v1.0 | 实现tdcan

CMakeLists.txt

@@ -51,7 +51,7 @@ file(GLOB_RECURSE VAR_APP_SOURCE #
 message("VAR_APP_SOURCE: ${VAR_APP_SOURCE}")
 zadd_executable(
   TARGET
-  iflytopzexcand #
+  iflytoptdcan #
   INSTALL
   ./app/
   #

resources/iflytopzexcand.service → resources/iflytoptdcan.service

@@ -1,15 +1,15 @@
 [Unit]
 # 服务名称，可自定义
-Description = iflytopzexcand
+Description = iflytoptdcan
 After = network.target
 Wants = network.target
 
 [Service]
 Type = simple
-ExecStart = /iflytopd/iflytopzexcand/iflytopzexcand
+ExecStart = /iflytopd/iflytoptdcan/iflytoptdcan
 Restart=always
 RestartSec=0
-WorkingDirectory=/iflytopd/iflytopzexcand/
+WorkingDirectory=/iflytopd/iflytoptdcan/
 
 [Install]
 WantedBy = multi-user.target

resources/install_service.sh

@@ -0,0 +1,2 @@
+#/!/bin/bash
+cp iflytoptdcan.service /usr/lib/systemd/system/

src/app.cpp

@@ -14,28 +14,23 @@ void App::initialize() {
     string ifname   = config["basic"]["ifname"].value_or("can0");
     int    baudrate = config["basic"]["baudrate"].value_or(500000);
 
-    m_zcanreceiverhost.reset(new ZCanReceiverHost());
-    m_zcanreceiverhost->initialize(ifname, baudrate);
+    m_tdcanreceiverhost.reset(new TDCanReceiverHost());
+    m_tdcanreceiverhost->initialize(ifname, baudrate);
   } catch (const toml::parse_error& err) {
     logger->error("parse config error, {}", err);
     exit(1);
   }
 
-  m_unixsocket.reset(new UnixScoket(UnixScoket::Server, "zexcan"));
+  m_unixsocket.reset(new UnixScoket(UnixScoket::Server, "tdcan"));
   m_unixsocket->start();
 
-  m_zcanreceiverhost->registerListener([this](uint8_t fromboardid, uint8_t* packet, size_t packetlen) {
-    string hexStr = StringUtils().bytesToString((uint8_t*)packet, packetlen);
-    logger->info("RX_FROM_CAN:<- {}({})", hexStr, hexStr.size());
-
-    // Tx to Unix socket
+  m_tdcanreceiverhost->registerListener([this](uint8_t* packet, size_t packetlen) {
+    logger->info("tx");
     m_unixsocket->sendPacket(packet, packetlen);
   });
 
   m_unixsocket->onPacket.connect([this](const uint8_t* packet, size_t packetlen) {
-    logger->info("RX_FROM_UNIX_SOCKET:-> {}", StringUtils().bytesToString((uint8_t*)packet, packetlen));
-
-    // Tx to CAN
-    m_zcanreceiverhost->sendPacket((uint8_t*)packet, packetlen);
+    logger->info("rx");
+    m_tdcanreceiverhost->sendPacket((uint8_t*)packet, packetlen);
   });
 }

src/app.hpp

@@ -8,7 +8,7 @@
 
 #include "components/linuxsocket//unix_socket.hpp"
 #include "components/thread/thread.hpp"
-#include "components/zcanreceiver/zcanreceiverhost.hpp"
+#include "components/zcanreceiver/tdcanreceiverhost.hpp"
 #include "thirdlib/nod/nod.hpp"
 #include "thirdlib/spdlogfactory/logger_factory.hpp"
 
@@ -21,7 +21,7 @@ class App {
   ENABLE_LOGGER(App);
 
  private:
-  unique_ptr<ZCanReceiverHost> m_zcanreceiverhost;
+  unique_ptr<TDCanReceiverHost> m_tdcanreceiverhost;
   unique_ptr<UnixScoket>        m_unixsocket;
 
  public:

src/components/linuxsocket/unix_socket.hpp

@@ -59,7 +59,6 @@ class UnixScoket {
     memset(&tx_addr, 0, sizeof(tx_addr));
     tx_addr.sun_family = AF_UNIX;
     strncpy(tx_addr.sun_path, m_opposite_path.c_str(), sizeof(tx_addr.sun_path) - 1);
-
   }
 
   void start();

src/components/zcanreceiver/tdcan_protocol.hpp

@@ -0,0 +1,38 @@
+#pragma once
+#include <fstream>
+#include <functional>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+namespace iflytop {
+using namespace std;
+
+typedef struct {
+  struct {
+    uint8_t fid : 4;   // frame ID
+    uint8_t fnum : 4;  // frame number
+  } frameinfo;
+  uint8_t to;
+  uint8_t from;
+  uint8_t pad;
+} tdcan_id_t;
+
+
+
+
+typedef struct {
+  uint8_t  from;
+  uint8_t  to;
+  uint8_t  ptype;
+  uint8_t  index;
+  uint16_t fnid;
+  uint8_t  params[];  // parameters
+} tdcan_frame_t;
+
+
+}  // namespace iflytop

src/components/zcanreceiver/tdcanreceiverhost.cpp

@@ -0,0 +1,151 @@
+#include "tdcanreceiverhost.hpp"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "utils/stringutils.hpp"
+using namespace iflytop;
+
+#define TAG "TDCanReceiverHost"
+
+#define OVER_TIME_MS   20
+#define ZARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
+
+using namespace iflytop;
+
+TDCanReceiverHost::TDCanReceiverHost() {}
+
+void TDCanReceiverHost::initialize(string can_if_name, int baudrate) {
+  // m_iflytopCanProtocolStack.reset(new IflytopCanProtocolStack());
+  m_can_if_name   = can_if_name;
+  m_baudrate      = baudrate;
+  m_enablLoopback = false;
+
+  auto socketCanConfig           = make_shared<SocketCanConfig>();
+  socketCanConfig->enablLoopback = m_enablLoopback;  // 根据 SocketCan::dumpCanDriverInfo() 的输出，确定该标志位是false还是true
+  socketCanConfig->m_canName     = m_can_if_name;
+  socketCanConfig->m_canBaudrate = m_baudrate;
+  socketCanConfig->m_canfilters  = {};
+
+  logger->info("initialize() m_canName:{} {}", socketCanConfig->m_canName, socketCanConfig->m_canBaudrate);
+
+  m_socketCan.reset(new SocketCan());
+  m_socketCan->initialize(socketCanConfig);
+  m_socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> canframe) {  //
+    static_assert(sizeof(tdcan_id_t) == 4, "tdcan_id_t must be 4 bytes");
+
+    int32_t    canid = canframe->getId();
+    tdcan_id_t id    = *((tdcan_id_t *)(&(canid)));
+
+    // id 1 是本机发出去的消息，理论上会被过滤掉不上报
+    if (id.from == 1) {
+      logger->info("|-->TX RAW: {} SUC", canframe->toString());
+      return;
+    }
+    processRx(canframe);
+  });
+}
+void TDCanReceiverHost::registerListener(onpacket_t onpacket) { m_onpacket = onpacket; }
+
+void TDCanReceiverHost::sendPacket(uint8_t *packet, size_t len) {
+  tdcan_frame_t *tdcan_frame = (tdcan_frame_t *)packet;
+
+  uint8_t *data     = &(tdcan_frame->ptype);
+  int32_t  datalen  = len - sizeof(tdcan_frame->from) - sizeof(tdcan_frame->to);
+  int32_t  paramlen = len - sizeof(*tdcan_frame);
+
+  tdcan_id_t id;
+  id.from           = tdcan_frame->from;
+  id.to             = tdcan_frame->to;
+  id.frameinfo.fid  = 0;
+  id.frameinfo.fnum = datalen / 8 + (datalen % 8 == 0 ? 0 : 1);
+  id.pad            = 0;
+
+  int finalpacketlen = datalen % 8 == 0 ? 8 : datalen % 8;
+
+  logger->info("|TX:[index:{},to:{},fnid:{},params:{}({})]", tdcan_frame->index, tdcan_frame->to, tdcan_frame->fnid,
+               StringUtils().bytesToString(tdcan_frame->params, paramlen), paramlen);
+
+  for (uint8_t i = 0; i < id.frameinfo.fnum; i++) {
+    id.frameinfo.fid = i;
+    int32_t canid    = *((int32_t *)(&id));
+    if (i == id.frameinfo.fnum - 1) {
+      sendPacketSub(canid, data + i * 8, finalpacketlen);
+    } else {
+      sendPacketSub(canid, data + i * 8, 8);
+    }
+  }
+  logger->info("-");
+}
+
+bool TDCanReceiverHost::sendPacketSub(int32_t canid, uint8_t *packet, size_t len) {
+  shared_ptr<SocketCanFrame> frame = SocketCanFrame::createExtDataFrame(canid, packet, len);
+  logger->info("|-->TX RAW :{}", frame->toString());
+  m_socketCan->sendFrame(frame, 0);
+  return true;
+}
+
+void TDCanReceiverHost::processRx(shared_ptr<SocketCanFrame> canframe) {
+  //   uint8_t from    = (frame->getId() >> 16 & 0xFF);
+  //   uint8_t nframe  = (frame->getId() & 0xFF00) >> 8;
+  //   uint8_t frameId = (frame->getId() & 0x00FF);
+
+  /**
+   * @brief 消息格式
+   *
+   * [2] [3bit]     [8bit]   [8bit]     [8bit]
+   *          ,      from   frameNum    frameId
+   */
+
+  int32_t     rawcanid = canframe->getId();
+  tdcan_id_t *canid    = (tdcan_id_t *)&rawcanid;
+
+  uint8_t from    = canid->from;
+  uint8_t to      = canid->to;
+  uint8_t nframe  = canid->frameinfo.fnum;
+  uint8_t frameId = canid->frameinfo.fid;
+
+  logger->info("|RX [from:{} fram:{}/{}]  {}", canid->from, frameId + 1, nframe, canframe->toString());
+  if (from == 0 || from >= 255) {
+    logger->error("Invalid from board id: {}", from);
+    return;
+  }
+  static_assert(ZARRAY_SIZE(m_canPacketRxBuffer) >= 255);
+  CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[from];
+
+  if (frameId == 0) {
+    rxbuf->m_canPacketNum = 0;
+    rxbuf->from           = from;
+    rxbuf->to             = to;
+
+    rxbuf->m_rxdata[0] = from;
+    rxbuf->m_rxdata[1] = to;
+    rxbuf->m_rxdataLen = 2;
+  }
+
+  if (rxbuf->m_canPacketNum != frameId) {
+    logger->error("|lost subpacket from {}", from);
+    rxbuf->m_rxdataLen    = 0;
+    rxbuf->m_canPacketNum = 0;
+    return;
+  }
+
+  memcpy(rxbuf->m_rxdata + rxbuf->m_rxdataLen, canframe->getData(), canframe->getDlc());
+  rxbuf->m_rxdataLen += canframe->getDlc();
+  rxbuf->m_canPacketNum++;
+
+  if (nframe == frameId + 1) {
+    tdcan_frame_t *tdcan_frame = (tdcan_frame_t *)rxbuf->m_rxdata;
+    int32_t        paramLen    = rxbuf->m_rxdataLen - sizeof(tdcan_frame_t);
+    logger->info("|-->RX:[index:{},to:{},fnid:{},params:{}({})]", tdcan_frame->index, tdcan_frame->to, tdcan_frame->fnid,
+                 StringUtils().bytesToString(tdcan_frame->params, paramLen), paramLen);
+    logger->info("-");
+
+    if (m_onpacket) {
+      m_onpacket(rxbuf->m_rxdata, rxbuf->m_rxdataLen);
+    }
+  }
+}
+
+void TDCanReceiverHost::restartCanInterface() { m_socketCan->reStartCanInterface(); }

src/components/zcanreceiver/zcanreceiverhost.hpp → src/components/zcanreceiver/tdcanreceiverhost.hpp

@@ -6,6 +6,7 @@
 #include <mutex>
 
 #include "socket_can/socket_can.hpp"
+#include "tdcan_protocol.hpp"
 //
 #include "thirdlib/spdlogfactory/logger_factory.hpp"
 
@@ -14,8 +15,8 @@ namespace iflytop {
 using namespace std;
 using namespace core;
 
-class ZCanReceiverHost {
-  ENABLE_LOGGER(ZCanReceiverHost);
+class TDCanReceiverHost {
+  ENABLE_LOGGER(TDCanReceiverHost);
 
  public:
   class CanPacketRxBuffer {
@@ -25,9 +26,11 @@ class ZCanReceiverHost {
     uint8_t                    m_rxdata[255 * 8];
     uint8_t                    m_canPacketNum = 0;
     uint8_t                    m_rxdataLen    = 0;
+    uint8_t                    to             = 0;  // 接收数据的目标ID
+    uint8_t                    from           = 0;  // 接收数据的来源ID
   };
 
-  typedef function<void(uint8_t fromboardid, uint8_t *packet, size_t len)> onpacket_t;
+  typedef function<void(uint8_t *packet, size_t len)> onpacket_t;
 
  public:
   uint8_t           m_hostId = 0;
@@ -39,19 +42,19 @@ class ZCanReceiverHost {
   string  m_can_if_name;
   int     m_baudrate;
   bool    m_enablLoopback;
+  int32_t hostid = -1;
 
  public:
-  ZCanReceiverHost();
+  TDCanReceiverHost();
   void initialize(string can_if_name, int baudrate);
   void sendPacket(uint8_t *packet, size_t len);
   void registerListener(onpacket_t onpacket);
   void restartCanInterface();
 
  private:
-  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
+  bool sendPacketSub(int32_t canid, uint8_t *packet, size_t len);
 
   void processRx(shared_ptr<SocketCanFrame> frame);
-  void processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len);
   void sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t subcmdid, uint8_t *data, size_t len);
 };
 

src/components/zcanreceiver/zcanreceiverhost.cpp

@@ -1,127 +0,0 @@
-#include "zcanreceiverhost.hpp"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "utils/stringutils.hpp"
-using namespace iflytop;
-
-#define TAG "ZCanReceiver"
-
-#define OVER_TIME_MS 20
-
-using namespace iflytop;
-
-ZCanReceiverHost::ZCanReceiverHost() {}
-
-void ZCanReceiverHost::initialize(string can_if_name, int baudrate) {
-  // m_iflytopCanProtocolStack.reset(new IflytopCanProtocolStack());
-  m_can_if_name   = can_if_name;
-  m_baudrate      = baudrate;
-  m_enablLoopback = false;
-
-  auto socketCanConfig           = make_shared<SocketCanConfig>();
-  socketCanConfig->enablLoopback = m_enablLoopback;  // 根据 SocketCan::dumpCanDriverInfo() 的输出，确定该标志位是false还是true
-  socketCanConfig->m_canName     = m_can_if_name;
-  socketCanConfig->m_canBaudrate = m_baudrate;
-  socketCanConfig->m_canfilters  = {};
-
-  logger->info("initialize() m_canName:{} {}", socketCanConfig->m_canName, socketCanConfig->m_canBaudrate);
-
-  m_socketCan.reset(new SocketCan());
-  m_socketCan->initialize(socketCanConfig);
-  m_socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> canframe) {  //
-    if (canframe->getId() == m_hostId) {
-      logger->info("TX RAW: {} SUC", canframe->toString());
-      return;
-    }
-    logger->info("RX RAW: {}", canframe->toString());
-    processRx(canframe);
-  });
-}
-void ZCanReceiverHost::registerListener(onpacket_t onpacket) { m_onpacket = onpacket; }
-
-void ZCanReceiverHost::sendPacket(uint8_t *packet, size_t len) {
-  logger->info("TX: {}", StringUtils().bytesToString(packet, len));
-  int npacket = len / 7 + (len % 7 == 0 ? 0 : 1);
-  if (npacket > 255) {
-    return;
-  }
-  int finalpacketlen = len % 7 == 0 ? 7 : len % 7;
-  for (uint8_t i = 0; i < npacket; i++) {
-    bool suc = false;
-    if (i == npacket - 1) {
-      suc = sendPacketSub(npacket, i, packet + i * 7, finalpacketlen, OVER_TIME_MS);
-    } else {
-      suc = sendPacketSub(npacket, i, packet + i * 7, 7, OVER_TIME_MS);
-    }
-    if (!suc) {
-      logger->warn("sendPacket fail, packet(%d:%d)\n", npacket, i);
-      return;
-    }
-  }
-}
-
-bool ZCanReceiverHost::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
-  uint32_t id        = m_hostId;
-  uint8_t  txdata[8] = {0};
-  txdata[0]          = npacket << 4 | packetIndex;
-  memcpy(txdata + 1, packet, len);
-  // m_comcan.sendframe(CANUSB_FRAME_EXTENDED, id, packet, len);
-  // printf("sendPacketSub(%d:%d) ", npacket, packetIndex);
-  // for (size_t i = 0; i < len; i++) {
-  //   printf("%02x ", packet[i]);
-  // }
-  // printf("\n");
-
-  shared_ptr<SocketCanFrame> frame = SocketCanFrame::createStdDataFrame(id, txdata, len + 1);
-  logger->info("TX RAW :{}", frame->toString());
-  m_socketCan->sendFrame(frame, overtimems);
-  return true;
-}
-
-void ZCanReceiverHost::processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {  //
-  if (m_onpacket) m_onpacket(rxbuf->id, packet, len);
-}
-
-void ZCanReceiverHost::processRx(shared_ptr<SocketCanFrame> frame) {
-  //   uint8_t from    = (frame->getId() >> 16 & 0xFF);
-  //   uint8_t nframe  = (frame->getId() & 0xFF00) >> 8;
-  //   uint8_t frameId = (frame->getId() & 0x00FF);
-
-  uint8_t from    = (frame->getId() & 0xFF);
-  uint8_t nframe  = ((frame->getData()[0] >> 4) & 0x0F);
-  uint8_t frameId = (frame->getData()[0] & 0x0F);
-
-  CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[from];
-  rxbuf->id                = from;
-
-  if (frameId == 0) {
-    rxbuf->m_canPacketNum = 0;
-    rxbuf->m_rxdataLen    = 0;
-  }
-
-  if (frameId != rxbuf->m_canPacketNum) {
-    rxbuf->m_canPacketNum = 0;
-    rxbuf->m_rxdataLen    = 0;
-    return;
-  }
-
-  if (rxbuf->m_canPacketNum < 255) {
-    rxbuf->m_canPacket[rxbuf->m_canPacketNum] = frame;
-    rxbuf->m_canPacketNum++;
-    memcpy(rxbuf->m_rxdata + rxbuf->m_rxdataLen, frame->getData() + 1, frame->getDlc() - 1);
-    rxbuf->m_rxdataLen += frame->getDlc() - 1;
-  }
-
-  if (nframe == frameId + 1) {
-    /**
-     * @brief 接收到最后一包数据
-     */
-    logger->info("RX: {}", StringUtils().bytesToString(rxbuf->m_rxdata, rxbuf->m_rxdataLen));
-    processOnePacket(rxbuf, rxbuf->m_rxdata, rxbuf->m_rxdataLen);
-  }
-}
-
-void ZCanReceiverHost::restartCanInterface() { m_socketCan->reStartCanInterface(); }

src/configs/version.hpp

@@ -1,2 +1,2 @@
 #pragma once
-#define VERSION "1.4"
+#define VERSION "1.0"

src/main.cpp

@@ -35,7 +35,7 @@ int main(int argc, char* argv[]) {
   }
 
   // unique_ptr<UnixScoket> server;
-  // server.reset(new UnixScoket(UnixScoket::Server, "zexcan"));
+  // server.reset(new UnixScoket(UnixScoket::Server, "tdcan"));
   // server->start();
   // server->onPacket.connect([mainLogger](uint8_t* data, size_t len) {
   //   if (len > 0) {
@@ -44,7 +44,7 @@ int main(int argc, char* argv[]) {
   // });
 
   // unique_ptr<UnixScoket> client;
-  // client.reset(new UnixScoket(UnixScoket::Client, "zexcan"));
+  // client.reset(new UnixScoket(UnixScoket::Client, "tdcan"));
   // client->start();
 
   // while (true) {

test/config.ini

@@ -1,30 +0,0 @@
-[server]
-cmdport=19004
-wsport=19005
-
-[[channels]]
-type="zexcan"
-name="zcan"
-ifname="can0"
-baudrate=500000
-enable=true
-
-[[channels]]
-type="uart"
-name="printer"
-ifname="/dev/ttyS1"
-baudrate=115200
-enable=true
-
-[[channels]]
-type="inputkey"
-name="emergency-key"
-pinnum="GPIO2-A3"
-enable=true
-
-[[channels]]
-type="uart"
-name="lis"
-ifname="/dev/ttyS2"
-baudrate=115200
-enable=true

tools/build.sh

@@ -6,4 +6,4 @@ cmake .. \
     
 make -j8
 make install
-aarch64-linux-gnu-strip ./build/app/iflytopzexcand
+aarch64-linux-gnu-strip ./app/iflytoptdcan

tools/deply.sh

@@ -8,10 +8,10 @@ if [ $# -ne 1 ]; then
 fi
 
 server=$1
-ssh $server 'mkdir -p /iflytopd/iflytopzexcand/'
-ssh $server 'systemctl stop iflytopzexcand'
-scp ./build/app/iflytopzexcand $server:/iflytopd/iflytopzexcand/
-# scp ./resources/iflytopzexcand.service $server:/lib/systemd/system/
-# scp ./resources/config.ini $server:/iflytopd/iflytopzexcand/
-scp ./resources/spd_logger_cfg.json $server:/iflytopd/iflytopzexcand/
-ssh $server 'systemctl start iflytopzexcand'
+ssh $server 'mkdir -p /iflytopd/iflytoptdcan/'
+ssh $server 'systemctl stop iflytoptdcan'
+scp ./build/app/iflytoptdcan $server:/iflytopd/iflytoptdcan/
+# scp ./resources/iflytoptdcan.service $server:/lib/systemd/system/
+# scp ./resources/config.ini $server:/iflytopd/iflytoptdcan/
+scp ./resources/spd_logger_cfg.json $server:/iflytopd/iflytoptdcan/
+ssh $server 'systemctl start iflytoptdcan'

tools/packet.sh

@@ -10,18 +10,18 @@ if [ $# -ne 1 ]; then
 fi
 
 version=$1
-packetname=iflytopzexcand
+packetname=iflytoptdcan
 workdir=$(pwd)
 
 echo "workdir: $workdir"
 
 
 mkdir -p /tmp/$packetname
-aarch64-linux-gnu-strip ./build/app/iflytopzexcand
-cp -r ./build/app/iflytopzexcand /tmp/$packetname/
+aarch64-linux-gnu-strip ./build/app/iflytoptdcan
+cp -r ./build/app/iflytoptdcan /tmp/$packetname/
 cp -r ./resources/spd_logger_cfg.json /tmp/$packetname/
 cp -r ./resources/*.ini /tmp/$packetname/
-cp -r ./resources/iflytopzexcand.service /tmp/$packetname/
+cp -r ./resources/iflytoptdcan.service /tmp/$packetname/
 
 echo "Version: $version" > /tmp/$packetname/version