 负责将CanFrame转换成IflytopCanPacket
  */
 
 namespace iflytop {
 using namespace std;
 using namespace iflytop;
 using namespace core;
+using namespace nlohmann;
 class CanService : public enable_shared_from_this<CanService> {
   ENABLE_LOGGER(CanService);
 
+  shared_ptr<SocketCan> m_socketCan;
+  shared_ptr<GConfig>   m_config;
+
+  shared_ptr<IflytopCanProtocolStack> m_iflytopCanProtocolStack;
+
  public:
-  void initialize(){};
+  nod::signal<void(shared_ptr<icps::Packet> packet)> onIflytopCanSubDevicePacket;
+
+  void initialize();
+  void startListen();
+
+  void sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> packet);
+
+ private:
+  void processRx(shared_ptr<SocketCanFrame> frame);
+  // 处理iflytop子设备的CAN消息
+  void processIflytopRxPacket(shared_ptr<SocketCanFrame> frame);
+  // 处理哈美顿的CAN消息
+  void processHamiltonCanRxPacket(shared_ptr<SocketCanFrame> frame);
 
+ private:
 };
 }  // namespace iflytop