Merge pull request 'develop' (#20 ) from develop into main

Reviewed-on: #20
Merge pull request 'feat: 变更架构为广播，发送到所有绑定的端口' (#19 ) from feature/route into develop
2026-07-26 22:41:12 +08:00 · 2026-07-26 22:40:15 +08:00 · 2026-07-26 22:29:47 +08:00 · 2026-07-26 15:07:38 +08:00 · 2026-07-26 15:07:21 +08:00 · 2026-07-26 15:06:36 +08:00
20 changed files with 1174 additions and 993 deletions
@@ -0,0 +1,87 @@
 name: Release
 on:
  push:
    branches: [main]
 jobs:
  release:
    runs-on: ubuntu-builder
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Verify merge commit
        run: |
          PARENTS=$(git log --format="%P" -1 | wc -w)
          [ "$PARENTS" -ge 2 ] || exit 78
      - name: Read tag from HEAD
        id: tag
        run: |
          TAG=$(git tag --points-at HEAD | grep '^v' | head -n1)
          [ -n "$TAG" ] || exit 78
          echo "tag=$TAG" >> "$GITHUB_OUTPUT"
      - name: Install cross-compilers
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            gcc-arm-linux-gnueabihf \
            gcc-aarch64-linux-gnu \
            gcc-mingw-w64-x86-64 \
            gcc-arm-none-eabi
      - name: Build all targets
        run: |
          for entry in \
            "linux-amd64|ON|" \
            "linux-arm64|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake" \
            "linux-armhf|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake" \
            "windows-amd64|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake -DBUILD_EXAMPLES=OFF" \
            "baremetal-arm32|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake -DBUILD_EXAMPLES=OFF -DBUILD_SHARED=OFF"
          do
            IFS='|' read -r name testing extra <<< "$entry"
            echo ">>> Building $name"
            cmake -S . -B "build-$name" -DBUILD_TESTING=$testing $extra
            cmake --build "build-$name"
            [ "$testing" = "ON" ] && ctest --test-dir "build-$name" --output-on-failure
            pkg="datarouter-$name"
            cmake --install "build-$name" --prefix "dist/$pkg"
          done
      - name: Create release & upload assets
        run: |
          TAG="${{ steps.tag.outputs.tag }}"
          API="${{ gitea.server_url }}/api/v1/repos/${{ gitea.repository }}/releases"
          TOKEN="${{ gitea.token }}"
          # Check if release already exists
          echo "=== Checking existing releases for $TAG ==="
          EXISTING=$(curl -s -H "Authorization: token ${TOKEN}" "${API}" | \
            python3 -c "import sys,json;rels=json.load(sys.stdin);print(next((r['id'] for r in rels if r['tag_name']=='${TAG}'),''))")
          if [ -n "$EXISTING" ]; then
            ID="$EXISTING"
            echo "Release already exists (ID=$ID), updating it"
          else
            echo "=== Creating release $TAG ==="
            RESP=$(curl -s -X POST \
              -H "Authorization: token ${TOKEN}" \
              -H "Content-Type: application/json" \
              -d "{\"tag_name\":\"${TAG}\",\"name\":\"DataRouter ${TAG}\"}" \
              "$API")
            ID=$(echo "$RESP" | python3 -c "import sys,json;d=json.loads(sys.stdin.read());print(d['id'])")
          fi
          for dir in dist/*/; do
            name="$(basename "$dir").tar.gz"
            tar czf "/tmp/$name" -C "$dir" .
            echo "Uploading $name"
            curl -s -X POST \
              -H "Authorization: token ${TOKEN}" \
              -H "Content-Type: application/octet-stream" \
              --data-binary @"/tmp/$name" \
              "${API}/${ID}/assets?name=${name}"
          done
@@ -0,0 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
  <component name="CidrCTestProjectState">
    <ctestState>
      <lineNumber testId="path:null test:datarouter" value="28" />
    </ctestState>
  </component>
 </project>
@@ -1,6 +1,253 @@
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  </component>
 </project>
@@ -3,17 +3,81 @@ project(DataRouter C)
 set(CMAKE_C_STANDARD 11)
 # ======== 静态库 ========
 add_library(DataRouter STATIC datarouter.c)
-target_include_directories(DataRouter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(DataRouter PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
    $<INSTALL_INTERFACE:include>
 )
 # ======== 共享库（可选，通过 BUILD_SHARED 控制） ========
 option(BUILD_SHARED "Build shared library" ON)
 if(BUILD_SHARED)
    add_library(DataRouter_shared SHARED datarouter.c)
    target_include_directories(DataRouter_shared PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
        $<INSTALL_INTERFACE:include>
    )
    set_target_properties(DataRouter_shared PROPERTIES OUTPUT_NAME DataRouter)
 endif()
 # ======== 示例程序 ========
 if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES)
    add_executable(example example.c)
    target_link_libraries(example DataRouter)
 endif()
 # ======== 测试 ========
 if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
    enable_testing()
    add_executable(test_datarouter tests/test_datarouter.c)
    target_link_libraries(test_datarouter DataRouter)
    add_test(NAME datarouter COMMAND test_datarouter)
 endif()
 # ======== 安装规则 ========
 # 静态库 → lib/
 install(TARGETS DataRouter
    EXPORT DataRouterTargets
    ARCHIVE DESTINATION lib
 )
 # 共享库 → lib/（可选）
 if(TARGET DataRouter_shared)
    install(TARGETS DataRouter_shared
        EXPORT DataRouterTargets
        ARCHIVE DESTINATION lib   # .lib (Windows import lib)
        LIBRARY DESTINATION lib   # .so
        RUNTIME DESTINATION lib   # .dll
    )
 endif()
 # 示例 → bin/
 if(TARGET example)
    install(TARGETS example RUNTIME DESTINATION bin)
 endif()
 # 头文件 → include/
 install(FILES datarouter.h DESTINATION include)
 # 文档 → share/
 install(FILES datarouter_config_template.h LICENSE DESTINATION share)
 if(EXISTS ${CMAKE_SOURCE_DIR}/README.md)
    install(FILES README.md DESTINATION share)
 endif()
 # CMake 包配置文件 → cmake/
 set(INCLUDE_INSTALL_DIR include)
 set(LIB_INSTALL_DIR lib)
 include(CMakePackageConfigHelpers)
 configure_package_config_file(
    cmake/DataRouterConfig.cmake.in
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
    INSTALL_DESTINATION cmake
    PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
 )
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake DESTINATION cmake)
 install(EXPORT DataRouterTargets FILE DataRouterTargets.cmake DESTINATION cmake)
@@ -2,31 +2,35 @@
 ## 1. 设计目标
-轻量级 C 语言数据路由库。核心思想：
+轻量级 C 语言数据路由库。发送与接收能力分开声明，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动遍历端口表，广播到所有 `send_type` 匹配的端口。
- **报文类型（Channel）**：编译期通过宏声明的数据类型（如 `sensor` / `status` / `control`）
+### 核心设计
 - **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
 - **路由（Routing）**：将逻辑报文类型连接到实际的物理外设发送函数
 ```
-应用层  send_sensor(port, data)
+DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
-              │
+  DATAROUTER_SEND(sensor, ...)         DATAROUTER_RECV(rtcm, ...)
-              ▼
+  DATAROUTER_SEND(status, ...)         DATAROUTER_RECV(command, ...)
-         库校验端口
+          │                                     │
-              │
+          ▼                                     ▼
-              ▼
+    send_sensor(data, len)              on_recv_rtcm(port, data, len)
-         调用注册的 handler(data)  ← 用户实现：UART / TCP / CAN / 文件发送
+          │                              （用户实现回调）
-              │
+          ▼
-              ▼
+    遍历端口表 → send_type 匹配？
-         物理外设
+          │
          ▼
    for each handler(port, data)  ─── UART / TCP / CAN
 ```
 **关键**：send 无 port_id 参数，自动路由到所有匹配端口。
 ### 设计原则
 | 原则 | 说明 |
 |------|------|
-| 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 |
+| 收发分离 | 发送/接收能力在配置中分开声明，按需组合 |
-| 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） |
+| 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 |
 | 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 |
 | 自动广播 | `send_<id>(data, len)` 遍历所有端口，自动匹配 send_type |
 | 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 |
 | 零动态内存 | 纯静态数组，无 malloc/free |
@@ -41,23 +45,22 @@
 left to right direction
 rectangle "用户代码" as User {
-  component "应用逻辑\n调用 datarouter_send_<type>()" as App
+  component "应用逻辑\n调 send_<id>(data, len)" as App
-  component "datarouter_config.h\n声明报文类型" as Cfg
+  component "datarouter_config.h\n声明能力" as Cfg
-  component "外设 handler\nUART / TCP / CAN / 文件" as Handlers
+  component "外设 handler\nUART / TCP / CAN" as Handlers
-  component "接收回调\n处理收到的报文" as Callbacks
+  component "接收回调\non_recv_<id>()" as Callbacks
 }
 database "DataRouter 库" as Lib {
-  component "datarouter.h\n公共 API + 代码生成" as Hdr
+  component "datarouter.h\n公共 API + X-macro" as Hdr
-  component "datarouter.c\n端口表 + handler 调用" as Impl
+  component "datarouter.c\n端口表+遍历路由" as Impl
 }
 App --> Hdr
 Cfg --> Hdr
 Impl --> Cfg
-Handlers --> Impl : 注册为 send_handler
+Handlers --> Impl : add_handler
-Callbacks --> Impl : 实现 on_recv_<type>
+Callbacks --> Impl : 实现 on_recv_<id>
@enduml
 ```
@@ -65,138 +68,87 @@ Callbacks --> Impl : 实现 on_recv_<type>
 | 文件 | 职责 |
 |------|------|
-| `datarouter_config.h` | 用户在此声明所有报文类型 |
+| `datarouter_config.h` | 声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
-| `datarouter.h` | 公共 API + X-macro 展开（enum + 发送函数声明 + 回调声明） |
+| `datarouter.h` | 公共 API + X-macro 展开 |
-| `datarouter.c` | 发送函数实现 + handler 调用 + 端口管理 |
+| `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 |
 | `example.c` | 使用示例 |
-| `tests/test_datarouter.c` | 31 个单元测试 |
+| `tests/test_datarouter.c` | 22 个单元测试 |
 ---
-## 3. 核心概念
+## 3. 收发分离设计
-### 3.1 报文类型（Channel）
+### 3.1 配置声明
-```plantuml
+```c
-@startuml
+#define DATAROUTER_SEND_CAPABILITIES \
-object "DATAROUTER_CHANNEL(sensor, \"Sensor data\")" as C1
+    DATAROUTER_SEND(sensor, "Sensor data report") \
-object "DATAROUTER_CHANNEL(status, \"Status report\")" as C2
+    DATAROUTER_SEND(status, "Device status report")
 object "DATAROUTER_CHANNEL(control, \"Control command\")" as C3
-note right of C1
+#define DATAROUTER_RECV_CAPABILITIES \
-  编译期展开产物：
+    DATAROUTER_RECV(rtcm,    "RTCM correction data") \
-  · DATAROUTER_CHANNEL_sensor = 0
+    DATAROUTER_RECV(command, "Remote control command")
  · int datarouter_send_sensor(port, data, len)
  · void datarouter_on_recv_sensor(port, data, len)
  · channel_names[0] = "sensor"
  · channel_descs[0] = "Sensor data"
 end note
 C1 --> C2
 C2 --> C3
@enduml
 ```
-### 3.2 端口与 handler
+### 3.2 展开产物
 ```plantuml
@startuml
 skinparam objectBorderColor black
 object "端口 A" as PA {
  type = sensor
  handler = uart_send
 }
 object "端口 B" as PB {
  type = sensor
  handler = tcp_send
 }
 object "端口 C" as PC {
  type = status
  handler = uart_send
 }
 object "UART发送函数" as UART
 object "TCP发送函数" as TCP
 PA --> UART : 注册
 PB --> TCP : 注册
 PC --> UART : 注册
 note right of PA
  同一报文类型 sensor
  可路由到不同外设
 end note
 note right of PC
  不同报文类型 status
  可复用同一外设 UART
 end note
@enduml
 ```
 DATAROUTER_SEND_CAPABILITIES 展开：
  enum:       sensor = 0, status = 1, SEND_CAP_COUNT = 2
  发送函数:   int datarouter_send_sensor(const void *data, size_t len);
              int datarouter_send_status(const void *data, size_t len);
  元数据:     send_names[] = {"sensor", "status"}
              send_descs[] = {"Sensor data report", "Device status report"}
 DATAROUTER_RECV_CAPABILITIES 展开：
  enum:       rtcm = 0, command = 1, RECV_CAP_COUNT = 2
  接收回调:   void datarouter_on_recv_rtcm(uint32_t port, const void*, size_t);
              void datarouter_on_recv_command(uint32_t port, const void*, size_t);
  弱符号默认: 空实现，用户覆盖
  元数据:     recv_names[] = {"rtcm", "command"}
              recv_descs[] = {"RTCM correction data", "Remote control command"}
 ```
 ### 3.3 端口示例
 ```
 端口 A:  send_type = sensor,  handlers=[uart_send, tcp_send]
 端口 B:  send_type = sensor,  handlers=[can_send]
 端口 C:  send_type = status,  handlers=[uart_send]
 ```
 调用 `send_sensor("temp", 4)` → A 和 B 同时触发。
 ---
 ## 4. X-macro 代码生成
 ### 4.1 展开流程
 ```plantuml
@startuml
 == datarouter.h ==
-== datarouter.h: 3 次展开 ==
+-> datarouter_config.h: 获得两组宏列表
-> datarouter_config.h: #include 获得 DATAROUTER_CHANNELS
+datarouter.h -> "1": #define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
 note right: 发送 enum
-datarouter.h -> "第 1 遍": #define DATAROUTER_CHANNEL(id,desc) DATAROUTER_CHANNEL_##id,
+datarouter.h -> "2": #define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
-note right: 生成 enum 通道枚举
+note right: 接收 enum
-datarouter.h -> "第 2 遍": #define DATAROUTER_CHANNEL(id,desc) int datarouter_send_##id(...);
+datarouter.h -> "3": #define DATAROUTER_SEND(id,desc) int send_##id(data, len);
-note right: 生成发送触发函数声明
+note right: 发送函数声明
-datarouter.h -> "第 3 遍": #define DATAROUTER_CHANNEL(id,desc) void datarouter_on_recv_##id(...);
+datarouter.h -> "4": #define DATAROUTER_RECV(id,desc) void on_recv_##id(...);
-note right: 生成接收回调声明
+note right: 接收回调声明
-== datarouter.c: 3 次展开 ==
+== datarouter.c ==
 datarouter.c -> "第 4 遍": #define DATAROUTER_CHANNEL(id,desc) DATAROUTER_WEAK void ...
 note right: 弱符号回调默认空实现
 datarouter.c -> "第 5 遍": #define DATAROUTER_CHANNEL(id,desc) int datarouter_send_##id(…) {…}
 note right: 发送函数实现 → 调用handler
 datarouter.c -> "第 6 遍": #define DATAROUTER_CHANNEL(id,desc) #id,  → channel_names[]
 datarouter.c -> "第 7 遍": #define DATAROUTER_CHANNEL(id,desc) desc, → channel_descs[]
 datarouter.c -> "5": 弱符号回调默认实现
 datarouter.c -> "6": 发送函数实现（遍历端口表）
 datarouter.c -> "7~8": send_names[] / send_descs[] / recv_names[] / recv_descs[]
@enduml
 ```
 ### 4.2 展开示例（3 个通道）
 ```
 用户配置:
    DATAROUTER_CHANNEL(sensor,  "Sensor data")
    DATAROUTER_CHANNEL(status,  "Status report")
    DATAROUTER_CHANNEL(control, "Control command")
 展开产物:
    enum:   sensor = 0, status = 1, control = 2, CHANNEL_COUNT = 3
    发送:   int datarouter_send_sensor(uint32_t, const void*, size_t);
            int datarouter_send_status(…);
            int datarouter_send_control(…);
    回调:   void datarouter_on_recv_sensor(uint32_t, const void*, size_t);
            void datarouter_on_recv_status(…);
            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 +159,56 @@ datarouter.c -> "第 7 遍": #define DATAROUTER_CHANNEL(id,desc) desc, → chann
@startuml
 skinparam classAttributeIconSize 0
-class "datarouter_channel (enum)" as Chan {
+enum "datarouter_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
-  + DATAROUTER_CHANNEL_sensor  = 0
+enum "datarouter_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }
-  + DATAROUTER_CHANNEL_status  = 1
+
-  + DATAROUTER_CHANNEL_control = 2
+class "port_entry_t" as Entry {
-  + DATAROUTER_CHANNEL_COUNT   = 3
+  - int    send_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_sensor(data, len)
-  + int send_status(port, data, len)
+  + int send_status(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_rtcm(port, data, len)      ← 用户实现
-  + void on_recv_status(port, data, len)
+  + void on_recv_command(port, data, len)
  + void on_recv_control(port, data, len)
 }
-Entry --> Chan : type ∈ enum
+Entry --> S : send_type
-Entry --> Handler : handler 函数指针
+Entry --> Handler : handlers[]
-Table --> Entry : ports[]
+Send --> Entry : 遍历端口表 → 匹配 send_type → 遍历 handlers
-Send --> Table : 校验端口 + 调用 handler
+Recv --> Entry : 用户根据业务调对应回调
 Recv --> Send : 被用户从外设收数据时调用
@enduml
 ```
 ### 5.2 `port_entry_t`
 ```c
 #define DATAROUTER_MAX_HANDLERS_PER_PORT 4
 typedef struct {
-    int                       type;     // 报文类型（DATAROUTER_CHANNEL_xxx / -1）
+    int                       send_type;
-    datarouter_send_handler_t handler;  // 外设发送函数（NULL 表示未注册）
+    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
-    uint8_t                   in_use;   // 1=已分配，0=空闲
+    int                       count;
    uint8_t                   in_use;
 } port_entry_t;
 ```
 ### 5.3 端口表
 ```c
-#define DATAROUTER_MAX_PORTS 64        // 可由 -D 覆盖
+#define DATAROUTER_MAX_PORTS 64
-static port_entry_t ports[64];         // 静态数组，无动态内存
+static port_entry_t ports[DATAROUTER_MAX_PORTS];
-static uint8_t      initialized;       // init/reset 标志
+static uint8_t      initialized;
 ```
 ---
@@ -274,54 +218,53 @@ 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_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_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
+datarouter_port_t datarouter_port_create(void);
-void              datarouter_port_delete(port);     // 删除端口，ID 可复用
+void  datarouter_port_delete(datarouter_port_t port);
-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_send_type(port, int cap_id);
-void              datarouter_port_set_handler(port, handler);  // 注册外设发送 handler
+int   datarouter_port_get_send_type(port);
-datarouter_send_handler_t datarouter_port_get_handler(port);   // 获取 handler
+
 int   datarouter_port_add_handler(port, handler);
 int   datarouter_port_remove_handler(port, handler);
 void  datarouter_port_clear_handlers(port);
 int   datarouter_port_handler_count(port);
 ```
-### 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_sensor(const void *data, size_t len);
-int datarouter_send_status(uint32_t port_id, const void *data, size_t len);
+int datarouter_send_status(const void *data, size_t len);
 int datarouter_send_control(uint32_t port_id, const void *data, size_t len);
 ```
-返回值：
+返回值：0 成功 / -1 未初始化 / -2 无端口匹配该 send_type
 | 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 |
-### 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_rtcm(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_command(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);
 ```
-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。
-### 6.5 元数据查询
+### 6.5 能力元数据
 ```c
-int         datarouter_channel_count(void);
+int         datarouter_send_cap_count(void);
-const char *datarouter_channel_name(int channel_id);
+const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_channel_desc(int channel_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);
 ```
 ---
@@ -334,38 +277,35 @@ const char *datarouter_channel_desc(int channel_id);
@startuml
 actor "应用" as App
 participant "datarouter_send_sensor()" as Send
-participant "端口表" as Table
+participant "端口表 ports[]" as Table
-participant "handler" as Handler
+participant "handlers[]" as HList
 participant "外设" as Dev
-App -> Send : send_sensor(port=2, data, len)
+App -> Send : send_sensor("temp:25.3", 9)
-group 校验
+group 初始化检查
  Send -> Send : initialized?
-  alt 未初始化
+  alt 否 → return -1
    Send --> App : return -1
  end
  Send -> Table : ports[2].in_use?
  alt 端口无效
    Send --> App : return -2
  end
  Send -> Table : ports[2].type == sensor?
  alt 类型不匹配
    Send --> App : return -3
  end
  Send -> Table : ports[2].handler != NULL?
  alt 无 handler
    Send --> App : return -4
  end
 end
-Send -> Handler : handler(2, data, len)
+group 遍历端口表
-Handler -> Dev : UART_SendData(data, len)
+  loop for p in 0..MAX_PORTS-1
-Handler --> Send : void
+    Send -> Table : ports[p].in_use && ports[p].send_type == SENSOR ?
-Send --> App : return 0
+    alt 匹配
      loop for h in 0..count-1
        Send -> HList : handlers[h](p, data, len)
        HList -> Dev : 实际外设写入
      end
    end
  end
 end
 alt 至少调了一次 handler
  Send --> App : return 0
 else 无匹配端口
  Send --> App : return -2
 end
@enduml
 ```
@@ -375,13 +315,10 @@ 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 "on_recv_rtcm()" as Callback
 participant "用户处理逻辑" as Process
-Dev -> Dispatch : 收到数据，识别为 sensor 类型
+Dev -> Dispatch : 收到数据，识别为 rtcm
-Dispatch -> Callback : on_recv_sensor(port_id, data, len)
+Dispatch -> Callback : on_recv_rtcm(port_id, data, len)
 Callback -> Process : 解析数据、更新状态等
 Process --> Callback : void
 Callback --> Dispatch : void
@enduml
 ```
@@ -390,53 +327,57 @@ Callback --> Dispatch : void
 ```plantuml
@startuml
-state "空闲\nin_use=0" as Idle
+state "空闲" as Idle
-state "已创建\nin_use=1\ntype=-1\nhandler=NULL" as Created
+state "已创建\nsend_type=-1\ncount=0" as Created
-state "已配置\nin_use=1\ntype=sensor\nhandler=..." as Config
+state "已配置" as Config
-[*] --> Idle : datarouter_reset()
+[*] --> Idle : reset / 启动
-
+Idle --> Created : port_create()
-Idle --> Created : datarouter_port_create()
+Created --> Config : set_send_type / add_handler
-
+Config --> Config : 切换 send_type\n增删 handler
-Created --> Config : set_type + set_handler
+Config --> Created : set_send_type(-1) / clear_handlers
-Config --> Config : set_type / set_handler\n可任意切换
+Created --> Idle : port_delete()
-Config --> Created : set_type(-1) / set_handler(NULL)\n清除能力
+Config --> Idle : port_delete()
 Created --> Idle : datarouter_port_delete()
 Config --> Idle : datarouter_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：sensor 广播到 UART + TCP + CAN
-```
+```c
-应用
+datarouter_port_t p1 = datarouter_port_create();
-  │
+datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-  ├─ send_sensor(sensor_uart_port, data, len)
+datarouter_port_add_handler(p1, uart_send);
-  │    │
+datarouter_port_add_handler(p1, tcp_send);
-  │    ▼
+
-  │  handler = uart_send  → UART 外设
+datarouter_port_t p2 = datarouter_port_create();
-  │
+datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-  └─ send_sensor(sensor_tcp_port, data, len)
+datarouter_port_add_handler(p2, can_send);
-       │
+
-       ▼
+datarouter_send_sensor("temp:25.3", 9);
-     handler = tcp_send   → TCP 外设
+// → uart_send(p1, "temp:25.3", 9)
 // → tcp_send(p1, "temp:25.3", 9)
 // → can_send(p2, "temp:25.3", 9)
 ```
-### 场景：运行时切换路由
+### 场景 2：仅接收
 ```c
 void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
    apply_rtcm_correction(data, len);
 }
 // 外设收到后：datarouter_on_recv_rtcm(port, data, len);
 ```
 端口 sensor_tcp 原 handler = tcp_send
-datarouter_port_set_handler(sensor_tcp, file_send);
+### 场景 3：运行时移除 handler
-端口 sensor_tcp 现 handler = file_send  → 改为写入文件
+```c
 datarouter_port_remove_handler(p1, tcp_send);
 // 下次 send_sensor 不再触发 tcp
 ```
 ---
@@ -446,10 +387,10 @@ 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 +400,32 @@ 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 |
+| 0 | 成功，至少有一个 handler 被调用 |
-| -1 | 库未初始化 |
+| -1 | 库未初始化（未调 init） |
-| -2 | 端口无效（越界/未创建/已删除） |
+| -2 | 无端口匹配该 send_type（或匹配端口均无 handler） |
 | -3 | 端口类型不匹配 |
 | -4 | 端口未注册发送 handler |
 ---
 ## 11. 配置扩展
 ### 增加报文类型
 编辑 `datarouter_config.h`：
 ```c
-#define DATAROUTER_CHANNELS \
+#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_CHANNEL(sensor,  "Sensor data")      \
+    DATAROUTER_SEND(sensor, "Sensor data")  \
-    DATAROUTER_CHANNEL(status,  "Status report")    \
+    DATAROUTER_SEND(debug,  "Debug log")   /* 新增 */
-    DATAROUTER_CHANNEL(control, "Control command")  \
+
-    DATAROUTER_CHANNEL(debug,   "Debug message")    /* 新增 */
+#define DATAROUTER_RECV_CAPABILITIES \
    DATAROUTER_RECV(rtcm, "RTCM data")       \
    DATAROUTER_RECV(ota,  "OTA firmware")   /* 新增 */
 ```
 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
 ```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 +434,9 @@ 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 |
+| 能力声明 | 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 |
+| 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 +1,45 @@
 # 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**，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动广播到所有匹配端口。
 ## 概念
 | 术语 | 说明 |
 |------|------|
-| **通道 (Channel)** | 编译期声明的报文类型（如 `sensor` / `status` / `control`） |
+| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `datarouter_send_<id>(data, len)` |
-| **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 |
+| **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>(port, data, len)` |
-| **路由** | 将报文类型连接到物理外设发送函数的过程 |
+| **端口 (Port)** | 运行期创建的连接点，包含 `send_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 \
+#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_CHANNEL(sensor,  "Sensor data")    \
+    DATAROUTER_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_CHANNEL(status,  "Status report")  \
+    DATAROUTER_SEND(status, "Device status report")
-    DATAROUTER_CHANNEL(control, "Control command")
+
 #define DATAROUTER_RECV_CAPABILITIES \
    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
    DATAROUTER_RECV(command, "Remote control command")
 ```
 > 库自带默认配置。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。无需修改库源码。
 >
 > ```cmake
 > include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR})
 > 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 +48,29 @@ 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();
+/* —— 传感器上报：sensor 报文走 UART + TCP —— */
-datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
+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);
-/* 一个端口同时路由到两个外设 */
+/* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */
-datarouter_port_add_handler(p, uart_send);
+datarouter_send_sensor("temperature:25.3", 16);  // → UART + TCP
 datarouter_port_add_handler(p, tcp_send);
-/* 发送 → 同时走 UART 和 TCP */
+/* —— 接收：实现回调，外设数据到达后自行调用 —— */
-datarouter_send_sensor(p, "temperature:25.3", 16);
+datarouter_on_recv_rtcm(rx_port, data, len);
 ```
 ### 4. 实现接收回调
 ```c
-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("received sensor data: %.*s\n", (int)len, (const char *)data);
+    apply_rtcm_correction(data, len);
 }
 ```
@@ -66,64 +79,71 @@ 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_init(void);    // 幂等初始化
-void datarouter_reset(void);  // 重置全部状态
+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
+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_delete(datarouter_port_t port);   // 删除
-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
+void  datarouter_port_set_send_type(port, int cap_id);  // 设置发送类型
-int   datarouter_port_add_handler(port, handler);      // 注册外设 handler
+int   datarouter_port_get_send_type(port);               // -1 = 未设置
-int   datarouter_port_remove_handler(port, handler);   // 移除 handler
+
-void  datarouter_port_clear_handlers(port);            // 清除全部 handler
+int   datarouter_port_add_handler(port, handler);        // 注册外设 handler
-int   datarouter_port_handler_count(port);             // handler 数量
+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_sensor(const void *data, size_t len);   // 0 成功
-int datarouter_send_status(port, data, len);    //        -2 端口无效
+int datarouter_send_status(const void *data, size_t len);   // -1 未初始化
-int datarouter_send_control(port, data, len);   //        -3 类型不匹配
+                                                             // -2 无匹配端口
                                                //        -4 无 handler
 ```
-### 接收回调（每通道一个，用户实现）
+不指定端口，库遍历所有端口，`send_type` 匹配的逐一调用其全部 handler。
 ### 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_rtcm(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_command(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);
 ```
-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);
+int         datarouter_send_cap_count(void);
-const char *datarouter_channel_name(int channel_id);
+const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_channel_desc(int channel_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
 ```
-send_sensor(port, data, len)
+datarouter_send_sensor("temperature:25.3", 16)
  │
-  ├─→ handler[0] = uart_send  → UART 外设
+  ├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART
-  ├─→ handler[1] = tcp_send   → TCP 外设
+  │                           handlers[1]=tcp_send → TCP
-  └─→ handler[2] = can_send   → CAN 外设
+  └─→ port 1 (send_type=sensor) handlers[0]=can_send  → CAN
 ```
- 一个端口可注册多个 handler（一对多广播）
+- 调用 `send_<id>(data, len)` 时，库遍历所有端口，自动匹配 `send_type`
 - 每个端口可注册多个 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
+- 运行时通过 `add_handler` / `remove_handler` / `port_delete` 动态改变路由
- 清空 handler 后发送返回 -4
+- 无任何端口匹配该 `send_type` 时返回 -2
 ## 编译
@@ -132,7 +152,7 @@ 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 +167,19 @@ 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 22 个测试用例，覆盖端口管理、send_type 与 handler 设置、自动广播路由、接收回调、能力元数据。
 ## 文件结构
 ```
-datarouter_config.h   报文类型配置（用户编辑）
+datarouter_config.h             发送 + 接收能力配置（用户可覆盖）
-datarouter.h          公共 API + X-macro 展开
+datarouter.h                    公共 API + X-macro 展开
-datarouter.c          实现（端口表 + handler 调用）
+datarouter.c                    实现（端口表 + send 遍历）
-example.c             使用示例
+datarouter_config_template.h    外部配置模板
-tests/test_datarouter.c  单元测试
+example.c                       使用示例
-DESIGN.md             详细设计文档
+tests/test_datarouter.c         单元测试（22 用例）
-TEST_CASES.md         测试用例文档
+DESIGN.md                       详细设计文档（含 PlantUML 图）
 TEST_CASES.md                   测试用例文档
 ```
 ## 依赖
@@ -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
@@ -16,7 +17,6 @@
 cmake -S . -B build
 cmake --build build
 ctest --test-dir build
 # 或直接运行:
 ./build/test_datarouter
 ```
@@ -26,78 +26,63 @@ 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 | `send_sensor("d", 1)` | 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 |
+| 2 | `port_create_basic` | 基本创建 | `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 |
+| 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 |
-| 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 |
+| 4 | `port_delete_invalid` | 删除无效 ID | `delete(-1)` + `delete(999)` | 不崩溃 |
-| 6 | `port_delete_invalid` | 删除无效 ID | ① `delete(-1)` ② `delete(9999)` | 不崩溃 |
+| 5 | `port_default_state` | 默认状态 | 新建端口，查 send_type / handler count | `send_type=-1`, `count=0` |
 | 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 |
-### 3. 类型与 handler 设置获取（7 个）
+### 3. send_type 与 handler（3 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 |
+| 6 | `send_type_set_get` | 设置并清除 send_type | `set_send_type(sensor)` → `get` → `set(-1)` → `get` | sensor → -1 |
-| 11 | `type_clear` | 清除类型 | ① `set_type(sensor)` ② `set_type(-1)` ③ `get_type()` | 返回 -1 |
+| 7 | `handler_add_remove` | 添加后移除 handler | add(h) count=1 → remove(h) count=0 | count 正确 |
-| 12 | `type_switch` | 运行时切换类型 | ① `set_type(sensor)` ② `set_type(status)` ③ `get_type()` | 返回 status |
+| 8 | `handler_clear` | 清除全部 handler | add → clear | count == 0 |
 | 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 |
-### 4. 通道元数据查询（4 个）
+### 4. 发送 — 自动广播（11 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 17 | `channel_count` | 通道计数 | ① `channel_count()` | 3 |
+| 9 | `send_no_match_port` | 无匹配端口 | 不创建任何端口，直接 `send_sensor` | 返回 -2 |
-| 18 | `channel_names` | 通道名称 | ① 依次 `channel_name(0/1/2)` | "sensor" / "status" / "control" |
+| 10 | `send_one_port_one_handler` | 单端口单 handler | 创建端口中 send_type + add(h) → send | 返回 0；handler 1 次 |
-| 19 | `channel_descs` | 通道描述 | ① 依次 `channel_desc(0/1/2)` | "Sensor data" / "Status report" / "Control command" |
+| 11 | `send_one_port_multi_handler` | 单端口双 handler | add(h) + add(h2) → send | handler 2 次 |
-| 20 | `channel_invalid_id` | 无效 ID | ① `channel_name(-1/99)` ② `channel_desc(-1/99)` | 均返回 NULL |
+| 12 | `send_multi_ports_same_type` | 两端口同类型 | p1(sensor,h) + p2(sensor,h) → send | handler 2 次，各端口一次 |
 | 13 | `send_multi_port_multi_handler` | 多端口多 handler | p1(h,h2) + p2(h3) → send | handler 3 次 |
 | 14 | `send_type_filter` | 类型过滤 | p1(sensor,h) + p2(status,h) → `send_sensor` | 只触发 p1 |
 | 15 | `send_after_remove_handler` | 移除 handler 后 | add(h) → send count=1 → remove(h) → send | 第二次返回 -2 |
 | 16 | `send_after_delete_port` | 删除端口后 | 创建→设好→删除→send | 返回 -2 |
 | 17 | `send_zero_length` | 零长度数据 | send("x", 0) | 返回 0；handler 被调 |
 | 18 | `send_null_data` | NULL 数据 | send(NULL, 0) | 返回 0；handler 被调 |
 | 19 | `send_multi_cap` | 多能力独立 | p1(sensor) + p2(status) → 分别 send_sensor + send_status | 各触发匹配的端口 |
-### 5. 发送触发（9 个）
+### 5. 接收回调（1 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 |
+| 20 | `recv_callback` | 用户实现接收回调 | `on_recv_rtcm(0, "d", 1)` | 回调被触发 |
 | 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 |
-### 6. 接收回调（1 个）
+### 6. 能力元数据（2 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 |
+| 21 | `send_cap_meta` | 发送能力元数据 | count / name / desc / 边界 | SEND 两组正确 |
-
+| 22 | `recv_cap_meta` | 接收能力元数据 | count / name / desc / 边界 | RECV 两组正确 |
 ### 7. 错误处理（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 |
 ## 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 |
+| 未初始化 | 1 | send → -1 |
-| 端口生命周期 | 7 | 创建/多创建/ID复用/删除异常/满容量 |
+| 端口管理 | 4 | 创建/满容量/删除异常/默认状态 |
-| 类型与 handler | 7 | set/get/clear/switch/无效端口 |
+| send_type & handler | 3 | 设置/清除/添加/移除/清空 |
-| 通道元数据 | 4 | count/names/descs/boundary |
+| 发送自动广播 | 11 | 无匹配/单播/多 handler 单端口/多端口同类型/多端口多 handler/类型过滤/移除后/删除后/零长/NULL/多能力独立 |
 | 发送触发 | 9 | 三通道/类型不匹配/无handler/多端口/切换handler/零长/NULL |
 | 接收回调 | 1 | 用户实现覆盖弱符号 |
-| 错误处理 | 2 | 无效端口/已删除端口 |
+| 能力元数据 | 2 | SEND 与 RECV 两组独立查询 |
-**总计：31 个测试用例**
+**总计：22 个测试用例**
@@ -0,0 +1,16 @@
@PACKAGE_INIT@
 set_and_check(DataRouter_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
 set_and_check(DataRouter_LIBRARY_DIR "@PACKAGE_LIB_INSTALL_DIR@")
 include("${CMAKE_CURRENT_LIST_DIR}/DataRouterTargets.cmake" OPTIONAL)
 if(NOT TARGET DataRouter::DataRouter)
    add_library(DataRouter::DataRouter STATIC IMPORTED)
    set_target_properties(DataRouter::DataRouter PROPERTIES
        IMPORTED_LOCATION "${DataRouter_LIBRARY_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}DataRouter${CMAKE_STATIC_LIBRARY_SUFFIX}"
        INTERFACE_INCLUDE_DIRECTORIES "${DataRouter_INCLUDE_DIR}"
    )
 endif()
 check_required_components(DataRouter)
@@ -0,0 +1,7 @@
 set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_C_COMPILER arm-none-eabi-gcc)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,6 @@
 set(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR aarch64)
 set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,6 @@
 set(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,6 @@
 set(CMAKE_SYSTEM_NAME Windows)
 set(CMAKE_SYSTEM_PROCESSOR amd64)
 set(CMAKE_C_COMPILER x86_64-w64-mingw32-gcc)
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -1,14 +1,9 @@
 /**
 * @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 +15,8 @@
 #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;
    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
    int                       count;
    uint8_t                   in_use;
@@ -39,48 +25,62 @@ typedef struct {
 static port_entry_t ports[DATAROUTER_MAX_PORTS];
 static uint8_t      initialized;
-/* ---- 通道元数据（X-macro 展开） ---- */
+/* ---- 元数据 ---- */
-static const char *channel_names[] = {
+static const char *send_names[] = {
-#define DATAROUTER_CHANNEL(id, desc) #id,
+#define DATAROUTER_SEND(id, desc) #id,
-    DATAROUTER_CHANNELS
+    DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_CHANNEL
+#undef DATAROUTER_SEND
 };
-static const char *channel_descs[] = {
+static const char *send_descs[] = {
-#define DATAROUTER_CHANNEL(id, desc) desc,
+#define DATAROUTER_SEND(id, desc) desc,
-    DATAROUTER_CHANNELS
+    DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_CHANNEL
+#undef DATAROUTER_SEND
 };
-/* ---- 弱符号接收回调默认实现 ---- */
+static const char *recv_names[] = {
 #define DATAROUTER_RECV(id, desc) #id,
    DATAROUTER_RECV_CAPABILITIES
 #undef DATAROUTER_RECV
 };
-#define DATAROUTER_CHANNEL(id, desc) \
+static const char *recv_descs[] = {
 #define DATAROUTER_RECV(id, desc) desc,
    DATAROUTER_RECV_CAPABILITIES
 #undef DATAROUTER_RECV
 };
 /* ---- 弱符号接收回调 ---- */
 #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; }
-        (void)port_id; (void)data; (void)len; \
+DATAROUTER_RECV_CAPABILITIES
-    }
+#undef DATAROUTER_RECV
 DATAROUTER_CHANNELS
 #undef DATAROUTER_CHANNEL
-/* ---- 发送触发函数实现 ---- */
+/* ---- 发送触发函数 ---- */
-#define DATAROUTER_CHANNEL(id, desc) \
+#define DATAROUTER_SEND(id, desc) \
-    int datarouter_send_##id(uint32_t port_id, const void *data, size_t len) \
+    int datarouter_send_##id(const void *data, size_t len) \
    { \
        if (!initialized) return -1; \
-        if (port_id >= DATAROUTER_MAX_PORTS || !ports[port_id].in_use) return -2; \
+        int called = 0; \
-        if (ports[port_id].type != DATAROUTER_CHANNEL_##id) return -3; \
+        for (uint32_t _p = 0; _p < DATAROUTER_MAX_PORTS; _p++) { \
-        if (ports[port_id].count == 0) return -4; \
+            if (!ports[_p].in_use) continue; \
-        for (int _i = 0; _i < ports[port_id].count; _i++) \
+            if (ports[_p].send_type != DATAROUTER_SEND_##id) continue; \
-            ports[port_id].handlers[_i](port_id, data, len); \
+            for (int _h = 0; _h < ports[_p].count; _h++) { \
-        return 0; \
+                ports[_p].handlers[_h](_p, data, len); \
                called = 1; \
            } \
        } \
        return called ? 0 : -2; \
    }
-DATAROUTER_CHANNELS
+DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_CHANNEL
+#undef DATAROUTER_SEND
-/* ---- 端口管理 API ---- */
+/* ---- 端口管理 ---- */
 void datarouter_init(void)
 {
@@ -100,9 +100,9 @@ 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].in_use    = 1;
-            ports[i].type    = -1;
+            ports[i].send_type = -1;
-            ports[i].count   = 0;
+            ports[i].count     = 0;
            return (datarouter_port_t)i;
        }
    }
@@ -116,18 +116,18 @@ 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;
 }
 int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler)
@@ -168,21 +168,12 @@ 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_SEND_CAP_COUNT; }
-{
+const char *datarouter_send_cap_name(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_names[c]; }
-    return DATAROUTER_CHANNEL_COUNT;
+const char *datarouter_send_cap_desc(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_descs[c]; }
 }
-const char *datarouter_channel_name(int channel_id)
+int datarouter_recv_cap_count(void) { return DATAROUTER_RECV_CAP_COUNT; }
-{
+const char *datarouter_recv_cap_name(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_names[c]; }
-    if (channel_id < 0 || channel_id >= DATAROUTER_CHANNEL_COUNT) return NULL;
+const char *datarouter_recv_cap_desc(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_descs[c]; }
    return channel_names[channel_id];
 }
 const char *datarouter_channel_desc(int channel_id)
 {
    if (channel_id < 0 || channel_id >= DATAROUTER_CHANNEL_COUNT) return NULL;
    return channel_descs[channel_id];
 }
@@ -4,30 +4,16 @@
 *
 * ## 概念
 *
- * - **通道 (Channel)**：编译期声明的报文类型（如 sensor / status / control）
+ * - **发送能力**：编译期声明的可发送报文类型，生成 datarouter_send_<id>(data, len)
- * - **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
+ * - **接收能力**：编译期声明的可接收报文类型，生成 datarouter_on_recv_<id>(port, data, len)
- * - **路由**：将报文类型关联到一个或多个物理外设发送函数
+ * - **端口**：运行期创建的连接点，包含 send_type + handler 列表
 * - **多外设**：一个端口可注册多个 handler，发送时逐一调用全部 handler
 *
- * ## 使用流程
+ * ## 路由
 *
- * 1. 在 datarouter_config.h 中声明报文类型
+ * 调用 datarouter_send_<id>(data, len) 时，库遍历所有端口，
- * 2. 调用 datarouter_init() 初始化
+ * 找到 send_type 匹配的端口，逐一调用其全部 handler。无需指定从哪个端口发送。
 * 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
+ * 接收侧由用户自行调用 datarouter_on_recv_<id>(port, data, len) 处理外设收到的数据。
 *
 *    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)
 */
 #ifndef DATAROUTER_H
@@ -36,74 +22,61 @@
 #include <stdint.h>
 #include <stddef.h>
-#include "datarouter_config.h"
+#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
-/**
+/* ========== 发送能力枚举 ========== */
- * @enum datarouter_channel
+
- * @brief 报文类型枚举
+enum datarouter_send_cap {
- *
+#define DATAROUTER_SEND(id, desc) DATAROUTER_SEND_##id,
- * 由 DATAROUTER_CHANNELS 宏列表自动生成。
+    DATAROUTER_SEND_CAPABILITIES
- */
+#undef DATAROUTER_SEND
-enum datarouter_channel {
+    DATAROUTER_SEND_CAP_COUNT
 #define DATAROUTER_CHANNEL(id, desc) DATAROUTER_CHANNEL_##id,
    DATAROUTER_CHANNELS
 #undef DATAROUTER_CHANNEL
    DATAROUTER_CHANNEL_COUNT
 };
-/**
+/* ========== 接收能力枚举 ========== */
- * @brief 外设发送 handler 类型
+
- *
+enum datarouter_recv_cap {
- * @param[in] port_id  源端口 ID
+#define DATAROUTER_RECV(id, desc) DATAROUTER_RECV_##id,
- * @param[in] data     数据缓冲区
+    DATAROUTER_RECV_CAPABILITIES
- * @param[in] len      数据长度
+#undef DATAROUTER_RECV
- */
+    DATAROUTER_RECV_CAP_COUNT
 };
 /* ========== 外设发送 handler ========== */
 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
-/**
+/* ========== 发送触发函数 ========== */
 * @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。
 * @{
 */
-#define DATAROUTER_CHANNEL(id, desc) \
+#define DATAROUTER_SEND(id, desc) \
-    int datarouter_send_##id(uint32_t port_id, const void *data, size_t len);
+    int datarouter_send_##id(const void *data, size_t len);
-DATAROUTER_CHANNELS
+DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_CHANNEL
+#undef DATAROUTER_SEND
-/** @} */
+/* ========== 接收回调声明 ========== */
-/**
+#define DATAROUTER_RECV(id, desc) \
 * @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) \
    void datarouter_on_recv_##id(uint32_t port_id, const void *data, size_t len);
-DATAROUTER_CHANNELS
+DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_CHANNEL
+#undef DATAROUTER_RECV
-/** @} */
+/* ========== 端口管理 API ========== */
 /**
 * @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。
 * @{
 */
 typedef int32_t datarouter_port_t;
 #define DATAROUTER_INVALID_PORT ((datarouter_port_t)-1)
@@ -114,46 +87,23 @@ 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);
+void datarouter_port_set_send_type(datarouter_port_t port, int cap_id);
-int  datarouter_port_get_type(datarouter_port_t port);
+int  datarouter_port_get_send_type(datarouter_port_t port);
-/**
+int  datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler);
- * @brief 为端口添加一个外设发送 handler
+int  datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t 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 */
 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 */
+/* ========== 能力元数据查询 ========== */
 int datarouter_port_handler_count(datarouter_port_t port);
-/** @} */
+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);
- * @defgroup introspection 报文类型元数据查询
+const char *datarouter_recv_cap_name(int cap_id);
- * @{
+const char *datarouter_recv_cap_desc(int cap_id);
 */
 int         datarouter_channel_count(void);
 const char *datarouter_channel_name(int channel_id);
 const char *datarouter_channel_desc(int channel_id);
 /** @} */
 #ifdef __cplusplus
 }
@@ -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）。
+ * 这是库内置的默认配置，提供示例能力声明。
- * 每个报文类型通过 DATAROUTER_CHANNEL(id, desc) 宏声明，
+ * 用户可自定义此文件以实现自己的报文类型：
- * 库在编译期据此自动生成：
+ *
- *   - 通道枚举值 DATAROUTER_CHANNEL_<id>
+ *   1. 复制当前文件到你的项目目录
- *   - 发送触发函数 datarouter_send_<id>(port, data, len)
+ *   2. 按需修改 DATAROUTER_SEND_CAPABILITIES / DATAROUTER_RECV_CAPABILITIES
- *   - 接收回调声明 datarouter_on_recv_<id>(port, data, len)
+ *   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
+ * @def DATAROUTER_SEND_CAPABILITIES
- * @brief 报文类型列表宏
+ * @brief 发送能力列表
 *
- * 每行格式：DATAROUTER_CHANNEL(标识符, "描述文字")
+ * 每行格式：DATAROUTER_SEND(标识符, "描述")
- * 用户按需增删改。每个标识符对应一种报文类型。
+ * 每项生成：发送触发函数 datarouter_send_<id>(port, data, len)
 *
 * @code
 * #define DATAROUTER_CHANNELS \
 *     DATAROUTER_CHANNEL(sensor,  "Sensor data") \
 *     DATAROUTER_CHANNEL(control, "Control command")
 * @endcode
 */
-#define DATAROUTER_CHANNELS \
+#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_CHANNEL(sensor,  "Sensor data")    \
+    DATAROUTER_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_CHANNEL(status,  "Status report")  \
+    DATAROUTER_SEND(status, "Device status report")
-    DATAROUTER_CHANNEL(control, "Control command")
+
 /**
 * @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 */
@@ -1,105 +1,73 @@
 /**
 * @file example.c
 * @brief 数据路由库使用示例
 *
- * 展示：
+ * 调用 datarouter_send_sensor(data, len) 无需指定端口，
- *   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
+ * 库自动广播到所有 send_type=sensor 的端口。
 *   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
 */
 #include "datarouter.h"
 #include <stdio.h>
 #include <string.h>
 /* ---- 外设发送 handler 实现 ---- */
 static void uart_send(uint32_t port_id, const void *data, size_t len)
 {
-    printf("[UART] port %u: %.*s\n", port_id, (int)len, (const char *)data);
+    printf("[UART port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }
 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);
+    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);
+    printf("[CAN  port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }
-/* ---- 接收回调实现 ---- */
+void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len)
 void datarouter_on_recv_sensor(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:cmd 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)
 {
    printf("[RX:status] port %u: %.*s\n", port_id, (int)len, (const char *)data);
 }
 /* ---- main ---- */
 int main(void)
 {
    datarouter_init();
-    printf("Channels:\n");
+    printf("Capabilities:\n");
-    for (int i = 0; i < datarouter_channel_count(); i++)
+    for (int i = 0; i < datarouter_send_cap_count(); i++)
-        printf("  [%d] %s - %s\n", i,
+        printf("  SEND [%d] %s - %s\n", i,
-               datarouter_channel_name(i),
+               datarouter_send_cap_name(i), datarouter_send_cap_desc(i));
               datarouter_channel_desc(i));
    /*
-     * 创建一个 sensor 端口，注册多个 handler。
+     * 创建两个端口，都设 send_type=sensor，各绑不同外设。
-     * 一次 send_sensor() 调用同时路由到 UART + TCP + CAN。
+     * 调用 datarouter_send_sensor() 时两个端口同时触发。
     */
-    datarouter_port_t sensor_port = datarouter_port_create();
+    datarouter_port_t p1 = datarouter_port_create();
-    datarouter_port_set_type(sensor_port, DATAROUTER_CHANNEL_sensor);
+    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(sensor_port, uart_send);
+    datarouter_port_add_handler(p1, uart_send);
-    datarouter_port_add_handler(sensor_port, tcp_send);
+    datarouter_port_add_handler(p1, tcp_send);
    datarouter_port_add_handler(sensor_port, can_send);
-    printf("\n--- send sensor (UART + TCP + CAN) ---\n");
+    datarouter_port_t p2 = datarouter_port_create();
-    datarouter_send_sensor(sensor_port, "temperature:25.3", 16);
+    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
    datarouter_port_add_handler(p2, can_send);
-    /*
+    /* 不指定端口，自动广播到所有 sensor 端口 */
-     * 运行时移除 TCP handler，只剩 UART + CAN。
+    printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\n");
-     */
+    datarouter_send_sensor("temperature:25.3", 16);
    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);
-    /*
+    /* 运行时移除一个 handler，下次发送不再触发它 */
-     * 运行时再添加 FILE handler。
+    printf("\n--- remove TCP handler from p1, resend ---\n");
-     */
+    datarouter_port_remove_handler(p1, tcp_send);
-    printf("\n--- add FILE back, now UART + CAN + FILE ---\n");
+    datarouter_send_sensor("temperature:26.1", 16);
    datarouter_port_add_handler(sensor_port, file_send);
    datarouter_send_sensor(sensor_port, "temperature:27.0", 16);
-    /*
+    /* 接收侧：用户自行调用回调 */
-     * 清除所有 handler，不再输出到任何外设。
+    printf("\n--- recv command ---\n");
-     */
+    datarouter_on_recv_command(0, "reboot", 6);
    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);
-    /* ---- 接收 ---- */
+    /* 删除一个端口，触发时不再走它 */
-    printf("\n--- simulate peripheral receive ---\n");
+    printf("\n--- delete p2 (CAN), resend ---\n");
-    datarouter_on_recv_sensor(0, "temperature:24.8", 16);
+    datarouter_port_delete(p2);
-    datarouter_on_recv_status(1, "status:ERROR", 12);
+    datarouter_send_sensor("temperature:27.0", 16);
-    datarouter_port_delete(sensor_port);
+    datarouter_port_delete(p1);
    return 0;
 }
@@ -1,15 +1,5 @@
 /**
 * @file test_datarouter.c
 * @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
 *   - 接收回调
 *   - 错误处理
 */
 #include "datarouter.h"
@@ -17,7 +7,7 @@
 #include <string.h>
 /* ================================================================
- *  测试框架
+ *  框架
 * ================================================================ */
 static int  _total_run, _total_pass, _total_fail;
@@ -66,34 +56,19 @@ cleanup:                                                            \
 * ================================================================ */
 static int  _h_cnt;
-static int  _h_total;
+static int  _h_port[16];
-static int  _h_ids[16];
+static int  _h_pos;
-static void _h(uint32_t p, const void *d, size_t l)
+static void _h(uint32_t p, const void *d, size_t l) { (void)d; (void)l; _h_cnt++; if (_h_pos<16) _h_port[_h_pos++]=p; }
-{
+static void _h2(uint32_t p, const void *d, size_t l) { (void)d; (void)l; _h_cnt++; if (_h_pos<16) _h_port[_h_pos++]=p; }
-    (void)d; (void)l;
+static void _h3(uint32_t p, const void *d, size_t l) { (void)d; (void)l; _h_cnt++; if (_h_pos<16) _h_port[_h_pos++]=p; }
-    if (_h_cnt < 16) _h_ids[_h_cnt] = (int)p;
+static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
    _h_cnt++;
    _h_total++;
 }
 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));
 }
 /* ================================================================
 *  1. 未初始化
 * ================================================================ */
 TEST_START(error_uninit)
-    int ret = datarouter_send_sensor(0, "d", 1);
+    CHECK(datarouter_send_sensor("d", 1) == -1, "expected -1");
    CHECK(ret == -1, "expected -1, got %d", ret);
 TEST_END()
 /* ================================================================
@@ -101,341 +76,219 @@ TEST_END()
 * ================================================================ */
 TEST_START(port_create_basic)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    CHECK(FIXTURE_CREATE(&_fix) >= 0, NULL);
    CHECK(p >= 0, "create returned %d", p);
 TEST_END()
-TEST_START(port_create_multiple)
+TEST_START(port_create_max)
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
+    int c = 0;
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
+    for (int i = 0; i < 64; i++) {
-    datarouter_port_t p3 = FIXTURE_CREATE(&_fix);
+        datarouter_port_t p = datarouter_port_create();
-    CHECK(p1 >= 0 && p2 >= 0 && p3 >= 0, "some invalid");
+        if (p == DATAROUTER_INVALID_PORT) break;
-    CHECK(p1 != p2 && p2 != p3, "IDs should be unique");
+        FIXTURE_PUSH(&_fix, p); c++;
-TEST_END()
+    }
-
+    CHECK(c >= 64, "got %d", c);
-TEST_START(port_create_reuse)
+    CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT, NULL);
    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_END()
 TEST_START(port_delete_invalid)
-    datarouter_port_delete(-1);
+    datarouter_port_delete(-1); datarouter_port_delete(999);
    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--;
 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_get_send_type(p) == -1, NULL);
-    CHECK(datarouter_port_handler_count(p) == 0, "handler count should be 0");
+    CHECK(datarouter_port_handler_count(p) == 0, NULL);
 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");
 TEST_END()
 /* ================================================================
- *  3. 类型
+ *  3. send_type 与 handler
 * ================================================================ */
-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);
+    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    CHECK(datarouter_port_get_type(p) == DATAROUTER_CHANNEL_sensor, "type mismatch");
+    CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
    datarouter_port_set_send_type(p, -1);
    CHECK(datarouter_port_get_send_type(p) == -1, NULL);
 TEST_END()
-TEST_START(type_clear)
+TEST_START(handler_add_remove)
    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
+    CHECK(datarouter_port_add_handler(p, _h) == 0, NULL);
-    datarouter_port_set_type(p, -1);
+    CHECK(datarouter_port_handler_count(p) == 1, NULL);
-    CHECK(datarouter_port_get_type(p) == -1, "should be -1");
+    CHECK(datarouter_port_remove_handler(p, _h) == 0, NULL);
-TEST_END()
+    CHECK(datarouter_port_handler_count(p) == 0, NULL);
 TEST_START(type_switch)
    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");
 TEST_END()
 TEST_START(type_from_invalid)
    CHECK(datarouter_port_get_type(-1) == -1, NULL);
    CHECK(datarouter_port_get_type(999) == -1, NULL);
 TEST_END()
 /* ================================================================
 *  4. 多 handler 增删查
 * ================================================================ */
 TEST_START(handler_add_one)
    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");
 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);
    datarouter_port_add_handler(p, _h_b);
    datarouter_port_clear_handlers(p);
-    CHECK(datarouter_port_handler_count(p) == 0, "count should be 0");
+    CHECK(datarouter_port_handler_count(p) == 0, NULL);
 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);
 TEST_END()
 /* ================================================================
- *  5. 通道元数据
+ *  4. 发送 — 自动广播
 * ================================================================ */
-TEST_START(channel_count)
+TEST_START(send_no_match_port)
-    CHECK(datarouter_channel_count() == 3, "expected 3");
+    /* 没有端口配置该 send_type */
    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
 TEST_END()
-TEST_START(channel_names)
+TEST_START(send_one_port_one_handler)
    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
 * ================================================================ */
 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_h();
-    reset_hstate();
+    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
-    CHECK(datarouter_send_sensor(p, "d", 1) == 0, "send failed");
+    CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
-    CHECK(_h_cnt == 1, "handler called %d times", _h_cnt);
+    CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]);
 TEST_END()
-TEST_START(send_multi_handlers)
+TEST_START(send_one_port_multi_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);
    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);
 TEST_END()
 TEST_START(send_type_mismatch)
    datarouter_port_t p = FIXTURE_CREATE(&_fix);
    datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
    datarouter_port_add_handler(p, _h);
-
+    datarouter_port_add_handler(p, _h2);
-    reset_hstate();
+    reset_h();
-    CHECK(datarouter_send_status(p, "d", 1) == -3, "expected -3");
+    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 0, "handler should not fire");
+    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
 TEST_END()
-TEST_START(send_no_handler)
+TEST_START(send_multi_ports_same_type)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    /* 两个端口同类型，各一个 handler */
    datarouter_port_set_type(p, DATAROUTER_CHANNEL_sensor);
    reset_hstate();
    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_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_type(p1, DATAROUTER_CHANNEL_sensor);
+    datarouter_port_set_send_type(p2, DATAROUTER_SEND_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_h();
-
+    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
-    reset_hstate();
+    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
-    CHECK(datarouter_send_sensor(p1, "a", 1) == 0, NULL);
+    /* p1 和 p2 各触发一次 */
-    CHECK(datarouter_send_status(p2, "b", 1) == 0, NULL);
+    CHECK((_h_port[0]==p1 && _h_port[1]==p2) ||
-    CHECK(datarouter_send_control(p3, "c", 1) == 0, NULL);
+          (_h_port[0]==p2 && _h_port[1]==p1), "ports %d,%d", _h_port[0], _h_port[1]);
    CHECK(_h_cnt == 3, "expected 3 total calls, got %d", _h_cnt);
 TEST_END()
-/* ================================================================
+TEST_START(send_multi_port_multi_handler)
- *  7. 发送 — 运行时增删 handler
+    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
- * ================================================================ */
+    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
    datarouter_port_add_handler(p1, _h);
    datarouter_port_add_handler(p1, _h2);  /* p1 两个 */
    datarouter_port_add_handler(p2, _h3);  /* p2 一个 */
    reset_h();
    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
 TEST_END()
-TEST_START(send_remove_handler)
+TEST_START(send_type_filter)
    /* 两个端口不同类型，只触发匹配的 */
    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
    datarouter_port_add_handler(p1, _h);
    datarouter_port_add_handler(p2, _h);
    reset_h();
    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
    CHECK(_h_port[0] == (int)p1, "only p1 should fire");
 TEST_END()
 TEST_START(send_after_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);
-    datarouter_port_add_handler(p, _h_b);
+    reset_h(); datarouter_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
-
+    datarouter_port_remove_handler(p, _h);
-    reset_hstate();
+    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2 after remove");
    datarouter_send_sensor(p, "d", 1);
    CHECK(_h_cnt == 2, "2 handlers: count=%d", _h_cnt);
    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);
 TEST_END()
-TEST_START(send_clear_handlers)
+TEST_START(send_after_delete_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_a);
    datarouter_port_add_handler(p, _h_b);
    datarouter_port_clear_handlers(p);
    CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4 after clear");
 TEST_END()
 /* ================================================================
 *  8. 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++; }
 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_END()
 /* ================================================================
 *  9. 错误处理
 * ================================================================ */
 TEST_START(error_invalid_port)
    CHECK(datarouter_send_sensor(999, "d", 1) == -2, NULL);
    CHECK(datarouter_send_sensor(-1, "d", 1) == -2, NULL);
 TEST_END()
 TEST_START(error_deleted_port)
    datarouter_port_t p = FIXTURE_CREATE(&_fix);
    datarouter_port_set_type(p, DATAROUTER_CHANNEL_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("d", 1) == -2, "expected -2");
    _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_set_send_type(p, DATAROUTER_SEND_sensor);
    datarouter_port_add_handler(p, _h);
-
+    reset_h();
-    reset_hstate();
+    CHECK(datarouter_send_sensor("x", 0) == 0, NULL);
-    CHECK(datarouter_send_sensor(p, "x", 0) == 0, NULL);
+    CHECK(_h_cnt == 1, 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_set_send_type(p, DATAROUTER_SEND_sensor);
    datarouter_port_add_handler(p, _h);
    reset_h();
    CHECK(datarouter_send_sensor(NULL, 0) == 0, NULL);
    CHECK(_h_cnt == 1, NULL);
 TEST_END()
-    reset_hstate();
+TEST_START(send_multi_cap)
-    CHECK(datarouter_send_sensor(p, NULL, 0) == 0, NULL);
+    /* 发送 status 不影响 sensor 端口 */
-    CHECK(_h_cnt == 1, "handler called %d", _h_cnt);
+    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
    datarouter_port_add_handler(p1, _h);
    datarouter_port_add_handler(p2, _h);
    reset_h();
    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
    CHECK(datarouter_send_status("d", 1) == 0, NULL);
    CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
 TEST_END()
 /* ================================================================
 *  5. 接收回调
 * ================================================================ */
 static int _rx_r;
 void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
    { (void)p; (void)d; (void)l; _rx_r++; }
 TEST_START(recv_callback)
    _rx_r = 0;
    datarouter_on_recv_rtcm(0, "d", 1);
    CHECK(_rx_r == 1, "cnt=%d", _rx_r);
 TEST_END()
 /* ================================================================
 *  6. 能力元数据
 * ================================================================ */
 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(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(datarouter_recv_cap_name(-1) == NULL, NULL);
    CHECK(datarouter_recv_cap_desc(99) == NULL, NULL);
 TEST_END()
 /* ================================================================
 *  主函数
 * ================================================================ */
-#define RUN(name) do { reset_hstate(); test_##name(); } while (0)
+#define RUN(name) do { reset_h(); _rx_r = 0; test_##name(); } while (0)
 int main(void)
 {
@@ -448,64 +301,43 @@ 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();
+    datarouter_reset(); datarouter_init();
-    printf("[type set/get]\n");
+    printf("[send_type & handler]\n");
-    RUN(type_set_get);
+    RUN(send_type_set_get);
-    RUN(type_clear);
+    RUN(handler_add_remove);
    RUN(type_switch);
    RUN(type_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);
    RUN(handler_clear);
    RUN(handler_from_invalid);
    printf("\n");
-    printf("[channel introspection]\n");
+    printf("[send — auto broadcast]\n");
-    RUN(channel_count);
+    RUN(send_no_match_port);
-    RUN(channel_names);
+    RUN(send_one_port_one_handler);
-    RUN(channel_descs);
+    RUN(send_one_port_multi_handler);
-    RUN(channel_invalid_id);
+    RUN(send_multi_ports_same_type);
-    printf("\n");
+    RUN(send_multi_port_multi_handler);
-
+    RUN(send_type_filter);
-    printf("[send — one-to-many broadcast]\n");
+    RUN(send_after_remove_handler);
-    RUN(send_one_handler);
+    RUN(send_after_delete_port);
    RUN(send_multi_handlers);
    RUN(send_type_mismatch);
    RUN(send_no_handler);
    RUN(send_three_channels);
    RUN(send_remove_handler);
    RUN(send_clear_handlers);
    RUN(send_zero_length);
    RUN(send_null_data);
    RUN(send_multi_cap);
    printf("\n");
    printf("[receive callback]\n");
    RUN(recv_callback);
    printf("\n");
-    printf("[error handling]\n");
+    printf("[capability metadata]\n");
-    RUN(error_invalid_port);
+    RUN(send_cap_meta);
-    RUN(error_deleted_port);
+    RUN(recv_cap_meta);
    printf("\n");
    printf("==============================\n");
    printf("  total: %d  |  pass: %d  |  fail: %d\n\n",
           _total_run, _total_pass, _total_fail);
    return _total_fail > 0 ? 1 : 0;
 }
Author	SHA1	Message	Date
7iwind	b3578b0b53	Merge pull request 'develop' (#20 ) from develop into main Release / release (push) Successful in 10s Details Reviewed-on: #20	2026-07-26 22:41:12 +08:00
7iwind	6144b93e10	Merge pull request 'feat: 变更架构为广播，发送到所有绑定的端口' (#19 ) from feature/route into develop Reviewed-on: #19	2026-07-26 22:40:15 +08:00
7iwind	e8ee92110b	feat: 变更架构为广播，发送到所有绑定的端口	2026-07-26 22:29:47 +08:00
7iwind	714281dbf1	Merge pull request 'develop' (#18 ) from develop into main Release / release (push) Successful in 8s Details Reviewed-on: #18	2026-07-26 15:07:38 +08:00
7iwind	9bce4b12cf	Merge pull request 'fix: 优化打包后的目录结构，便于引入' (#17 ) from feature/route into develop Reviewed-on: #17	2026-07-26 15:07:21 +08:00
7iwind	e3c40c822b	fix: 优化打包后的目录结构，便于引入	2026-07-26 15:06:36 +08:00
7iwind	f6684bebc9	Merge pull request 'develop' (#16 ) from develop into main Release / release (push) Failing after 18s Details Reviewed-on: #16	2026-07-26 14:54:14 +08:00
7iwind	924c33fedf	Merge pull request 'feature/route' (#15 ) from feature/route into develop Reviewed-on: #15	2026-07-26 14:53:57 +08:00
7iwind	89c4e770d5	fix: 优化打包后的目录结构，便于引入	2026-07-26 14:53:34 +08:00
7iwind	1027d47e04	Merge branch 'develop' into feature/route	2026-07-26 14:47:20 +08:00
7iwind	323b6bd464	Merge pull request 'fix: 优化打包后的目录结构，便于引入' (#14 ) from feature/route into main Release / release (push) Failing after 20s Details Reviewed-on: #14	2026-07-26 14:45:05 +08:00
7iwind	f5cb361ffe	fix: 优化打包后的目录结构，便于引入	2026-07-26 14:44:35 +08:00
7iwind	29c49057b4	Merge pull request 'develop' (#12 ) from develop into main Release / release (push) Successful in 19s Details Reviewed-on: #12	2026-07-26 13:30:36 +08:00
7iwind	03039bd493	Merge pull request 'fix: 去掉并行构建，gitea不支持' (#11 ) from feature/route into develop Reviewed-on: #11	2026-07-26 13:30:10 +08:00
7iwind	0d06f797f8	fix: 去掉并行构建，gitea不支持	2026-07-26 13:29:38 +08:00
7iwind	0e0047b946	Merge pull request 'Merge pull request 'feature/route' (#9 ) from feature/route into develop' (#10 ) from develop into main Release / build (map[build_testing:OFF cmake_extra: name:linux-arm64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake]) (push) Failing after 8s Details Release / build (map[build_testing:OFF cmake_extra: name:linux-armhf toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake]) (push) Failing after 7s Details Release / build (map[build_testing:OFF cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_SHARED=OFF name:baremetal-arm32 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake]) (push) Failing after 6s Details Release / build (map[build_testing:OFF cmake_extra:-DBUILD_EXAMPLES=OFF name:windows-amd64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake]) (push) Failing after 7s Details Release / build (map[build_testing:ON cmake_extra: name:linux-amd64 toolchain:]) (push) Failing after 6s Details Release / release (push) Has been skipped Details Reviewed-on: #10	2026-07-26 13:26:14 +08:00
7iwind	0779e9171f	Merge pull request 'feature/route' (#9 ) from feature/route into develop Reviewed-on: #9	2026-07-26 13:25:54 +08:00
7iwind	18bc4eb08f	Merge pull request 'fix: 修复 bash -e 下，for 循环中 [ -f ... ] && cp ... 里 [ 返回 1 时会触发 set -e 退出脚本。同时 test 需要实际开启 BUILD_TESTING。' (#8 ) from feature/route into main Release / build (map[build_testing:OFF cmake_extra: name:linux-arm64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake]) (push) Failing after 7s Details Release / build (map[build_testing:OFF cmake_extra: name:linux-armhf toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake]) (push) Failing after 6s Details Release / build (map[build_testing:OFF cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_SHARED=OFF name:baremetal-arm32 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake]) (push) Failing after 6s Details Release / build (map[build_testing:OFF cmake_extra:-DBUILD_EXAMPLES=OFF name:windows-amd64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake]) (push) Failing after 7s Details Release / build (map[build_testing:ON cmake_extra: name:linux-amd64 toolchain:]) (push) Failing after 6s Details Release / release (push) Has been skipped Details Reviewed-on: #8	2026-07-26 13:23:55 +08:00
7iwind	a9f0f995de	Merge branch 'main' into feature/route	2026-07-26 13:23:50 +08:00
7iwind	62fd8c0685	fix: 修复 bash -e 下，for 循环中 [ -f ... ] && cp ... 里 [ 返回 1 时会触发 set -e 退出脚本。同时 test 需要实际开启 BUILD_TESTING。	2026-07-26 13:23:16 +08:00
7iwind	f280a4d383	Merge pull request 'develop' (#7 ) from develop into main Release / build (map[cmake_extra: name:linux-amd64 toolchain:]) (push) Failing after 6s Details Release / build (map[cmake_extra: name:linux-arm64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake]) (push) Failing after 6s Details Release / build (map[cmake_extra: name:linux-armhf toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake]) (push) Failing after 7s Details Release / build (map[cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DBUILD_SHARED=OFF name:baremetal-arm32 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake]) (push) Failing after 6s Details Release / build (map[cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF name:windows-amd64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake]) (push) Failing after 6s Details Release / release (push) Has been skipped Details Reviewed-on: #7	2026-07-26 13:09:22 +08:00
7iwind	07a6397764	Merge branch 'main' into develop	2026-07-26 13:09:11 +08:00
7iwind	b5d4963ca8	Merge pull request 'fix: 修正run_on标签名' (#6 ) from feature/route into develop Reviewed-on: #6	2026-07-26 13:08:01 +08:00
7iwind	e00bda534b	fix: 修正run_on标签名	2026-07-26 13:07:14 +08:00
7iwind	4e43d7e3a4	Merge pull request 'develop' (#5 ) from develop into main Release / build (map[cmake_extra: name:linux-arm64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake]) (push) Has been cancelled Details Release / build (map[cmake_extra: name:linux-armhf toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake]) (push) Has been cancelled Details Release / build (map[cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DBUILD_SHARED=OFF name:baremetal-arm32 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake]) (push) Has been cancelled Details Release / build (map[cmake_extra:-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF name:windows-amd64 toolchain:-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake]) (push) Has been cancelled Details Release / release (push) Has been cancelled Details Release / build (map[cmake_extra: name:linux-amd64 toolchain:]) (push) Has been cancelled Details Reviewed-on: #5	2026-07-26 12:57:43 +08:00
7iwind	8dbda93e3f	Merge pull request 'feature/route' (#4 ) from feature/route into develop Reviewed-on: #4	2026-07-26 12:52:01 +08:00
7iwind	9b5b479560	fix: 修正run_on标签名	2026-07-26 12:50:49 +08:00
7iwind	2a4a9510b8	feat: 新增GITEA工作流，新建工具链文件	2026-07-26 12:47:46 +08:00
7iwind	cfee4cb939	feat: 新增GITEA工作流，新建工具链文件	2026-07-26 12:47:36 +08:00
7iwind	48bd749251	Merge pull request 'develop' (#3 ) from develop into main Reviewed-on: #3	2026-07-26 10:03:04 +08:00
7iwind	09809b0eb1	Merge pull request 'feature/route' (#2 ) from feature/route into develop Reviewed-on: #2	2026-07-26 10:02:35 +08:00
7iwind	51e081118a	feat: 拆分发送和接收功能声明，优化config配置方式	2026-07-26 10:01:30 +08:00