1. 新建io控制识别程序。
baocm
9 months ago
parent
f77169189b
commit
51e99c4e22
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sstream>
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#include <unistd.h>
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#include <algorithm>
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#include <fcntl.h>
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#include <errno.h>
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#include <iostream>
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#include <iomanip>
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#include <net/if.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include "CanMsgHandler.hpp"
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CanMsgHandler::CanMsgHandler() {}
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CanMsgHandler::~CanMsgHandler()
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{
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ClosePort();
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}
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// 打开CAN
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bool CanMsgHandler::OpenPort(const std::string& port, const std::string& baudrate)
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{
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ClosePort();
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// 创建SocketCAN套接字
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (fd < 0) {
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perror("Failed to create CAN socket");
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return false;
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}
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// 获取接口索引
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struct ifreq ifr;
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strncpy(ifr.ifr_name, port.c_str(), IFNAMSIZ - 1);
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ifr.ifr_name[IFNAMSIZ - 1] = '\0';
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if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0) {
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perror("Failed to get interface index");
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close(fd);
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fd = -1;
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return false;
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}
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// 绑定套接字到CAN接口
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struct sockaddr_can addr;
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memset(&addr, 0, sizeof(addr));
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("Failed to bind CAN socket");
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close(fd);
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fd = -1;
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return false;
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}
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// // 设置非阻塞模式
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// int flags = fcntl(fd, F_GETFL, 0);
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// fcntl(fd, F_SETFL, flags | O_NONBLOCK);
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// 设置CAN波特率
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// std::string cmd = "ip link set " + port + " down";
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// std::cout << cmd << std::endl;
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// if (system(cmd.c_str()) != 0) {
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// return false;
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// }
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// cmd = "ip link set " + port + " type can bitrate " + baudrate + " dbitrate 1000000 fd on";
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// std::cout << cmd << std::endl;
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// if (system(cmd.c_str()) != 0) {
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// return false;
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// }
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// cmd = "ip link set " + port + " up";
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// std::cout << cmd << std::endl;
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// if (system(cmd.c_str()) != 0) {
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// return false;
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// }
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return true;
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}
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// 发送数据
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int CanMsgHandler::SendDeviceMsg(std::vector<uint8_t> &data)
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{
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struct can_frame frame;
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frame.can_id = data[0];
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frame.can_id = frame.can_id << 12;
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frame.can_id += data[1];
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frame.can_id = frame.can_id << 8;
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frame.can_id += data[2];
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frame.can_id |= CAN_EFF_FLAG;
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frame.can_dlc = data.size() - 3;
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for (int i = 0; i < frame.can_dlc; i++)
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{
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frame.data[i] = data[i + 3];
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}
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for (int num : data) {
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std::cout << std::hex << std::setw(2) << std::setfill('0')
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<< num << " ";
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}
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std::cout << std::endl;
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int bytesWritten = SendMsg(&frame, sizeof(struct can_frame));
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if (bytesWritten < 0) {
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perror("发送数据失败");
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}
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return bytesWritten;
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}
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int CanMsgHandler::RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs)
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{
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int bytesRead;
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struct can_frame frame;
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bytesRead = RecvMsg(&frame, sizeof(struct can_frame), timeoutMs);
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if (bytesRead > 0)
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{
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data.insert(data.end(), (frame.can_id >> 20) & 0xFF);
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data.insert(data.end(), (frame.can_id >> 8) & 0xFF);
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data.insert(data.end(), frame.can_id & 0xFF);
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data.insert(data.end(), frame.data, frame.data + frame.can_dlc);
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}
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return bytesRead;
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}
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uint32_t CanMsgHandler::GetCanId(uint32_t DeviceID, uint32_t CommandID, uint32_t BlockID)
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{
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uint32_t Canid = DeviceID << 20 + CommandID << 8 + BlockID;
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return Canid;
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}
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@ -0,0 +1,27 @@
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#ifndef _CANMSGHANDLER_HPP_
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#define _CANMSGHANDLER_HPP_
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#include <string>
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#include <cstdint>
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#include "MsgHandler.hpp"
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class CanMsgHandler : public MsgHandler{
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public:
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CanMsgHandler();
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~CanMsgHandler();
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// 打开CAN
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bool OpenPort(const std::string& port, const std::string& baudrate);
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// 发送消息
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int SendDeviceMsg(std::vector<uint8_t> &data);
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// 接收消息
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int RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs);
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private:
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uint32_t GetCanId(uint32_t DeviceID, uint32_t CommandID, uint32_t BlockID);
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};
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#endif // _CANMSGHANDLER_HPP_
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#include <iostream>
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#include <iomanip>
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#include <algorithm>
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#include <thread>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include "MsgHandler.hpp"
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MsgHandler::MsgHandler() : fd(-1) {}
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void MsgHandler::HandleDdsMsg(const std::map<std::string, std::string>& msg)
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{
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auto cmd = msg.find("cmd");
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if (cmd != msg.end())
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{
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if (cmd->second == "config")
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{
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auto port = msg.find("port");
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auto baudrate = msg.find("baudrate");
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auto device = msg.find("device");
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if ((port != msg.end()) && (baudrate != msg.end()) && (device != msg.end()))
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{
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OpenPort(port->second, baudrate->second);
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this->device = device->second;
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}
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}
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else if (cmd->second == "open")
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{
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if (this->device == "5serial")
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{
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std::vector<uint8_t> data;
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data.insert(data.end(), {this->device_id, 0x50, 1, 1});
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SendDeviceMsg(data);
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}
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}
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else if (cmd->second == "write")
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{
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if (this->device == "5serial")
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{
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std::vector<uint8_t> data;
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data.resize(8, 1);
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data.insert(data.begin(), {this->device_id, 0x51, 1});
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for (const auto &port : this->iomap.omap)
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{
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data[port.second.first+2] = port.second.second;
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}
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for (auto &m : msg)
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{
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auto port = this->iomap.omap.find(m.first);
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if (port != this->iomap.omap.end())
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{
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if (m.second == "1")
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{
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port->second.second = 1;
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}
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else if (m.second == "0")
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{
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port->second.second = 0;
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}
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data[port->second.first+2] = port->second.second;
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}
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}
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SendDeviceMsg(data);
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}
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}
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else if (cmd->second == "pluse")
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{
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if (this->device == "5serial")
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{
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std::vector<uint8_t> data;
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data.resize(8, 1);
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data.insert(data.begin(), {this->device_id, 0x51, 1});
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for (const auto &port : this->iomap.omap)
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{
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data[port.second.first+2] = port.second.second;
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}
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for (auto &m : msg)
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{
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auto port = this->iomap.omap.find(m.first);
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if (port != this->iomap.omap.end())
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{
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if (m.second == "1")
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{
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port->second.second = 1;
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}
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else if (m.second == "0")
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{
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port->second.second = 0;
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}
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data[port->second.first+2] = port->second.second;
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}
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}
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SendDeviceMsg(data);
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std::this_thread::sleep_for(std::chrono::seconds(1));
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for (auto &m : msg)
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{
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auto port = this->iomap.omap.find(m.first);
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if (port != this->iomap.omap.end())
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{
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if (m.second == "1")
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{
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port->second.second = 0;
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}
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else if (m.second == "0")
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{
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port->second.second = 1;
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}
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data[port->second.first+2] = port->second.second;
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}
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}
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SendDeviceMsg(data);
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}
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}
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else if (cmd->second == "read")
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{
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if (this->device == "5serial")
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{
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std::vector<uint8_t> data;
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data.insert(data.end(), {this->device_id, 0x52, 1});
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data.insert(data.end(), 1);
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SendDeviceMsg(data);
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}
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}
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}
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}
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int MsgHandler::ParseDeviceMsg(std::vector<uint8_t>& data, IoCtrlRsp& rsp)
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{
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if (data[0] == this->device_id)
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{
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switch(data[1])
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{
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case 0x50:
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rsp.msg()["open"] = std::to_string(data[3]);
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break;
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case 0x51:
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rsp.msg()["write"] = std::to_string(data[3]);
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break;
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case 0x52:
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rsp.msg()["read"] = "0";
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for (auto &p : this->iomap.imap)
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{
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// if (p.second.second != data[p.second.first+2])
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// {
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p.second.second = data[p.second.first+2];
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rsp.msg()[p.first] = std::to_string(p.second.second);
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// }
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}
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break;
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}
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return 1;
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}
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return 0;
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}
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int MsgHandler::HandleDeviceMsg(IoCtrlRsp& rsp)
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{
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std::vector<uint8_t> m_RecvData;
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if(RecvDeviceMsg(m_RecvData, 100) > 0)
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{
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for (int num : m_RecvData)
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{
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std::cout << std::hex << std::setw(2) << std::setfill('0')
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<< num << " ";
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}
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std::cout << std::endl;
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return(ParseDeviceMsg(m_RecvData, rsp));
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}
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return 0;
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}
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bool MsgHandler::OpenPort(const std::string& port, const std::string& baudrate)
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{
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return true;
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}
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// 发送数据
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int MsgHandler::SendMsg(const void *buf, size_t len)
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{
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if (fd == -1) {
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perror("设备未打开");
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return -1;
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}
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int bytesWritten = write(fd, buf, len);
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if (bytesWritten < 0) {
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perror("发送数据失败");
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}
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return bytesWritten;
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}
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int MsgHandler::RecvMsg(void *buf, size_t len, int timeoutMs)
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{
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if (fd == -1) {
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perror("设备未打开");
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return -1;
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}
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// 使用select实现超时
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fd_set readfds;
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struct timeval tv;
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FD_ZERO(&readfds);
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FD_SET(fd, &readfds);
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tv.tv_sec = timeoutMs / 1000;
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tv.tv_usec = (timeoutMs % 1000) * 1000;
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int ret = select(fd + 1, &readfds, NULL, NULL, &tv);
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if (ret == -1) {
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perror("select错误");
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return -1;
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} else if (ret == 0) {
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return 0;
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}
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// 有数据可读
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int bytes;
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if (len == 0)
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{
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if (ioctl(fd, FIONREAD, &bytes) < 0)
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{
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perror("ioctl FIONREAD失败");
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return -1;
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}
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}
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else
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{
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bytes = len;
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}
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int bytesRead = read(fd, buf, bytes);
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if (bytesRead < 0) {
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perror("读取数据失败");
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return -1;
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}
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return bytesRead;
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}
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void MsgHandler::ClosePort()
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{
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if (fd != -1)
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{
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close(fd);
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fd = -1;
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}
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}
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int MsgHandler::SendDeviceMsg(std::vector<uint8_t>& data)
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{
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for (int num : data) {
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std::cout << std::hex << std::setw(2) << std::setfill('0')
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<< num << " ";
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}
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std::cout << std::endl;
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return SendMsg(data.data(), data.size());
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}
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int MsgHandler::RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs)
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{
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return RecvMsg(data.data(), data.size(), timeoutMs);
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}
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@ -0,0 +1,45 @@
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#ifndef _MSGHANDLER_HPP_
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#define _MSGHANDLER_HPP_
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#include <queue>
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#include <mutex>
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#include <vector>
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#include <map>
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#include "System.hpp"
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struct iomap_t
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{ //name, (port, value)
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std::map<std::string, std::pair<uint8_t, uint8_t>> omap;
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std::map<std::string, std::pair<uint8_t, uint8_t>> imap;
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};
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class MsgHandler
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{
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public:
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int fd;
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std::string device;
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uint8_t device_id;
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iomap_t iomap;
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MsgHandler();
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~MsgHandler() = default;
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void HandleDdsMsg(const std::map<std::string, std::string>& msg);
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int HandleDeviceMsg(IoCtrlRsp& rsp);
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virtual bool OpenPort(const std::string& port, const std::string& baudrate);
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virtual int SendDeviceMsg(std::vector<uint8_t>& data);
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virtual int RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs);
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int SendMsg(const void *buf, size_t len);
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int RecvMsg(void *buf, size_t len, int timeoutMs);
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bool isOpen() const {
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return fd != -1;
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}
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void ClosePort();
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private:
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int ParseDeviceMsg(std::vector<uint8_t>& data, IoCtrlRsp& rsp);
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};
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#endif
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@ -0,0 +1,197 @@
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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file Publisher.cxx
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* This file contains the implementation of the publisher functions.
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*
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* This file was generated by the tool fastddsgen.
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*/
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#include "Publisher.hpp"
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#include <condition_variable>
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#include <csignal>
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#include <stdexcept>
|
||||
#include <thread>
|
||||
|
||||
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||
#include <fastdds/dds/log/Log.hpp>
|
||||
#include <fastdds/dds/publisher/DataWriter.hpp>
|
||||
#include <fastdds/dds/publisher/Publisher.hpp>
|
||||
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
|
||||
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
|
||||
|
||||
#include "SystemPubSubTypes.hpp"
|
||||
|
||||
#include "msg.hpp"
|
||||
#include "MsgHandler.hpp"
|
||||
|
||||
using namespace eprosima::fastdds::dds;
|
||||
|
||||
PublisherApp::PublisherApp(
|
||||
const int& domain_id)
|
||||
: factory_(nullptr)
|
||||
, participant_(nullptr)
|
||||
, publisher_(nullptr)
|
||||
, topic_(nullptr)
|
||||
, writer_(nullptr)
|
||||
, type_(new IoCtrlRspPubSubType())
|
||||
, matched_(0)
|
||||
, samples_sent_(0)
|
||||
, stop_(false)
|
||||
{
|
||||
//
|
||||
|
||||
// Create the participant
|
||||
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
|
||||
pqos.name("IoCtrl_pub_participant");
|
||||
pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
|
||||
pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
|
||||
factory_ = DomainParticipantFactory::get_shared_instance();
|
||||
participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
|
||||
if (participant_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlRsp Participant initialization failed");
|
||||
}
|
||||
|
||||
// Register the type
|
||||
type_.register_type(participant_);
|
||||
|
||||
// Create the publisher
|
||||
PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
|
||||
participant_->get_default_publisher_qos(pub_qos);
|
||||
publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
|
||||
if (publisher_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlRsp Publisher initialization failed");
|
||||
}
|
||||
|
||||
// Create the topic
|
||||
TopicQos topic_qos = TOPIC_QOS_DEFAULT;
|
||||
participant_->get_default_topic_qos(topic_qos);
|
||||
topic_ = participant_->create_topic("IoCtrlRspTopic", type_.get_type_name(), topic_qos);
|
||||
if (topic_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlRsp Topic initialization failed");
|
||||
}
|
||||
|
||||
// Create the data writer
|
||||
DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
|
||||
publisher_->get_default_datawriter_qos(writer_qos);
|
||||
writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||
writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||
writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||
writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
|
||||
if (writer_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlRsp DataWriter initialization failed");
|
||||
}
|
||||
}
|
||||
|
||||
PublisherApp::~PublisherApp()
|
||||
{
|
||||
if (nullptr != participant_)
|
||||
{
|
||||
// Delete DDS entities contained within the DomainParticipant
|
||||
participant_->delete_contained_entities();
|
||||
|
||||
// Delete DomainParticipant
|
||||
factory_->delete_participant(participant_);
|
||||
}
|
||||
}
|
||||
|
||||
void PublisherApp::on_publication_matched(
|
||||
DataWriter* writer,
|
||||
const PublicationMatchedStatus& info)
|
||||
{
|
||||
if (info.current_count_change == 1)
|
||||
{
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
matched_ = info.current_count;
|
||||
}
|
||||
std::cout << writer->get_topic()->get_name() << " Publisher matched." << std::endl;
|
||||
cv_.notify_one();
|
||||
}
|
||||
else if (info.current_count_change == -1)
|
||||
{
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
matched_ = info.current_count;
|
||||
}
|
||||
std::cout << writer->get_topic()->get_name() << " Publisher unmatched." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << info.current_count_change
|
||||
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
|
||||
{
|
||||
IoCtrlRsp rsp;
|
||||
|
||||
while (!is_stopped())
|
||||
{
|
||||
if(handler->isOpen() == true)
|
||||
{
|
||||
if(handler->HandleDeviceMsg(rsp))
|
||||
{
|
||||
writer_->write(&rsp);
|
||||
rsp.msg().clear();
|
||||
}
|
||||
}
|
||||
|
||||
// Wait for period or stop event
|
||||
std::unique_lock<std::mutex> period_lock(mutex_);
|
||||
cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
|
||||
{
|
||||
return is_stopped();
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool PublisherApp::publish()
|
||||
{
|
||||
bool ret = false;
|
||||
// Wait for the data endpoints discovery
|
||||
std::unique_lock<std::mutex> matched_lock(mutex_);
|
||||
cv_.wait(matched_lock, [&]()
|
||||
{
|
||||
// at least one has been discovered
|
||||
return ((matched_ > 0) || is_stopped());
|
||||
});
|
||||
|
||||
if (!is_stopped())
|
||||
{
|
||||
/* Initialize your structure here */
|
||||
WeighRsp sample_;
|
||||
ret = (RETCODE_OK == writer_->write(&sample_));
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool PublisherApp::is_stopped()
|
||||
{
|
||||
return stop_.load();
|
||||
}
|
||||
|
||||
void PublisherApp::stop()
|
||||
{
|
||||
stop_.store(true);
|
||||
cv_.notify_one();
|
||||
}
|
||||
@ -0,0 +1,76 @@
|
||||
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
/*!
|
||||
* @file PublisherApp.hpp
|
||||
* This header file contains the declaration of the publisher functions.
|
||||
*
|
||||
* This file was generated by the tool fastddsgen.
|
||||
*/
|
||||
|
||||
#ifndef FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||
#define FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||
|
||||
#include <condition_variable>
|
||||
|
||||
#include <fastdds/dds/domain/DomainParticipant.hpp>
|
||||
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||
#include <fastdds/dds/publisher/DataWriterListener.hpp>
|
||||
#include <fastdds/dds/topic/TypeSupport.hpp>
|
||||
|
||||
#include "MsgHandler.hpp"
|
||||
|
||||
class PublisherApp : public eprosima::fastdds::dds::DataWriterListener
|
||||
{
|
||||
public:
|
||||
|
||||
PublisherApp(
|
||||
const int& domain_id);
|
||||
|
||||
~PublisherApp();
|
||||
|
||||
//! Publisher matched method
|
||||
void on_publication_matched(
|
||||
eprosima::fastdds::dds::DataWriter* writer,
|
||||
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
|
||||
|
||||
//! Run publisher
|
||||
void run(std::shared_ptr<MsgHandler> handler);
|
||||
|
||||
//! Trigger the end of execution
|
||||
void stop();
|
||||
|
||||
private:
|
||||
|
||||
//! Return the current state of execution
|
||||
bool is_stopped();
|
||||
|
||||
//! Publish a sample
|
||||
bool publish();
|
||||
|
||||
std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
|
||||
eprosima::fastdds::dds::DomainParticipant* participant_;
|
||||
eprosima::fastdds::dds::Publisher* publisher_;
|
||||
eprosima::fastdds::dds::Topic* topic_;
|
||||
eprosima::fastdds::dds::DataWriter* writer_;
|
||||
eprosima::fastdds::dds::TypeSupport type_;
|
||||
std::condition_variable cv_;
|
||||
int32_t matched_;
|
||||
std::mutex mutex_;
|
||||
const uint32_t period_ms_ = 100; // in ms
|
||||
uint16_t samples_sent_;
|
||||
std::atomic<bool> stop_;
|
||||
};
|
||||
|
||||
#endif // FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||
@ -0,0 +1,189 @@
|
||||
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
/*!
|
||||
* @file Subscriber.cxx
|
||||
* This file contains the implementation of the subscriber functions.
|
||||
*
|
||||
* This file was generated by the tool fastddsgen.
|
||||
*/
|
||||
|
||||
#include "Subscriber.hpp"
|
||||
|
||||
#include <condition_variable>
|
||||
#include <stdexcept>
|
||||
|
||||
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
|
||||
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||
#include <fastdds/dds/subscriber/DataReader.hpp>
|
||||
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
|
||||
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
|
||||
#include <fastdds/dds/subscriber/SampleInfo.hpp>
|
||||
#include <fastdds/dds/subscriber/Subscriber.hpp>
|
||||
|
||||
#include "SystemPubSubTypes.hpp"
|
||||
|
||||
#include "msg.hpp"
|
||||
|
||||
using namespace eprosima::fastdds::dds;
|
||||
|
||||
SubscriberApp::SubscriberApp(
|
||||
const int& domain_id)
|
||||
: factory_(nullptr)
|
||||
, participant_(nullptr)
|
||||
, subscriber_(nullptr)
|
||||
, topic_(nullptr)
|
||||
, reader_(nullptr)
|
||||
, type_(new IoCtrlReqPubSubType())
|
||||
, samples_received_(0)
|
||||
, stop_(false)
|
||||
{
|
||||
// Create the participant
|
||||
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
|
||||
pqos.name("IoCtrl_sub_participant");
|
||||
pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
|
||||
pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
|
||||
factory_ = DomainParticipantFactory::get_shared_instance();
|
||||
participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
|
||||
if (participant_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlReq Participant initialization failed");
|
||||
}
|
||||
|
||||
// Register the type
|
||||
type_.register_type(participant_);
|
||||
|
||||
// Create the subscriber
|
||||
SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
|
||||
participant_->get_default_subscriber_qos(sub_qos);
|
||||
subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
|
||||
if (subscriber_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlReq Subscriber initialization failed");
|
||||
}
|
||||
|
||||
// Create the topic
|
||||
TopicQos topic_qos = TOPIC_QOS_DEFAULT;
|
||||
participant_->get_default_topic_qos(topic_qos);
|
||||
topic_ = participant_->create_topic("IoCtrlReqTopic", type_.get_type_name(), topic_qos);
|
||||
if (topic_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlReq Topic initialization failed");
|
||||
}
|
||||
|
||||
// Create the reader
|
||||
DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
|
||||
subscriber_->get_default_datareader_qos(reader_qos);
|
||||
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||
reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||
reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
|
||||
if (reader_ == nullptr)
|
||||
{
|
||||
throw std::runtime_error("IoCtrlReq DataReader initialization failed");
|
||||
}
|
||||
}
|
||||
|
||||
SubscriberApp::~SubscriberApp()
|
||||
{
|
||||
if (nullptr != participant_)
|
||||
{
|
||||
// Delete DDS entities contained within the DomainParticipant
|
||||
participant_->delete_contained_entities();
|
||||
|
||||
// Delete DomainParticipant
|
||||
factory_->delete_participant(participant_);
|
||||
}
|
||||
}
|
||||
|
||||
void SubscriberApp::on_subscription_matched(
|
||||
DataReader* reader,
|
||||
const SubscriptionMatchedStatus& info)
|
||||
{
|
||||
if (info.current_count_change == 1)
|
||||
{
|
||||
std::cout << reader->get_topicdescription()->get_name() << " Subscriber matched." << std::endl;
|
||||
}
|
||||
else if (info.current_count_change == -1)
|
||||
{
|
||||
std::cout << reader->get_topicdescription()->get_name() << " Subscriber unmatched." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << info.current_count_change
|
||||
<< " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void SubscriberApp::on_data_available(
|
||||
DataReader* reader)
|
||||
{
|
||||
SampleInfo info;
|
||||
std::string topic_name = reader->get_topicdescription()->get_name();
|
||||
std::cout << topic_name << std::endl;
|
||||
|
||||
if (topic_name == "IoCtrlReqTopic")
|
||||
{
|
||||
IoCtrlReq sample_;
|
||||
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||
{
|
||||
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||
{
|
||||
{
|
||||
std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_);
|
||||
MsgData::IoCtrlReq_queue_.push(std::move(sample_));
|
||||
lock.unlock();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SubscriberApp::run(std::shared_ptr<MsgHandler> handler)
|
||||
{
|
||||
while (!is_stopped())
|
||||
{
|
||||
std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_, std::try_to_lock);
|
||||
if (lock.owns_lock())
|
||||
{
|
||||
if(!MsgData::IoCtrlReq_queue_.empty())
|
||||
{
|
||||
IoCtrlReq req = std::move(MsgData::IoCtrlReq_queue_.front());
|
||||
MsgData::IoCtrlReq_queue_.pop();
|
||||
lock.unlock();
|
||||
handler->HandleDdsMsg(req.msg());
|
||||
}
|
||||
else
|
||||
{
|
||||
lock.unlock();
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
|
||||
terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this](){return is_stopped();});
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubscriberApp::is_stopped()
|
||||
{
|
||||
return stop_.load();
|
||||
}
|
||||
|
||||
void SubscriberApp::stop()
|
||||
{
|
||||
stop_.store(true);
|
||||
terminate_cv_.notify_all();
|
||||
}
|
||||
@ -0,0 +1,77 @@
|
||||
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
/*!
|
||||
* @file SubscriberApp.hpp
|
||||
* This header file contains the declaration of the subscriber functions.
|
||||
*
|
||||
* This file was generated by the tool fastddsgen.
|
||||
*/
|
||||
|
||||
#ifndef FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||
#define FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||
|
||||
#include <condition_variable>
|
||||
|
||||
#include <fastdds/dds/domain/DomainParticipant.hpp>
|
||||
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
|
||||
#include <fastdds/dds/topic/TypeSupport.hpp>
|
||||
|
||||
#include "System.hpp"
|
||||
#include "MsgHandler.hpp"
|
||||
|
||||
class SubscriberApp : public eprosima::fastdds::dds::DataReaderListener
|
||||
{
|
||||
public:
|
||||
|
||||
SubscriberApp(
|
||||
const int& domain_id);
|
||||
|
||||
virtual ~SubscriberApp();
|
||||
|
||||
//! Subscription callback
|
||||
void on_data_available(
|
||||
eprosima::fastdds::dds::DataReader* reader) override;
|
||||
|
||||
//! Subscriber matched method
|
||||
void on_subscription_matched(
|
||||
eprosima::fastdds::dds::DataReader* reader,
|
||||
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
|
||||
|
||||
//! Run subscriber
|
||||
void run(std::shared_ptr<MsgHandler> handler);
|
||||
|
||||
//! Trigger the end of execution
|
||||
void stop();
|
||||
|
||||
private:
|
||||
|
||||
//! Return the current state of execution
|
||||
bool is_stopped();
|
||||
|
||||
std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
|
||||
eprosima::fastdds::dds::DomainParticipant* participant_;
|
||||
eprosima::fastdds::dds::Subscriber* subscriber_;
|
||||
eprosima::fastdds::dds::Topic* topic_;
|
||||
eprosima::fastdds::dds::DataReader* reader_;
|
||||
eprosima::fastdds::dds::TypeSupport type_;
|
||||
uint16_t samples_received_;
|
||||
std::atomic<bool> stop_;
|
||||
uint32_t period_ms_ = 100; // in ms
|
||||
mutable std::mutex terminate_cv_mtx_;
|
||||
std::condition_variable terminate_cv_;
|
||||
};
|
||||
|
||||
#endif // FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||
@ -0,0 +1,196 @@
|
||||
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
/*!
|
||||
* @file main.cxx
|
||||
* This file acts as a main entry point to the application.
|
||||
*
|
||||
* This file was generated by the tool fastddsgen.
|
||||
*/
|
||||
|
||||
#include <csignal>
|
||||
#include <cstring>
|
||||
#include <functional>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <thread>
|
||||
#include <fstream>
|
||||
#include <filesystem>
|
||||
#include <limits.h>
|
||||
|
||||
#include <fastdds/dds/log/Log.hpp>
|
||||
|
||||
#include "Subscriber.hpp"
|
||||
#include "Publisher.hpp"
|
||||
#include "CanMsgHandler.hpp"
|
||||
#include "msg.hpp"
|
||||
#include "json.hpp"
|
||||
|
||||
#define VERSION "v1.0"
|
||||
|
||||
using eprosima::fastdds::dds::Log;
|
||||
using json = nlohmann::json;
|
||||
|
||||
std::function<void(int)> stop_handler;
|
||||
void signal_handler(
|
||||
int signum)
|
||||
{
|
||||
stop_handler(signum);
|
||||
}
|
||||
|
||||
std::string parse_signal(
|
||||
const int& signum)
|
||||
{
|
||||
switch (signum)
|
||||
{
|
||||
case SIGINT:
|
||||
return "SIGINT";
|
||||
case SIGTERM:
|
||||
return "SIGTERM";
|
||||
#ifndef _WIN32
|
||||
case SIGQUIT:
|
||||
return "SIGQUIT";
|
||||
case SIGHUP:
|
||||
return "SIGHUP";
|
||||
#endif // _WIN32
|
||||
default:
|
||||
return "UNKNOWN SIGNAL";
|
||||
}
|
||||
}
|
||||
|
||||
std::queue<IoCtrlReq> MsgData::IoCtrlReq_queue_;
|
||||
std::mutex MsgData::queue_cv_mtx_;
|
||||
|
||||
std::filesystem::path getExeDir()
|
||||
{
|
||||
char buf[PATH_MAX] = {0};
|
||||
ssize_t len = readlink("/proc/self/exe", buf, sizeof(buf)-1);
|
||||
return std::filesystem::path(std::string(buf, len)).parent_path();
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
auto ret = EXIT_SUCCESS;
|
||||
json config;
|
||||
std::shared_ptr<SubscriberApp> sub;
|
||||
std::shared_ptr<PublisherApp> pub;
|
||||
std::shared_ptr<MsgHandler> dev;
|
||||
|
||||
int domain_id = 0;
|
||||
const char* interface = "can";
|
||||
const char* port = "can0";
|
||||
const char* baudrate = "500000";
|
||||
const char* device = "5serial";
|
||||
int device_id = 0;
|
||||
|
||||
auto exeDir = getExeDir();
|
||||
auto configPath = exeDir / "config.json";
|
||||
std::ifstream file(configPath);
|
||||
|
||||
file >> config;
|
||||
file.close();
|
||||
|
||||
for (int i = 1; i < argc; i++)
|
||||
{
|
||||
if (strcmp(argv[i], "--domain") == 0 && i + 1 < argc)
|
||||
{
|
||||
domain_id = atoi(argv[++i]);
|
||||
}
|
||||
else if (strcmp(argv[i], "--interface") == 0 && i + 1 < argc)
|
||||
{
|
||||
interface = argv[++i];
|
||||
}
|
||||
else if (strcmp(argv[i], "--port") == 0 && i + 1 < argc)
|
||||
{
|
||||
port = argv[++i];
|
||||
}
|
||||
else if (strcmp(argv[i], "--baudrate") == 0 && i + 1 < argc)
|
||||
{
|
||||
baudrate = argv[++i];
|
||||
}
|
||||
else if (strcmp(argv[i], "--device") == 0 && i + 1 < argc)
|
||||
{
|
||||
device = argv[++i];
|
||||
}
|
||||
else if (strcmp(argv[i], "--device_id") == 0 && i + 1 < argc)
|
||||
{
|
||||
device_id = atoi(argv[++i]);
|
||||
}
|
||||
else if (strcmp(argv[i], "--version") == 0)
|
||||
{
|
||||
std::cout << "Vesrion: " << VERSION << "\n";
|
||||
return EXIT_SUCCESS;
|
||||
}
|
||||
else if (strcmp(argv[i], "--help") == 0)
|
||||
{
|
||||
std::cout << "Usage: [options]\n"
|
||||
<< "Options:\n"
|
||||
<< " --domain Set domain ID\n"
|
||||
<< " --interface Set interface (e.g., can)\n"
|
||||
<< " --baudrate Set baudrate (e.g., 9600)\n"
|
||||
<< " --port Set port name (e.g., can0)\n"
|
||||
<< " --device Set device name (e.g., 5serial)\n"
|
||||
<< " --version Show software Version\n"
|
||||
<< " --help Show this help message\n";
|
||||
return EXIT_SUCCESS;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "Unknown option: " << argv[i] << "\n";
|
||||
std::cout << "Usage: [options]\n"
|
||||
<< "Options:\n"
|
||||
<< " --domain Set domain ID\n"
|
||||
<< " --interface Set interface (e.g., can)\n"
|
||||
<< " --baudrate Set baudrate (e.g., 9600)\n"
|
||||
<< " --port Set port name (e.g., can0)\n"
|
||||
<< " --device Set device name (e.g., 5serial)\n"
|
||||
<< " --version Show software Version\n"
|
||||
<< " --help Show this help message\n";
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
}
|
||||
|
||||
sub = std::make_shared<SubscriberApp>(domain_id);
|
||||
pub = std::make_shared<PublisherApp>(domain_id);
|
||||
dev = std::make_shared<CanMsgHandler>();
|
||||
|
||||
dev->OpenPort(port, baudrate);
|
||||
dev->device = device;
|
||||
dev->device_id = device_id;
|
||||
dev->iomap.imap = config["ioctrl"]["iomap"]["in"].get<std::map<std::string, std::pair<uint8_t, uint8_t>>>();
|
||||
dev->iomap.omap = config["ioctrl"]["iomap"]["out"].get<std::map<std::string, std::pair<uint8_t, uint8_t>>>();
|
||||
|
||||
std::thread pub_thread(&PublisherApp::run, pub, dev);
|
||||
|
||||
std::cout << "Program is running. Please press Ctrl+C to stop at any time." << std::endl;
|
||||
|
||||
stop_handler = [&](int signum)
|
||||
{
|
||||
std::cout << "\n" << parse_signal(signum) << " received, stopping " << argv[1]
|
||||
<< " execution." << std::endl;
|
||||
pub->stop();
|
||||
};
|
||||
|
||||
signal(SIGINT, signal_handler);
|
||||
signal(SIGTERM, signal_handler);
|
||||
#ifndef _WIN32
|
||||
signal(SIGQUIT, signal_handler);
|
||||
signal(SIGHUP, signal_handler);
|
||||
#endif // _WIN32
|
||||
|
||||
pub_thread.join();
|
||||
|
||||
Log::Reset();
|
||||
return ret;
|
||||
}
|
||||
@ -0,0 +1,14 @@
|
||||
#ifndef _MSG_HPP_
|
||||
#define _MSG_HPP_
|
||||
|
||||
#include <queue>
|
||||
#include <mutex>
|
||||
#include "System.hpp"
|
||||
|
||||
class MsgData {
|
||||
public:
|
||||
static std::queue<IoCtrlReq> IoCtrlReq_queue_;
|
||||
static std::mutex queue_cv_mtx_;
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue