调整通讯协议udp+uart
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xu
+39
-43
@@ -1,16 +1,18 @@
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#include "car.h"
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#include <QApplication>
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#include <QDebug>
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#include <QSerialPort>
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#include <QHostAddress>
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#include <QNetworkDatagram>
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#include <QSettings>
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#include <QUdpSocket>
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#include <QtGlobal>
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#include <cstring>
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namespace {
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// ===================== 线格式 =====================
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// 一帧 = 32 位帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和，共 18 字节。
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// 多字节字段按主机小端排列，与车载端网关一致；帧头用于在字节流中定位报文起始。
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// 一个 UDP 数据报承载 = 32 位帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和，共 18 字节。
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// 多字节字段按主机小端排列，与车载端网关一致；帧头与校验和用于确认数据报内容合法。
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#pragma pack(push, 1)
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struct CanFrame {
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quint32 header; // 固定帧头 0x5AA5FF00（线上字节序 00 FF A5 5A）
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@@ -25,6 +27,11 @@ const quint32 kFrameHeader = 0x5AA5FF00u;
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const int kFrameLen = int(sizeof(CanFrame));
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const int kDataLen = 8;
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// 车端 CAN 的 UDP 端口：本机 9000 收（车端反馈），上行命令发往 9001
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const quint16 kCanRxPort = 9000;
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const quint16 kCanTxPort = 9001;
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const char* kCanTxHost = "127.0.0.1";
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quint8 canChecksum(quint32 canId, quint8 dlc, const quint8* data)
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{
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quint8 sum = 0;
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@@ -224,13 +231,11 @@ const char* const kSysDetector = "气体检测仪";
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CarCommunication::CarCommunication(Telemetry* tel, QObject* parent)
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: QObject(parent), m_tel(tel)
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{
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m_serial = new QSerialPort(this);
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connect(m_serial, &QSerialPort::readyRead, this, &CarCommunication::onReadyRead);
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m_sock = new QUdpSocket(this);
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connect(m_sock, &QUdpSocket::readyRead, this, &CarCommunication::onDatagram);
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// 串口配置与 AppContext 共用 config.ini（默认 /dev/ttyS7，500000 8N1）
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// 端口固定为 kCanRxPort/kCanTxPort 常量，config.ini 只剩自检演示开关要读
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QSettings s(cfgPath(), QSettings::IniFormat);
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m_device = s.value("car/device", "/dev/ttyS7").toString();
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m_baud = s.value("car/baud", 500000).toInt();
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m_selfCheckFault = s.value("net/selfcheck_fault", true).toBool();
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// 洗消四参数按存盘值初始化，否则开机帧发的是硬编码初值而非用户设定值。
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@@ -273,23 +278,17 @@ CarCommunication::~CarCommunication()
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bool CarCommunication::start()
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{
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if (m_serial->isOpen())
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if (m_sock->state() == QAbstractSocket::BoundState)
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return true;
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m_serial->setPortName(m_device);
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m_serial->setBaudRate(m_baud);
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m_serial->setDataBits(QSerialPort::Data8);
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m_serial->setStopBits(QSerialPort::OneStop);
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m_serial->setParity(QSerialPort::NoParity);
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m_serial->setFlowControl(QSerialPort::NoFlowControl);
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if (!m_serial->open(QIODevice::ReadWrite)) {
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// 开发机（Windows）没有 /dev/ttyS7 时走这里：不启动定时器，界面显示通信异常
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qWarning() << "车端串口打开失败:" << m_device << m_serial->errorString();
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m_sock->abort();
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// AnyIPv4：回环与各本机网卡都能收到；若只允许本机回环，改成 QHostAddress::LocalHost
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if (!m_sock->bind(QHostAddress::AnyIPv4, kCanRxPort)) {
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// 端口被占用时走这里：不启动定时器，界面显示通信异常
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qWarning() << "车端 UDP 端口绑定失败:" << kCanRxPort << m_sock->errorString();
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setCommOk(false);
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return false;
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}
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m_buf.clear();
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m_hbTimer->start();
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m_fastTimer->start();
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m_midTimer->start();
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@@ -304,8 +303,7 @@ void CarCommunication::stop()
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m_midTimer->stop();
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m_slowTimer->stop();
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m_selfCheckTimer->stop();
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if (m_serial->isOpen()) m_serial->close();
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m_buf.clear();
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m_sock->close();
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}
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void CarCommunication::setCommOk(bool ok)
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@@ -317,28 +315,25 @@ void CarCommunication::setCommOk(bool ok)
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}
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// ===================== 收包与分流 =====================
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void CarCommunication::onReadyRead()
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// UDP 是数据报：单个数据报内含一条或多条完整帧，逐条校验即可，
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// 不再需要串口时代那套跨读字节流的残帧缓冲与滑窗重同步。
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void CarCommunication::onDatagram()
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{
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m_buf.append(m_serial->readAll());
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// 串口是字节流：逐字节找帧头，校验不过则右移一字节继续找（容忍粘包、拆包与杂包）。
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// 尾部不足一帧的残段留在 m_buf 里等下次数据。
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int off = 0;
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while (off + kFrameLen <= m_buf.size()) {
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CanFrame f;
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std::memcpy(&f, m_buf.constData() + off, kFrameLen);
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if (f.header == kFrameHeader && f.dlc == kDataLen
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&& f.checksum == canChecksum(f.canId, f.dlc, f.data)) {
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handleFrame(f.canId, f.data);
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off += kFrameLen;
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} else {
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++off;
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while (m_sock->hasPendingDatagrams()) {
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const QByteArray d = m_sock->receiveDatagram().data();
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int off = 0;
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while (off + kFrameLen <= d.size()) {
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CanFrame f;
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std::memcpy(&f, d.constData() + off, kFrameLen);
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if (f.header == kFrameHeader && f.dlc == kDataLen
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&& f.checksum == canChecksum(f.canId, f.dlc, f.data)) {
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handleFrame(f.canId, f.data);
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off += kFrameLen;
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} else {
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++off; // 数据报内可能有杂字节，向后找下一个帧头
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}
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}
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}
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if (off > 0) m_buf.remove(0, off);
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// 防御：长期收不到帧头时缓冲会一直涨，超过上限只保留尾部一帧长度
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if (m_buf.size() > 4096) m_buf.remove(0, m_buf.size() - kFrameLen);
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}
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void CarCommunication::handleFrame(quint32 canId, const quint8* d)
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@@ -633,7 +628,7 @@ void CarCommunication::cacheFaults()
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// ===================== 发包 =====================
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void CarCommunication::sendFrame(quint32 canId, const quint8* data)
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{
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if (!m_serial->isOpen()) return;
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if (m_sock->state() != QAbstractSocket::BoundState) return;
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CanFrame f;
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f.header = kFrameHeader;
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@@ -641,7 +636,8 @@ void CarCommunication::sendFrame(quint32 canId, const quint8* data)
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f.dlc = kDataLen;
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std::memcpy(f.data, data, kDataLen);
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f.checksum = canChecksum(canId, f.dlc, f.data);
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m_serial->write(reinterpret_cast<const char*>(&f), kFrameLen);
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m_sock->writeDatagram(reinterpret_cast<const char*>(&f), kFrameLen,
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QHostAddress(kCanTxHost), kCanTxPort);
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}
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// 50ms 组：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 / Emergency_Cmd
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