402 lines
13 KiB
C
402 lines
13 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <sys/time.h> // gettimeofday
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#include <sys/stat.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/ioctl.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 <netdb.h>
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#include <errno.h>
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#include <pthread.h>
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#include "serial.h"
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#include "uartinf.h"
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#include <stdbool.h>
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#define RECV_PORT 12000 // UDP接收端口
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#define SEND_PORT 12001 // 发送端口（UART转NET）
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/* ===================== 网络帧协议定义 ===================== */
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#define NET_FRAME_LEN 32 /* 收/发报文固定长度 */
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#define NET_TAIL 0xBB /* 帧尾 */
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#define PAYLOAD_LEN 30 /* 帧长度 byte0..29 */
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#define BYTE_MODE 30 /* 接收帧 mode 字段偏移（0-4） */
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#define BYTE_TAIL 31 /* 接收帧帧尾偏移 */
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#define CHECKSUM_END 30 /* 校验和覆盖 byte0..byte30（含） */
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#define NET_FRAME_MAX_LEN 256 /* recvfrom 缓冲大小 */
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#define BYTE_NOSIG0 25 /* byte25 = 视频流0无信号标志（1=无信号，0=有信号） */
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#define BYTE_NOSIG1 26 /* byte26 = 视频流1无信号标志（1=无信号，0=有信号） */
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#define BYTE_RSSI1 28 /* 信号包=RSSI1；设备包=哨兵 */
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#define BYTE_RSSI2 29 /* 信号包=RSSI2；设备包=哨兵 */
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#define SIG_MARK 0x5A /* 设备包 byte28/29 哨兵值 */
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#define SIGNAL_INTERVAL_MS 100 /* 独立信号包发送间隔(ms) */
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#define FRAME_HEAD 0x11 /* 上行帧帧头(byte0)，面板校验要求 */
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#define FRAME_TAIL 0x22 /* 上行帧帧尾(byte30)，面板校验要求 */
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#define FRAME_HEAD_TX 0xAA /* 下行帧帧头(byte0)，设备→面板 */
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/* ===================== 共享内存 ===================== */
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#define SHM_MSG_NAME "/video_switch"
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#define SHM_MODE_IDX 0 /* switch_mode -> shm[0]（即 switch_video[0]） */
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static int *shm_msg = NULL;
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char _rx_data[200];
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static int socket_descriptor;
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static struct sockaddr_in address;
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bool first = false;
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int socket_descriptor_recv;
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struct sockaddr_in address_recv;
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pthread_attr_t attr;
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pthread_t pkts_thread;
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/* 打开共享内存 /param.txt（由 lc6600_uart 进程写入 RSSI） */
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static int *param_memory_open(void) {
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int fd = shm_open("/param.txt", O_RDWR, 0777);
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if (fd < 0) {
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fd = shm_open("/param.txt", O_RDWR | O_CREAT, 0777);
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if (fd < 0) { perror("shm_open /param.txt"); return NULL; }
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if (ftruncate(fd, 4096) == -1) { perror("ftruncate /param.txt"); return NULL; }
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}
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int *retval = mmap(NULL, 4096, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
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if (retval == MAP_FAILED) { perror("mmap /param.txt"); return NULL; }
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return retval;
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}
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static int *switch_memory_open(void) {
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char buf[128];
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int fd;
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sprintf(buf, SHM_MSG_NAME);
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fd = shm_open(buf, O_CREAT | O_RDWR, S_IRUSR | S_IWUSR);
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if(fd < 0) { perror("shm_open"); exit(1); }
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if (ftruncate(fd, 4096) == -1) { perror("ftruncate"); exit(1); }
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int *retval = mmap(NULL, 4096, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
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return retval;
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}
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/* 读 GPIO71（0/1），失败返回默认值 1 */
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static int read_gpio72(void)
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{
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char val = 0;
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int fd = open("/sys/class/gpio/gpio71/value", O_RDONLY);
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if (fd < 0)
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return 0; /* 失败默认 0 */
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if (read(fd, &val, 1) != 1) {
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close(fd);
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return 0; /* 失败默认 0 */
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}
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close(fd);
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return (val == '0') ? 1 : 0; /* 反相：GPIO=1 → 0，GPIO=0 → 1 */
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}
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static long elapsed_ms(struct timeval *start, struct timeval *end)
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{
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return (end->tv_sec - start->tv_sec) * 1000L
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+ (end->tv_usec - start->tv_usec) / 1000L;
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}
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int init_net_recv(int port){
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int i;
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struct timeval tv;
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bzero(&address_recv,sizeof(struct sockaddr_in));
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address_recv.sin_family=AF_INET;
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address_recv.sin_addr.s_addr=htonl(INADDR_ANY);
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address_recv.sin_port=htons(port);
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socket_descriptor_recv=socket(AF_INET,SOCK_DGRAM,0);//IPV4
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tv.tv_sec = 2;
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tv.tv_usec = 0;
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if (setsockopt(socket_descriptor_recv, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
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printf("socket option SO_RCVTIMEO not support\n");
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return -1;
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}
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if (bind(socket_descriptor_recv, (struct sockaddr *)&address_recv, sizeof(struct sockaddr_in)) < 0)
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{
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perror("bind");
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exit(1);
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}
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return 0;
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}
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int udp_init(char *ip, int port){
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bzero(&address,sizeof(address));
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address.sin_family=AF_INET;
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address.sin_addr.s_addr=inet_addr(ip);
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address.sin_port=htons(port);
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socket_descriptor=socket(AF_INET,SOCK_DGRAM,0);//IPV4
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return 0;
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}
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#if 0
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void *net_recv(void *arg)
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{
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int i;
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struct sockaddr_in clientAddr;
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int len = sizeof(clientAddr);
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int ret;
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struct timeval tv;
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tv.tv_sec = 5;
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tv.tv_usec = 0;
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if (setsockopt(socket_descriptor_recv, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
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printf("socket option SO_RCVTIMEO not support\n");
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//return -1;
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}
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char buffer_cmd[200];
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while(1){
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i = recvfrom(socket_descriptor_recv, buffer_cmd, 200, 0, (struct sockaddr*)&clientAddr, &len);
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if(i>0){
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uart_write_len(ROUTE_UART,buffer_cmd,i);
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}
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else{
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printf(" time_out to receive data\n");
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}
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}
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}
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#endif
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#if 1
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void *net_recv(void *arg)
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{
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int i, k;
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struct sockaddr_in clientAddr;
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socklen_t len;
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struct timeval tv;
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char buffer_cmd[NET_FRAME_MAX_LEN];
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char frame_out[NET_FRAME_MAX_LEN];
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int sum;
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unsigned char checksum;
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tv.tv_sec = 5;
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tv.tv_usec = 0;
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if (setsockopt(socket_descriptor_recv, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0)
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printf("socket option SO_RCVTIMEO not support\n");
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while (1) {
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len = sizeof(clientAddr); /* 每次循环重置，recvfrom 会改写 len */
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i = recvfrom(socket_descriptor_recv, buffer_cmd, NET_FRAME_MAX_LEN, 0,
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(struct sockaddr*)&clientAddr, &len);
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if (i <= 0) {
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printf(" time_out to receive data\n");
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continue;
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}
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if (i != NET_FRAME_LEN) {
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printf("bad frame len=%d\n", i);
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continue;
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}
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/* 帧尾校验 */
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if ((unsigned char)buffer_cmd[BYTE_TAIL] != NET_TAIL) {
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printf("bad tail=%02x\n", (unsigned char)buffer_cmd[BYTE_TAIL]);
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continue;
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}
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/* 解析 mode -> 写共享内存 */
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if (shm_msg) {
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static int last_mode = -1;
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int mode = (unsigned char)buffer_cmd[BYTE_MODE];
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if (mode <= 4) {
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if (mode != last_mode) {
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shm_msg[SHM_MODE_IDX] = mode; //写入共享内存 viode_switch
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last_mode = mode;
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printf("write shm: mode=%d\n", mode);
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}
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}
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else {
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printf("filed mode=%d\n", mode);
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}
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}
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/* 构造下行帧：byte0=0xAA 帧头，byte1..29 原样，byte30=0xBB 帧尾 */
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frame_out[0] = FRAME_HEAD_TX; /* [0] 帧头 0xAA */
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memcpy(frame_out + 1, buffer_cmd + 1, PAYLOAD_LEN - 1); /* [1..29] 原样 */
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frame_out[PAYLOAD_LEN] = NET_TAIL; /* [30] 帧尾 0xBB */
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/* 校验和 = byte0..byte30 求和取低8位，写入 byte31 */
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sum = 0;
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for (k = 0; k <= CHECKSUM_END; k++)
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sum += (unsigned char)frame_out[k];
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checksum = sum & 0xFF;
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frame_out[PAYLOAD_LEN + 1] = checksum; /* [31] 校验和 */
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#if 0
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/* 打印发出的包 */
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printf(" send to uart %d bytes:", NET_FRAME_LEN);
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for (k = 0; k < NET_FRAME_LEN; k++)
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printf(" %02x", (unsigned char)frame_out[k]);
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printf("\n");
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#endif
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uart_write_len(ROUTE_UART, frame_out, NET_FRAME_LEN); //发送给串口
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}
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return NULL;
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}
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#endif
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int pthread_init()
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{
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int ret;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
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ret = pthread_create(&pkts_thread, &attr, net_recv, NULL);
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pthread_attr_destroy(&attr);
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if(ret){
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printf("create pthread1 error\n");
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return 1;
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}
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}
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int main (int argc, char *argv[])
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{
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int n_read;
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int i;
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int count=0;
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int *buffer_param;
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char buffer_send[100];
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int buffer_len;
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struct timeval tv_sig = {0, 0}, tv_now;
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char sig_frame[NET_FRAME_LEN];
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n_read = uart_init(ROUTE_UART, "/dev/ttyAMA4", 115200, 'N');
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if(n_read <=0 ) {
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printf("open /dev/ttyAMA4 failed\n");
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return -1;
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}
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// udp_init(argv[1], atoi(argv[2]));
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// init_net_recv(atoi(argv[3]));
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udp_init("127.0.0.1", SEND_PORT); // 发送目标：本机回环 12001
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init_net_recv(RECV_PORT); // 接收：0.0.0.0:12000（INADDR_ANY）
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shm_msg = switch_memory_open();
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buffer_param = param_memory_open();
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pthread_init();
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while(1){
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n_read = uart_read(ROUTE_UART, _rx_data);
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if(n_read > 0 ){
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int k, sum = 0;
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/* 收包校验：完整 32 字节帧，帧头 0x11、帧尾 0x22、byte31 校验和正确，否则丢弃 */
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if (n_read < NET_FRAME_LEN) {
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printf("drop bad frame: len=%d\n", n_read);
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continue;
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}
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if ((unsigned char)_rx_data[0] != FRAME_HEAD ||
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(unsigned char)_rx_data[CHECKSUM_END] != FRAME_TAIL) {
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printf("drop bad frame: head=%02x tail=%02x\n",
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(unsigned char)_rx_data[0], (unsigned char)_rx_data[CHECKSUM_END]);
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continue;
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}
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for (k = 0; k <= CHECKSUM_END; k++)
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sum += (unsigned char)_rx_data[k];
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if ((unsigned char)_rx_data[31] != (sum & 0xFF)) {
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printf("drop bad frame: checksum=%02x expect=%02x\n",
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(unsigned char)_rx_data[31], (unsigned char)(sum & 0xFF));
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continue;
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}
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/* byte28/29 固定哨兵值，RSSI 改由独立信号包承载 */
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_rx_data[BYTE_RSSI1] = (char)SIG_MARK;
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_rx_data[BYTE_RSSI2] = (char)SIG_MARK;
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/* 和校验：byte0..byte30 求和取低 8 位，写入 byte31 */
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sum = 0;
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for (k = 0; k <= CHECKSUM_END; k++)
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sum += (unsigned char)_rx_data[k];
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_rx_data[31] = (char)(sum & 0xFF);
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sendto(socket_descriptor, _rx_data, NET_FRAME_LEN, 0, (struct sockaddr *)&address, sizeof(address));
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}
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/* 独立信号包：与串口数据无关，每 SIGNAL_INTERVAL_MS 发一次；其余字节填 0 */
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gettimeofday(&tv_now, NULL);
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if (tv_sig.tv_sec == 0 || elapsed_ms(&tv_sig, &tv_now) >= SIGNAL_INTERVAL_MS) {
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int k, sum = 0;
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memset(sig_frame, 0, NET_FRAME_LEN);
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sig_frame[0] = (char)FRAME_HEAD; /* byte0 = 0x11 */
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/* byte25/26 = 视频流0/1无信号，byte27 = GPIO */
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sig_frame[BYTE_NOSIG0] = (shm_msg && shm_msg[2] == 0x55) ? 1 : 0;
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sig_frame[BYTE_NOSIG1] = (shm_msg && shm_msg[3] == 0x55) ? 1 : 0;
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sig_frame[27] = (char)read_gpio72();
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if (buffer_param) {
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sig_frame[BYTE_RSSI1] = (char)buffer_param[1];
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sig_frame[BYTE_RSSI2] = (char)buffer_param[2];
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//打印发出的信号值
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printf("signal: RSSI1=%d RSSI2=%d\n", buffer_param[1], buffer_param[2]);
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}
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sig_frame[PAYLOAD_LEN] = (char)FRAME_TAIL; /* byte30 = 0x22 */
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for (k = 0; k <= CHECKSUM_END; k++)
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sum += (unsigned char)sig_frame[k];
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sig_frame[CHECKSUM_END + 1] = (char)(sum & 0xFF);
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sendto(socket_descriptor, sig_frame, NET_FRAME_LEN, 0, (struct sockaddr *)&address, sizeof(address));
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tv_sig = tv_now;
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}
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}
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}
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