Merge pull request 'develop' (#3) from develop into main
Reviewed-on: #3
This commit was merged in pull request #3.
This commit is contained in:
@@ -4,6 +4,9 @@ project(DataRouter C)
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set(CMAKE_C_STANDARD 11)
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add_library(DataRouter STATIC datarouter.c)
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# 将库源码目录暴露给使用者，使其可通过 #include <datarouter_config.h>
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# 从自身 include path 覆盖默认配置。如果使用者未提供，则回退到库自带版本。
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target_include_directories(DataRouter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES)
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@@ -2,31 +2,37 @@
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## 1. 设计目标
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轻量级 C 语言数据路由库。核心思想：
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轻量级 C 语言数据路由库。发送与接收能力分开声明，每个端口独立设置发送类型和接收类型，支持多外设一对多广播路由。
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- **报文类型（Channel）**：编译期通过宏声明的数据类型（如 `sensor` / `status` / `control`）
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- **端口（Port）**：运行期创建的连接点，绑定一个报文类型 + 一个物理外设发送 handler
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- **路由（Routing）**：将逻辑报文类型连接到实际的物理外设发送函数
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### 核心设计
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```
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应用层 send_sensor(port, data)
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│
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▼
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库校验端口
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│
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▼
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调用注册的 handler(data) ← 用户实现：UART / TCP / CAN / 文件发送
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│
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▼
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物理外设
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DATAROUTER_SEND_CAPABILITIES DATAROUTER_RECV_CAPABILITIES
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DATAROUTER_SEND(sensor, ...) DATAROUTER_RECV(rtcm, ...)
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DATAROUTER_SEND(status, ...) DATAROUTER_RECV(command, ...)
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│ │
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▼ ▼
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send_sensor(port, data) on_recv_rtcm(port, data)
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send_status(port, data) on_recv_command(port, data)
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│ （用户实现回调）
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▼
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端口校验 → for each handler(port, data)
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│
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┌────────┼────────┐
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▼ ▼ ▼
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UART TCP CAN
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```
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**关键区别**：sensor 只声明发送，不生成接收回调；rtcm 只声明接收，不生成发送函数。端口可独立设置 send_type 和 recv_type，互不干扰。
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### 设计原则
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| 原则 | 说明 |
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|------|------|
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| 编译期确定类型 | 所有报文类型在 `datarouter_config.h` 中声明，库自动生成代码 |
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| 运行期绑定外设 | 端口创建后，用户注册具体的发送 handler（函数指针） |
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| 收发分离 | 发送能力和接收能力在配置中分开声明，按需组合 |
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| 编译期确定能力 | 所有能力在 `datarouter_config.h` 中声明，库自动生成代码 |
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| 运行期绑定外设 | 端口创建后，通过 `add_handler` 注册物理外设发送函数 |
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| 一对多广播 | 一个端口可注册多个 handler，发送时逐一调用 |
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| 不关心物理外设 | 库不依赖任何外设 API，只调用用户提供的 handler |
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| 零动态内存 | 纯静态数组，无 malloc/free |
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@@ -41,22 +47,22 @@
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left to right direction
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rectangle "用户代码" as User {
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component "应用逻辑\n调用 datarouter_send_<type>()" as App
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component "datarouter_config.h\n声明报文类型" as Cfg
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component "外设 handler\nUART / TCP / CAN / 文件" as Handlers
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component "应用逻辑" as App
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component "datarouter_config.h\n声明发送+接收能力" as Cfg
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component "外设 handler\nUART / TCP / CAN" as Handlers
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component "接收回调\n处理收到的报文" as Callbacks
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}
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database "DataRouter 库" as Lib {
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component "datarouter.h\n公共 API + 代码生成" as Hdr
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component "datarouter.c\n端口表 + handler 调用" as Impl
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component "datarouter.h\n公共 API + X-macro 展开" as Hdr
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component "datarouter.c\n端口表 + handler 遍历" as Impl
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}
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App --> Hdr
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Cfg --> Hdr
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Impl --> Cfg
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Handlers --> Impl : 注册为 send_handler
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Callbacks --> Impl : 实现 on_recv_<type>
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Handlers --> Impl : 注册 handler
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Callbacks --> Impl : 实现 on_recv_<id>
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@enduml
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```
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@@ -65,77 +71,60 @@ Callbacks --> Impl : 实现 on_recv_<type>
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| 文件 | 职责 |
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|------|------|
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| `datarouter_config.h` | 用户在此声明所有报文类型 |
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| `datarouter.h` | 公共 API + X-macro 展开（enum + 发送函数声明 + 回调声明） |
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| `datarouter.c` | 发送函数实现 + handler 调用 + 端口管理 |
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| `example.c` | 使用示例 |
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| `tests/test_datarouter.c` | 31 个单元测试 |
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| `datarouter_config.h` | 分别声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
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| `datarouter.h` | 公共 API + X-macro 展开（两组枚举 + 声明） |
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| `datarouter.c` | 端口表 + handler 列表遍历 + 弱符号回调 |
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| `example.c` | 收发分离示例 |
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| `tests/test_datarouter.c` | 27 个单元测试 |
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---
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## 3. 核心概念
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## 3. 收发分离设计
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### 3.1 报文类型（Channel）
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### 3.1 配置声明
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```plantuml
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@startuml
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object "DATAROUTER_CHANNEL(sensor, \"Sensor data\")" as C1
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object "DATAROUTER_CHANNEL(status, \"Status report\")" as C2
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object "DATAROUTER_CHANNEL(control, \"Control command\")" as C3
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```c
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// 发送能力 —— 只生成发送触发函数
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#define DATAROUTER_SEND_CAPABILITIES \
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DATAROUTER_SEND(sensor, "Sensor data report") \
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DATAROUTER_SEND(status, "Device status report")
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note right of C1
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编译期展开产物：
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· DATAROUTER_CHANNEL_sensor = 0
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· int datarouter_send_sensor(port, data, len)
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· void datarouter_on_recv_sensor(port, data, len)
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· channel_names[0] = "sensor"
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· channel_descs[0] = "Sensor data"
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end note
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C1 --> C2
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C2 --> C3
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@enduml
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// 接收能力 —— 只生成接收回调声明
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#define DATAROUTER_RECV_CAPABILITIES \
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DATAROUTER_RECV(rtcm, "RTCM correction data") \
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DATAROUTER_RECV(command, "Remote control command")
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```
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### 3.2 端口与 handler
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### 3.2 展开产物
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```plantuml
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@startuml
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skinparam objectBorderColor black
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```
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DATAROUTER_SEND_CAPABILITIES 展开：
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enum: DATAROUTER_SEND_sensor = 0,
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DATAROUTER_SEND_status = 1,
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DATAROUTER_SEND_CAP_COUNT = 2
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发送函数: int datarouter_send_sensor(port, data, len);
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int datarouter_send_status(port, data, len);
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元数据: send_names[] = {"sensor", "status"}
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send_descs[] = {"Sensor data report", "Device status report"}
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object "端口 A" as PA {
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type = sensor
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handler = uart_send
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}
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DATAROUTER_RECV_CAPABILITIES 展开：
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enum: DATAROUTER_RECV_rtcm = 0,
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DATAROUTER_RECV_command = 1,
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DATAROUTER_RECV_CAP_COUNT = 2
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接收回调: void datarouter_on_recv_rtcm(port, data, len);
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void datarouter_on_recv_command(port, data, len);
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弱符号默认: 每个回调提供空的 weak 实现，用户覆盖
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元数据: recv_names[] = {"rtcm", "command"}
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recv_descs[] = {"RTCM correction data", "Remote control command"}
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```
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object "端口 B" as PB {
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type = sensor
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handler = tcp_send
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}
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### 3.3 端口组合示例
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object "端口 C" as PC {
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type = status
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handler = uart_send
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}
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object "UART发送函数" as UART
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object "TCP发送函数" as TCP
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PA --> UART : 注册
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PB --> TCP : 注册
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PC --> UART : 注册
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note right of PA
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同一报文类型 sensor
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可路由到不同外设
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end note
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note right of PC
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不同报文类型 status
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可复用同一外设 UART
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end note
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@enduml
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```
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端口 A: send_type = sensor, recv_type = -1 → 只发送
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端口 B: send_type = -1, recv_type = rtcm → 只接收
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端口 C: send_type = status, recv_type = command → 同时收发
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端口 D: send_type = -1, recv_type = -1 → 无功能
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```
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---
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@@ -146,57 +135,42 @@ end note
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```plantuml
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@startuml
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== datarouter.h：4 次展开 ==
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== datarouter.h: 3 次展开 ==
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-> datarouter_config.h: 获得两组宏列表
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-> datarouter_config.h: #include 获得 DATAROUTER_CHANNELS
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datarouter.h -> "第 1 遍":
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#define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
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DATAROUTER_SEND_CAPABILITIES → 发送 enum
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datarouter.h -> "第 1 遍": #define DATAROUTER_CHANNEL(id,desc) DATAROUTER_CHANNEL_##id,
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note right: 生成 enum 通道枚举
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datarouter.h -> "第 2 遍":
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#define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
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DATAROUTER_RECV_CAPABILITIES → 接收 enum
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datarouter.h -> "第 2 遍": #define DATAROUTER_CHANNEL(id,desc) int datarouter_send_##id(...);
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note right: 生成发送触发函数声明
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datarouter.h -> "第 3 遍":
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#define DATAROUTER_SEND(id,desc) int datarouter_send_##id(...);
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DATAROUTER_SEND_CAPABILITIES → 发送函数声明
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datarouter.h -> "第 3 遍": #define DATAROUTER_CHANNEL(id,desc) void datarouter_on_recv_##id(...);
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note right: 生成接收回调声明
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datarouter.h -> "第 4 遍":
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#define DATAROUTER_RECV(id,desc) void datarouter_on_recv_##id(...);
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DATAROUTER_RECV_CAPABILITIES → 接收回调声明
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== datarouter.c: 3 次展开 ==
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== datarouter.c：4 次展开 ==
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datarouter.c -> "第 4 遍": #define DATAROUTER_CHANNEL(id,desc) DATAROUTER_WEAK void ...
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note right: 弱符号回调默认空实现
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datarouter.c -> "第 5 遍":
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弱符号回调默认实现（DATAROUTER_RECV 展开）
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datarouter.c -> "第 5 遍": #define DATAROUTER_CHANNEL(id,desc) int datarouter_send_##id(…) {…}
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note right: 发送函数实现 → 调用handler
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datarouter.c -> "第 6 遍":
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发送函数实现 body（DATAROUTER_SEND 展开）
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校验 → 遍历 handler 列表
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|
||||
datarouter.c -> "第 6 遍": #define DATAROUTER_CHANNEL(id,desc) #id, → channel_names[]
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datarouter.c -> "第 7 遍": #define DATAROUTER_CHANNEL(id,desc) desc, → channel_descs[]
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datarouter.c -> "第 7 ~ 8 遍":
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send_names[] / send_descs[]
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||||
recv_names[] / recv_descs[]
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||||
@enduml
|
||||
```
|
||||
|
||||
### 4.2 展开示例（3 个通道）
|
||||
|
||||
```
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||||
用户配置:
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||||
DATAROUTER_CHANNEL(sensor, "Sensor data")
|
||||
DATAROUTER_CHANNEL(status, "Status report")
|
||||
DATAROUTER_CHANNEL(control, "Control command")
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|
||||
展开产物:
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enum: sensor = 0, status = 1, control = 2, CHANNEL_COUNT = 3
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||||
|
||||
发送: int datarouter_send_sensor(uint32_t, const void*, size_t);
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||||
int datarouter_send_status(…);
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||||
int datarouter_send_control(…);
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||||
|
||||
回调: void datarouter_on_recv_sensor(uint32_t, const void*, size_t);
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||||
void datarouter_on_recv_status(…);
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||||
void datarouter_on_recv_control(…);
|
||||
|
||||
元数据: names[] = {"sensor", "status", "control"}
|
||||
descs[] = {"Sensor data", "Status report", "Control command"}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 数据结构
|
||||
@@ -207,64 +181,68 @@ datarouter.c -> "第 7 遍": #define DATAROUTER_CHANNEL(id,desc) desc, → chann
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||||
@startuml
|
||||
skinparam classAttributeIconSize 0
|
||||
|
||||
class "datarouter_channel (enum)" as Chan {
|
||||
+ DATAROUTER_CHANNEL_sensor = 0
|
||||
+ DATAROUTER_CHANNEL_status = 1
|
||||
+ DATAROUTER_CHANNEL_control = 2
|
||||
+ DATAROUTER_CHANNEL_COUNT = 3
|
||||
enum "datarouter_send_cap" as S {
|
||||
SENSOR
|
||||
STATUS
|
||||
SEND_CAP_COUNT
|
||||
}
|
||||
|
||||
enum "datarouter_recv_cap" as R {
|
||||
RTCM
|
||||
COMMAND
|
||||
RECV_CAP_COUNT
|
||||
}
|
||||
|
||||
class "port_entry_t" as Entry {
|
||||
- int send_type
|
||||
- int recv_type
|
||||
- datarouter_send_handler_t handlers[]
|
||||
- int count
|
||||
- uint8_t in_use
|
||||
}
|
||||
|
||||
class "datarouter_send_handler_t" as Handler {
|
||||
+ void (*)(uint32_t port_id, const void *data, size_t len)
|
||||
}
|
||||
|
||||
class "端口表" as Table {
|
||||
- port_entry_t ports[64]
|
||||
- uint8_t initialized
|
||||
}
|
||||
|
||||
class "port_entry_t" as Entry {
|
||||
- int type
|
||||
- datarouter_send_handler_t handler
|
||||
- uint8_t in_use
|
||||
}
|
||||
|
||||
class "发送函数" as Send {
|
||||
+ int send_sensor(port, data, len)
|
||||
+ int send_status(port, data, len)
|
||||
+ int send_control(port, data, len)
|
||||
}
|
||||
|
||||
class "接收回调" as Recv {
|
||||
+ void on_recv_sensor(port, data, len) ← 用户实现
|
||||
+ void on_recv_status(port, data, len)
|
||||
+ void on_recv_control(port, data, len)
|
||||
+ void on_recv_rtcm(port, data, len) ← 用户实现
|
||||
+ void on_recv_command(port, data, len)
|
||||
}
|
||||
|
||||
Entry --> Chan : type ∈ enum
|
||||
Entry --> Handler : handler 函数指针
|
||||
Table --> Entry : ports[]
|
||||
Send --> Table : 校验端口 + 调用 handler
|
||||
Recv --> Send : 被用户从外设收数据时调用
|
||||
Entry --> S : send_type ∈ S enum / -1
|
||||
Entry --> R : recv_type ∈ R enum / -1
|
||||
Entry --> Handler : handlers[] 数组
|
||||
Send --> Entry : 校验 send_type + 遍历 handlers
|
||||
Recv --> Entry : 用户根据业务调对应回调
|
||||
@enduml
|
||||
```
|
||||
|
||||
### 5.2 `port_entry_t`
|
||||
|
||||
```c
|
||||
#define DATAROUTER_MAX_HANDLERS_PER_PORT 4 // 每端口最多 4 个外设
|
||||
|
||||
typedef struct {
|
||||
int type; // 报文类型（DATAROUTER_CHANNEL_xxx / -1）
|
||||
datarouter_send_handler_t handler; // 外设发送函数（NULL 表示未注册）
|
||||
uint8_t in_use; // 1=已分配，0=空闲
|
||||
int send_type; // DATAROUTER_SEND_xxx / -1
|
||||
int recv_type; // DATAROUTER_RECV_xxx / -1
|
||||
datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
|
||||
int count; // 当前 handler 数量
|
||||
uint8_t in_use;
|
||||
} port_entry_t;
|
||||
```
|
||||
|
||||
### 5.3 端口表
|
||||
|
||||
```c
|
||||
#define DATAROUTER_MAX_PORTS 64 // 可由 -D 覆盖
|
||||
static port_entry_t ports[64]; // 静态数组，无动态内存
|
||||
static uint8_t initialized; // init/reset 标志
|
||||
#define DATAROUTER_MAX_PORTS 64
|
||||
static port_entry_t ports[DATAROUTER_MAX_PORTS];
|
||||
static uint8_t initialized;
|
||||
```
|
||||
|
||||
---
|
||||
@@ -274,54 +252,57 @@ static uint8_t initialized; // init/reset 标志
|
||||
### 6.1 初始化
|
||||
|
||||
```c
|
||||
void datarouter_init(void); // 幂等初始化
|
||||
void datarouter_reset(void); // 重置所有状态（测试隔离/热重启）
|
||||
void datarouter_init(void); // 幂等初始化
|
||||
void datarouter_reset(void); // 重置全部状态
|
||||
```
|
||||
|
||||
### 6.2 端口管理
|
||||
|
||||
```c
|
||||
datarouter_port_t datarouter_port_create(void); // 返回端口 ID 或 -1
|
||||
void datarouter_port_delete(port); // 删除端口，ID 可复用
|
||||
void datarouter_port_set_type(port, channel_id); // 指定报文类型
|
||||
int datarouter_port_get_type(port); // 获取报文类型，-1 表示无
|
||||
void datarouter_port_set_handler(port, handler); // 注册外设发送 handler
|
||||
datarouter_send_handler_t datarouter_port_get_handler(port); // 获取 handler
|
||||
datarouter_port_t datarouter_port_create(void); // 创建
|
||||
void datarouter_port_delete(datarouter_port_t port); // 删除
|
||||
|
||||
void datarouter_port_set_send_type(port, int cap_id); // 设置发送类型
|
||||
int datarouter_port_get_send_type(port); // -1 表示未设置
|
||||
void datarouter_port_set_recv_type(port, int cap_id); // 设置接收类型
|
||||
int datarouter_port_get_recv_type(port); // -1 表示未设置
|
||||
|
||||
int datarouter_port_add_handler(port, handler); // 注册外设 handler
|
||||
int datarouter_port_remove_handler(port, handler); // 移除
|
||||
void datarouter_port_clear_handlers(port); // 清除全部
|
||||
int datarouter_port_handler_count(port); // 数量
|
||||
```
|
||||
|
||||
### 6.3 发送触发函数（每通道 1 个，X-macro 生成）
|
||||
### 6.3 发送触发函数（每个 SEND 能力生成一个）
|
||||
|
||||
```c
|
||||
int datarouter_send_sensor(uint32_t port_id, const void *data, size_t len);
|
||||
int datarouter_send_status(uint32_t port_id, const void *data, size_t len);
|
||||
int datarouter_send_control(uint32_t port_id, const void *data, size_t len);
|
||||
int datarouter_send_sensor(port, data, len);
|
||||
int datarouter_send_status(port, data, len);
|
||||
```
|
||||
|
||||
返回值：
|
||||
| 值 | 含义 |
|
||||
|:--:|------|
|
||||
| 0 | 成功，handler 已被调用 |
|
||||
| -1 | 库未初始化 |
|
||||
| -2 | 端口无效或已删除 |
|
||||
| -3 | 端口类型与触发的报文类型不匹配 |
|
||||
| -4 | 端口未注册外设发送 handler |
|
||||
返回值：0 成功 / -1 未初始化 / -2 端口无效 / -3 send_type 不匹配 / -4 无 handler
|
||||
|
||||
### 6.4 接收回调声明（每通道 1 个，用户实现）
|
||||
### 6.4 接收回调（每个 RECV 能力生成一个声明）
|
||||
|
||||
```c
|
||||
void datarouter_on_recv_sensor(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_status(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_control(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
|
||||
```
|
||||
|
||||
库提供弱符号默认空实现，用户定义同名函数即可覆盖。
|
||||
库提供弱符号默认空实现，用户定义同名函数覆盖。
|
||||
|
||||
### 6.5 元数据查询
|
||||
### 6.5 能力元数据（两组独立）
|
||||
|
||||
```c
|
||||
int datarouter_channel_count(void);
|
||||
const char *datarouter_channel_name(int channel_id);
|
||||
const char *datarouter_channel_desc(int channel_id);
|
||||
// 发送能力
|
||||
int datarouter_send_cap_count(void);
|
||||
const char *datarouter_send_cap_name(int cap_id);
|
||||
const char *datarouter_send_cap_desc(int cap_id);
|
||||
|
||||
// 接收能力
|
||||
int datarouter_recv_cap_count(void);
|
||||
const char *datarouter_recv_cap_name(int cap_id);
|
||||
const char *datarouter_recv_cap_desc(int cap_id);
|
||||
```
|
||||
|
||||
---
|
||||
@@ -335,36 +316,31 @@ const char *datarouter_channel_desc(int channel_id);
|
||||
actor "应用" as App
|
||||
participant "datarouter_send_sensor()" as Send
|
||||
participant "端口表" as Table
|
||||
participant "handler" as Handler
|
||||
participant "handlers[]" as HList
|
||||
participant "外设" as Dev
|
||||
|
||||
App -> Send : send_sensor(port=2, data, len)
|
||||
|
||||
group 校验
|
||||
Send -> Send : initialized?
|
||||
alt 未初始化
|
||||
Send --> App : return -1
|
||||
alt 否 → return -1
|
||||
end
|
||||
|
||||
Send -> Table : ports[2].in_use?
|
||||
alt 端口无效
|
||||
Send --> App : return -2
|
||||
alt 否 → return -2
|
||||
end
|
||||
|
||||
Send -> Table : ports[2].type == sensor?
|
||||
alt 类型不匹配
|
||||
Send --> App : return -3
|
||||
Send -> Table : ports[2].send_type == SENSOR?
|
||||
alt 否 → return -3
|
||||
end
|
||||
|
||||
Send -> Table : ports[2].handler != NULL?
|
||||
alt 无 handler
|
||||
Send --> App : return -4
|
||||
Send -> Table : ports[2].count > 0?
|
||||
alt 否 → return -4
|
||||
end
|
||||
end
|
||||
|
||||
Send -> Handler : handler(2, data, len)
|
||||
Handler -> Dev : UART_SendData(data, len)
|
||||
Handler --> Send : void
|
||||
loop for each handler in ports[2].handlers[]
|
||||
Send -> HList : handlers[i](port, data, len)
|
||||
HList -> Dev : 实际外设写入
|
||||
end
|
||||
|
||||
Send --> App : return 0
|
||||
@enduml
|
||||
```
|
||||
@@ -375,13 +351,10 @@ Send --> App : return 0
|
||||
@startuml
|
||||
actor "外设" as Dev
|
||||
participant "用户分发代码" as Dispatch
|
||||
participant "datarouter_on_recv_sensor()" as Callback
|
||||
participant "用户处理逻辑" as Process
|
||||
participant "on_recv_rtcm()" as Callback
|
||||
|
||||
Dev -> Dispatch : 收到数据，识别为 sensor 类型
|
||||
Dispatch -> Callback : on_recv_sensor(port_id, data, len)
|
||||
Callback -> Process : 解析数据、更新状态等
|
||||
Process --> Callback : void
|
||||
Dev -> Dispatch : 收到数据，识别为 rtcm 类型
|
||||
Dispatch -> Callback : on_recv_rtcm(port_id, data, len)
|
||||
Callback --> Dispatch : void
|
||||
@enduml
|
||||
```
|
||||
@@ -390,53 +363,66 @@ Callback --> Dispatch : void
|
||||
|
||||
```plantuml
|
||||
@startuml
|
||||
state "空闲\nin_use=0" as Idle
|
||||
state "已创建\nin_use=1\ntype=-1\nhandler=NULL" as Created
|
||||
state "已配置\nin_use=1\ntype=sensor\nhandler=..." as Config
|
||||
state "空闲" as Idle
|
||||
state "已创建\nsend=-1 recv=-1" as Created
|
||||
state "已配置" as Config
|
||||
|
||||
[*] --> Idle : datarouter_reset()
|
||||
[*] --> Idle : reset / 启动
|
||||
|
||||
Idle --> Created : datarouter_port_create()
|
||||
Idle --> Created : port_create()
|
||||
|
||||
Created --> Config : set_type + set_handler
|
||||
Config --> Config : set_type / set_handler\n可任意切换
|
||||
Config --> Created : set_type(-1) / set_handler(NULL)\n清除能力
|
||||
Created --> Config : set_send_type / set_recv_type / add_handler
|
||||
|
||||
Created --> Idle : datarouter_port_delete()
|
||||
Config --> Idle : datarouter_port_delete()
|
||||
Config --> Config : 独立切换 send_type / recv_type\n增删 handler
|
||||
|
||||
Config --> Created : set_send_type(-1) / set_recv_type(-1)\nclear_handlers
|
||||
|
||||
Created --> Idle : port_delete()
|
||||
Config --> Idle : port_delete()
|
||||
Idle --> Created : 复用 ID
|
||||
|
||||
@enduml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 8. 路由示例
|
||||
## 8. 路由场景
|
||||
|
||||
### 场景：传感器数据同时路由到 UART 和 TCP
|
||||
### 场景 1：传感器只发送（sensor → UART + TCP）
|
||||
|
||||
```
|
||||
应用
|
||||
│
|
||||
├─ send_sensor(sensor_uart_port, data, len)
|
||||
│ │
|
||||
│ ▼
|
||||
│ handler = uart_send → UART 外设
|
||||
│
|
||||
└─ send_sensor(sensor_tcp_port, data, len)
|
||||
│
|
||||
▼
|
||||
handler = tcp_send → TCP 外设
|
||||
```c
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, uart_send);
|
||||
datarouter_port_add_handler(p, tcp_send);
|
||||
|
||||
datarouter_send_sensor(p, "temp:25.3", 9);
|
||||
// → uart_send(p, "temp:25.3", 9)
|
||||
// → tcp_send(p, "temp:25.3", 9)
|
||||
```
|
||||
|
||||
### 场景：运行时切换路由
|
||||
### 场景 2：RTCM 只接收
|
||||
|
||||
```c
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
|
||||
// 无 send_type，不注册 handler
|
||||
|
||||
// 外设收到数据后由用户调回调：
|
||||
datarouter_on_recv_rtcm(p, data, len);
|
||||
```
|
||||
端口 sensor_tcp 原 handler = tcp_send
|
||||
|
||||
datarouter_port_set_handler(sensor_tcp, file_send);
|
||||
### 场景 3：双向端口（status 发送 + command 接收）
|
||||
|
||||
端口 sensor_tcp 现 handler = file_send → 改为写入文件
|
||||
```c
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_status);
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_command);
|
||||
datarouter_port_add_handler(p, uart_send);
|
||||
|
||||
// 发送
|
||||
datarouter_send_status(p, "status:OK", 9);
|
||||
// 接收
|
||||
datarouter_on_recv_command(p, "reboot", 6);
|
||||
```
|
||||
|
||||
---
|
||||
@@ -446,10 +432,10 @@ datarouter_port_set_handler(sensor_tcp, file_send);
|
||||
```plantuml
|
||||
@startuml
|
||||
package "libDataRouter.a" {
|
||||
component "弱符号\nvoid on_recv_sensor(...){}" as Weak
|
||||
component "弱符号\nvoid on_recv_rtcm(...){}" as Weak
|
||||
}
|
||||
package "用户代码" {
|
||||
component "强符号\nvoid on_recv_sensor(...){...}" as Strong
|
||||
component "强符号\nvoid on_recv_rtcm(...){...}" as Strong
|
||||
}
|
||||
package "最终链接产物" {
|
||||
component "使用用户版本" as Result
|
||||
@@ -459,44 +445,38 @@ Weak ..> Result : 后备
|
||||
@enduml
|
||||
```
|
||||
|
||||
- 库为每个回调提供 `__attribute__((weak))` 空实现
|
||||
- 用户定义同名函数自动覆盖
|
||||
- 未定义的回调在调用时静默空转
|
||||
|
||||
---
|
||||
|
||||
## 10. 错误码体系
|
||||
## 10. 错误码
|
||||
|
||||
| 返回值 | 含义 |
|
||||
|:------:|------|
|
||||
| 0 | 成功 |
|
||||
| -1 | 库未初始化 |
|
||||
| 0 | 成功，所有 handler 被调用 |
|
||||
| -1 | 库未初始化（未调 init） |
|
||||
| -2 | 端口无效（越界/未创建/已删除） |
|
||||
| -3 | 端口类型不匹配 |
|
||||
| -4 | 端口未注册发送 handler |
|
||||
| -3 | 端口 send_type 与调用的发送函数不匹配 |
|
||||
| -4 | 端口 handler 列表为空（count == 0） |
|
||||
|
||||
---
|
||||
|
||||
## 11. 配置扩展
|
||||
|
||||
### 增加报文类型
|
||||
|
||||
编辑 `datarouter_config.h`：
|
||||
### 增加能力
|
||||
|
||||
```c
|
||||
#define DATAROUTER_CHANNELS \
|
||||
DATAROUTER_CHANNEL(sensor, "Sensor data") \
|
||||
DATAROUTER_CHANNEL(status, "Status report") \
|
||||
DATAROUTER_CHANNEL(control, "Control command") \
|
||||
DATAROUTER_CHANNEL(debug, "Debug message") /* 新增 */
|
||||
#define DATAROUTER_SEND_CAPABILITIES \
|
||||
DATAROUTER_SEND(sensor, "Sensor data") \
|
||||
DATAROUTER_SEND(debug, "Debug log") /* 新增发送能力 */
|
||||
|
||||
#define DATAROUTER_RECV_CAPABILITIES \
|
||||
DATAROUTER_RECV(rtcm, "RTCM data") \
|
||||
DATAROUTER_RECV(ota, "OTA firmware") /* 新增接收能力 */
|
||||
```
|
||||
|
||||
重新编译后自动生成：枚举、发送函数、回调声明、元数据数组。
|
||||
|
||||
### 修改最大端口数
|
||||
### 自定义限制
|
||||
|
||||
```bash
|
||||
cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128" ...
|
||||
cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
|
||||
```
|
||||
|
||||
---
|
||||
@@ -505,8 +485,9 @@ cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128" ...
|
||||
|
||||
| 约束 | 说明 |
|
||||
|------|------|
|
||||
| 报文类型 | 编译期固定，修改需重新编译 |
|
||||
| 最大端口数 | 默认 64，可由 `-D` 覆盖 |
|
||||
| 能力声明 | 编译期固定，修改需重新编译 |
|
||||
| 最大端口数 | 默认 64，通过 `-D` 覆盖 |
|
||||
| 每端口 handler 上限 | 默认 4，通过 `-D` 覆盖 |
|
||||
| 线程安全 | 不支持（无锁），多线程需外部加锁 |
|
||||
| 弱符号 | GCC/Clang 原生支持 |
|
||||
| 内存分配 | 纯静态，无 malloc/free |
|
||||
|
||||
@@ -1,34 +1,48 @@
|
||||
# DataRouter
|
||||
|
||||
轻量级 C 语言数据路由库。编译期声明报文类型，运行期将端口绑定到物理外设发送函数，实现一对多广播路由。
|
||||
轻量级 C 语言数据路由库。**发送能力和接收能力分开声明**，端口独立设置 send_type 和 recv_type，支持多外设一对多广播路由。
|
||||
|
||||
## 概念
|
||||
|
||||
| 术语 | 说明 |
|
||||
|------|------|
|
||||
| **通道 (Channel)** | 编译期声明的报文类型（如 `sensor` / `status` / `control`） |
|
||||
| **端口 (Port)** | 运行期创建的连接点，绑定一个报文类型和 N 个外设发送 handler |
|
||||
| **路由** | 将报文类型连接到物理外设发送函数的过程 |
|
||||
| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `datarouter_send_<id>()` |
|
||||
| **接收能力 (Recv Capability)** | 编译期声明的可接收报文类型，生成 `datarouter_on_recv_<id>()` |
|
||||
| **端口 (Port)** | 运行期连接点，独立设置 send_type + recv_type + handler 列表 |
|
||||
| **Handler** | 用户实现的物理外设发送函数，一个端口可注册多个（默认上限 4） |
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 声明报文类型
|
||||
### 1. 声明能力
|
||||
|
||||
编辑 `datarouter_config.h`：
|
||||
创建自己的 `datarouter_config.h`（可参考 `datarouter_config_template.h`）：
|
||||
|
||||
```c
|
||||
#define DATAROUTER_CHANNELS \
|
||||
DATAROUTER_CHANNEL(sensor, "Sensor data") \
|
||||
DATAROUTER_CHANNEL(status, "Status report") \
|
||||
DATAROUTER_CHANNEL(control, "Control command")
|
||||
#define DATAROUTER_SEND_CAPABILITIES \
|
||||
DATAROUTER_SEND(sensor, "Sensor data report") \
|
||||
DATAROUTER_SEND(status, "Device status report")
|
||||
|
||||
#define DATAROUTER_RECV_CAPABILITIES \
|
||||
DATAROUTER_RECV(rtcm, "RTCM correction data") \
|
||||
DATAROUTER_RECV(command, "Remote control command")
|
||||
```
|
||||
|
||||
> 库默认自带一份示例配置。将你的 `datarouter_config.h` 放到项目目录，
|
||||
> 编译时添加 `-I /path/to/your/config` 即可覆盖。无需修改库源代码。
|
||||
>
|
||||
> **注意**：确保你的配置目录在包含路径中出现在库目录之前，否则编译 `datarouter.c`
|
||||
> 时仍会使用库的默认配置。在 CMake 中可参考：
|
||||
> ```cmake
|
||||
> # 你的 CMakeLists.txt
|
||||
> include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}) # 全局优先
|
||||
> add_subdirectory(path/to/DataRouter)
|
||||
> target_link_libraries(my_app DataRouter)
|
||||
> ```
|
||||
|
||||
### 2. 实现外设发送 handler
|
||||
|
||||
```c
|
||||
static void uart_send(uint32_t port_id, const void *data, size_t len) {
|
||||
/* 调用具体外设 API 发送数据 */
|
||||
HAL_UART_Transmit(&huart1, data, len, 1000);
|
||||
}
|
||||
|
||||
@@ -37,27 +51,42 @@ static void tcp_send(uint32_t port_id, const void *data, size_t len) {
|
||||
}
|
||||
```
|
||||
|
||||
### 3. 创建端口并注册 handler
|
||||
### 3. 创建端口
|
||||
|
||||
```c
|
||||
datarouter_init();
|
||||
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
/* —— 只发送：传感器上报 —— */
|
||||
datarouter_port_t tx = datarouter_port_create();
|
||||
datarouter_port_set_send_type(tx, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(tx, uart_send);
|
||||
datarouter_port_add_handler(tx, tcp_send);
|
||||
datarouter_send_sensor(tx, "temperature:25.3", 16); // → UART + TCP
|
||||
|
||||
/* 一个端口同时路由到两个外设 */
|
||||
datarouter_port_add_handler(p, uart_send);
|
||||
datarouter_port_add_handler(p, tcp_send);
|
||||
/* —— 只接收：RTCM 修正 —— */
|
||||
datarouter_port_t rx = datarouter_port_create();
|
||||
datarouter_port_set_recv_type(rx, DATAROUTER_RECV_rtcm);
|
||||
// 外设收到数据后由用户调回调:
|
||||
datarouter_on_recv_rtcm(rx, data, len);
|
||||
|
||||
/* 发送 → 同时走 UART 和 TCP */
|
||||
datarouter_send_sensor(p, "temperature:25.3", 16);
|
||||
/* —— 同时收发：状态上报 + 命令接收 —— */
|
||||
datarouter_port_t bi = datarouter_port_create();
|
||||
datarouter_port_set_send_type(bi, DATAROUTER_SEND_status);
|
||||
datarouter_port_set_recv_type(bi, DATAROUTER_RECV_command);
|
||||
datarouter_port_add_handler(bi, uart_send);
|
||||
datarouter_send_status(bi, "status:OK", 9);
|
||||
datarouter_on_recv_command(bi, "reboot", 6);
|
||||
```
|
||||
|
||||
### 4. 实现接收回调
|
||||
|
||||
```c
|
||||
void datarouter_on_recv_sensor(uint32_t port_id, const void *data, size_t len) {
|
||||
printf("received sensor data: %.*s\n", (int)len, (const char *)data);
|
||||
void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
|
||||
apply_rtcm_correction(data, len);
|
||||
}
|
||||
|
||||
void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len) {
|
||||
execute_command(data, len);
|
||||
}
|
||||
```
|
||||
|
||||
@@ -66,48 +95,55 @@ void datarouter_on_recv_sensor(uint32_t port_id, const void *data, size_t len) {
|
||||
### 初始化
|
||||
|
||||
```c
|
||||
void datarouter_init(void); // 初始化（幂等）
|
||||
void datarouter_reset(void); // 重置全部状态
|
||||
void datarouter_init(void); // 幂等初始化
|
||||
void datarouter_reset(void); // 重置全部状态
|
||||
```
|
||||
|
||||
### 端口管理
|
||||
|
||||
```c
|
||||
datarouter_port_t datarouter_port_create(void); // 创建端口
|
||||
void datarouter_port_delete(datarouter_port_t port); // 删除端口
|
||||
void datarouter_port_set_type(port, int channel_id); // 设置报文类型
|
||||
int datarouter_port_get_type(port); // 获取报文类型
|
||||
int datarouter_port_add_handler(port, handler); // 注册外设 handler
|
||||
int datarouter_port_remove_handler(port, handler); // 移除 handler
|
||||
void datarouter_port_clear_handlers(port); // 清除全部 handler
|
||||
int datarouter_port_handler_count(port); // handler 数量
|
||||
datarouter_port_t datarouter_port_create(void); // 创建端口
|
||||
void datarouter_port_delete(datarouter_port_t port); // 删除
|
||||
|
||||
void datarouter_port_set_send_type(port, int cap_id); // 设置发送类型
|
||||
int datarouter_port_get_send_type(port); // -1 = 未设置
|
||||
void datarouter_port_set_recv_type(port, int cap_id); // 设置接收类型
|
||||
int datarouter_port_get_recv_type(port); // -1 = 未设置
|
||||
|
||||
int datarouter_port_add_handler(port, handler); // 注册外设 handler
|
||||
int datarouter_port_remove_handler(port, handler); // 移除
|
||||
void datarouter_port_clear_handlers(port); // 清除全部
|
||||
int datarouter_port_handler_count(port); // 当前数量
|
||||
```
|
||||
|
||||
### 发送触发（每通道一个，X-macro 自动生成）
|
||||
### 发送触发（每个 SEND 能力生成一个）
|
||||
|
||||
```c
|
||||
int datarouter_send_sensor(port, data, len); // 返回值：0 成功 / -1 未初始化
|
||||
int datarouter_send_status(port, data, len); // -2 端口无效
|
||||
int datarouter_send_control(port, data, len); // -3 类型不匹配
|
||||
// -4 无 handler
|
||||
int datarouter_send_sensor(port, data, len); // 0 成功 / -1 未初始化
|
||||
int datarouter_send_status(port, data, len); // -2 端口无效
|
||||
// -3 send_type 不匹配
|
||||
// -4 无 handler
|
||||
```
|
||||
|
||||
### 接收回调（每通道一个，用户实现）
|
||||
### 接收回调（每个 RECV 能力生成一个声明）
|
||||
|
||||
```c
|
||||
void datarouter_on_recv_sensor(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_status(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_control(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
|
||||
void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
|
||||
```
|
||||
|
||||
库提供弱符号默认空实现，用户定义同名函数即可覆盖。
|
||||
库提供弱符号默认空实现，用户定义同名函数覆盖。
|
||||
|
||||
### 通道元数据
|
||||
### 能力元数据（两组独立）
|
||||
|
||||
```c
|
||||
int datarouter_channel_count(void);
|
||||
const char *datarouter_channel_name(int channel_id);
|
||||
const char *datarouter_channel_desc(int channel_id);
|
||||
int datarouter_send_cap_count(void);
|
||||
const char *datarouter_send_cap_name(int cap_id);
|
||||
const char *datarouter_send_cap_desc(int cap_id);
|
||||
|
||||
int datarouter_recv_cap_count(void);
|
||||
const char *datarouter_recv_cap_name(int cap_id);
|
||||
const char *datarouter_recv_cap_desc(int cap_id);
|
||||
```
|
||||
|
||||
## 路由模型
|
||||
@@ -115,15 +151,15 @@ const char *datarouter_channel_desc(int channel_id);
|
||||
```
|
||||
send_sensor(port, data, len)
|
||||
│
|
||||
├─→ handler[0] = uart_send → UART 外设
|
||||
├─→ handler[1] = tcp_send → TCP 外设
|
||||
└─→ handler[2] = can_send → CAN 外设
|
||||
├─→ handler[0] = uart_send → UART
|
||||
├─→ handler[1] = tcp_send → TCP
|
||||
└─→ handler[2] = can_send → CAN
|
||||
```
|
||||
|
||||
- 一个端口可注册多个 handler（一对多广播）
|
||||
- 同一 handler 可注册到多个端口（多路复用）
|
||||
- 运行时通过 `add_handler` / `remove_handler` 动态改变路由
|
||||
- 清空 handler 后发送返回 -4
|
||||
- 清空 handler 列表后发送返回 -4
|
||||
|
||||
## 编译
|
||||
|
||||
@@ -132,7 +168,7 @@ cmake -S . -B build
|
||||
cmake --build build
|
||||
```
|
||||
|
||||
可选配置项：
|
||||
可选配置：
|
||||
|
||||
```bash
|
||||
cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
|
||||
@@ -147,18 +183,18 @@ ctest --test-dir build
|
||||
./build/test_datarouter
|
||||
```
|
||||
|
||||
当前 36 个测试用例，覆盖端口管理、类型、handler 增删、一对多广播、接收回调、错误边界。
|
||||
当前 27 个测试用例，覆盖端口管理、send_type/recv_type 独立设置、handler 增删、一对多广播、接收回调、能力元数据、错误边界。
|
||||
|
||||
## 文件结构
|
||||
|
||||
```
|
||||
datarouter_config.h 报文类型配置（用户编辑）
|
||||
datarouter.h 公共 API + X-macro 展开
|
||||
datarouter.c 实现（端口表 + handler 调用）
|
||||
example.c 使用示例
|
||||
tests/test_datarouter.c 单元测试
|
||||
DESIGN.md 详细设计文档
|
||||
TEST_CASES.md 测试用例文档
|
||||
datarouter_config.h 发送 + 接收能力配置（用户编辑）
|
||||
datarouter.h 公共 API + X-macro 展开
|
||||
datarouter.c 实现（端口表 + handler 遍历）
|
||||
example.c 收发分离使用示例
|
||||
tests/test_datarouter.c 单元测试（27 用例）
|
||||
DESIGN.md 详细设计文档（含 PlantUML 图）
|
||||
TEST_CASES.md 测试用例文档
|
||||
```
|
||||
|
||||
## 依赖
|
||||
|
||||
+45
-42
@@ -8,7 +8,8 @@
|
||||
| 编译器 | GCC 11.4.0 |
|
||||
| 测试框架 | 自定义轻量框架（宏 + goto cleanup） |
|
||||
| 构建系统 | CMake ≥ 3.10 |
|
||||
| 报文类型 | `sensor` / `status` / `control` 三个通道 |
|
||||
| 发送能力 | `sensor` / `status` |
|
||||
| 接收能力 | `rtcm` / `command` |
|
||||
|
||||
## 运行方式
|
||||
|
||||
@@ -26,78 +27,80 @@ ctest --test-dir build
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 1 | `error_uninit` | 未初始化时不能发送 | ① 不调 init 直接 `send_sensor(0, ...)` | 返回 -1 |
|
||||
| 1 | `error_uninit` | 未 init 时发送 | 不调 init 直接 `send_sensor(0, ...)` | 返回 -1 |
|
||||
|
||||
### 2. 端口管理（7 个）
|
||||
### 2. 端口管理（4 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 3 | `port_create_basic` | 基本创建 | ① `datarouter_port_create()` | 返回 ≥ 0 |
|
||||
| 4 | `port_create_multiple` | 多端口唯一 ID | ① 连续创建 3 个端口 | ID 互不相同 |
|
||||
| 5 | `port_create_reuse` | 删除后 ID 复用 | ① 创建 A ② 删除 A ③ 再创建 | 新 ID == A ID |
|
||||
| 6 | `port_delete_invalid` | 删除无效 ID | ① `delete(-1)` ② `delete(9999)` | 不崩溃 |
|
||||
| 7 | `port_delete_twice` | 重复删除 | ① 创建 ② 删除 ③ 再次删除 | 不崩溃 |
|
||||
| 8 | `port_default_state` | 默认状态 | ① 创建端口 ② `get_type()` ③ `get_handler()` | type == -1, handler == NULL |
|
||||
| 9 | `port_create_max` | 满容量边界 | ① 循环创建 64 个 ② 再创建一个 | 64 个成功，第 65 个返回 INVALID |
|
||||
| 2 | `port_create_basic` | 基本创建 | `port_create()` | 返回 ≥ 0 |
|
||||
| 3 | `port_create_max` | 满容量（64） | 循环创建到满再尝试 | 64 个成功，第 65 个 INVALID |
|
||||
| 4 | `port_delete_invalid` | 删除无效 ID | `delete(-1)` + `delete(999)` | 不崩溃 |
|
||||
| 5 | `port_default_state` | 默认状态 | 创建端口，查 send/recv/handler | send_type=-1, recv_type=-1, count=0 |
|
||||
|
||||
### 3. 类型与 handler 设置获取（7 个）
|
||||
### 3. send_type / recv_type 独立设置（6 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 10 | `type_set_get` | 设置并获取类型 | ① `set_type(sensor)` ② `get_type()` | 返回 sensor |
|
||||
| 11 | `type_clear` | 清除类型 | ① `set_type(sensor)` ② `set_type(-1)` ③ `get_type()` | 返回 -1 |
|
||||
| 12 | `type_switch` | 运行时切换类型 | ① `set_type(sensor)` ② `set_type(status)` ③ `get_type()` | 返回 status |
|
||||
| 13 | `type_from_invalid_port` | 无效端口查询类型 | ① `get_type(-1)` ② `get_type(999)` | 均返回 -1 |
|
||||
| 14 | `handler_set_get` | 设置并获取 handler | ① `set_handler(f)` ② `get_handler()` | 返回 f |
|
||||
| 15 | `handler_clear` | 清除 handler | ① `set_handler(f)` ② `set_handler(NULL)` ③ `get_handler()` | 返回 NULL |
|
||||
| 16 | `handler_from_invalid_port` | 无效端口查询 handler | ① `get_handler(-1)` ② `get_handler(999)` | 均返回 NULL |
|
||||
| 6 | `send_type_set_get` | 设置发送类型 | `set_send_type(sensor)` → `get_send_type()` | 返回 sensor |
|
||||
| 7 | `recv_type_set_get` | 设置接收类型 | `set_recv_type(rtcm)` → `get_recv_type()` | 返回 rtcm |
|
||||
| 8 | `types_independent` | 收发互不干扰 | 同时 `set_send_type(sensor)` + `set_recv_type(command)` | get_send=sensor, get_recv=command |
|
||||
| 9 | `send_type_clear` | 清除发送类型 | `set_send_type(sensor)` → `set_send_type(-1)` | `get_send_type()` == -1 |
|
||||
| 10 | `recv_type_clear` | 清除接收类型 | `set_recv_type(rtcm)` → `set_recv_type(-1)` | `get_recv_type()` == -1 |
|
||||
| 11 | `types_from_invalid` | 无效端口查类型 | `get_send_type(-1/999)` / `get_recv_type(-1/999)` | 均返回 -1 |
|
||||
|
||||
### 4. 通道元数据查询（4 个）
|
||||
### 4. handler 增删（2 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 17 | `channel_count` | 通道计数 | ① `channel_count()` | 3 |
|
||||
| 18 | `channel_names` | 通道名称 | ① 依次 `channel_name(0/1/2)` | "sensor" / "status" / "control" |
|
||||
| 19 | `channel_descs` | 通道描述 | ① 依次 `channel_desc(0/1/2)` | "Sensor data" / "Status report" / "Control command" |
|
||||
| 20 | `channel_invalid_id` | 无效 ID | ① `channel_name(-1/99)` ② `channel_desc(-1/99)` | 均返回 NULL |
|
||||
| 12 | `handler_add_remove` | 添加后移除 | ① add(a) add(b) count=2 ② remove(a) count=1 | count 正确 |
|
||||
| 13 | `handler_clear` | 清除全部 | add 后 clear | count == 0 |
|
||||
|
||||
### 5. 发送触发（9 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 21 | `send_sensor` | sensor 类型发送 | ① 创建端口 ② set_type(sensor) + set_handler(test) ③ `send_sensor(port, "hello", 5)` | 返回 0；handler 被调用，参数正确 |
|
||||
| 22 | `send_status` | status 类型发送 | 同上，用 status 通道 | 返回 0 |
|
||||
| 23 | `send_control` | control 类型发送 | 同上，用 control 通道 | 返回 0 |
|
||||
| 24 | `send_type_mismatch` | 类型不匹配 | ① set_type(sensor) ② `send_status(port, ...)` | 返回 -3；handler 不被调用 |
|
||||
| 25 | `send_no_handler` | 未注册 handler | ① set_type(sensor) ② 不设 handler ③ `send_sensor(port, ...)` | 返回 -4 |
|
||||
| 26 | `send_same_type_multiple_ports` | 同类型多端口 | ① 两端口均设 sensor + handler ② 依次发送 | 各调一次 handler |
|
||||
| 27 | `send_switch_handler_runtime` | 运行时切换 handler | ① 注册 h1 发送 ② 改注册 h2 发送 | 第一次用 h1，第二次用 h2 |
|
||||
| 28 | `send_zero_length` | 零长度数据 | ① 正常端口 ② `send_sensor(port, "x", 0)` | 返回 0；handler 被调用，len=0 |
|
||||
| 29 | `send_null_data` | NULL 数据 | ① 正常端口 ② `send_sensor(port, NULL, 0)` | 返回 0；handler 被调用 |
|
||||
| 14 | `send_one_handler` | 单 handler 发送 | send_type + add_handler → send_sensor | 返回 0；handler 被调用 1 次 |
|
||||
| 15 | `send_multi_handlers` | 三个 handler 广播 | 注册 3 个 handler 后 send | 返回 0；handler 被调用 3 次 |
|
||||
| 16 | `send_type_mismatch` | 发送类型不匹配 | set_send_type(sensor) 但调用 send_status | 返回 -3；handler 不被调用 |
|
||||
| 17 | `send_no_handler` | 未注册 handler | 只 set_send_type 不 add_handler | 返回 -4 |
|
||||
| 18 | `send_no_send_type` | 没有 send_type | 端口只有 recv_type，调 send_sensor | 返回 -3 |
|
||||
| 19 | `send_remove_handler` | 移除后少广播 | 注册 2 handler → send count=2 → remove 1 → send count=1 | 数量正确 |
|
||||
| 20 | `send_clear_handlers` | 清空后无法发送 | add → clear → send | 返回 -4 |
|
||||
| 21 | `send_zero_length` | 零长度数据 | send(port, "x", 0) | 返回 0；handler 被调用 |
|
||||
| 22 | `send_null_data` | NULL 数据 | send(port, NULL, 0) | 返回 0；handler 被调用 |
|
||||
|
||||
### 6. 接收回调（1 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 30 | `recv_callback_user_impl` | 用户实现接收回调 | ① `on_recv_sensor(port, data, len)` ② `on_recv_status(port, data, len)` | sensor 回调触发，status 不触发；再触发 status 回调，sensor 不变 |
|
||||
| 23 | `recv_callbacks` | 用户实现接收回调 | ① `on_recv_rtcm(0, ...)` ② `on_recv_command(1, ...)` | 各自触发，互不干扰 |
|
||||
|
||||
### 7. 错误处理（2 个）
|
||||
### 7. 能力元数据（2 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 30 | `error_invalid_port` | 无效端口 ID | ① `send_sensor(999, ...)` ② `send_sensor(-1, ...)` | 均返回 -2 |
|
||||
| 31 | `error_deleted_port` | 已删除端口 | ① 创建设好类型 + handler ② 删除 ③ `send_sensor(原ID, ...)` | 返回 -2 |
|
||||
| 24 | `send_cap_meta` | 发送能力元数据 | 查 count / name / desc / 边界 | SEND 两组正确 |
|
||||
| 25 | `recv_cap_meta` | 接收能力元数据 | 查 count / name / desc / 边界 | RECV 两组正确 |
|
||||
|
||||
### 8. 错误处理（2 个）
|
||||
|
||||
| # | 测试名 | 描述 | 步骤 | 预期 |
|
||||
|---|--------|------|------|------|
|
||||
| 26 | `error_invalid_port` | 无效端口 | `send_sensor(999/-1, ...)` | 均返回 -2 |
|
||||
| 27 | `error_deleted_port` | 已删除端口 | 创建→设好→删除→send | 返回 -2 |
|
||||
|
||||
## 覆盖矩阵
|
||||
|
||||
| 功能模块 | 用例数 | 主要验证点 |
|
||||
|----------|:------:|------------|
|
||||
| 未初始化 | 1 | 未 init 调用 send → -1 |
|
||||
| 端口生命周期 | 7 | 创建/多创建/ID复用/删除异常/满容量 |
|
||||
| 类型与 handler | 7 | set/get/clear/switch/无效端口 |
|
||||
| 通道元数据 | 4 | count/names/descs/boundary |
|
||||
| 发送触发 | 9 | 三通道/类型不匹配/无handler/多端口/切换handler/零长/NULL |
|
||||
| 未初始化 | 1 | send → -1 |
|
||||
| 端口管理 | 4 | 创建/满容量/删除异常/默认状态 |
|
||||
| send_type / recv_type | 6 | 设置/清除/独立/无效端口 |
|
||||
| handler 增删 | 2 | 添加/移除/清空 |
|
||||
| 发送触发 | 9 | 单播/多播/类型不匹配/无handler/无send_type/移除后/清空后/零长/NULL |
|
||||
| 接收回调 | 1 | 用户实现覆盖弱符号 |
|
||||
| 能力元数据 | 2 | SEND 与 RECV 两组独立查询 |
|
||||
| 错误处理 | 2 | 无效端口/已删除端口 |
|
||||
|
||||
**总计：31 个测试用例**
|
||||
**总计：27 个测试用例**
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+81
-47
@@ -1,14 +1,10 @@
|
||||
/**
|
||||
* @file datarouter.c
|
||||
* @brief 数据路由库 —— 实现
|
||||
*
|
||||
* 端口表：固定大小数组，每个端口存储报文类型 + handler 列表。
|
||||
* 发送触发函数逐一调用端口上注册的全部 handler，实现一对多广播。
|
||||
*/
|
||||
|
||||
#include "datarouter.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#if defined(__GNUC__) || defined(__clang__)
|
||||
#define DATAROUTER_WEAK __attribute__((weak))
|
||||
@@ -20,17 +16,9 @@
|
||||
#define DATAROUTER_MAX_PORTS 64
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @struct port_entry_t
|
||||
* @brief 端口表条目
|
||||
*
|
||||
* @var type 报文类型（DATAROUTER_CHANNEL_xxx / -1）
|
||||
* @var handlers 外设发送 handler 数组
|
||||
* @var count 当前注册的 handler 数量
|
||||
* @var in_use 1=已分配，0=空闲
|
||||
*/
|
||||
typedef struct {
|
||||
int type;
|
||||
int send_type;
|
||||
int recv_type;
|
||||
datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
|
||||
int count;
|
||||
uint8_t in_use;
|
||||
@@ -39,48 +27,62 @@ typedef struct {
|
||||
static port_entry_t ports[DATAROUTER_MAX_PORTS];
|
||||
static uint8_t initialized;
|
||||
|
||||
/* ---- 通道元数据（X-macro 展开） ---- */
|
||||
/* ---- 发送能力元数据 ---- */
|
||||
|
||||
static const char *channel_names[] = {
|
||||
#define DATAROUTER_CHANNEL(id, desc) #id,
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
static const char *send_names[] = {
|
||||
#define DATAROUTER_SEND(id, desc) #id,
|
||||
DATAROUTER_SEND_CAPABILITIES
|
||||
#undef DATAROUTER_SEND
|
||||
};
|
||||
|
||||
static const char *channel_descs[] = {
|
||||
#define DATAROUTER_CHANNEL(id, desc) desc,
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
static const char *send_descs[] = {
|
||||
#define DATAROUTER_SEND(id, desc) desc,
|
||||
DATAROUTER_SEND_CAPABILITIES
|
||||
#undef DATAROUTER_SEND
|
||||
};
|
||||
|
||||
/* ---- 接收能力元数据 ---- */
|
||||
|
||||
static const char *recv_names[] = {
|
||||
#define DATAROUTER_RECV(id, desc) #id,
|
||||
DATAROUTER_RECV_CAPABILITIES
|
||||
#undef DATAROUTER_RECV
|
||||
};
|
||||
|
||||
static const char *recv_descs[] = {
|
||||
#define DATAROUTER_RECV(id, desc) desc,
|
||||
DATAROUTER_RECV_CAPABILITIES
|
||||
#undef DATAROUTER_RECV
|
||||
};
|
||||
|
||||
/* ---- 弱符号接收回调默认实现 ---- */
|
||||
|
||||
#define DATAROUTER_CHANNEL(id, desc) \
|
||||
#define DATAROUTER_RECV(id, desc) \
|
||||
DATAROUTER_WEAK void datarouter_on_recv_##id( \
|
||||
uint32_t port_id, const void *data, size_t len) \
|
||||
{ \
|
||||
(void)port_id; (void)data; (void)len; \
|
||||
}
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
DATAROUTER_RECV_CAPABILITIES
|
||||
#undef DATAROUTER_RECV
|
||||
|
||||
/* ---- 发送触发函数实现 ---- */
|
||||
|
||||
#define DATAROUTER_CHANNEL(id, desc) \
|
||||
#define DATAROUTER_SEND(id, desc) \
|
||||
int datarouter_send_##id(uint32_t port_id, const void *data, size_t len) \
|
||||
{ \
|
||||
if (!initialized) return -1; \
|
||||
if (port_id >= DATAROUTER_MAX_PORTS || !ports[port_id].in_use) return -2; \
|
||||
if (ports[port_id].type != DATAROUTER_CHANNEL_##id) return -3; \
|
||||
if (ports[port_id].send_type != DATAROUTER_SEND_##id) return -3; \
|
||||
if (ports[port_id].count == 0) return -4; \
|
||||
for (int _i = 0; _i < ports[port_id].count; _i++) \
|
||||
ports[port_id].handlers[_i](port_id, data, len); \
|
||||
return 0; \
|
||||
}
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
DATAROUTER_SEND_CAPABILITIES
|
||||
#undef DATAROUTER_SEND
|
||||
|
||||
/* ---- 端口管理 API ---- */
|
||||
/* ---- 端口管理 ---- */
|
||||
|
||||
void datarouter_init(void)
|
||||
{
|
||||
@@ -100,9 +102,10 @@ datarouter_port_t datarouter_port_create(void)
|
||||
if (!initialized) return DATAROUTER_INVALID_PORT;
|
||||
for (int i = 0; i < DATAROUTER_MAX_PORTS; i++) {
|
||||
if (!ports[i].in_use) {
|
||||
ports[i].in_use = 1;
|
||||
ports[i].type = -1;
|
||||
ports[i].count = 0;
|
||||
ports[i].in_use = 1;
|
||||
ports[i].send_type = -1;
|
||||
ports[i].recv_type = -1;
|
||||
ports[i].count = 0;
|
||||
return (datarouter_port_t)i;
|
||||
}
|
||||
}
|
||||
@@ -116,18 +119,32 @@ void datarouter_port_delete(datarouter_port_t port)
|
||||
ports[port].in_use = 0;
|
||||
}
|
||||
|
||||
void datarouter_port_set_type(datarouter_port_t port, int channel_id)
|
||||
void datarouter_port_set_send_type(datarouter_port_t port, int cap_id)
|
||||
{
|
||||
if (!initialized) return;
|
||||
if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
|
||||
ports[port].type = channel_id;
|
||||
ports[port].send_type = cap_id;
|
||||
}
|
||||
|
||||
int datarouter_port_get_type(datarouter_port_t port)
|
||||
int datarouter_port_get_send_type(datarouter_port_t port)
|
||||
{
|
||||
if (!initialized) return -1;
|
||||
if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
|
||||
return ports[port].type;
|
||||
return ports[port].send_type;
|
||||
}
|
||||
|
||||
void datarouter_port_set_recv_type(datarouter_port_t port, int cap_id)
|
||||
{
|
||||
if (!initialized) return;
|
||||
if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
|
||||
ports[port].recv_type = cap_id;
|
||||
}
|
||||
|
||||
int datarouter_port_get_recv_type(datarouter_port_t port)
|
||||
{
|
||||
if (!initialized) return -1;
|
||||
if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
|
||||
return ports[port].recv_type;
|
||||
}
|
||||
|
||||
int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler)
|
||||
@@ -168,21 +185,38 @@ int datarouter_port_handler_count(datarouter_port_t port)
|
||||
return ports[port].count;
|
||||
}
|
||||
|
||||
/* ---- 通道元数据查询 ---- */
|
||||
/* ---- 元数据查询 ---- */
|
||||
|
||||
int datarouter_channel_count(void)
|
||||
int datarouter_send_cap_count(void)
|
||||
{
|
||||
return DATAROUTER_CHANNEL_COUNT;
|
||||
return DATAROUTER_SEND_CAP_COUNT;
|
||||
}
|
||||
|
||||
const char *datarouter_channel_name(int channel_id)
|
||||
const char *datarouter_send_cap_name(int cap_id)
|
||||
{
|
||||
if (channel_id < 0 || channel_id >= DATAROUTER_CHANNEL_COUNT) return NULL;
|
||||
return channel_names[channel_id];
|
||||
if (cap_id < 0 || cap_id >= DATAROUTER_SEND_CAP_COUNT) return NULL;
|
||||
return send_names[cap_id];
|
||||
}
|
||||
|
||||
const char *datarouter_channel_desc(int channel_id)
|
||||
const char *datarouter_send_cap_desc(int cap_id)
|
||||
{
|
||||
if (channel_id < 0 || channel_id >= DATAROUTER_CHANNEL_COUNT) return NULL;
|
||||
return channel_descs[channel_id];
|
||||
if (cap_id < 0 || cap_id >= DATAROUTER_SEND_CAP_COUNT) return NULL;
|
||||
return send_descs[cap_id];
|
||||
}
|
||||
|
||||
int datarouter_recv_cap_count(void)
|
||||
{
|
||||
return DATAROUTER_RECV_CAP_COUNT;
|
||||
}
|
||||
|
||||
const char *datarouter_recv_cap_name(int cap_id)
|
||||
{
|
||||
if (cap_id < 0 || cap_id >= DATAROUTER_RECV_CAP_COUNT) return NULL;
|
||||
return recv_names[cap_id];
|
||||
}
|
||||
|
||||
const char *datarouter_recv_cap_desc(int cap_id)
|
||||
{
|
||||
if (cap_id < 0 || cap_id >= DATAROUTER_RECV_CAP_COUNT) return NULL;
|
||||
return recv_descs[cap_id];
|
||||
}
|
||||
|
||||
+69
-105
@@ -4,30 +4,20 @@
|
||||
*
|
||||
* ## 概念
|
||||
*
|
||||
* - **通道 (Channel)**：编译期声明的报文类型（如 sensor / status / control）
|
||||
* - **端口 (Port)**：运行期创建的连接点，绑定一个报文类型和多个外设发送 handler
|
||||
* - **路由**：将报文类型关联到一个或多个物理外设发送函数
|
||||
* - **多外设**：一个端口可注册多个 handler，发送时逐一调用全部 handler
|
||||
* - **发送能力 (Send Capability)**：编译期声明的可发送报文类型
|
||||
* - **接收能力 (Recv Capability)**：编译期声明的可接收报文类型
|
||||
* - **端口 (Port)**：运行期连接点，独立设置 send_type + recv_type + 外设 handler 列表
|
||||
*
|
||||
* ## 使用流程
|
||||
*
|
||||
* 1. 在 datarouter_config.h 中声明报文类型
|
||||
* 2. 调用 datarouter_init() 初始化
|
||||
* 3. 通过 datarouter_port_create() 创建端口
|
||||
* 4. 调用 datarouter_port_set_type() 指定端口处理的报文类型
|
||||
* 5. 调用 datarouter_port_add_handler() 注册一个或多个外设发送函数
|
||||
* 6. 调用 datarouter_send_<id>() 触发发送（库逐一调用所有注册的 handler）
|
||||
* 7. 实现 datarouter_on_recv_<id>() 处理从外设收到的报文
|
||||
* 8. datarouter_port_delete() 移除端口
|
||||
*
|
||||
* ## 路由规则
|
||||
*
|
||||
* datarouter_send_<id>(port, data, len)
|
||||
* → 校验端口类型
|
||||
* → for each handler: handler(port, data, len)
|
||||
* → return 0
|
||||
*
|
||||
* 接收：外设收到数据 → 用户识别报文类型 → 调 datarouter_on_recv_<id>(port, data, len)
|
||||
* 1. 创建 datarouter_config.h 声明发送和接收能力（见 datarouter_config_template.h）
|
||||
* 2. 编译时通过 -I 指向你的配置目录；若无，库使用内置默认配置
|
||||
* 3. datarouter_init() 初始化
|
||||
* 4. port_create() 创建端口
|
||||
* 5. port_set_send_type() 设置发送类型 / port_set_recv_type() 设置接收类型
|
||||
* 6. port_add_handler() 注册外设发送函数
|
||||
* 7. 调 datarouter_send_<id>() 触发发送（库调用所有 handler）
|
||||
* 8. 实现 datarouter_on_recv_<id>() 处理接收数据
|
||||
*/
|
||||
|
||||
#ifndef DATAROUTER_H
|
||||
@@ -36,74 +26,69 @@
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#include "datarouter_config.h"
|
||||
/*
|
||||
* 配置加载策略：
|
||||
* 1. 优先从 include path 搜索 <datarouter_config.h>（用户提供的版本）
|
||||
* 2. 找不到则回退到库自带的 "datarouter_config.h"（默认配置）
|
||||
*
|
||||
* 用户只需将自己的 datarouter_config.h 放到项目目录，
|
||||
* 编译时添加 -I /path/to/your/config 即可覆盖内置配置。
|
||||
*/
|
||||
#if defined(__has_include)
|
||||
# if __has_include(<datarouter_config.h>)
|
||||
# include <datarouter_config.h>
|
||||
# else
|
||||
# include "datarouter_config.h"
|
||||
# endif
|
||||
#else
|
||||
# include "datarouter_config.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @enum datarouter_channel
|
||||
* @brief 报文类型枚举
|
||||
*
|
||||
* 由 DATAROUTER_CHANNELS 宏列表自动生成。
|
||||
*/
|
||||
enum datarouter_channel {
|
||||
#define DATAROUTER_CHANNEL(id, desc) DATAROUTER_CHANNEL_##id,
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
DATAROUTER_CHANNEL_COUNT
|
||||
/* ========== 发送能力枚举 ========== */
|
||||
|
||||
enum datarouter_send_cap {
|
||||
#define DATAROUTER_SEND(id, desc) DATAROUTER_SEND_##id,
|
||||
DATAROUTER_SEND_CAPABILITIES
|
||||
#undef DATAROUTER_SEND
|
||||
DATAROUTER_SEND_CAP_COUNT
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 外设发送 handler 类型
|
||||
*
|
||||
* @param[in] port_id 源端口 ID
|
||||
* @param[in] data 数据缓冲区
|
||||
* @param[in] len 数据长度
|
||||
*/
|
||||
/* ========== 接收能力枚举 ========== */
|
||||
|
||||
enum datarouter_recv_cap {
|
||||
#define DATAROUTER_RECV(id, desc) DATAROUTER_RECV_##id,
|
||||
DATAROUTER_RECV_CAPABILITIES
|
||||
#undef DATAROUTER_RECV
|
||||
DATAROUTER_RECV_CAP_COUNT
|
||||
};
|
||||
|
||||
/* ========== 外设发送 handler 类型 ========== */
|
||||
|
||||
typedef void (*datarouter_send_handler_t)(uint32_t port_id, const void *data, size_t len);
|
||||
|
||||
#ifndef DATAROUTER_MAX_HANDLERS_PER_PORT
|
||||
#define DATAROUTER_MAX_HANDLERS_PER_PORT 4
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @defgroup send_functions 发送触发函数
|
||||
*
|
||||
* 每个报文类型生成一个发送触发函数。
|
||||
* 内部校验端口后，逐一调用端口上注册的所有 handler。
|
||||
* @{
|
||||
*/
|
||||
/* ========== 发送触发函数（每个发送能力生成一个） ========== */
|
||||
|
||||
#define DATAROUTER_CHANNEL(id, desc) \
|
||||
#define DATAROUTER_SEND(id, desc) \
|
||||
int datarouter_send_##id(uint32_t port_id, const void *data, size_t len);
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
DATAROUTER_SEND_CAPABILITIES
|
||||
#undef DATAROUTER_SEND
|
||||
|
||||
/** @} */
|
||||
/* ========== 接收回调声明（每个接收能力生成一个，用户实现） ========== */
|
||||
|
||||
/**
|
||||
* @defgroup recv_callbacks 接收回调声明
|
||||
*
|
||||
* 每个报文类型生成一个接收回调声明。用户实现。
|
||||
* @{
|
||||
*/
|
||||
|
||||
#define DATAROUTER_CHANNEL(id, desc) \
|
||||
#define DATAROUTER_RECV(id, desc) \
|
||||
void datarouter_on_recv_##id(uint32_t port_id, const void *data, size_t len);
|
||||
DATAROUTER_CHANNELS
|
||||
#undef DATAROUTER_CHANNEL
|
||||
DATAROUTER_RECV_CAPABILITIES
|
||||
#undef DATAROUTER_RECV
|
||||
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup port_api 端口管理 API
|
||||
*
|
||||
* 每个端口可注册 N 个外设发送 handler（上限 DATAROUTER_MAX_HANDLERS_PER_PORT）。
|
||||
* 发送时逐一调用全部 handler，实现一对多广播路由。
|
||||
* @{
|
||||
*/
|
||||
/* ========== 端口管理 API ========== */
|
||||
|
||||
typedef int32_t datarouter_port_t;
|
||||
#define DATAROUTER_INVALID_PORT ((datarouter_port_t)-1)
|
||||
@@ -114,46 +99,25 @@ void datarouter_reset(void);
|
||||
datarouter_port_t datarouter_port_create(void);
|
||||
void datarouter_port_delete(datarouter_port_t port);
|
||||
|
||||
void datarouter_port_set_type(datarouter_port_t port, int channel_id);
|
||||
int datarouter_port_get_type(datarouter_port_t port);
|
||||
void datarouter_port_set_send_type(datarouter_port_t port, int cap_id);
|
||||
int datarouter_port_get_send_type(datarouter_port_t port);
|
||||
void datarouter_port_set_recv_type(datarouter_port_t port, int cap_id);
|
||||
int datarouter_port_get_recv_type(datarouter_port_t port);
|
||||
|
||||
/**
|
||||
* @brief 为端口添加一个外设发送 handler
|
||||
* @param[in] port 端口 ID
|
||||
* @param[in] handler 发送函数指针（不可为 NULL）
|
||||
* @retval 0 成功
|
||||
* @retval -1 端口无效
|
||||
* @retval -2 handler 列表已满
|
||||
* @retval -3 handler 已存在（不重复添加）
|
||||
*/
|
||||
int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler);
|
||||
|
||||
/**
|
||||
* @brief 从端口移除一个外设发送 handler
|
||||
* @param[in] port 端口 ID
|
||||
* @param[in] handler 要移除的函数指针
|
||||
* @retval 0 成功
|
||||
* @retval -1 端口无效
|
||||
* @retval -2 handler 未找到
|
||||
*/
|
||||
int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler);
|
||||
|
||||
/** @brief 清除端口所有 handler */
|
||||
int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler);
|
||||
int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler);
|
||||
void datarouter_port_clear_handlers(datarouter_port_t port);
|
||||
int datarouter_port_handler_count(datarouter_port_t port);
|
||||
|
||||
/** @brief 获取端口当前 handler 数量 @return handler 数量，-1 表示端口无效 */
|
||||
int datarouter_port_handler_count(datarouter_port_t port);
|
||||
/* ========== 能力元数据查询 ========== */
|
||||
|
||||
/** @} */
|
||||
int datarouter_send_cap_count(void);
|
||||
const char *datarouter_send_cap_name(int cap_id);
|
||||
const char *datarouter_send_cap_desc(int cap_id);
|
||||
|
||||
/**
|
||||
* @defgroup introspection 报文类型元数据查询
|
||||
* @{
|
||||
*/
|
||||
int datarouter_channel_count(void);
|
||||
const char *datarouter_channel_name(int channel_id);
|
||||
const char *datarouter_channel_desc(int channel_id);
|
||||
/** @} */
|
||||
int datarouter_recv_cap_count(void);
|
||||
const char *datarouter_recv_cap_name(int cap_id);
|
||||
const char *datarouter_recv_cap_desc(int cap_id);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
+27
-21
@@ -1,34 +1,40 @@
|
||||
/**
|
||||
* @file datarouter_config.h
|
||||
* @brief 数据报文类型配置
|
||||
* @brief 数据路由默认配置
|
||||
*
|
||||
* 用户在此文件中定义所有报文类型（通道）。
|
||||
* 每个报文类型通过 DATAROUTER_CHANNEL(id, desc) 宏声明，
|
||||
* 库在编译期据此自动生成：
|
||||
* - 通道枚举值 DATAROUTER_CHANNEL_<id>
|
||||
* - 发送触发函数 datarouter_send_<id>(port, data, len)
|
||||
* - 接收回调声明 datarouter_on_recv_<id>(port, data, len)
|
||||
* 这是库内置的默认配置，提供示例能力声明。
|
||||
* 用户可自定义此文件以实现自己的报文类型：
|
||||
*
|
||||
* 1. 复制当前文件到你的项目目录
|
||||
* 2. 按需修改 DATAROUTER_SEND_CAPABILITIES / DATAROUTER_RECV_CAPABILITIES
|
||||
* 3. 编译时添加 -I /path/to/your/config 覆盖库的默认配置
|
||||
*
|
||||
* 覆盖后库将使用你的版本，无需修改库源代码。
|
||||
*/
|
||||
|
||||
#ifndef DATAROUTER_CONFIG_H
|
||||
#define DATAROUTER_CONFIG_H
|
||||
|
||||
/**
|
||||
* @def DATAROUTER_CHANNELS
|
||||
* @brief 报文类型列表宏
|
||||
* @def DATAROUTER_SEND_CAPABILITIES
|
||||
* @brief 发送能力列表
|
||||
*
|
||||
* 每行格式：DATAROUTER_CHANNEL(标识符, "描述文字")
|
||||
* 用户按需增删改。每个标识符对应一种报文类型。
|
||||
*
|
||||
* @code
|
||||
* #define DATAROUTER_CHANNELS \
|
||||
* DATAROUTER_CHANNEL(sensor, "Sensor data") \
|
||||
* DATAROUTER_CHANNEL(control, "Control command")
|
||||
* @endcode
|
||||
* 每行格式：DATAROUTER_SEND(标识符, "描述")
|
||||
* 每项生成：发送触发函数 datarouter_send_<id>(port, data, len)
|
||||
*/
|
||||
#define DATAROUTER_CHANNELS \
|
||||
DATAROUTER_CHANNEL(sensor, "Sensor data") \
|
||||
DATAROUTER_CHANNEL(status, "Status report") \
|
||||
DATAROUTER_CHANNEL(control, "Control command")
|
||||
#define DATAROUTER_SEND_CAPABILITIES \
|
||||
DATAROUTER_SEND(sensor, "Sensor data report") \
|
||||
DATAROUTER_SEND(status, "Device status report")
|
||||
|
||||
/**
|
||||
* @def DATAROUTER_RECV_CAPABILITIES
|
||||
* @brief 接收能力列表
|
||||
*
|
||||
* 每行格式：DATAROUTER_RECV(标识符, "描述")
|
||||
* 每项生成：接收回调声明 datarouter_on_recv_<id>(port, data, len)
|
||||
*/
|
||||
#define DATAROUTER_RECV_CAPABILITIES \
|
||||
DATAROUTER_RECV(rtcm, "RTCM correction data") \
|
||||
DATAROUTER_RECV(command, "Remote control command")
|
||||
|
||||
#endif /* DATAROUTER_CONFIG_H */
|
||||
@@ -0,0 +1,51 @@
|
||||
/**
|
||||
* @file datarouter_config_template.h
|
||||
* @brief 数据路由配置模板 —— 复制此文件到项目目录并修改
|
||||
*
|
||||
* 使用方法：
|
||||
* 1. 将此文件复制到你的项目目录，重命名为 datarouter_config.h
|
||||
* 2. 修改下面的 DATAROUTER_SEND_CAPABILITIES 和 DATAROUTER_RECV_CAPABILITIES
|
||||
* 3. 编译时添加 -I /path/to/your/project
|
||||
* 4. 库将自动使用你的配置，无需修改库源代码
|
||||
*
|
||||
* 格式说明：
|
||||
* 发送能力：DATAROUTER_SEND(标识符, "描述")
|
||||
* 接收能力：DATAROUTER_RECV(标识符, "描述")
|
||||
*
|
||||
* 标识符只能包含字母、数字、下划线。
|
||||
* 描述为字符串字面量。
|
||||
*
|
||||
* 示例配置：
|
||||
* // 传感器设备：只需发送
|
||||
* #define DATAROUTER_SEND_CAPABILITIES \
|
||||
* DATAROUTER_SEND(sensor, "Sensor data report")
|
||||
* #define DATAROUTER_RECV_CAPABILITIES
|
||||
*
|
||||
* // 遥控设备：只需接收
|
||||
* #define DATAROUTER_SEND_CAPABILITIES
|
||||
* #define DATAROUTER_RECV_CAPABILITIES \
|
||||
* DATAROUTER_RECV(command, "Remote command")
|
||||
*
|
||||
* // 网关设备：同时收发
|
||||
* #define DATAROUTER_SEND_CAPABILITIES \
|
||||
* DATAROUTER_SEND(status, "Status report")
|
||||
* #define DATAROUTER_RECV_CAPABILITIES \
|
||||
* DATAROUTER_RECV(config, "Configuration update")
|
||||
*/
|
||||
|
||||
#ifndef DATAROUTER_CONFIG_H
|
||||
#define DATAROUTER_CONFIG_H
|
||||
|
||||
/* ========== 在此声明你的发送能力 ========== */
|
||||
|
||||
#define DATAROUTER_SEND_CAPABILITIES \
|
||||
DATAROUTER_SEND(sensor, "Sensor data report") \
|
||||
DATAROUTER_SEND(status, "Device status report")
|
||||
|
||||
/* ========== 在此声明你的接收能力 ========== */
|
||||
|
||||
#define DATAROUTER_RECV_CAPABILITIES \
|
||||
DATAROUTER_RECV(rtcm, "RTCM correction data") \
|
||||
DATAROUTER_RECV(command, "Remote control command")
|
||||
|
||||
#endif /* DATAROUTER_CONFIG_H */
|
||||
@@ -3,18 +3,16 @@
|
||||
* @brief 数据路由库使用示例
|
||||
*
|
||||
* 展示：
|
||||
* 1. 编译期声明报文类型 → 自动生成发送触发函数和接收回调声明
|
||||
* 2. 创建端口、设置报文类型
|
||||
* 3. 为一个端口注册多个外设 handler（一对多广播路由）
|
||||
* 4. 运行时增删 handler，切换路由
|
||||
* 5. 实现接收回调处理外设收到的数据
|
||||
* - 发送能力和接收能力分开声明（sensor 只发送，rtcm 只接收）
|
||||
* - 端口独立设置 send_type 和 recv_type
|
||||
* - 一个端口可同时拥有发送和接收能力
|
||||
*/
|
||||
|
||||
#include "datarouter.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
/* ---- 外设发送 handler 实现 ---- */
|
||||
/* ---- 外设发送 handler ---- */
|
||||
|
||||
static void uart_send(uint32_t port_id, const void *data, size_t len)
|
||||
{
|
||||
@@ -26,80 +24,70 @@ static void tcp_send(uint32_t port_id, const void *data, size_t len)
|
||||
printf("[TCP] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
}
|
||||
|
||||
static void file_send(uint32_t port_id, const void *data, size_t len)
|
||||
{
|
||||
printf("[FILE] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
}
|
||||
|
||||
static void can_send(uint32_t port_id, const void *data, size_t len)
|
||||
{
|
||||
printf("[CAN] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
}
|
||||
|
||||
/* ---- 接收回调实现 ---- */
|
||||
|
||||
void datarouter_on_recv_sensor(uint32_t port_id, const void *data, size_t len)
|
||||
void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len)
|
||||
{
|
||||
printf("[RX:sensor] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
printf("[RX:rtcm] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
}
|
||||
|
||||
void datarouter_on_recv_status(uint32_t port_id, const void *data, size_t len)
|
||||
void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len)
|
||||
{
|
||||
printf("[RX:status] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
printf("[RX:cmd] port %u: %.*s\n", port_id, (int)len, (const char *)data);
|
||||
}
|
||||
|
||||
/* ---- main ---- */
|
||||
|
||||
int main(void)
|
||||
{
|
||||
datarouter_init();
|
||||
|
||||
printf("Channels:\n");
|
||||
for (int i = 0; i < datarouter_channel_count(); i++)
|
||||
printf(" [%d] %s - %s\n", i,
|
||||
datarouter_channel_name(i),
|
||||
datarouter_channel_desc(i));
|
||||
/* 查询能力 */
|
||||
printf("Send capabilities: %d\n", datarouter_send_cap_count());
|
||||
for (int i = 0; i < datarouter_send_cap_count(); i++)
|
||||
printf(" SEND [%d] %s - %s\n", i,
|
||||
datarouter_send_cap_name(i), datarouter_send_cap_desc(i));
|
||||
|
||||
printf("Recv capabilities: %d\n", datarouter_recv_cap_count());
|
||||
for (int i = 0; i < datarouter_recv_cap_count(); i++)
|
||||
printf(" RECV [%d] %s - %s\n", i,
|
||||
datarouter_recv_cap_name(i), datarouter_recv_cap_desc(i));
|
||||
|
||||
/*
|
||||
* 创建一个 sensor 端口，注册多个 handler。
|
||||
* 一次 send_sensor() 调用同时路由到 UART + TCP + CAN。
|
||||
* 端口 A：只有发送能力 —— 上报传感器数据
|
||||
*/
|
||||
datarouter_port_t sensor_port = datarouter_port_create();
|
||||
datarouter_port_set_type(sensor_port, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_add_handler(sensor_port, uart_send);
|
||||
datarouter_port_add_handler(sensor_port, tcp_send);
|
||||
datarouter_port_add_handler(sensor_port, can_send);
|
||||
datarouter_port_t tx_port = datarouter_port_create();
|
||||
datarouter_port_set_send_type(tx_port, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(tx_port, uart_send);
|
||||
datarouter_port_add_handler(tx_port, tcp_send);
|
||||
|
||||
printf("\n--- send sensor (UART + TCP + CAN) ---\n");
|
||||
datarouter_send_sensor(sensor_port, "temperature:25.3", 16);
|
||||
printf("\n--- send sensor (UART + TCP) ---\n");
|
||||
datarouter_send_sensor(tx_port, "temperature:25.3", 16);
|
||||
/* 该端口没有 recv_type，不能接收任何报文 */
|
||||
|
||||
/*
|
||||
* 运行时移除 TCP handler，只剩 UART + CAN。
|
||||
* 端口 B：只有接收能力 —— 接收 RTCM 修正
|
||||
*/
|
||||
printf("\n--- remove TCP, keep UART + CAN ---\n");
|
||||
datarouter_port_remove_handler(sensor_port, tcp_send);
|
||||
datarouter_send_sensor(sensor_port, "temperature:26.1", 16);
|
||||
datarouter_port_t rtcm_port = datarouter_port_create();
|
||||
datarouter_port_set_recv_type(rtcm_port, DATAROUTER_RECV_rtcm);
|
||||
/* 没有 send_type，也没有 handler —— 不能发送 */
|
||||
|
||||
printf("\n--- simulate receive RTCM ---\n");
|
||||
datarouter_on_recv_rtcm(rtcm_port, "rtcm_data_v3.2", 14);
|
||||
|
||||
/*
|
||||
* 运行时再添加 FILE handler。
|
||||
* 端口 C：同时有收发能力 —— 接收命令 + 上报状态
|
||||
*/
|
||||
printf("\n--- add FILE back, now UART + CAN + FILE ---\n");
|
||||
datarouter_port_add_handler(sensor_port, file_send);
|
||||
datarouter_send_sensor(sensor_port, "temperature:27.0", 16);
|
||||
datarouter_port_t bi_port = datarouter_port_create();
|
||||
datarouter_port_set_send_type(bi_port, DATAROUTER_SEND_status);
|
||||
datarouter_port_set_recv_type(bi_port, DATAROUTER_RECV_command);
|
||||
datarouter_port_add_handler(bi_port, uart_send);
|
||||
|
||||
/*
|
||||
* 清除所有 handler，不再输出到任何外设。
|
||||
*/
|
||||
printf("\n--- clear all handlers, nothing sent ---\n");
|
||||
datarouter_port_clear_handlers(sensor_port);
|
||||
int ret = datarouter_send_sensor(sensor_port, "lost", 4);
|
||||
printf("send_sensor after clear returned %d\n", ret);
|
||||
printf("\n--- bidirectional port ---\n");
|
||||
datarouter_send_status(bi_port, "status:OK", 9);
|
||||
datarouter_on_recv_command(bi_port, "reboot", 6);
|
||||
|
||||
/* ---- 接收 ---- */
|
||||
printf("\n--- simulate peripheral receive ---\n");
|
||||
datarouter_on_recv_sensor(0, "temperature:24.8", 16);
|
||||
datarouter_on_recv_status(1, "status:ERROR", 12);
|
||||
|
||||
datarouter_port_delete(sensor_port);
|
||||
/* 清理 */
|
||||
datarouter_port_delete(tx_port);
|
||||
datarouter_port_delete(rtcm_port);
|
||||
datarouter_port_delete(bi_port);
|
||||
return 0;
|
||||
}
|
||||
|
||||
+162
-284
@@ -3,12 +3,12 @@
|
||||
* @brief 数据路由库单元测试
|
||||
*
|
||||
* 覆盖：
|
||||
* - 端口管理（创建/删除/复用/边界）
|
||||
* - 端口类型与多 handler 增删查
|
||||
* - 通道元数据查询
|
||||
* - 一对多广播发送（多 handler 逐一调用）
|
||||
* - 运行时增删 handler 改变路由
|
||||
* - 端口管理
|
||||
* - send_type / recv_type 独立设置
|
||||
* - 多 handler 增删
|
||||
* - 发送调用（一对多广播）
|
||||
* - 接收回调
|
||||
* - 发送/接收能力元数据各自独立
|
||||
* - 错误处理
|
||||
*/
|
||||
|
||||
@@ -66,34 +66,19 @@ cleanup: \
|
||||
* ================================================================ */
|
||||
|
||||
static int _h_cnt;
|
||||
static int _h_total;
|
||||
static int _h_ids[16];
|
||||
static void _h(uint32_t p, const void *d, size_t l)
|
||||
{
|
||||
(void)d; (void)l;
|
||||
if (_h_cnt < 16) _h_ids[_h_cnt] = (int)p;
|
||||
_h_cnt++;
|
||||
_h_total++;
|
||||
}
|
||||
|
||||
static void _h(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
|
||||
static void _h_a(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
|
||||
static void _h_b(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
|
||||
static void _h_c(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
|
||||
static void _h_d(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
|
||||
|
||||
static void reset_hstate(void)
|
||||
{
|
||||
_h_cnt = _h_total = 0;
|
||||
memset(_h_ids, 0, sizeof(_h_ids));
|
||||
}
|
||||
static void reset_h(void) { _h_cnt = 0; }
|
||||
|
||||
/* ================================================================
|
||||
* 1. 未初始化
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(error_uninit)
|
||||
int ret = datarouter_send_sensor(0, "d", 1);
|
||||
CHECK(ret == -1, "expected -1, got %d", ret);
|
||||
CHECK(datarouter_send_sensor(0, "d", 1) == -1, "expected -1");
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
@@ -101,296 +86,223 @@ TEST_END()
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(port_create_basic)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(p >= 0, "create returned %d", p);
|
||||
CHECK(FIXTURE_CREATE(&_fix) >= 0, "create failed");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_create_multiple)
|
||||
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_t p3 = FIXTURE_CREATE(&_fix);
|
||||
CHECK(p1 >= 0 && p2 >= 0 && p3 >= 0, "some invalid");
|
||||
CHECK(p1 != p2 && p2 != p3, "IDs should be unique");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_create_reuse)
|
||||
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_delete(p1);
|
||||
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
|
||||
CHECK(p1 == p2, "expected reuse ID %d, got %d", p1, p2);
|
||||
TEST_START(port_create_max)
|
||||
int c = 0;
|
||||
for (int i = 0; i < 64; i++) {
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
if (p == DATAROUTER_INVALID_PORT) break;
|
||||
FIXTURE_PUSH(&_fix, p); c++;
|
||||
}
|
||||
CHECK(c >= 64, "got %d", c);
|
||||
CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_delete_invalid)
|
||||
datarouter_port_delete(-1);
|
||||
datarouter_port_delete(9999);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_delete_twice)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_delete(p);
|
||||
datarouter_port_delete(p);
|
||||
_fix.count--;
|
||||
datarouter_port_delete(-1); datarouter_port_delete(999);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_default_state)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_get_type(p) == -1, "type should be -1");
|
||||
CHECK(datarouter_port_handler_count(p) == 0, "handler count should be 0");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(port_create_max)
|
||||
int created = 0;
|
||||
for (int i = 0; i < 64; i++) {
|
||||
datarouter_port_t p = datarouter_port_create();
|
||||
if (p == DATAROUTER_INVALID_PORT) break;
|
||||
FIXTURE_PUSH(&_fix, p);
|
||||
created++;
|
||||
}
|
||||
CHECK(created >= 64, "expected 64, got %d", created);
|
||||
CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT,
|
||||
"expected INVALID after exhaustion");
|
||||
CHECK(datarouter_port_get_send_type(p) == -1, "send_type should be -1");
|
||||
CHECK(datarouter_port_get_recv_type(p) == -1, "recv_type should be -1");
|
||||
CHECK(datarouter_port_handler_count(p) == 0, "handler count 0");
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 3. 类型
|
||||
* 3. send_type / recv_type 独立设置
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(type_set_get)
|
||||
TEST_START(send_type_set_get)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
CHECK(datarouter_port_get_type(p) == DATAROUTER_CHANNEL_sensor, "type mismatch");
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(type_clear)
|
||||
TEST_START(recv_type_set_get)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_type(p, -1);
|
||||
CHECK(datarouter_port_get_type(p) == -1, "should be -1");
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
|
||||
CHECK(datarouter_port_get_recv_type(p) == DATAROUTER_RECV_rtcm, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(type_switch)
|
||||
TEST_START(types_independent)
|
||||
/* 一个端口同时设置 send_type 和 recv_type，互不干扰 */
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_status);
|
||||
CHECK(datarouter_port_get_type(p) == DATAROUTER_CHANNEL_status, "should be status");
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_command);
|
||||
CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
|
||||
CHECK(datarouter_port_get_recv_type(p) == DATAROUTER_RECV_command, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(type_from_invalid)
|
||||
CHECK(datarouter_port_get_type(-1) == -1, NULL);
|
||||
CHECK(datarouter_port_get_type(999) == -1, NULL);
|
||||
TEST_START(send_type_clear)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_set_send_type(p, -1);
|
||||
CHECK(datarouter_port_get_send_type(p) == -1, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(recv_type_clear)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
|
||||
datarouter_port_set_recv_type(p, -1);
|
||||
CHECK(datarouter_port_get_recv_type(p) == -1, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(types_from_invalid)
|
||||
CHECK(datarouter_port_get_send_type(-1) == -1, NULL);
|
||||
CHECK(datarouter_port_get_recv_type(-1) == -1, NULL);
|
||||
CHECK(datarouter_port_get_send_type(999) == -1, NULL);
|
||||
CHECK(datarouter_port_get_recv_type(999) == -1, NULL);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 4. 多 handler 增删查
|
||||
* 4. 多 handler
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(handler_add_one)
|
||||
TEST_START(handler_add_remove)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_add_handler(p, _h) == 0, "add failed");
|
||||
CHECK(datarouter_port_handler_count(p) == 1, "count=%d", datarouter_port_handler_count(p));
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_add_multiple)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_add_handler(p, _h_a) == 0, "add a");
|
||||
CHECK(datarouter_port_add_handler(p, _h_b) == 0, "add b");
|
||||
CHECK(datarouter_port_add_handler(p, _h_c) == 0, "add c");
|
||||
CHECK(datarouter_port_handler_count(p) == 3, "count=%d", datarouter_port_handler_count(p));
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_add_duplicate)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_add_handler(p, _h) == 0, "first add");
|
||||
CHECK(datarouter_port_add_handler(p, _h) == -3, "duplicate should return -3");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_add_max)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_add_handler(p, _h_a) == 0, "add a");
|
||||
CHECK(datarouter_port_add_handler(p, _h_b) == 0, "add b");
|
||||
CHECK(datarouter_port_add_handler(p, _h_c) == 0, "add c");
|
||||
CHECK(datarouter_port_add_handler(p, _h_d) == 0, "add d");
|
||||
CHECK(datarouter_port_handler_count(p) == DATAROUTER_MAX_HANDLERS_PER_PORT,
|
||||
"count=%d", datarouter_port_handler_count(p));
|
||||
/* 第 5 个应返回 -2（已满） */
|
||||
CHECK(datarouter_port_add_handler(p, _h) == -2,
|
||||
"expected -2 (full), got %d", datarouter_port_add_handler(p, _h));
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_remove)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_add_handler(p, _h_a);
|
||||
datarouter_port_add_handler(p, _h_b);
|
||||
datarouter_port_add_handler(p, _h_c);
|
||||
CHECK(datarouter_port_remove_handler(p, _h_b) == 0, "remove b");
|
||||
CHECK(datarouter_port_handler_count(p) == 2, "count should be 2, got %d", datarouter_port_handler_count(p));
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_remove_not_found)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
CHECK(datarouter_port_remove_handler(p, _h) == -2, "expected -2");
|
||||
CHECK(datarouter_port_add_handler(p, _h_a) == 0, NULL);
|
||||
CHECK(datarouter_port_add_handler(p, _h_b) == 0, NULL);
|
||||
CHECK(datarouter_port_handler_count(p) == 2, NULL);
|
||||
CHECK(datarouter_port_remove_handler(p, _h_a) == 0, NULL);
|
||||
CHECK(datarouter_port_handler_count(p) == 1, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_clear)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_add_handler(p, _h_a);
|
||||
datarouter_port_add_handler(p, _h_b);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
datarouter_port_clear_handlers(p);
|
||||
CHECK(datarouter_port_handler_count(p) == 0, "count should be 0");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(handler_from_invalid)
|
||||
CHECK(datarouter_port_handler_count(-1) == -1, NULL);
|
||||
CHECK(datarouter_port_handler_count(999) == -1, NULL);
|
||||
CHECK(datarouter_port_add_handler(-1, _h) == -1, NULL);
|
||||
CHECK(datarouter_port_remove_handler(999, _h) == -1, NULL);
|
||||
CHECK(datarouter_port_handler_count(p) == 0, NULL);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 5. 通道元数据
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(channel_count)
|
||||
CHECK(datarouter_channel_count() == 3, "expected 3");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(channel_names)
|
||||
CHECK(strcmp(datarouter_channel_name(0), "sensor") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_channel_name(1), "status") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_channel_name(2), "control") == 0, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(channel_descs)
|
||||
CHECK(strcmp(datarouter_channel_desc(0), "Sensor data") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_channel_desc(1), "Status report") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_channel_desc(2), "Control command") == 0, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(channel_invalid_id)
|
||||
CHECK(datarouter_channel_name(-1) == NULL, NULL);
|
||||
CHECK(datarouter_channel_name(99) == NULL, NULL);
|
||||
CHECK(datarouter_channel_desc(-1) == NULL, NULL);
|
||||
CHECK(datarouter_channel_desc(99) == NULL, NULL);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 6. 发送 — 一对多广播
|
||||
* 5. 发送触发
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(send_one_handler)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
|
||||
reset_hstate();
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == 0, "send failed");
|
||||
reset_h();
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == 0, NULL);
|
||||
CHECK(_h_cnt == 1, "handler called %d times", _h_cnt);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_multi_handlers)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h_a);
|
||||
datarouter_port_add_handler(p, _h_b);
|
||||
datarouter_port_add_handler(p, _h_c);
|
||||
|
||||
reset_hstate();
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == 0, "send failed");
|
||||
CHECK(_h_cnt == 3, "expected 3 handler calls, got %d", _h_cnt);
|
||||
reset_h();
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == 0, NULL);
|
||||
CHECK(_h_cnt == 3, "handler called %d times", _h_cnt);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_type_mismatch)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
|
||||
reset_hstate();
|
||||
reset_h();
|
||||
CHECK(datarouter_send_status(p, "d", 1) == -3, "expected -3");
|
||||
CHECK(_h_cnt == 0, "handler should not fire");
|
||||
CHECK(_h_cnt == 0, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_no_handler)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
|
||||
reset_hstate();
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4");
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_three_channels)
|
||||
/* 三个通道各一个端口 */
|
||||
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_t p3 = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p1, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_type(p2, DATAROUTER_CHANNEL_status);
|
||||
datarouter_port_set_type(p3, DATAROUTER_CHANNEL_control);
|
||||
datarouter_port_add_handler(p1, _h);
|
||||
datarouter_port_add_handler(p2, _h);
|
||||
datarouter_port_add_handler(p3, _h);
|
||||
|
||||
reset_hstate();
|
||||
CHECK(datarouter_send_sensor(p1, "a", 1) == 0, NULL);
|
||||
CHECK(datarouter_send_status(p2, "b", 1) == 0, NULL);
|
||||
CHECK(datarouter_send_control(p3, "c", 1) == 0, NULL);
|
||||
CHECK(_h_cnt == 3, "expected 3 total calls, got %d", _h_cnt);
|
||||
TEST_START(send_no_send_type)
|
||||
/* 端口只有 recv_type，没有 send_type */
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -3, "expected -3 (send_type unset)");
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 7. 发送 — 运行时增删 handler
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(send_remove_handler)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h_a);
|
||||
datarouter_port_add_handler(p, _h_b);
|
||||
|
||||
reset_hstate();
|
||||
datarouter_send_sensor(p, "d", 1);
|
||||
CHECK(_h_cnt == 2, "2 handlers: count=%d", _h_cnt);
|
||||
|
||||
reset_h(); datarouter_send_sensor(p, "d", 1); CHECK(_h_cnt == 2, NULL);
|
||||
datarouter_port_remove_handler(p, _h_a);
|
||||
|
||||
reset_hstate();
|
||||
datarouter_send_sensor(p, "d", 1);
|
||||
CHECK(_h_cnt == 1, "after remove: count=%d", _h_cnt);
|
||||
reset_h(); datarouter_send_sensor(p, "d", 1); CHECK(_h_cnt == 1, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_clear_handlers)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_add_handler(p, _h_a);
|
||||
datarouter_port_add_handler(p, _h_b);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
datarouter_port_clear_handlers(p);
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4");
|
||||
TEST_END()
|
||||
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4 after clear");
|
||||
TEST_START(send_zero_length)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
reset_h();
|
||||
CHECK(datarouter_send_sensor(p, "x", 0) == 0, NULL);
|
||||
CHECK(_h_cnt == 1, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_null_data)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
reset_h();
|
||||
CHECK(datarouter_send_sensor(p, NULL, 0) == 0, NULL);
|
||||
CHECK(_h_cnt == 1, NULL);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 8. 接收回调
|
||||
* 6. 接收回调
|
||||
* ================================================================ */
|
||||
|
||||
static int _rx_s;
|
||||
static void rx_s(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _rx_s++; }
|
||||
static int _rx_t;
|
||||
static void rx_t(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _rx_t++; }
|
||||
static int _rx_r, _rx_c;
|
||||
void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
|
||||
{ (void)p; (void)d; (void)l; _rx_r++; }
|
||||
void datarouter_on_recv_command(uint32_t p, const void *d, size_t l)
|
||||
{ (void)p; (void)d; (void)l; _rx_c++; }
|
||||
|
||||
void datarouter_on_recv_sensor(uint32_t p, const void *d, size_t l) { rx_s(p, d, l); }
|
||||
void datarouter_on_recv_status(uint32_t p, const void *d, size_t l) { rx_t(p, d, l); }
|
||||
|
||||
TEST_START(recv_callback)
|
||||
_rx_s = _rx_t = 0;
|
||||
datarouter_on_recv_sensor(0, "data", 4);
|
||||
CHECK(_rx_s == 1, "sensor cb: %d", _rx_s);
|
||||
CHECK(_rx_t == 0, "status cb: %d", _rx_t);
|
||||
datarouter_on_recv_status(1, "data", 4);
|
||||
CHECK(_rx_t == 1, "status cb: %d", _rx_t);
|
||||
CHECK(_rx_s == 1, "sensor cb unchanged: %d", _rx_s);
|
||||
TEST_START(recv_callbacks)
|
||||
_rx_r = _rx_c = 0;
|
||||
datarouter_on_recv_rtcm(0, "d", 1);
|
||||
CHECK(_rx_r == 1 && _rx_c == 0, "rtcm=%d cmd=%d", _rx_r, _rx_c);
|
||||
datarouter_on_recv_command(1, "d", 1);
|
||||
CHECK(_rx_r == 1 && _rx_c == 1, "rtcm=%d cmd=%d", _rx_r, _rx_c);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 9. 错误处理
|
||||
* 7. 能力元数据（两组独立）
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(send_cap_meta)
|
||||
CHECK(datarouter_send_cap_count() == 2, NULL);
|
||||
CHECK(strcmp(datarouter_send_cap_name(0), "sensor") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_send_cap_desc(0), "Sensor data report") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_send_cap_name(1), "status") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_send_cap_desc(1), "Device status report") == 0, NULL);
|
||||
CHECK(datarouter_send_cap_name(-1) == NULL, NULL);
|
||||
CHECK(datarouter_send_cap_name(99) == NULL, NULL);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(recv_cap_meta)
|
||||
CHECK(datarouter_recv_cap_count() == 2, NULL);
|
||||
CHECK(strcmp(datarouter_recv_cap_name(0), "rtcm") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_recv_cap_name(1), "command") == 0, NULL);
|
||||
CHECK(strcmp(datarouter_recv_cap_desc(1), "Remote control command") == 0, NULL);
|
||||
CHECK(datarouter_recv_cap_name(-1) == NULL, NULL);
|
||||
CHECK(datarouter_recv_cap_desc(99) == NULL, NULL);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 8. 错误
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(error_invalid_port)
|
||||
@@ -400,42 +312,18 @@ TEST_END()
|
||||
|
||||
TEST_START(error_deleted_port)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
datarouter_port_delete(p);
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -2, "expected -2");
|
||||
CHECK(datarouter_send_sensor(p, "d", 1) == -2, NULL);
|
||||
_fix.count--;
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 10. 零长与 NULL
|
||||
* ================================================================ */
|
||||
|
||||
TEST_START(send_zero_length)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
|
||||
reset_hstate();
|
||||
CHECK(datarouter_send_sensor(p, "x", 0) == 0, NULL);
|
||||
CHECK(_h_cnt == 1, "handler called %d", _h_cnt);
|
||||
TEST_END()
|
||||
|
||||
TEST_START(send_null_data)
|
||||
datarouter_port_t p = FIXTURE_CREATE(&_fix);
|
||||
datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
|
||||
datarouter_port_add_handler(p, _h);
|
||||
|
||||
reset_hstate();
|
||||
CHECK(datarouter_send_sensor(p, NULL, 0) == 0, NULL);
|
||||
CHECK(_h_cnt == 1, "handler called %d", _h_cnt);
|
||||
TEST_END()
|
||||
|
||||
/* ================================================================
|
||||
* 主函数
|
||||
* ================================================================ */
|
||||
|
||||
#define RUN(name) do { reset_hstate(); test_##name(); } while (0)
|
||||
#define RUN(name) do { reset_h(); test_##name(); } while (0)
|
||||
|
||||
int main(void)
|
||||
{
|
||||
@@ -448,46 +336,32 @@ int main(void)
|
||||
|
||||
printf("\n[port management]\n");
|
||||
RUN(port_create_basic);
|
||||
RUN(port_create_multiple);
|
||||
RUN(port_create_reuse);
|
||||
RUN(port_delete_invalid);
|
||||
RUN(port_delete_twice);
|
||||
RUN(port_default_state);
|
||||
RUN(port_create_max);
|
||||
RUN(port_delete_invalid);
|
||||
RUN(port_default_state);
|
||||
printf("\n");
|
||||
|
||||
datarouter_reset(); datarouter_init();
|
||||
printf("[type set/get]\n");
|
||||
RUN(type_set_get);
|
||||
RUN(type_clear);
|
||||
RUN(type_switch);
|
||||
RUN(type_from_invalid);
|
||||
printf("[send_type / recv_type]\n");
|
||||
RUN(send_type_set_get);
|
||||
RUN(recv_type_set_get);
|
||||
RUN(types_independent);
|
||||
RUN(send_type_clear);
|
||||
RUN(recv_type_clear);
|
||||
RUN(types_from_invalid);
|
||||
printf("\n");
|
||||
|
||||
printf("[multi-handler add/remove]\n");
|
||||
RUN(handler_add_one);
|
||||
RUN(handler_add_multiple);
|
||||
RUN(handler_add_duplicate);
|
||||
RUN(handler_add_max);
|
||||
RUN(handler_remove);
|
||||
RUN(handler_remove_not_found);
|
||||
printf("[handler add/remove]\n");
|
||||
RUN(handler_add_remove);
|
||||
RUN(handler_clear);
|
||||
RUN(handler_from_invalid);
|
||||
printf("\n");
|
||||
|
||||
printf("[channel introspection]\n");
|
||||
RUN(channel_count);
|
||||
RUN(channel_names);
|
||||
RUN(channel_descs);
|
||||
RUN(channel_invalid_id);
|
||||
printf("\n");
|
||||
|
||||
printf("[send — one-to-many broadcast]\n");
|
||||
printf("[send trigger]\n");
|
||||
RUN(send_one_handler);
|
||||
RUN(send_multi_handlers);
|
||||
RUN(send_type_mismatch);
|
||||
RUN(send_no_handler);
|
||||
RUN(send_three_channels);
|
||||
RUN(send_no_send_type);
|
||||
RUN(send_remove_handler);
|
||||
RUN(send_clear_handlers);
|
||||
RUN(send_zero_length);
|
||||
@@ -495,7 +369,12 @@ int main(void)
|
||||
printf("\n");
|
||||
|
||||
printf("[receive callback]\n");
|
||||
RUN(recv_callback);
|
||||
RUN(recv_callbacks);
|
||||
printf("\n");
|
||||
|
||||
printf("[capability metadata]\n");
|
||||
RUN(send_cap_meta);
|
||||
RUN(recv_cap_meta);
|
||||
printf("\n");
|
||||
|
||||
printf("[error handling]\n");
|
||||
@@ -506,6 +385,5 @@ int main(void)
|
||||
printf("==============================\n");
|
||||
printf(" total: %d | pass: %d | fail: %d\n\n",
|
||||
_total_run, _total_pass, _total_fail);
|
||||
|
||||
return _total_fail > 0 ? 1 : 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user