小龙虾
e9cb7342f6
支持同一节点号在多个CAN通道上的电机状态管理，采用node×channel双键存储机制。 - 修改motor_state.cpp中的槽位索引逻辑，从单节点索引改为(node-1)*MOTOR_CHANNELS+channel索引 - 增加MOTOR_CHANNELS和MOTOR_MAX_SLOTS宏定义，支持9节点×3通道共27个槽位 - 更新http_handlers.cpp中的二进制响应缓冲区为static类型，避免大缓冲区占用栈空间 - 调整循环遍历范围从MOTOR_MAX_NODES改为MOTOR_MAX_SLOTS - 添加HTML页面的空favicon配置，避免浏览器404请求 - 新增CSS样式用于显示节点在其他通道在线的状态提示
139 lines
3.9 KiB
C++
139 lines
3.9 KiB
C++
/*
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* motor_state.cpp - GD32 多电机状态推送解析与缓存 (SPI TYPE 0xC5)
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*/
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#include "monitor/motor_state.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include <string.h>
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namespace {
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static SemaphoreHandle_t s_mux = nullptr;
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static motor_state_table_t s_table = {};
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static uint32_t rdU32Le(const uint8_t *p)
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{
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return static_cast<uint32_t>(p[0])
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| (static_cast<uint32_t>(p[1]) << 8)
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| (static_cast<uint32_t>(p[2]) << 16)
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| (static_cast<uint32_t>(p[3]) << 24);
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}
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static void ensureMux()
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{
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if (s_mux == nullptr) {
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s_mux = xSemaphoreCreateMutex();
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}
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}
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} // namespace
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bool onMotorStateEvent(const uint8_t *payload, size_t len)
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{
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if (payload == nullptr || len < MOTOR_PAGE_HEADER) {
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return false;
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}
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const uint8_t page = payload[0];
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const uint8_t total_pages = payload[1];
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const uint8_t entry_count = payload[2];
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const uint8_t active_cnt = payload[3];
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if (page >= MOTOR_TOTAL_PAGES || total_pages == 0 || total_pages > MOTOR_TOTAL_PAGES) {
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return false;
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}
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/* 验证长度足够容纳声明的 entry 数 */
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const size_t expected = MOTOR_PAGE_HEADER + static_cast<size_t>(entry_count) * MOTOR_ENTRY_SIZE;
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if (len < expected) {
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return false;
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}
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ensureMux();
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if (s_mux == nullptr) return false;
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if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) != pdTRUE) return false;
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/* page 0 时刷新全局字段。
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* active 字节 bit7 = boot_active（总线上有电机在 BOOT，0x103 心跳），
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* 低 7 位才是真实在线电机数。 */
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if (page == 0) {
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s_table.active_count = static_cast<uint8_t>(active_cnt & 0x7FU);
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s_table.boot_active = (active_cnt & 0x80U) ? 1U : 0U;
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}
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/* 逐条解析 entry：node×channel 双键槽位，同节点号多通道互不覆盖 */
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size_t offset = MOTOR_PAGE_HEADER;
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for (uint8_t i = 0; i < entry_count; ++i) {
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const uint8_t *e = &payload[offset];
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const uint8_t node = e[0];
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const uint8_t ch = e[1];
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if (node < 1 || node > MOTOR_MAX_NODES || ch >= MOTOR_CHANNELS) {
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offset += MOTOR_ENTRY_SIZE;
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continue;
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}
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motor_slot_t &slot = s_table.slots[(node - 1) * MOTOR_CHANNELS + ch];
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slot.node_id = node;
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slot.channel = ch;
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slot.online = e[2];
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slot.dlc = e[3];
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slot.rx_count = rdU32Le(&e[4]);
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slot.seq = rdU32Le(&e[8]);
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memcpy(slot.data, &e[12], MOTOR_STATUS_DLC);
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offset += MOTOR_ENTRY_SIZE;
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}
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/* 统计有效槽位 */
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uint8_t valid = 0;
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for (uint8_t i = 0; i < MOTOR_MAX_SLOTS; ++i) {
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if (s_table.slots[i].node_id != 0) valid++;
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}
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s_table.valid_slots = valid;
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s_table.recv_ms = esp_timer_get_time() / 1000;
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s_table.have_data = true;
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xSemaphoreGive(s_mux);
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return true;
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}
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bool getLatestMotorState(motor_state_table_t *out)
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{
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if (out == nullptr) return false;
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ensureMux();
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if (s_mux == nullptr) return false;
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bool ok = false;
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if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
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if (s_table.have_data) {
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*out = s_table;
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ok = true;
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}
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xSemaphoreGive(s_mux);
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}
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return ok;
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}
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uint32_t motorStateAgeMs(void)
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{
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ensureMux();
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if (s_mux == nullptr) return UINT32_MAX;
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int64_t recv = 0;
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bool have = false;
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if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
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have = s_table.have_data;
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recv = s_table.recv_ms;
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xSemaphoreGive(s_mux);
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}
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if (!have || recv <= 0) return UINT32_MAX;
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const int64_t now = esp_timer_get_time() / 1000;
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if (now < recv) return 0U;
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const int64_t age = now - recv;
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return (age > static_cast<int64_t>(UINT32_MAX)) ? UINT32_MAX
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: static_cast<uint32_t>(age);
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}
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