feat(main): 添加启动模块自检与汇总功能
- 新增 SystemBoot 类用于跟踪各模块初始化状态，提供位图标记与报告功能 - 在 main.cpp 中重构初始化流程，按顺序初始化各模块并记录状态 - 添加 system_boot.cpp 模块文件到构建配置 - CAN反馈任务增加冷启动延迟，避免与GD32初始化窗口冲突 refactor(ota): 优化OTA协调器线程安全机制 - 修改 lock()/unlock() 方法返回take结果，确保mutex正确释放 - 修复多任务并发时mutex死锁问题，避免vTaskPriorityDisinherit断言 - 统一finalize失败后的状态复位逻辑，确保协调器回到IDLE状态 - 优化忙状态超时检测与自愈机制 perf(boot): 优化冷启动时序与资源管理 - 简化README中冷启动优化说明，聚焦核心逻辑 - 优化BOD阈值设置为LVL5，改进电源稳定性 - 增加BLE OTA工作线程优先级，减少丢包情况 - 优化堆告警节流机制，在OTA期间降低告警频率 fix(relay): 改进GD32应用存活检测逻辑 - 调整GD32 APP存活验证时序，增加会话建立验证 - 修复HELLO建立session后未验证role的问题 - 优化FINISH后等待APP启动的静默时间与重试机制 - 统一GD32探测逻辑到OTA中继任务 refactor(server): 优化HTTP服务端内存与性能 - 使用静态缓冲区替代动态分配，减少堆碎片化风险 - 优化CAN批量发送期间暂停反馈任务的机制 - 调整BLE连接参数请求逻辑，提升传输性能 - 改进错误处理流程，避免堆紧张时的额外分配 bump(version): 更新固件版本至0.3.50 - 更新版本号从0.3.49到0.3.50 - 更新编译时间戳与Git哈希值
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/**
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* @file system_boot.cpp
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* @brief 启动模块位图实现。
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*/
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#include "system_boot.h"
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#include "monitor/debug_log.h"
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#include <stdio.h>
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#include <string.h>
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namespace {
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struct BootEntry {
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uint32_t bit;
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const char *name;
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bool critical;
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};
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static const BootEntry kEntries[] = {
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{ BOOT_NETIF, "netif", true },
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{ BOOT_EVENT_LOOP, "event_loop", true },
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{ BOOT_DEBUG_LOG, "debug_log", true },
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{ BOOT_WIFI_EARLY, "wifi_early", true },
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{ BOOT_HEALTH_MON, "health_mon", true },
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{ BOOT_HEALTH_TASK, "health_task", true },
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{ BOOT_CPU_STATS, "cpu_stats", false },
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{ BOOT_PROTOCOL, "protocol", true },
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{ BOOT_OTA_COORD, "ota_coord", true },
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{ BOOT_SPI, "spi", true },
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{ BOOT_OTA_RELAY_TASK, "ota_relay_task", true },
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{ BOOT_WIFI_TASK, "wifi_task", true },
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{ BOOT_BLE_TASK, "ble_task", true },
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{ BOOT_CAN_LINK, "can_link", false },
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{ BOOT_CAN_FB_TASK, "can_fb_task", false },
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{ BOOT_OTA_VALID, "ota_mark_valid", false },
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};
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static uint32_t s_mask = 0U;
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static void evaluate(bool *critical_ok, bool *all_ok, char *fail_list, size_t fail_cap)
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{
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*critical_ok = true;
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*all_ok = true;
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if (fail_list && fail_cap > 0U) {
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fail_list[0] = '\0';
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}
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size_t fail_len = 0U;
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for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
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const BootEntry &e = kEntries[i];
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const bool ok = (s_mask & e.bit) != 0U;
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if (ok) {
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continue;
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}
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*all_ok = false;
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if (e.critical) {
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*critical_ok = false;
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}
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if (!fail_list || fail_cap == 0U) {
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continue;
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}
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if (fail_len + 2U < fail_cap) {
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if (fail_len > 0U) {
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fail_list[fail_len++] = ',';
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}
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const char *p = e.name;
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while (*p != '\0' && fail_len + 1U < fail_cap) {
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fail_list[fail_len++] = *p++;
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}
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fail_list[fail_len] = '\0';
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}
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}
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}
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} // namespace
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void SystemBoot::reset()
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{
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s_mask = 0U;
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}
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void SystemBoot::mark(SystemBootBit bit)
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{
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s_mask |= static_cast<uint32_t>(bit);
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}
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bool SystemBoot::report()
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{
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bool critical_ok = true;
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bool all_ok = true;
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char fail_list[192] = {0};
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evaluate(&critical_ok, &all_ok, fail_list, sizeof(fail_list));
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if (critical_ok && all_ok) {
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DEBUG_INFO("BOOT", "init: OK (all modules)");
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} else if (critical_ok) {
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DEBUG_WARN("BOOT", "init: OK (critical), skipped/failed: %s",
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fail_list[0] != '\0' ? fail_list : "?");
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} else {
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DEBUG_ERR("BOOT", "init: FAIL, modules: %s",
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fail_list[0] != '\0' ? fail_list : "?");
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}
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return critical_ok;
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}
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int SystemBoot::appendStatusJson(char *buf, size_t cap, int offset)
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{
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if (!buf || cap == 0 || offset < 0 || (size_t)offset >= cap) {
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return offset;
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}
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bool critical_ok = true;
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bool all_ok = true;
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char fail_list[192] = {0};
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evaluate(&critical_ok, &all_ok, fail_list, sizeof(fail_list));
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const char *summary;
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if (critical_ok && all_ok) {
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summary = "OK (all modules)";
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} else if (critical_ok) {
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summary = "OK (critical)";
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} else {
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summary = "FAIL";
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}
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int n = snprintf(buf + offset, cap - (size_t)offset,
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",\"boot\":{\"critical_ok\":%s,\"all_ok\":%s,\"mask\":%lu,"
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"\"summary\":\"%s\",\"failed\":\"%s\",\"modules\":[",
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critical_ok ? "true" : "false",
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all_ok ? "true" : "false",
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(unsigned long)s_mask,
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summary,
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fail_list);
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if (n < 0) {
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return offset;
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}
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if (offset + n >= (int)cap) {
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buf[cap - 1] = '\0';
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return (int)(cap - 1);
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}
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offset += n;
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for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
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const BootEntry &e = kEntries[i];
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const bool ok = (s_mask & e.bit) != 0U;
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n = snprintf(buf + offset, cap - (size_t)offset,
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"%s{\"name\":\"%s\",\"ok\":%s,\"critical\":%s}",
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i == 0 ? "" : ",",
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e.name,
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ok ? "true" : "false",
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e.critical ? "true" : "false");
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if (n < 0) {
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return offset;
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}
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if (offset + n >= (int)cap) {
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buf[cap - 1] = '\0';
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return (int)(cap - 1);
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}
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offset += n;
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}
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n = snprintf(buf + offset, cap - (size_t)offset, "]}");
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if (n < 0) {
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return offset;
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}
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if (offset + n >= (int)cap) {
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buf[cap - 1] = '\0';
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return (int)(cap - 1);
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}
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return offset + n;
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}
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