generated from guanyuankai/bonus-edge-proxy
feat(battery): ADD Battery Controller.
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e91238d114
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4302cf6d4f
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <atomic>
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#include <cstring>
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#include <iomanip>
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#include <iostream>
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#include <mutex>
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#include <thread>
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#include <vector>
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// --- 协议常量定义 (需与 STM32 保持一致) ---
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#define FRAME_HEAD 0xA5
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#define CMD_REPORT 0x01
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#define CMD_SET_MODE 0x02
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#define CMD_SET_ALARM 0x03
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#define CMD_ACK 0xAA
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// --- 数据结构定义 (字节对齐) ---
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#pragma pack(push, 1)
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struct BatteryPacket_t {
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uint8_t battery_cap; // 1. 电量百分比
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uint16_t time_to_full; // 2. 预测充满时间
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uint16_t time_to_empty; // 3. 预测放电时间
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uint8_t battery_status; // 4. 电池状态
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int16_t temperature; // 5. 温度
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uint8_t system_mode; // 6. 模式
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uint8_t alarm_flag; // 7. 报警标志
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};
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#pragma pack(pop)
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// --- 简单的串口封装类 ---
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class SerialPort {
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public:
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SerialPort(const std::string& device, int baudRate) : fd_(-1) {
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openPort(device, baudRate);
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}
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~SerialPort() {
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if (fd_ >= 0)
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close(fd_);
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}
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bool isOpen() const {
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return fd_ >= 0;
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}
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int writeData(const uint8_t* data, size_t len) {
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if (fd_ < 0)
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return -1;
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return write(fd_, data, len);
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}
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int readData(uint8_t* buffer, size_t maxLen) {
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if (fd_ < 0)
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return -1;
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return read(fd_, buffer, maxLen);
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}
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private:
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int fd_;
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void openPort(const std::string& device, int baudRate) {
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fd_ = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
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if (fd_ < 0) {
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perror("Failed to open serial port");
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return;
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}
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// 恢复阻塞模式 (或者根据需要保持非阻塞)
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fcntl(fd_, F_SETFL, 0);
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struct termios options;
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tcgetattr(fd_, &options);
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// 设置波特率
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speed_t speed;
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switch (baudRate) {
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case 9600:
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speed = B9600;
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break;
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case 115200:
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speed = B115200;
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break;
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default:
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speed = B115200;
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break;
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}
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cfsetispeed(&options, speed);
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cfsetospeed(&options, speed);
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// 配置为 8N1, Raw 模式
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options.c_cflag |= (CLOCAL | CREAD); // 启用接收
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options.c_cflag &= ~PARENB; // 无校验
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options.c_cflag &= ~CSTOPB; // 1停止位
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8; // 8数据位
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options.c_cflag &= ~CRTSCTS; // 无流控
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// 原始输入输出模式 (禁止回显、信号处理等)
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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options.c_iflag &= ~(IXON | IXOFF | IXANY); // 禁止软件流控
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options.c_iflag &= ~(ICRNL | INLCR); // 禁止CR/LF转换
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options.c_oflag &= ~OPOST; // 原始输出
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tcsetattr(fd_, TCSANOW, &options);
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tcflush(fd_, TCIOFLUSH);
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}
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};
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// --- 通信协议处理类 ---
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class CommProtocol {
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public:
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CommProtocol(SerialPort* serial) : serial_(serial), running_(false) {}
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~CommProtocol() {
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stop();
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}
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// 启动接收线程
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void start() {
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running_ = true;
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rxThread_ = std::thread(&CommProtocol::receiveLoop, this);
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}
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void stop() {
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running_ = false;
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if (rxThread_.joinable())
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rxThread_.join();
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}
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// 发送指令：设置模式
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void sendSetMode(uint8_t mode) {
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uint8_t payload = mode;
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sendPacket(CMD_SET_MODE, &payload, 1);
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}
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// 发送指令：设置报警
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void sendSetAlarm(uint8_t alarm) {
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uint8_t payload = alarm;
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sendPacket(CMD_SET_ALARM, &payload, 1);
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}
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private:
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SerialPort* serial_;
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std::thread rxThread_;
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std::atomic<bool> running_;
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std::vector<uint8_t> rxBuffer_; // 接收缓冲区
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// CRC32 计算 (对应 STM32 HAL_CRC_Calculate + XOR)
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// 注意：这里使用的是标准 CRC32 算法 (Polynomial 0x04C11DB7)
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// 如果 STM32 端是默认配置，这应该能对上。
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uint32_t calculateCRC32(const uint8_t* data, size_t len) {
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uint32_t crc = 0xFFFFFFFF; // Initial Value
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for (size_t i = 0; i < len; i++) {
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uint32_t byte = data[i];
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// 标准 CRC32 是反转输入和输出的，这里模拟 STM32 常见配置
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// 这里使用最通用的查表法或者位移法
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// 为简化代码，使用位移法 (效率较低但足够)
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// 注意：STM32 硬件CRC如果不开启 REVERSE_INPUT/OUTPUT，行为是 BigEndian 风格
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// 但你在 STM32 代码里写了 `crc ^ 0xFFFFFFFF`，通常是为了匹配标准 CRC32
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// 下面这个是标准 Ethernet CRC32 算法：
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crc = crc ^ byte;
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for (int j = 0; j < 8; j++) {
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if (crc & 1)
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crc = (crc >> 1) ^ 0xEDB88320;
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else
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crc = crc >> 1;
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}
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}
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return crc ^ 0xFFFFFFFF;
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// **注意**：如果发现校验一直不过，STM32 硬件CRC可能没有开启 Input/Output Reverse。
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// 如果是那样，请尝试替换为非反转的 CRC32 算法。
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}
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// 如果上面的 CRC 算不对，试试这个 STM32 默认硬件CRC (无反转) 的版本：
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/*
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uint32_t calculateCRC32_STM32_Default(const uint8_t* data, size_t len) {
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uint32_t crc = 0xFFFFFFFF;
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for(size_t i=0; i<len; i++) {
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crc = crc ^ (uint32_t)data[i] << 24;
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for(int j=0; j<8; j++) {
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if(crc & 0x80000000) crc = (crc << 1) ^ 0x04C11DB7;
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else crc = crc << 1;
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}
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}
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return crc; // STM32 代码有 ^ 0xFFFFFFFF 就加上，没有就不加
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}
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*/
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void sendPacket(uint8_t cmd, const uint8_t* payload, uint8_t len) {
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std::vector<uint8_t> packet;
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packet.push_back(FRAME_HEAD);
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packet.push_back(cmd);
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packet.push_back(len);
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if (len > 0 && payload != nullptr) {
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packet.insert(packet.end(), payload, payload + len);
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}
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// 计算 CRC (Header + Cmd + Len + Payload)
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uint32_t crc = calculateCRC32(packet.data(), packet.size());
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// 小端序发送 CRC
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packet.push_back((crc >> 0) & 0xFF);
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packet.push_back((crc >> 8) & 0xFF);
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packet.push_back((crc >> 16) & 0xFF);
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packet.push_back((crc >> 24) & 0xFF);
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serial_->writeData(packet.data(), packet.size());
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std::cout << "[Tx] Cmd: " << std::hex << (int)cmd << " Len: " << (int)len << std::dec
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<< std::endl;
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}
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void processFrame(const uint8_t* frame, size_t totalLen) {
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uint8_t cmd = frame[1];
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// uint8_t len = frame[2]; // payload length
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const uint8_t* payload = &frame[3];
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switch (cmd) {
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case CMD_REPORT: {
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if (totalLen >= sizeof(BatteryPacket_t) + 7) {
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BatteryPacket_t data;
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memcpy(&data, payload, sizeof(BatteryPacket_t));
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std::cout << "\n=== STM32 Status Report ===" << std::endl;
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std::cout << "Cap: " << (int)data.battery_cap << "%" << std::endl;
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std::cout << "Time Full: " << data.time_to_full << " min" << std::endl;
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std::cout << "Time Empty: " << data.time_to_empty << " min" << std::endl;
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std::cout << "Status: " << (int)data.battery_status << std::endl;
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std::cout << "Temp: " << (float)data.temperature / 10.0f << " C" << std::endl;
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std::cout << "Mode: " << (int)data.system_mode << std::endl;
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std::cout << "Alarm: " << (int)data.alarm_flag << std::endl;
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// 回复 ACK
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uint8_t ack[] = "OK";
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sendPacket(CMD_ACK, ack, 2);
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}
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break;
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}
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case CMD_ACK:
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std::cout << "[Rx] Received ACK from STM32" << std::endl;
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break;
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default:
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std::cout << "[Rx] Unknown CMD: " << std::hex << (int)cmd << std::endl;
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break;
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}
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}
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void receiveLoop() {
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uint8_t buf[128];
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while (running_) {
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int n = serial_->readData(buf, sizeof(buf));
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if (n > 0) {
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// 将新数据追加到 vector 缓冲区
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rxBuffer_.insert(rxBuffer_.end(), buf, buf + n);
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// 尝试解析帧
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while (rxBuffer_.size() >= 7) { // 最小帧长 Header+Cmd+Len+CRC(4) = 7
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// 1. 寻找帧头
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if (rxBuffer_[0] != FRAME_HEAD) {
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rxBuffer_.erase(rxBuffer_.begin()); // 丢弃无效字节
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continue;
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}
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uint8_t dataLen = rxBuffer_[2];
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size_t frameLen = 3 + dataLen + 4;
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// 2. 检查缓冲区是否有完整的一帧
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if (rxBuffer_.size() < frameLen) {
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break; // 数据不够，等待下次接收
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}
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// 3. 提取 CRC 并校验
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uint32_t receivedCRC = 0;
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receivedCRC |= rxBuffer_[frameLen - 4] << 0;
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receivedCRC |= rxBuffer_[frameLen - 3] << 8;
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receivedCRC |= rxBuffer_[frameLen - 2] << 16;
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receivedCRC |= rxBuffer_[frameLen - 1] << 24;
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uint32_t calcCRC = calculateCRC32(rxBuffer_.data(), frameLen - 4);
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if (calcCRC == receivedCRC) {
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// 校验通过，处理帧
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processFrame(rxBuffer_.data(), frameLen);
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// 移除已处理的帧
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rxBuffer_.erase(rxBuffer_.begin(), rxBuffer_.begin() + frameLen);
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} else {
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std::cerr << "CRC Error! Calc: " << std::hex << calcCRC
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<< " Recv: " << receivedCRC << std::endl;
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// 校验失败，移除头字节，尝试重新寻找下一帧
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rxBuffer_.erase(rxBuffer_.begin());
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}
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}
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} else {
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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}
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}
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};
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int main() {
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// 1. 配置串口设备 (请根据实际情况修改，例如 /dev/ttyUSB0 或 /dev/ttyS4)
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// RK3588 的硬件串口通常是 /dev/ttyS0 ~ /dev/ttyS9，或者 /dev/ttyFIQ0
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std::string devPath = "/dev/ttyS4";
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std::cout << "Opening serial port: " << devPath << std::endl;
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SerialPort serial(devPath, 115200);
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if (!serial.isOpen()) {
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return -1;
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}
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// 2. 启动协议处理
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CommProtocol protocol(&serial);
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protocol.start();
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// 3. 交互循环
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while (true) {
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std::cout << "\nChoose Action:\n1. Set Mode WORK\n2. Set Mode SLEEP\n3. Set Alarm ON\n4. "
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"Set Alarm OFF\nInput: ";
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int choice;
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std::cin >> choice;
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switch (choice) {
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case 1:
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protocol.sendSetMode(1); // MODE_WORK
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break;
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case 2:
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protocol.sendSetMode(2); // MODE_SLEEP
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break;
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case 3:
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protocol.sendSetAlarm(1);
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break;
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case 4:
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protocol.sendSetAlarm(0);
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break;
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default:
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break;
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}
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// 简单延时防止刷屏
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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}
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return 0;
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}
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