feat(main): 添加CAN 1Hz反馈轮询任务和HTTP接口
- 新增monitor/can_feedback_task.cpp组件，实现CAN 1Hz反馈轮询功能 - 在main.cpp中注册CAN反馈轮询任务，依赖SPI初始化完成后启动 - 在OTA协调器和中继模块中集成CAN反馈任务暂停/恢复机制 - 扩展CANFD桥接层，添加0xC1反馈查询、0xC2模式切换、0xC3ID快照协议支持 - 新增HTTP接口/can/feedback提供三路CAN反馈快照数据 - 新增HTTP接口/can/mode支持查询和切换CAN接收过滤模式 - 更新版本号从0.3.34到0.35 - 扩大SPI缓冲区以支持更大帧传输需求 BREAKING CHANGE: 新增CAN反馈监控功能需要GD32固件支持0xC1/0xC2/0xC3协议扩展
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小龙虾
@@ -1,4 +1,4 @@
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/*
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/*
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* http_handlers.cpp - HTTP 请求处理器实现
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* 从 wifi_ota.cpp 提取的 HTTP handler 函数
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*/
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@@ -28,6 +28,7 @@
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#include "monitor/debug_log.h"
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#include "spi_master.h"
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#include "canfd_bridge.h"
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#include "monitor/can_feedback_task.h"
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#include "ble_ota.h"
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// OTA 准备状态：/ota/prepare 完成后设置，/ota/upload 消费后清除
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@@ -714,6 +715,140 @@ esp_err_t logs_handler(httpd_req_t *req)
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return ESP_OK;
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}
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// ============================================================
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// GET /can/feedback — 三路 CAN 1Hz 反馈快照
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// ============================================================
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esp_err_t can_feedback_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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can_feedback_result_t results[CAN_CHANNEL_MAX] = {};
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bool valid[CAN_CHANNEL_MAX] = {};
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for (uint8_t i = 0; i < CAN_CHANNEL_MAX; ++i) {
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valid[i] = getLatestCanFeedback(i, &results[i]);
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}
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/* 估算缓冲大小：每通道 ~2KB (统计+ID条目) */
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char *resp = (char *)calloc(1, 8192);
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if (!resp) {
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httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "no memory");
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return ESP_FAIL;
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}
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char *p = resp;
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p += sprintf(p, "{\"channels\":[");
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for (uint8_t i = 0; i < CAN_CHANNEL_MAX; ++i) {
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const can_feedback_result_t &r = results[i];
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if (i > 0) p += sprintf(p, ",");
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p += sprintf(p, "{\"ch\":%u,\"valid\":%s", (unsigned)i,
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valid[i] ? "true" : "false");
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if (valid[i]) {
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p += sprintf(p,
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",\"mode\":%u,\"seq\":%lu,\"rx\":%lu,\"tx\":%lu,"
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"\"drop\":%lu,\"err\":%lu,\"count\":%u,\"entries\":[",
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(unsigned)r.stats.mode,
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(unsigned long)r.stats.snapshot_seq,
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(unsigned long)r.stats.rx_count,
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(unsigned long)r.stats.tx_count,
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(unsigned long)r.stats.rx_drop_count,
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(unsigned long)r.stats.error_count,
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(unsigned)r.total_count);
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for (uint8_t j = 0; j < r.total_count && j < CANFD_ID_SNAPSHOT_MAX; ++j) {
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const id_snapshot_entry_t &e = r.entries[j];
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if (j > 0) p += sprintf(p, ",");
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p += sprintf(p,
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"{\"id\":\"0x%08lX\",\"dlc\":%u,\"fd\":%u,"
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"\"brs\":%u,\"esi\":%u,\"data\":\"",
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(unsigned long)e.id,
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(unsigned)e.dlc,
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(unsigned)e.fd_flag,
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(unsigned)e.brs,
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(unsigned)e.esi);
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const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
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? e.dlc : CANFD_ID_SNAPSHOT_DATA_MAX;
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for (uint8_t d = 0; d < dataLen; ++d) {
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p += sprintf(p, "%02X", e.data[d]);
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}
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p += sprintf(p, "\"}");
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}
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p += sprintf(p, "]");
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}
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p += sprintf(p, "}");
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}
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p += sprintf(p, "]}");
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, (int)(p - resp));
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free(resp);
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return ESP_OK;
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}
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// ============================================================
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// GET/POST /can/mode — 查询或切换三路 CAN 接收模式
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// ============================================================
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esp_err_t can_mode_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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if (req->method == HTTP_GET) {
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can_feedback_result_t fb{};
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if (getLatestCanFeedback(0, &fb)) {
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char resp[64];
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int len = snprintf(resp, sizeof(resp),
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"{\"mode\":%u}", (unsigned)fb.stats.mode);
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, len);
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} else {
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can_rx_mode_t actual = CAN_RX_MODE_ALL_PASS;
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int rc = canFdSetRxMode(CAN_RX_MODE_ALL_PASS, &actual, 500);
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char resp[64];
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int len = snprintf(resp, sizeof(resp),
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"{\"mode\":%u,\"source\":\"spi\",\"ok\":%s}",
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(unsigned)actual, rc == 0 ? "true" : "false");
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, len);
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}
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return ESP_OK;
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}
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char buf[128] = {0};
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int ret = httpd_req_recv(req, buf, sizeof(buf) - 1);
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if (ret <= 0) {
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httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "接收数据失败");
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return ESP_FAIL;
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}
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buf[ret] = '\0';
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cJSON *root = cJSON_Parse(buf);
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if (!root) {
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httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "JSON 解析失败");
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return ESP_FAIL;
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}
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cJSON *mode_item = cJSON_GetObjectItem(root, "mode");
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if (!mode_item || !cJSON_IsNumber(mode_item)) {
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cJSON_Delete(root);
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httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "缺少 mode 字段");
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return ESP_FAIL;
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}
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int requested = (int)cJSON_GetNumberValue(mode_item);
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cJSON_Delete(root);
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can_rx_mode_t target = (requested == 1) ? CAN_RX_MODE_FILTER_ID
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: CAN_RX_MODE_ALL_PASS;
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can_rx_mode_t actual = CAN_RX_MODE_ALL_PASS;
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int rc = canFdSetRxMode(target, &actual, 500);
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char resp[96];
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int len = snprintf(resp, sizeof(resp),
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"{\"ok\":%s,\"requested\":%d,\"actual\":%u}",
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rc == 0 ? "true" : "false", requested, (unsigned)actual);
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, len);
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return ESP_OK;
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}
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esp_err_t can_send_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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