320 lines
11 KiB
C++
320 lines
11 KiB
C++
#include <sys/ioctl.h>
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#include <sys/poll.h>
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#include <asm/termbits.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <iostream>
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#include <vector>
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#include <cstring>
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#include <atomic>
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#include <span>
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#include <sys/time.h>
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/**
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* Вспомогательная функция для получения текущего времени в миллисекундах
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*/
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inline int64_t milliseconds() {
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timeval tv{};
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gettimeofday(&tv,nullptr);
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return ((tv.tv_sec * 1000000l) + tv.tv_usec) / 1000;
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}
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constexpr int64_t SBUS_SEND_FRAME_INTERVAL = 25;
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constexpr int64_t SBUS_RXLOSS_INTERVAL = 500;
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class UDPServer {
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public:
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int sockfd;
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sockaddr_in server_addr, client_addr;
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socklen_t client_len;
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UDPServer(uint16_t port) : client_len(sizeof(client_addr)) {
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// Создание UDP сокета
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sockfd = socket(AF_INET, SOCK_DGRAM, 0);
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if (sockfd < 0) {
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throw std::runtime_error("Failed to create socket");
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}
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// Настройка адреса сервера
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memset(&server_addr, 0, sizeof(server_addr));
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server_addr.sin_family = AF_INET;
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server_addr.sin_addr.s_addr = INADDR_ANY;
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server_addr.sin_port = htons(port);
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// Привязка сокета
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if (bind(sockfd, (sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
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close(sockfd);
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throw std::runtime_error("Failed to bind socket");
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}
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std::cout << "UDP server listening on port " << port << std::endl;
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}
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~UDPServer() {
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if (sockfd >= 0) {
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close(sockfd);
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}
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}
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std::vector<uint16_t> receive() {
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std::vector<uint16_t> data(64);
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ssize_t received = recvfrom(sockfd,
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data.data(),
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data.size() * sizeof(uint16_t),
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MSG_DONTWAIT, // Неблокирующий режим
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(sockaddr*)&client_addr,
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&client_len);
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if (received > 0) {
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// Выводим информацию о отправителе и данные
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data.resize(received / 2);
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char client_ip[INET_ADDRSTRLEN];
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inet_ntop(AF_INET, &client_addr.sin_addr, client_ip, INET_ADDRSTRLEN);
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// std::cout << "Received data from " << client_ip << ":" << ntohs(client_addr.sin_port) << std::endl;
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// std::cout << "Data: ";
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// for (int i = 0; i < 4 && i < data.size(); ++i) {
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// std::cout << data[i] << " ";
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// }
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// std::cout << "..." << std::endl;
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return data;
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}
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return {};
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}
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};
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struct SbusData {
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bool lost_frame = false;
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bool failsafe = false;
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bool ch17 = false, ch18 = false;
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static constexpr size_t NUM_CH = 16;
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static constexpr int16_t SBUS_CH_MIN = 173;
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static constexpr int16_t SBUS_CH_MAX = 1812;
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int16_t ch[NUM_CH];
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/* Message len */
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static constexpr int8_t BUF_LEN_ = 25;
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/* SBUS message defs */
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static constexpr int8_t NUM_SBUS_CH_ = 16;
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static constexpr uint8_t HEADER_ = 0x0F;
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static constexpr uint8_t FOOTER_ = 0x00;
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static constexpr uint8_t FOOTER2_ = 0x04;
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static constexpr uint8_t CH17_MASK_ = 0x01;
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static constexpr uint8_t CH18_MASK_ = 0x02;
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static constexpr uint8_t LOST_FRAME_MASK_ = 0x04;
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static constexpr uint8_t FAILSAFE_MASK_ = 0x08;
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/* Data */
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uint8_t buf_[BUF_LEN_];
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void fillDataBuf() {
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/* Assemble packet */
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buf_[0] = HEADER_;
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buf_[1] = static_cast<uint8_t>((ch[0] & 0x07FF));
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buf_[2] = static_cast<uint8_t>((ch[0] & 0x07FF) >> 8 |
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(ch[1] & 0x07FF) << 3);
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buf_[3] = static_cast<uint8_t>((ch[1] & 0x07FF) >> 5 |
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(ch[2] & 0x07FF) << 6);
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buf_[4] = static_cast<uint8_t>((ch[2] & 0x07FF) >> 2);
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buf_[5] = static_cast<uint8_t>((ch[2] & 0x07FF) >> 10 |
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(ch[3] & 0x07FF) << 1);
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buf_[6] = static_cast<uint8_t>((ch[3] & 0x07FF) >> 7 |
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(ch[4] & 0x07FF) << 4);
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buf_[7] = static_cast<uint8_t>((ch[4] & 0x07FF) >> 4 |
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(ch[5] & 0x07FF) << 7);
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buf_[8] = static_cast<uint8_t>((ch[5] & 0x07FF) >> 1);
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buf_[9] = static_cast<uint8_t>((ch[5] & 0x07FF) >> 9 |
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(ch[6] & 0x07FF) << 2);
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buf_[10] = static_cast<uint8_t>((ch[6] & 0x07FF) >> 6 |
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(ch[7] & 0x07FF) << 5);
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buf_[11] = static_cast<uint8_t>((ch[7] & 0x07FF) >> 3);
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buf_[12] = static_cast<uint8_t>((ch[8] & 0x07FF));
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buf_[13] = static_cast<uint8_t>((ch[8] & 0x07FF) >> 8 |
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(ch[9] & 0x07FF) << 3);
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buf_[14] = static_cast<uint8_t>((ch[9] & 0x07FF) >> 5 |
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(ch[10] & 0x07FF) << 6);
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buf_[15] = static_cast<uint8_t>((ch[10] & 0x07FF) >> 2);
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buf_[16] = static_cast<uint8_t>((ch[10] & 0x07FF) >> 10 |
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(ch[11] & 0x07FF) << 1);
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buf_[17] = static_cast<uint8_t>((ch[11] & 0x07FF) >> 7 |
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(ch[12] & 0x07FF) << 4);
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buf_[18] = static_cast<uint8_t>((ch[12] & 0x07FF) >> 4 |
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(ch[13] & 0x07FF) << 7);
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buf_[19] = static_cast<uint8_t>((ch[13] & 0x07FF) >> 1);
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buf_[20] = static_cast<uint8_t>((ch[13] & 0x07FF) >> 9 |
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(ch[14] & 0x07FF) << 2);
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buf_[21] = static_cast<uint8_t>((ch[14] & 0x07FF) >> 6 |
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(ch[15] & 0x07FF) << 5);
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buf_[22] = static_cast<uint8_t>((ch[15] & 0x07FF) >> 3);
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buf_[23] = 0x00 | (ch17 * CH17_MASK_) | (ch18 * CH18_MASK_) |
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(failsafe * FAILSAFE_MASK_) |
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(lost_frame * LOST_FRAME_MASK_);
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buf_[24] = FOOTER_;
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}
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};
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class SerialPort {
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private:
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int fd;
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public:
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SerialPort() : fd(-1) {}
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bool open(const std::string& port_path) {
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// Открытие последовательного порта
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fd = ::open(port_path.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
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if (fd < 0) {
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std::cerr << "Failed to open serial port " << port_path << ": " << std::strerror(errno) << std::endl;
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return false;
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}
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struct termios2 tio{};
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ioctl(fd, TCGETS2, &tio);
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// 8bit
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tio.c_cflag &= ~CSIZE;
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tio.c_cflag |= CS8;
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// even
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tio.c_cflag &= ~(PARODD | CMSPAR);
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tio.c_cflag |= PARENB;
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// 2 stop bits
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tio.c_cflag |= CSTOPB;
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// baud rate
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tio.c_ispeed = 100000;
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tio.c_ospeed = 100000;
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// other
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tio.c_iflag |= (INPCK|IGNBRK|IGNCR|ISTRIP);
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tio.c_cflag &= ~CBAUD;
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tio.c_cflag |= (BOTHER|CREAD|CLOCAL);
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if (ioctl(fd, TCSETS2, &tio) != 0) {
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std::cerr << "Failed to set termios2 attributes: " << std::strerror(errno) << std::endl;
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close(fd);
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return false;
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}
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std::cout << "Serial port " << port_path << " opened and configured: 100000 baud, 8E2" << std::endl;
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return true;
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}
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~SerialPort() {
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_close();
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}
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void _close() {
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if (fd >= 0) {
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::close(fd);
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fd = -1;
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}
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}
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// Метод для получения файлового дескриптора порта
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int getDescriptor() const {
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return fd;
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}
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// Метод для записи данных в порт
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bool write(std::span<const uint8_t> data) {
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if (fd < 0) return false;
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ssize_t written = ::write(fd, data.data(), data.size());
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if (written < 0) {
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std::cerr << "Failed to write to serial port" << std::endl;
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return false;
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}
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// Принудительная отправка данных
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// tcdrain(fd);
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return true;
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}
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};
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int main(int argc, char* argv[]) {
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// Парсим аргументы командной строки
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std::string serial_port = "/dev/ttyUSB0";
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if (argc > 1) {
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serial_port = argv[1];
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}
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try {
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// Создание UDP сервера
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UDPServer udp_server(1066);
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// Открытие последовательного порта
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SerialPort serial;
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if (!serial.open(serial_port)) {
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return 1;
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}
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std::cout << "Ready to receive UDP packets and forward to serial port" << std::endl;
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std::cout << "Press Ctrl+C to exit" << std::endl;
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SbusData sb{};
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int64_t lastSbusWrite = 0;
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int64_t lastSbusRecv = 0;
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int packetCount = 0;
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int totalPacketCount = 0;
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int64_t lastStatisticsShow = milliseconds();
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while (true) {
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pollfd udpFd{.fd = udp_server.sockfd, .events = POLLIN, .revents = 0};
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poll(&udpFd, 1, SBUS_SEND_FRAME_INTERVAL / 4);
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if (udpFd.revents & POLLIN) {
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// Прием UDP пакета
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std::vector<uint16_t> data = udp_server.receive();
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lastSbusRecv = milliseconds();
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if (!data.empty()) {
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packetCount++;
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for (int i = 0; i < data.size() && i < SbusData::NUM_CH; ++i) {
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auto item = static_cast<double>(data[i]);
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item -= 1000.0;
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item = std::min(item, 1000.0);
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item = std::max(item, 0.0);
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item *= (SbusData::SBUS_CH_MAX - SbusData::SBUS_CH_MIN) / 1000.0;
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item += SbusData::SBUS_CH_MIN;
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sb.ch[i] = static_cast<int16_t>(item);
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if (sb.ch[i] < SbusData::SBUS_CH_MIN) {
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sb.ch[i] = SbusData::SBUS_CH_MIN; // минимальное число
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} else if (sb.ch[i] > SbusData::SBUS_CH_MAX) {
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sb.ch[i] = SbusData::SBUS_CH_MAX; // максимальное число
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}
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}
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sb.fillDataBuf();
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}
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}
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const auto now = milliseconds();
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if (now - lastSbusWrite >= SBUS_SEND_FRAME_INTERVAL && now - lastSbusRecv <= SBUS_RXLOSS_INTERVAL) {
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lastSbusWrite = now;
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if (!serial.write(sb.buf_)) {
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break;
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}
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}
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if (now - lastStatisticsShow >= 1000) {
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lastStatisticsShow = now;
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totalPacketCount += packetCount;
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std::cout << "Received " << totalPacketCount << " packets total, " << packetCount << " in last second" << std::endl;
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packetCount = 0;
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}
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}
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} catch (const std::exception& e) {
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std::cerr << "Error: " << e.what() << std::endl;
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return 1;
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}
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std::cout << "Exiting..." << std::endl;
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return 0;
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}
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