wheel ctrl finished, can use udpserver ctrl wheel

6 files changed, 60 insertions, 12 deletions

diff --git a/.gitignore b/.gitignore
index 367f77e..938c377 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 build/*
+bin/*
 .vscode/*
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..da5fc52
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.10)
+project(WheelCtrl)
+
+# Set the output directory for the build executables.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
+add_compile_options(-g -w)
+
+# Find the required libraries
+find_library(LCM_LIBRARY lcm lib)
+
+# Add the executable serial
+add_executable(serial serial.c path/path_ctrl_t.c)
+target_link_libraries(serial ${LCM_LIBRARY})
+
+# Add the executable udp2lcm
+add_executable(udp2lcm udp2lcm.c path/path_ctrl_t.c)
+target_link_libraries(udp2lcm ${LCM_LIBRARY})
\ No newline at end of file
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..b00f48f
--- /dev/null
+++ b/README.md
@@ -0,0 +1,8 @@
+这是ohos项目中关于udp与lcm互转服务器、以及轮子控制的代码。
+
+# 功能说明
+- udp2lcm.c是udp与lcm互转服务器的代码，该服务器负责：
+  - 接收来自手机端的udp包，解析其命令，发布到对应的lcm通道，供轮子控制模块或算法模块使用
+  - 将所有来自算法模块或轮子控制模块的lcm包，转发到手机端
+  - 必要的其他功能，如心跳包的更新与发送、拉起http服务器等
+- serial.c串口通信，是轮子控制模块，接收来自对应信道的lcm命令，解析其命令后发送到轮子的驱动板，控制轮子的转动
\ No newline at end of file
diff --git a/lib/liblcm.so b/lib/liblcm.so
new file mode 100755
index 0000000..cb18db8
--- /dev/null
+++ b/lib/liblcm.so
diff --git a/serial.c b/serial.c
index 6251675..6b4eb72 100644
--- a/serial.c
+++ b/serial.c
@@ -10,6 +10,7 @@
 
 typedef unsigned char byte;
 #define MAX_BUFFER_SIZE 1024
+#define DEFAULT_SPEED 0x15
 
 int fd;                             // 轮子的串口文件描述符
 char portname[50] = "/dev/ttyUSB0"; // 串口设备名
@@ -19,18 +20,24 @@ struct termios tty;
 bool whellInit();
 bool wheelSend(byte a, byte a_v, byte b, byte b_v);
 void speedControl(byte status, byte speed);
-void parseCmd(const path_ctrl_t *msg, void *user);
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata);
 
 int main() {
     if (!whellInit()) {
         goto err;
     }
-    lcm *path_lcm = lcm_create(NULL);
+    lcm_t *path_lcm = lcm_create(NULL);
     if (!path_lcm) {
         fprintf(stderr, "Failed to create LCM\n");
         goto err;
     }
-    path_ctrl_t_subscribe(path_lcm, "PATH_CTRL", parseCmd);
+    path_ctrl_t cmd;
+    path_ctrl_t_subscribe(path_lcm, "wheel_ctrl", parseCmd, &cmd);
+
+    while (true) {
+        lcm_handle(path_lcm);
+    }
 
 err:
     close(fd);
@@ -102,17 +109,18 @@ bool wheelSend(byte a, byte a_v, byte b, byte b_v) {
     return true;
 }
 
-void parseCmd(const path_ctrl_t *msg, void *user) {
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata) {
     byte status = msg->cmd, speed = msg->speed;
     switch (status) {
     case 1:
         wheelSend(0x01, speed, 0x01, speed);
         break;
     case 2:
-        wheelSend(0x02, speed, 0x01, speed);
+        wheelSend(0x02, DEFAULT_SPEED, 0x01, DEFAULT_SPEED);
         break;
     case 3:
-        wheelSend(0x01, speed, 0x02, speed);
+        wheelSend(0x01, DEFAULT_SPEED, 0x02, DEFAULT_SPEED);
         break;
     case 0:
     default:
diff --git a/udp2lcm.c b/udp2lcm.c
index ec8aee8..c328a96 100644
--- a/udp2lcm.c
+++ b/udp2lcm.c
@@ -10,9 +10,19 @@
  * cmd为0停，1前，2左，3右
  */
 #include "path/path_ctrl_t.h"
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <sys/socket.h>
+#include <termios.h>
+#include <unistd.h>
 
 #define MAX_BUFFER_SIZE 1024
 #define PORT 5001
@@ -37,6 +47,9 @@ int main() {
     }
     // 开启udp接收线程
     pthread_create(&udpRecv, NULL, udpRecvHandler, NULL);
+    while (true) {
+        pause();
+    }
     return 0;
 }
 
@@ -62,6 +75,7 @@ void udpRecvHandler() {
     int retval;
     struct pollfd fds;
 
+    printf("udpRecvHandler\n");
     if ((socketfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
         fprintf(stderr, "Error: Failed to create socket\n");
         return;
@@ -69,7 +83,7 @@ void udpRecvHandler() {
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
     memset(buffer, 0, sizeof(buffer));
     serverAddr.sin_family = AF_INET;
-    serverAddr.sin_port = htons(port);
+    serverAddr.sin_port = htons(PORT);
     serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
 
     if (bind(socketfd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
@@ -107,7 +121,9 @@ void udpRecvHandler() {
             break;
         } else if (retval == 0) {
             printf("No data within three seconds.\n");
-            speedControl(0, 0);
+            // out of 3s, stop the wheel
+            path_ctrl_t path = {0, 0};
+            path_ctrl_t_publish(path_ctrl_lcm, "wheel_ctrl", &path);
         } else {
             bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
                                      (struct sockaddr *)&clientAddr, &addrLen);
@@ -136,7 +152,7 @@ void udpSendHandler() {
 
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
     serverAddr.sin_family = AF_INET;   // 设置地址族为IPv4
-    serverAddr.sin_port = htons(port); // 设置端口号
+    serverAddr.sin_port = htons(PORT); // 设置端口号
     if (inet_aton(clientIP, &serverAddr.sin_addr) == 0) {
         fprintf(stderr, "Error: Failed to convert IP address\n");
         close(sockfd);
@@ -146,14 +162,13 @@ void udpSendHandler() {
     while (true) {
         sendto(sockfd, (const char *)heartBeat, 9, 0,
                (struct sockaddr *)&serverAddr, sizeof(serverAddr));
-        printf("Send: Data %02x udpSend successfully!\n", a);
         sleep(1);
     }
 }
 
 void parseCmd(const char *buffer, int bytesReceived) {
     // TODO: 完成本函数的内容
-    if (buffer == NULL || strlen(buffer) != 9) {
+    if (buffer == NULL) {
         fprintf(stderr, "Error: Invalid message\n");
         return;
     }
@@ -179,6 +194,5 @@ void parseCmd(const char *buffer, int bytesReceived) {
          */
     } else if (buffer[0] == 3) {
         // 手机发来的终点坐标，转发给算法模块
-        ;
     }
 }
\ No newline at end of file