first commit

2026-08-25 22:10:31 -04:00
commit dde12bf30b
41 changed files with 1379 additions and 0 deletions
@@ -0,0 +1,43 @@
+#include "OsSample.h"
+#include "canDriver.h"
+#include "ScHHS.h"
+
+CAN_DRIVER can;
+
+#define CAN_QUEUE_RECV_NUM    100000  //CAN接收队列长度
+#define CAN_QUEUE_SEND_NUM    100000  //CAN发送队列长度
+
+QueueHandle_t CanRecvQueue;
+QueueHandle_t CanSendQueue;
+
+//初始化CAN任务相关队列，数组等等
+Status CanProcessInit(void)
+{
+    CanRecvQueue = xQueueCreate(CAN_QUEUE_RECV_NUM, sizeof(CAN_PKG));
+    CanSendQueue = xQueueCreate(CAN_QUEUE_SEND_NUM, sizeof(CAN_PKG));
+}
+//关联驱动函数
+Status CanFuncRegister(uint8_t DeviceType)
+{
+    switch (DeviceType)
+    {
+        case SC_HHS:
+            //四川和华盛的USB CAN
+            can = ScHHScanDriver;
+            return SUCCESS;
+        case ZLG_USB_CAN_II:
+            //周立功的USB CAN II & PRO
+            return SUCCESS;
+        case GC_USB_CAN_II:
+            //广诚科技的USB CAN II
+            return SUCCESS;
+        default:
+            return ERROR;
+    }
+}
+
+//打开CAN
+Status CanFuncOpen(uint8_t chnl)
+{
+    
+}
@@ -0,0 +1,69 @@
+#include "OsSample.h"
+#include "work.h"
+#include "canDriver.h"
+#include "network.h"
+
+#define APP_NAME    "UniversalCan"
+
+int SearchPreProcess(const char* processName);
+void KillPreProcess(const char* processName);
+
+int main(void)
+{
+    //此程序必须只有一个进程在运行
+    while (SearchPreProcess(APP_NAME) == ENABLE)
+    {
+        //杀死上一个进程
+        KillPreProcess(APP_NAME);
+        printf("Kill Pre Process\n");
+        //等待进程里面的socket和内存被释放
+        vTaskDelay(500);
+    }
+    // 初始化队列和任务等等
+    // 初始化网络
+    NetProcessInit(LISTEN_PORT);
+    // 初始化CAN
+    CanProcessInit();
+    // 初始化network
+
+    vTaskStartScheduler();
+}
+
+// 查找是否有指定名称的进程在运行（排除自身）
+int SearchPreProcess(const char* processName)
+{
+    char cmd[512];
+
+#ifdef _WIN32
+    DWORD currentPID = GetCurrentProcessId();
+    // Windows 下通常需要 .exe 后缀，建议传入时带上或在这里处理
+    snprintf(cmd, sizeof(cmd),
+             "tasklist | findstr \"%s\" | findstr /v \"%lu\" > nul",
+             processName, currentPID);
+#elif defined(__linux__)
+    snprintf(cmd, sizeof(cmd),
+             "pgrep -x \"%s\" | grep -v %d > /dev/null 2>&1",
+             processName, getpid());
+#endif
+
+    return system(cmd) == 0 ? ENABLE : DISABLE;
+}
+
+// 杀死指定名称的同名进程（排除自身）
+void KillPreProcess(const char* processName)
+{
+    char cmd[512]; // 稍微加大 buffer 以防万一
+
+#ifdef _WIN32
+    DWORD currentPID = GetCurrentProcessId();
+    // 逻辑不变，仅参数化进程名
+    snprintf(cmd, sizeof(cmd),
+             "for /f \"tokens=2\" %%a in ('tasklist ^| findstr \"%s\"') do if not %%a==%lu taskkill /F /PID %%a",
+             processName, currentPID);
+#elif defined(__linux__)
+    snprintf(cmd, sizeof(cmd),
+             "pgrep -x \"%s\" | grep -v %d | xargs -r kill -9 > /dev/null 2>&1",
+             processName, getpid());
+#endif
+    system(cmd);
+}
@@ -0,0 +1,182 @@
+#include "network.h"
+#include "work.h"
+
+Socket_t context;
+
+#define SOCKET_QUEUE_SEND_NUM      100000  //SOCKET接收队列长度
+#define SOCKET_QUEUE_RECV_NUM      100000  //SOCKET发送队列长度
+
+QueueHandle_t SocketRecvQueue;
+QueueHandle_t SocketSendQueue;
+
+void NetLoopTask(void *p);
+void NetReciveTask(void *p);
+void NetAnalysis(char *data);
+void NetPkgSend(char *data);
+void NetReciveQueueTask(void *p);
+void NetSendQueueTask(void *p);
+
+Status NetProcessInit(uint32_t Port)
+{
+    //初始化
+    if (xSocketInitEnvironment() == SOCKET_SUCCESS)
+    {
+        printf("socket init success\n");
+    }
+    else
+    {
+        printf("socket init error\n");
+        return ERROR;
+    }
+    // 创建
+    context = xSocketCreateUDP();
+    // 绑定
+    if (xSocketBind(context,Port) == SOCKET_SUCCESS)
+    {
+        printf("socket listen success\n");
+    }
+    else
+    {
+        printf("socket listen error\n");
+        return ERROR;
+    }
+    
+    SocketRecvQueue = xQueueCreate(SOCKET_QUEUE_RECV_NUM, PKG_LEN);
+    SocketSendQueue = xQueueCreate(SOCKET_QUEUE_SEND_NUM, PKG_LEN);
+
+    //开启任务
+    xTaskCreate(NetReciveTask,      /*!< 任务函数  */
+                "NetReciveTask",    /*!< 任务名    */
+                1024,               /*!< stack大小，单位word，也就是4字节 */
+                NULL,               /*!< 任务参数  */
+                0,                  /*!< 任务优先级, 数字越大优先级越高*/
+                NULL);              /*!< 任务句柄  */
+
+    xTaskCreate(NetReciveQueueTask,      /*!< 任务函数  */
+                "NetReciveQueueTask",    /*!< 任务名    */
+                1024,                    /*!< stack大小，单位word，也就是4字节 */
+                NULL,                    /*!< 任务参数  */
+                0,                       /*!< 任务优先级, 数字越大优先级越高*/
+                NULL);                   /*!< 任务句柄  */
+
+    xTaskCreate(NetSendQueueTask,        /*!< 任务函数  */
+                "NetSendQueueTask",      /*!< 任务名    */
+                1024,                    /*!< stack大小，单位word，也就是4字节 */
+                NULL,                    /*!< 任务参数  */
+                0,                       /*!< 任务优先级, 数字越大优先级越高*/
+                NULL);                   /*!< 任务句柄  */
+
+    //网络循环执行任务
+    xTaskCreate(NetLoopTask,        /*!< 任务函数  */
+                "NetLoopTask",      /*!< 任务名    */
+                1024,               /*!< stack大小，单位word，也就是4字节 */
+                NULL,               /*!< 任务参数  */
+                0,                  /*!< 任务优先级, 数字越大优先级越高*/
+                NULL);              /*!< 任务句柄  */
+}
+
+//udp接收任务
+void NetReciveTask(void *p)
+{
+    char PcRecvBuf[PKG_LEN];    // 接收缓冲区
+    char PcRemoteIP[16];        // 存放谁发过来的 IP
+    uint16_t PcRemotePort;      //存放谁发过来的端口
+    int PkgLen;                 //接收长度
+
+    while (1)
+    {
+        PkgLen = xSocketReceiveFrom(context,PcRecvBuf,PKG_LEN,PcRemoteIP,&PcRemotePort);
+        if (PkgLen == PKG_LEN)
+        {
+            xQueueSend(SocketRecvQueue,PcRecvBuf,portMAX_DELAY);
+        }
+    }
+}
+
+//udp解析函数
+void NetAnalysis(char *data)
+{
+    switch (data[1])
+    {
+        case PKG_OPEN_CAN:
+            //打开CAN
+            CanFuncRegister(data[2]);
+            CanFuncOpen(data[3]);
+            break;
+        case PKG_CLOSE_CAN:
+            //关闭CAN
+            break;
+        case PKG_CTRL_CAN:
+            //收发CAN
+            break;
+        default:
+            return;
+    }
+}
+
+//心跳包
+void NetHeart(void)
+{
+    static char heart[PKG_LEN];
+    heart[0] = PHEAD;
+    heart[1] = PKG_HEART;
+    heart[2] = work.status;
+    heart[3] = work.product;
+    heart[4] = work.chnlNum;
+    heart[5] = work.canFd;
+
+    for (uint8_t i = 6; i < PKG_LEN; i++)
+    {
+        heart[i] = DISABLE;
+    }
+    
+    heart[PKG_LEN - 1] = PEND;
+
+    NetPkgSend(heart);
+}
+
+//网络循环任务
+void NetLoopTask(void *p)
+{
+    while (1)
+    {
+        //发送心跳包
+        // NetHeart();
+        vTaskDelay(500);
+    }
+}
+
+//udp队列接收任务
+void NetReciveQueueTask(void *p)
+{
+    char PcRecvBuf[PKG_LEN];    // 接收缓冲区
+
+    while(1)
+    {
+        xQueueReceive(SocketRecvQueue,&PcRecvBuf,portMAX_DELAY);
+
+        NetAnalysis(PcRecvBuf);
+    }
+}
+
+//网络数据包发送
+void NetPkgSend(char *data)
+{
+    data[0] = PHEAD;
+    data[PKG_LEN - 1] = PEND;
+    xQueueSend(SocketSendQueue,data,portMAX_DELAY);
+}
+
+//网络数据包发送队列
+void NetSendQueueTask(void *p)
+{
+    static uint16_t SendPort = SEND_PORT;
+    char PcSendBuf[PKG_LEN];    // 接收缓冲区
+
+    while(1)
+    {
+        xQueueReceive(SocketSendQueue,&PcSendBuf,portMAX_DELAY);
+
+        xSocketSendTo(context,PcSendBuf,PKG_LEN,"127.0.0.1",SendPort);
+    }
+}
@@ -0,0 +1,3 @@
+#include "work.h"
+
+WORK_STATUS work;