Merge pull request 'fix: 修正缺失构建平台的错误' (#35 ) from feature/route into main

Reviewed-on: #35
fix: 修正缺失构建平台的错误
2026-07-27 00:30:21 +08:00 · 2026-07-27 00:29:35 +08:00 · 2026-07-27 00:23:31 +08:00 · 2026-07-27 00:20:33 +08:00 · 2026-07-27 00:15:18 +08:00 · 2026-07-27 00:15:00 +08:00
20 changed files with 1359 additions and 844 deletions
@@ -0,0 +1,34 @@
 name: CI
 on:
  push:
    branches: [main, develop]
  pull_request:
    branches: [main]
 jobs:
  host:
    runs-on: ubuntu-builder
    steps:
      - uses: actions/checkout@v4
      - name: Host build + tests
        run: |
          cmake -S . -B build-host \
            -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
          cmake --build build-host
          ctest --test-dir build-host --output-on-failure
  cortex-m:
    runs-on: ubuntu-builder
    steps:
      - uses: actions/checkout@v4
      - name: Install ARM GCC
        run: |
          sudo apt-get update
          sudo apt-get install -y gcc-arm-none-eabi
      - name: Cortex-M compile matrix (DR_COMPILE_CHECK)
        run: |
          cmake -S . -B build-matrix -DDR_COMPILE_CHECK=ON
          cmake --build build-matrix --parallel $(nproc)
@@ -11,16 +11,62 @@ jobs:
        with:
          fetch-depth: 0
-      - name: Verify merge commit
+      # ── 自动标签：从合并进来的 PR body 提取 v*.*.* ──
      - name: Auto-tag from merged PR
        id: autotag
        run: |
-          PARENTS=$(git log --format="%P" -1 | wc -w)
+          # 已有标签 → 跳过
-          [ "$PARENTS" -ge 2 ] || exit 78
+          EXISTING=$(git tag --points-at HEAD | grep '^v' | head -n1)
          if [ -n "$EXISTING" ]; then
            echo "Tag $EXISTING already exists"
            echo "tag=$EXISTING" >> "$GITHUB_OUTPUT"
            exit 0
          fi
          # 非 merge commit → 跳过
          PARENTS=$(git log --format="%P" -1 | wc -w)
          if [ "$PARENTS" -lt 2 ]; then
            echo "Not a merge commit, skip auto-tag"
            exit 0
          fi
          # 从 merge commit message 提取 PR 号
          COMMIT_MSG=$(git log --format="%B" -1)
          PR_NUM=$(echo "$COMMIT_MSG" | grep -oP '#\K\d+' | head -1) || true
          if [ -z "$PR_NUM" ]; then
            echo "No PR number found in merge message"
            exit 0
          fi
          echo "Merge commit for PR #$PR_NUM"
          # 通过 Gitea API 获取 PR body，提取版本号
          API="${{ gitea.server_url }}/api/v1/repos/${{ gitea.repository }}/pulls/${PR_NUM}"
          TOKEN="${{ gitea.token }}"
          PR_BODY=$(curl -s -H "Authorization: token ${TOKEN}" "${API}" | \
            python3 -c "import sys,json,re;pr=json.load(sys.stdin);body=pr.get('body','') or '';m=re.search(r'v\d+\.\d+\.\d+',body);print(m.group() if m else '')")
          if [ -z "$PR_BODY" ]; then
            echo "No version pattern v*.*.* found in PR body"
            exit 0
          fi
          VERSION="$PR_BODY"
          echo "Found version: $VERSION"
          # 创建本地标签（不推送远端）
          # Gitea Create Release API 会自动在远端创建标签
          git config user.email "ci@datarouter"
          git config user.name "DataRouter CI"
          git tag -a "$VERSION" -m "Release $VERSION" 2>/dev/null || true
          echo "Created local tag: $VERSION"
          echo "tag=$VERSION" >> "$GITHUB_OUTPUT"
      # ── 读取标签（已有标签 / auto-tag 创建的标签）──
      - name: Read tag from HEAD
        id: tag
        run: |
          TAG=$(git tag --points-at HEAD | grep '^v' | head -n1)
-          [ -n "$TAG" ] || exit 78
+          [ -n "$TAG" ] || { echo "No version tag on HEAD"; exit 78; }
          echo "tag=$TAG" >> "$GITHUB_OUTPUT"
      - name: Install cross-compilers
@@ -39,7 +85,7 @@ jobs:
            "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"
+            "baremetal-arm32|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake -DBUILD_EXAMPLES=OFF"
          do
            IFS='|' read -r name testing extra <<< "$entry"
            echo ">>> Building $name"
@@ -48,35 +94,60 @@ jobs:
            [ "$testing" = "ON" ] && ctest --test-dir "build-$name" --output-on-failure
            pkg="datarouter-$name"
-            mkdir -p "dist/$pkg"
+            cmake --install "build-$name" --prefix "dist/$pkg"
            for f in datarouter.h datarouter_config_template.h LICENSE README.md; do
              if [ -f "$f" ]; then cp "$f" "dist/$pkg/"; fi
            done
            for f in libDataRouter.a libDataRouter.so libDataRouter.dll libDataRouter.dll.a example example.exe; do
              if [ -f "build-$name/$f" ]; then cp "build-$name/$f" "dist/$pkg/"; fi
            done
          done
      - name: Cortex-M build & package
        run: |
          for name in cm3 cm4-soft cm4-hard cm7-soft cm7-hard; do
            case $name in
              cm3)      flags="-mcpu=cortex-m3     -mthumb -mfloat-abi=soft" ;;
              cm4-soft) flags="-mcpu=cortex-m4     -mthumb -mfloat-abi=soft" ;;
              cm4-hard) flags="-mcpu=cortex-m4     -mthumb -mfpu=fpv4-sp-d16  -mfloat-abi=hard" ;;
              cm7-soft) flags="-mcpu=cortex-m7     -mthumb -mfloat-abi=soft" ;;
              cm7-hard) flags="-mcpu=cortex-m7     -mthumb -mfpu=fpv5-d16     -mfloat-abi=hard" ;;
            esac
            echo ">>> Building $name"
            cmake -S . -B "build-$name" \
              -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF \
              -DCMAKE_C_COMPILER=arm-none-eabi-gcc \
              -DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY \
              -DCMAKE_C_FLAGS="$flags"
            cmake --build "build-$name"
            cmake --install "build-$name" --prefix "dist/datarouter-$name"
          done
          echo "--- Cortex-M package build: all variants passed ---"
      - name: Create release & upload assets
        run: |
          TAG="${{ steps.tag.outputs.tag }}"
          API="${{ gitea.server_url }}/api/v1/repos/${{ gitea.repository }}/releases"
          TOKEN="${{ gitea.token }}"
-          echo "=== Creating release $TAG ==="
+          # Check if release already exists
-          RESP=$(curl -s -X POST \
+          echo "=== Checking existing releases for $TAG ==="
-            -H "Authorization: token ${{ gitea.token }}" \
+          EXISTING=$(curl -s -H "Authorization: token ${TOKEN}" "${API}" | \
-            -H "Content-Type: application/json" \
+            python3 -c "import sys,json;rels=json.load(sys.stdin);print(next((r['id'] for r in rels if r['tag_name']=='${TAG}'),''))")
            -d "{\"tag_name\":\"${TAG}\",\"name\":\"DataRouter ${TAG}\"}" \
            "$API")
-          ID=$(echo "$RESP" | python3 -c "import sys,json;print(json.load(sys.stdin)['id'])")
+          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 ${{ gitea.token }}" \
+              -H "Authorization: token ${TOKEN}" \
              -H "Content-Type: application/octet-stream" \
              --data-binary @"/tmp/$name" \
              "${API}/${ID}/assets?name=${name}"
@@ -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>
@@ -0,0 +1,62 @@
 # Changelog
 ## [Unreleased]
 ### ⚠ Breaking Changes
 - **API 前缀重命名**：所有 `datarouter_*` / `DATAROUTER_*` 改为 `dr_*` / `DR_*`
  - `datarouter_init()` → `dr_init()`
  - `datarouter_port_create()` → `dr_port_create()`
  - `datarouter_send_<id>()` → `dr_send_<id>()`
  - `datarouter_on_recv_<id>()` → `dr_on_recv_<id>()`
  - `DATAROUTER_SEND_sensor` → `DR_SEND_sensor`
  - `datarouter_port_t` → `dr_port_t`
  - 配置宏 `DATAROUTER_SEND(...)` / `DATAROUTER_RECV(...)` → `DR_SEND(...)` / `DR_RECV(...)`
 - **发送函数不再接收 port_id**：`dr_send_<id>(data, len)` 自动广播到所有 send_type 匹配的端口
 - **端口移除 `recv_type`**：端口只保留 `send_type` + handler 列表，接收侧由用户自行调用 `dr_on_recv_<id>()`
 ### 🚀 新功能
 - **自动广播路由**：调用 `dr_send_<id>(data, len)` 时遍历所有端口，自动匹配 `send_type`，逐一调用 handler
 - **外部配置覆盖**：`datarouter.h` 通过 `__has_include(<datarouter_config.h>)` 优先加载用户配置，找不到时回退到库默认配置
 - **配置模板**：新增 `datarouter_config_template.h` 供用户快速自定义
 - **CMake Presets**：新增 `CMakePresets.json`，覆盖 7 种构建配置
 - **Cortex-M 编译矩阵**：`DR_COMPILE_CHECK=ON` 自动检测 `arm-none-eabi-gcc`，验证 CM3 / CM4(soft/hard) / CM7(soft/hard-sp/hard-dp) 6 个变体的编译兼容性
 - **嵌入式源文件直用模式**：`DR_SOURCE_ONLY=ON` 只暴露源码路径，用户将 `datarouter.c` 加入自身 target 以继承全部编译标志，消除 VFP/Thumb ABI 不匹配
 - **Gitea CI 工作流**：新增 `.gitea/workflows/ci.yml`，PR/推送时执行 host 测试 + Cortex-M 编译矩阵
 - **Release 工作流更新**：`.gitea/workflows/release.yml` 新增 Cortex-M compile matrix 步骤
 ### ✨ 增强
 - 支持一个端口注册多个 handler（默认上限 4），发送时逐一调用
 - 运行时通过 `dr_port_remove_handler()` / `dr_port_clear_handlers()` 动态改变路由
 - 发送能力和接收能力分开声明，按需组合
 ### 📚 文档
 - 新增 `DESIGN.md`（含 8 幅 PlantUML 架构图）
 - 新增 `TEST_CASES.md`（22 个测试用例文档）
 - 新增 `CHANGELOG.md`
 - `README.md` 全面更新，覆盖嵌入式构建、Preset 用法、API 参考
 - 所有源文件添加中文 Doxygen 注释
 ### 🧪 测试
 - 22 个单元测试，覆盖端口管理、send_type/handler 设置、自动广播路由、类型过滤、移除/删除后路由、接收回调、能力元数据
 ### 🐛 修复
 - 修复 ARM 交叉编译时 VFP 参数不匹配问题（通过 `DR_SOURCE_ONLY` 模式）
 - 修复 `#undef` 宏名称残留旧前缀
 ---
 ## [1.0.0] - 2024-01-01
 ### 🚀 新功能
 - 初始版本发布
 - X-macro 代码生成：编译期声明通道，自动生成枚举、发送函数、回调声明
 - 动态端口管理：创建、删除、运行时切换能力
 - 弱符号回调默认实现
 - Gitea Release 工作流：自动化构建 linux-amd64 / linux-arm64 / linux-armhf / windows-amd64 / baremetal-arm32
@@ -1,30 +1,122 @@
 cmake_minimum_required(VERSION 3.10)
-project(DataRouter C)
+project(DataRouter VERSION 1.1.0 LANGUAGES C)
 set(CMAKE_C_STANDARD 11)
-# ======== 静态库 ========
+# ── 选项 ──────────────────────────────────────────────────────
 add_library(DataRouter STATIC datarouter.c)
 target_include_directories(DataRouter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-# ======== 共享库（可选，通过 BUILD_SHARED 控制） ========
+option(DR_SOURCE_ONLY    "Provide source/include vars instead of building lib" OFF)
-option(BUILD_SHARED "Build shared library" ON)
+option(DR_COMPILE_CHECK  "Build compile-compatibility tests for each Cortex-M variant" OFF)
-if(BUILD_SHARED)
+
-    add_library(DataRouter_shared SHARED datarouter.c)
+# 源码路径变量：嵌入式项目直接 target_sources() 使用
-    target_include_directories(DataRouter_shared PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+set(DR_SOURCES  ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c  CACHE INTERNAL "")
-    set_target_properties(DataRouter_shared PROPERTIES OUTPUT_NAME DataRouter)
+set(DR_INCLUDES ${CMAKE_CURRENT_SOURCE_DIR}               CACHE INTERNAL "")
 # ── 编译兼容性矩阵 (仅在 host 编译器和 ARM GCC 均可用时生效) ──
 if(DR_COMPILE_CHECK)
    find_program(ARM_GCC arm-none-eabi-gcc)
    if(ARM_GCC)
        message(STATUS "ARM GCC found: ${ARM_GCC}")
        set(VARIANTS cm3 cm4-soft cm4-hard cm7-soft cm7-hard)
        set(FLAG_LIST
            "-mcpu=cortex-m3 -mthumb -mfloat-abi=soft"
            "-mcpu=cortex-m4 -mthumb -mfloat-abi=soft"
            "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard"
            "-mcpu=cortex-m7 -mthumb -mfloat-abi=soft"
            "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard"
        )
        list(LENGTH VARIANTS VN)
        math(EXPR VN "${VN} - 1")
        foreach(I RANGE ${VN})
            list(GET VARIANTS ${I} V)
            list(GET FLAG_LIST ${I} F)
            set(TGT "check_${V}")
            add_custom_target(${TGT}
                COMMAND ${ARM_GCC} ${F}
                        -c ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c
                        -I${CMAKE_CURRENT_SOURCE_DIR}
                        -o ${CMAKE_CURRENT_BINARY_DIR}/${TGT}.o
                COMMENT "Compile check: ${V}  (${F})"
            )
            message(STATUS "  compile check: ${V}  (make ${TGT})")
        endforeach()
    else()
        message(WARNING "arm-none-eabi-gcc not found; skipping ARM compile checks")
    endif()
    return()
 endif()
-# ======== 示例程序 ========
+# ── 源码直用模式（嵌入式项目） ──────────────────────────────
 if(DR_SOURCE_ONLY)
    return()
 endif()
 # ── 常规库构建 ────────────────────────────────────────────────
 add_library(DataRouter STATIC datarouter.c)
 target_include_directories(DataRouter PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 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（用于打包发布） ─────────────────────────────
 include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 set(DataRouter_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/DataRouter")
 install(TARGETS DataRouter
    EXPORT DataRouterTargets
    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
 install(FILES
    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.h
    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config.h
    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config_template.h
    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
 # ── CMake 包配置文件（find_package(DataRouter) 用） ────
 set(PACKAGE_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
 set(PACKAGE_LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR})
 configure_package_config_file(
    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/DataRouterConfig.cmake.in
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
    INSTALL_DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
    PATH_VARS PACKAGE_INCLUDE_INSTALL_DIR PACKAGE_LIB_INSTALL_DIR
 )
 write_basic_package_version_file(
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfigVersion.cmake
    VERSION ${PROJECT_VERSION}
    COMPATIBILITY AnyNewerVersion
 )
 install(EXPORT DataRouterTargets
    FILE DataRouterTargets.cmake
    DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
 )
 install(FILES
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfigVersion.cmake
    DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
 )
@@ -0,0 +1,96 @@
 {
    "version": 3,
    "configurePresets": [
        {
            "name": "default",
            "displayName": "Host (native) build",
            "description": "Build with host compiler for development, testing, and examples",
            "binaryDir": "${sourceDir}/build/default",
            "cacheVariables": {
                "BUILD_TESTING": "ON",
                "BUILD_EXAMPLES": "ON"
            }
        },
        {
            "name": "cm3",
            "displayName": "Cortex-M3 (soft-float)",
            "description": "ARM Cortex-M3, no FPU, software float ABI.  Requires arm-none-eabi-gcc in PATH.",
            "binaryDir": "${sourceDir}/build/cm3",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m3 -mthumb -mfloat-abi=soft -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        },
        {
            "name": "cm4-soft",
            "displayName": "Cortex-M4 (soft-float)",
            "description": "ARM Cortex-M4, FPU present but soft-float ABI.  Requires arm-none-eabi-gcc.",
            "binaryDir": "${sourceDir}/build/cm4-soft",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m4 -mthumb -mfloat-abi=soft -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        },
        {
            "name": "cm4-hard",
            "displayName": "Cortex-M4F (hard-float, FPv4-SP-D16)",
            "description": "ARM Cortex-M4 with single-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
            "binaryDir": "${sourceDir}/build/cm4-hard",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        },
        {
            "name": "cm7-soft",
            "displayName": "Cortex-M7 (soft-float)",
            "description": "ARM Cortex-M7, FPU present but soft-float ABI.  Requires arm-none-eabi-gcc.",
            "binaryDir": "${sourceDir}/build/cm7-soft",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfloat-abi=soft -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        },
        {
            "name": "cm7-hard-sp",
            "displayName": "Cortex-M7F (hard-float, FPv5-SP-D16, single)",
            "description": "ARM Cortex-M7 with single-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
            "binaryDir": "${sourceDir}/build/cm7-hard-sp",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        },
        {
            "name": "cm7-hard-dp",
            "displayName": "Cortex-M7F (hard-float, FPv5-D16, double)",
            "description": "ARM Cortex-M7 with double-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
            "binaryDir": "${sourceDir}/build/cm7-hard-dp",
            "cacheVariables": {
                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Wall -Werror",
                "DR_SOURCE_ONLY": "ON",
                "BUILD_TESTING": "OFF",
                "BUILD_EXAMPLES": "OFF"
            }
        }
    ],
    "buildPresets": [
        { "name": "default",      "configurePreset": "default" },
        { "name": "cm3",          "configurePreset": "cm3" },
        { "name": "cm4-soft",     "configurePreset": "cm4-soft" },
        { "name": "cm4-hard",     "configurePreset": "cm4-hard" },
        { "name": "cm7-soft",     "configurePreset": "cm7-soft" },
        { "name": "cm7-hard-sp",  "configurePreset": "cm7-hard-sp" },
        { "name": "cm7-hard-dp",  "configurePreset": "cm7-hard-dp" }
    ]
 }
@@ -2,37 +2,35 @@
 ## 1. 设计目标
-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。
+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 `dr_send_<id>(data, len)` 时自动遍历端口表，广播到所有 `send_type` 匹配的端口。
 ### 核心设计
 ```
-DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
+DR_SEND_CAPABILITIES        DR_RECV_CAPABILITIES
-  DATAROUTER_SEND(sensor, ...)         DATAROUTER_RECV(rtcm, ...)
+  DR_SEND(sensor, ...)         DR_RECV(rtcm, ...)
-  DATAROUTER_SEND(status, ...)         DATAROUTER_RECV(command, ...)
+  DR_SEND(status, ...)         DR_RECV(command, ...)
          │                                     │
          ▼                                     ▼
-    send_sensor(port, data)              on_recv_rtcm(port, data)
+    send_sensor(data, len)              on_recv_rtcm(port, data, len)
-    send_status(port, data)              on_recv_command(port, data)
+          │                              （用户实现回调）
          │                                 （用户实现回调）
          ▼
-    端口校验 → for each handler(port, data)
+    遍历端口表 → send_type 匹配？
-                   │
+          │
-          ┌────────┼────────┐
+          ▼
-          ▼        ▼        ▼
+    for each handler(port, data)  ─── UART / TCP / CAN
       UART      TCP      CAN
 ```
-**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。
+**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 |
 |------|------|
-| 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 |
+| 收发分离 | 发送/接收能力在配置中分开声明，按需组合 |
-| 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 |
+| 编译期确定能力 | 所有能力在 `dr_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 |
-| 一对多广播 | 一个端口可注册多个 handler，发送时逐一调用 |
+| 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 |
@@ -47,23 +45,22 @@ DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
 left to right direction
 rectangle "用户代码" as User {
-  component "应用逻辑" as App
+  component "应用逻辑\n调 send_<id>(data, len)" as App
-  component "datarouter_config.h\n声明发送+接收能力" as Cfg
+  component "dr_config.h\n声明能力" as Cfg
  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 + X-macro 展开" as Hdr
+  component "datarouter.h\n公共 API + X-macro" as Hdr
-  component "datarouter.c\n端口表 + handler 遍历" 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 handler
+Handlers --> Impl : add_handler
 Callbacks --> Impl : 实现 on_recv_<id>
@enduml
 ```
@@ -71,11 +68,11 @@ Callbacks --> Impl : 实现 on_recv_<id>
 | 文件 | 职责 |
 |------|------|
-| `datarouter_config.h` | 分别声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
+| `dr_config.h` | 声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
-| `datarouter.h` | 公共 API + X-macro 展开（两组枚举 + 声明） |
+| `datarouter.h` | 公共 API + X-macro 展开 |
-| `datarouter.c` | 端口表 + handler 列表遍历 + 弱符号回调 |
+| `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 |
-| `example.c` | 收发分离示例 |
+| `example.c` | 使用示例 |
-| `tests/test_datarouter.c` | 27 个单元测试 |
+| `tests/test_datarouter.c` | 22 个单元测试 |
 ---
@@ -84,90 +81,71 @@ Callbacks --> Impl : 实现 on_recv_<id>
 ### 3.1 配置声明
 ```c
-// 发送能力 —— 只生成发送触发函数
+#define DR_SEND_CAPABILITIES \
-#define DATAROUTER_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data report") \
-    DATAROUTER_SEND(sensor, "Sensor data report") \
+    DR_SEND(status, "Device status report")
    DATAROUTER_SEND(status, "Device status report")
-// 接收能力 —— 只生成接收回调声明
+#define DR_RECV_CAPABILITIES \
-#define DATAROUTER_RECV_CAPABILITIES \
+    DR_RECV(rtcm,    "RTCM correction data") \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data") \
+    DR_RECV(command, "Remote control command")
    DATAROUTER_RECV(command, "Remote control command")
 ```
 ### 3.2 展开产物
 ```
-DATAROUTER_SEND_CAPABILITIES 展开：
+DR_SEND_CAPABILITIES 展开：
-  enum:       DATAROUTER_SEND_sensor = 0,
+  enum:       sensor = 0, status = 1, SEND_CAP_COUNT = 2
-              DATAROUTER_SEND_status = 1,
+  发送函数:   int dr_send_sensor(const void *data, size_t len);
-              DATAROUTER_SEND_CAP_COUNT = 2
+              int dr_send_status(const void *data, size_t len);
  发送函数:   int datarouter_send_sensor(port, data, len);
              int datarouter_send_status(port, data, len);
  元数据:     send_names[] = {"sensor", "status"}
              send_descs[] = {"Sensor data report", "Device status report"}
-DATAROUTER_RECV_CAPABILITIES 展开：
+DR_RECV_CAPABILITIES 展开：
-  enum:       DATAROUTER_RECV_rtcm = 0,
+  enum:       rtcm = 0, command = 1, RECV_CAP_COUNT = 2
-              DATAROUTER_RECV_command = 1,
+  接收回调:   void dr_on_recv_rtcm(uint32_t port, const void*, size_t);
-              DATAROUTER_RECV_CAP_COUNT = 2
+              void dr_on_recv_command(uint32_t port, const void*, size_t);
-  接收回调:   void datarouter_on_recv_rtcm(port, data, len);
+  弱符号默认: 空实现，用户覆盖
              void datarouter_on_recv_command(port, data, len);
  弱符号默认: 每个回调提供空的 weak 实现，用户覆盖
  元数据:     recv_names[] = {"rtcm", "command"}
              recv_descs[] = {"RTCM correction data", "Remote control command"}
 ```
-### 3.3 端口组合示例
+### 3.3 端口示例
 ```
-端口 A:  send_type = sensor,  recv_type = -1        → 只发送
+端口 A:  send_type = sensor,  handlers=[uart_send, tcp_send]
-端口 B:  send_type = -1,      recv_type = rtcm       → 只接收
+端口 B:  send_type = sensor,  handlers=[can_send]
-端口 C:  send_type = status,  recv_type = command    → 同时收发
+端口 C:  send_type = status,  handlers=[uart_send]
 端口 D:  send_type = -1,      recv_type = -1         → 无功能
 ```
 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：4 次展开 ==
+== datarouter.h ==
-> datarouter_config.h: 获得两组宏列表
+-> dr_config.h: 获得两组宏列表
-datarouter.h -> "第 1 遍":
+datarouter.h -> "1": #define DR_SEND(id,desc) DR_SEND_##id,
-  #define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
+note right: 发送 enum
  DATAROUTER_SEND_CAPABILITIES → 发送 enum
-datarouter.h -> "第 2 遍":
+datarouter.h -> "2": #define DR_RECV(id,desc) DR_RECV_##id,
-  #define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
+note right: 接收 enum
  DATAROUTER_RECV_CAPABILITIES  → 接收 enum
-datarouter.h -> "第 3 遍":
+datarouter.h -> "3": #define DR_SEND(id,desc) int send_##id(data, len);
-  #define DATAROUTER_SEND(id,desc) int datarouter_send_##id(...);
+note right: 发送函数声明
  DATAROUTER_SEND_CAPABILITIES → 发送函数声明
-datarouter.h -> "第 4 遍":
+datarouter.h -> "4": #define DR_RECV(id,desc) void on_recv_##id(...);
-  #define DATAROUTER_RECV(id,desc) void datarouter_on_recv_##id(...);
+note right: 接收回调声明
  DATAROUTER_RECV_CAPABILITIES  → 接收回调声明
-== datarouter.c：4 次展开 ==
+== datarouter.c ==
 datarouter.c -> "第 5 遍":
  弱符号回调默认实现（DATAROUTER_RECV 展开）
 datarouter.c -> "第 6 遍":
  发送函数实现 body（DATAROUTER_SEND 展开）
  校验 → 遍历 handler 列表
 datarouter.c -> "第 7 ~ 8 遍":
  send_names[] / send_descs[]
  recv_names[] / recv_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
 ```
@@ -181,33 +159,23 @@ datarouter.c -> "第 7 ~ 8 遍":
@startuml
 skinparam classAttributeIconSize 0
-enum "datarouter_send_cap" as S {
+enum "dr_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
-  SENSOR
+enum "dr_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }
  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
+  - dr_send_handler_t handlers[]
  - datarouter_send_handler_t handlers[]
  - int    count
  - uint8_t in_use
 }
-class "datarouter_send_handler_t" as Handler {
+class "dr_send_handler_t" as Handler {
  + void (*)(uint32_t port_id, const void *data, size_t len)
 }
 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)
 }
 class "接收回调" as Recv {
@@ -215,10 +183,9 @@ class "接收回调" as Recv {
  + void on_recv_command(port, data, len)
 }
-Entry --> S : send_type ∈ S enum / -1
+Entry --> S : send_type
-Entry --> R : recv_type ∈ R enum / -1
+Entry --> Handler : handlers[]
-Entry --> Handler : handlers[] 数组
+Send --> Entry : 遍历端口表 → 匹配 send_type → 遍历 handlers
 Send --> Entry : 校验 send_type + 遍历 handlers
 Recv --> Entry : 用户根据业务调对应回调
@enduml
 ```
@@ -226,13 +193,12 @@ Recv --> Entry : 用户根据业务调对应回调
 ### 5.2 `port_entry_t`
 ```c
-#define DATAROUTER_MAX_HANDLERS_PER_PORT 4   // 每端口最多 4 个外设
+#define DR_MAX_HANDLERS_PER_PORT 4
 typedef struct {
-    int                       send_type;   // DATAROUTER_SEND_xxx / -1
+    int                       send_type;
-    int                       recv_type;   // DATAROUTER_RECV_xxx / -1
+    dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
-    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
+    int                       count;
    int                       count;       // 当前 handler 数量
    uint8_t                   in_use;
 } port_entry_t;
 ```
@@ -240,8 +206,8 @@ typedef struct {
 ### 5.3 端口表
 ```c
-#define DATAROUTER_MAX_PORTS 64
+#define DR_MAX_PORTS 64
-static port_entry_t ports[DATAROUTER_MAX_PORTS];
+static port_entry_t ports[DR_MAX_PORTS];
 static uint8_t      initialized;
 ```
@@ -252,57 +218,53 @@ static uint8_t      initialized;
 ### 6.1 初始化
 ```c
-void datarouter_init(void);    // 幂等初始化
+void dr_init(void);    // 幂等初始化
-void datarouter_reset(void);   // 重置全部状态
+void dr_reset(void);   // 重置全部状态
 ```
 ### 6.2 端口管理
 ```c
-datarouter_port_t datarouter_port_create(void);         // 创建
+dr_port_t dr_port_create(void);
-void  datarouter_port_delete(datarouter_port_t port);   // 删除
+void  dr_port_delete(dr_port_t port);
-void  datarouter_port_set_send_type(port, int cap_id);  // 设置发送类型
+void  dr_port_set_send_type(port, int cap_id);
-int   datarouter_port_get_send_type(port);              // -1 表示未设置
+int   dr_port_get_send_type(port);
 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   dr_port_add_handler(port, handler);
-int   datarouter_port_remove_handler(port, handler);    // 移除
+int   dr_port_remove_handler(port, handler);
-void  datarouter_port_clear_handlers(port);             // 清除全部
+void  dr_port_clear_handlers(port);
-int   datarouter_port_handler_count(port);              // 数量
+int   dr_port_handler_count(port);
 ```
 ### 6.3 发送触发函数（每个 SEND 能力生成一个）
 ```c
-int datarouter_send_sensor(port, data, len);
+int dr_send_sensor(const void *data, size_t len);
-int datarouter_send_status(port, data, len);
+int dr_send_status(const void *data, size_t len);
 ```
-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
+返回值：0 成功 / -1 未初始化 / -2 无端口匹配该 send_type
 ### 6.4 接收回调（每个 RECV 能力生成一个声明）
 ```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
+void dr_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);
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ```
-库提供弱符号默认空实现，用户定义同名函数覆盖。
+库提供弱符号默认空实现。
-### 6.5 能力元数据（两组独立）
+### 6.5 能力元数据
 ```c
-// 发送能力
+int         dr_send_cap_count(void);
-int         datarouter_send_cap_count(void);
+const char *dr_send_cap_name(int cap_id);
-const char *datarouter_send_cap_name(int cap_id);
+const char *dr_send_cap_desc(int cap_id);
 const char *datarouter_send_cap_desc(int cap_id);
-// 接收能力
+int         dr_recv_cap_count(void);
-int         datarouter_recv_cap_count(void);
+const char *dr_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_name(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);
 const char *datarouter_recv_cap_desc(int cap_id);
 ```
 ---
@@ -314,34 +276,36 @@ const char *datarouter_recv_cap_desc(int cap_id);
 ```plantuml
@startuml
 actor "应用" as App
-participant "datarouter_send_sensor()" as Send
+participant "dr_send_sensor()" as Send
-participant "端口表" as Table
+participant "端口表 ports[]" as Table
 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 否 → return -1
  end
-  Send -> Table : ports[2].in_use?
+end
-  alt 否 → return -2
+
-  end
+group 遍历端口表
-  Send -> Table : ports[2].send_type == SENSOR?
+  loop for p in 0..MAX_PORTS-1
-  alt 否 → return -3
+    Send -> Table : ports[p].in_use && ports[p].send_type == SENSOR ?
-  end
+    alt 匹配
-  Send -> Table : ports[2].count > 0?
+      loop for h in 0..count-1
-  alt 否 → return -4
+        Send -> HList : handlers[h](p, data, len)
        HList -> Dev : 实际外设写入
      end
    end
  end
 end
-loop for each handler in ports[2].handlers[]
+alt 至少调了一次 handler
-  Send -> HList : handlers[i](port, data, len)
+  Send --> App : return 0
-  HList -> Dev : 实际外设写入
+else 无匹配端口
  Send --> App : return -2
 end
 Send --> App : return 0
@enduml
 ```
@@ -353,7 +317,7 @@ actor "外设" as Dev
 participant "用户分发代码" as Dispatch
 participant "on_recv_rtcm()" as Callback
-Dev -> Dispatch : 收到数据，识别为 rtcm 类型
+Dev -> Dispatch : 收到数据，识别为 rtcm
 Dispatch -> Callback : on_recv_rtcm(port_id, data, len)
 Callback --> Dispatch : void
@enduml
@@ -364,19 +328,14 @@ Callback --> Dispatch : void
 ```plantuml
@startuml
 state "空闲" as Idle
-state "已创建\nsend=-1 recv=-1" as Created
+state "已创建\nsend_type=-1\ncount=0" as Created
 state "已配置" as Config
 [*] --> Idle : reset / 启动
 Idle --> Created : port_create()
-
+Created --> Config : set_send_type / add_handler
-Created --> Config : set_send_type / set_recv_type / add_handler
+Config --> Config : 切换 send_type\n增删 handler
-
+Config --> Created : set_send_type(-1) / clear_handlers
 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
@@ -387,42 +346,38 @@ Idle --> Created : 复用 ID
 ## 8. 路由场景
-### 场景 1：传感器只发送（sensor → UART + TCP）
+### 场景 1：sensor 广播到 UART + TCP + CAN
 ```c
-datarouter_port_t p = datarouter_port_create();
+dr_port_t p1 = dr_port_create();
-datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+dr_port_set_send_type(p1, DR_SEND_sensor);
-datarouter_port_add_handler(p, uart_send);
+dr_port_add_handler(p1, uart_send);
-datarouter_port_add_handler(p, tcp_send);
+dr_port_add_handler(p1, tcp_send);
-datarouter_send_sensor(p, "temp:25.3", 9);
+dr_port_t p2 = dr_port_create();
-// → uart_send(p, "temp:25.3", 9)
+dr_port_set_send_type(p2, DR_SEND_sensor);
-// → tcp_send(p, "temp:25.3", 9)
+dr_port_add_handler(p2, can_send);
 dr_send_sensor("temp:25.3", 9);
 // → uart_send(p1, "temp:25.3", 9)
 // → tcp_send(p1, "temp:25.3", 9)
 // → can_send(p2, "temp:25.3", 9)
 ```
-### 场景 2：RTCM 只接收
+### 场景 2：仅接收
 ```c
-datarouter_port_t p = datarouter_port_create();
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
-datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
+    apply_rtcm_correction(data, len);
-// 无 send_type，不注册 handler
+}
-
+// 外设收到后：dr_on_recv_rtcm(port, data, len);
 // 外设收到数据后由用户调回调：
 datarouter_on_recv_rtcm(p, data, len);
 ```
-### 场景 3：双向端口（status 发送 + command 接收）
+### 场景 3：运行时移除 handler
 ```c
-datarouter_port_t p = datarouter_port_create();
+dr_port_remove_handler(p1, tcp_send);
-datarouter_port_set_send_type(p, DATAROUTER_SEND_status);
+// 下次 send_sensor 不再触发 tcp
 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);
 ```
 ---
@@ -451,32 +406,26 @@ Weak ..> Result : 后备
 | 返回值 | 含义 |
 |:------:|------|
-| 0 | 成功，所有 handler 被调用 |
+| 0 | 成功，至少有一个 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） |
+| -2 | 无端口匹配该 send_type（或匹配端口均无 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
 ### 增加能力
 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
+#define DR_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data")  \
+    DR_SEND(sensor, "Sensor data")  \
-    DATAROUTER_SEND(debug,  "Debug log")   /* 新增发送能力 */
+    DR_SEND(debug,  "Debug log")   /* 新增 */
-#define DATAROUTER_RECV_CAPABILITIES \
+#define DR_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm, "RTCM data")       \
+    DR_RECV(rtcm, "RTCM data")       \
-    DATAROUTER_RECV(ota,  "OTA firmware")   /* 新增接收能力 */
+    DR_RECV(ota,  "OTA firmware")   /* 新增 */
 ```
 ### 自定义限制
 ```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
+cmake -DCMAKE_C_FLAGS="-DDR_MAX_PORTS=128 -DDR_MAX_HANDLERS_PER_PORT=8"
 ```
 ---
@@ -1,40 +1,37 @@
 # DataRouter
-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。
+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 `dr_send_<id>(data, len)` 时自动广播到所有匹配端口。
 ## 概念
 | 术语 | 说明 |
 |------|------|
-| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `datarouter_send_<id>()` |
+| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `dr_send_<id>(data, len)` |
-| **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>()` |
+| **接收能力 (Recv Capability)** | 编译期声明的可接收报文类型，生成 `dr_on_recv_<id>(port, data, len)` |
-| **端口 (Port)** | 运行期连接点，独立设置 send_type + recv_type + handler 列表 |
+| **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. 声明能力
-创建自己的 `datarouter_config.h`（可参考 `datarouter_config_template.h`）：
+创建自己的 `dr_config.h`（可参考 `dr_config_template.h`）：
 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
+#define DR_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
+    DR_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+    DR_SEND(status, "Device status report")
-#define DATAROUTER_RECV_CAPABILITIES \
+#define DR_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+    DR_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，
+> 库自带默认配置。将你的 `dr_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。
+> 编译时添加 `-I /path/to/your/config` 即可覆盖。无需修改库源码。
 >
 > **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})
 > include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR})  # 全局优先
 > add_subdirectory(path/to/DataRouter)
 > target_link_libraries(my_app DataRouter)
 > ```
@@ -54,40 +51,27 @@ static void tcp_send(uint32_t port_id, const void *data, size_t len) {
 ### 3. 创建端口
 ```c
-datarouter_init();
+dr_init();
-/* —— 只发送：传感器上报 —— */
+/* —— 传感器上报：sensor 报文走 UART + TCP —— */
-datarouter_port_t tx = datarouter_port_create();
+dr_port_t tx = dr_port_create();
-datarouter_port_set_send_type(tx, DATAROUTER_SEND_sensor);
+dr_port_set_send_type(tx, DR_SEND_sensor);
-datarouter_port_add_handler(tx, uart_send);
+dr_port_add_handler(tx, uart_send);
-datarouter_port_add_handler(tx, tcp_send);
+dr_port_add_handler(tx, tcp_send);
 datarouter_send_sensor(tx, "temperature:25.3", 16);  // → UART + TCP
-/* —— 只接收：RTCM 修正 —— */
+/* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */
-datarouter_port_t rx = datarouter_port_create();
+dr_send_sensor("temperature:25.3", 16);  // → UART + TCP
 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);
-/* —— 同时收发：状态上报 + 命令接收 —— */
+/* —— 接收：实现回调，外设数据到达后自行调用 —— */
-datarouter_port_t bi = datarouter_port_create();
+dr_on_recv_rtcm(rx_port, data, len);
 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_rtcm(uint32_t port_id, const void *data, size_t len) {
+void dr_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);
 }
 ```
 ## API 一览
@@ -95,41 +79,40 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len)
 ### 初始化
 ```c
-void datarouter_init(void);    // 幂等初始化
+void dr_init(void);    // 幂等初始化
-void datarouter_reset(void);   // 重置全部状态
+void dr_reset(void);   // 重置全部状态
 ```
 ### 端口管理
 ```c
-datarouter_port_t datarouter_port_create(void);          // 创建端口
+dr_port_t dr_port_create(void);          // 创建端口
-void  datarouter_port_delete(datarouter_port_t port);   // 删除
+void  dr_port_delete(dr_port_t port);   // 删除
-void  datarouter_port_set_send_type(port, int cap_id);  // 设置发送类型
+void  dr_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
+int   dr_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   dr_port_add_handler(port, handler);        // 注册外设 handler
-int   datarouter_port_remove_handler(port, handler);     // 移除
+int   dr_port_remove_handler(port, handler);     // 移除
-void  datarouter_port_clear_handlers(port);              // 清除全部
+void  dr_port_clear_handlers(port);              // 清除全部
-int   datarouter_port_handler_count(port);               // 当前数量
+int   dr_port_handler_count(port);               // 当前数量
 ```
 ### 发送触发（每个 SEND 能力生成一个）
 ```c
-int datarouter_send_sensor(port, data, len);   // 0 成功 / -1 未初始化
+int dr_send_sensor(const void *data, size_t len);   // 0 成功
-int datarouter_send_status(port, data, len);   // -2 端口无效
+int dr_send_status(const void *data, size_t len);   // -1 未初始化
-                                               // -3 send_type 不匹配
+                                                             // -2 无匹配端口
                                               // -4 无 handler
 ```
 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_rtcm(uint32_t port_id, const void *data, size_t len);
+void dr_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);
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ```
 库提供弱符号默认空实现，用户定义同名函数覆盖。
@@ -137,29 +120,30 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ### 能力元数据（两组独立）
 ```c
-int         datarouter_send_cap_count(void);
+int         dr_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
+const char *dr_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
+const char *dr_send_cap_desc(int cap_id);
-int         datarouter_recv_cap_count(void);
+int         dr_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
+const char *dr_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);
 ```
 ## 路由模型
 ```
-send_sensor(port, data, len)
+dr_send_sensor("temperature:25.3", 16)
  │
-  ├─→ handler[0] = uart_send  → UART
+  ├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART
-  ├─→ handler[1] = tcp_send   → TCP
+  │                           handlers[1]=tcp_send → TCP
-  └─→ handler[2] = can_send   → CAN
+  └─→ 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 列表后发送返回 -4
+- 无任何端口匹配该 `send_type` 时返回 -2
 ## 编译
@@ -171,9 +155,65 @@ cmake --build build
 可选配置：
 ```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
+cmake -DCMAKE_C_FLAGS="-DDR_MAX_PORTS=128 -DDR_MAX_HANDLERS_PER_PORT=8"
 ```
 ## 嵌入式 / Cortex-M 构建
 库支持 `arm-none-eabi-gcc` 交叉编译，提供 **7 个 CMake preset** 覆盖常见 Cortex-M 目标：
 ```bash
 # 列出所有 preset
 cmake --list-presets
 # Cortex-M3（软浮点）
 cmake --preset cm3
 cmake --build --preset cm3
 # Cortex-M4F（硬件浮点，单精度）
 cmake --preset cm4-hard
 cmake --build --preset cm4-hard
 # Cortex-M7F（硬件浮点，双精度）
 cmake --preset cm7-hard-dp
 cmake --build --preset cm7-hard-dp
 ```
 > 使用 preset 编译需要 `arm-none-eabi-gcc` 在 PATH 中。
 > 各 preset 均启用 `DR_SOURCE_ONLY` 模式——只提供源文件路径，
 > 你需要将 `datarouter.c` 加入自己的 target 以继承项目编译标志：
 ```cmake
 # 你的 CMakeLists.txt
 set(DR_SOURCE_ONLY ON)
 FetchContent_MakeAvailable(datarouter)
 target_sources(my_app PRIVATE ${datarouter_SOURCE_DIR}/datarouter.c)
 target_include_directories(my_app PRIVATE ${datarouter_SOURCE_DIR})
 ```
 ### 编译兼容性矩阵
 启用 `DR_COMPILE_CHECK` 可自动检测 `arm-none-eabi-gcc` 并对 CM3/CM4/CM7
 各变体执行编译验证：
 ```bash
 cmake -B build-check -DDR_COMPILE_CHECK=ON
 cmake --build build-check          # 生成 check_cm3, check_cm4-hard, … 等 target
 # 或单独检查某个变体：
 make check_cm7-hard-dp
 ```
 ### 内置 CMake Preset 列表
 | Preset | 目标 | FPU | ABI |
 |--------|------|-----|-----|
 | `cm3` | Cortex-M3 | 无 | soft |
 | `cm4-soft` | Cortex-M4 | 无 | soft |
 | `cm4-hard` | Cortex-M4F | FPv4-SP-D16 | hard |
 | `cm7-soft` | Cortex-M7 | 无 | soft |
 | `cm7-hard-sp` | Cortex-M7F | FPv5-SP-D16 | hard |
 | `cm7-hard-dp` | Cortex-M7F | FPv5-D16 | hard |
 ## 测试
 ```bash
@@ -183,18 +223,19 @@ ctest --test-dir build
 ./build/test_datarouter
 ```
-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。
+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      发送 + 接收能力配置（用户编辑）
+dr_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 遍历）
+datarouter.c                    实现（端口表 + send 遍历）
-example.c                收发分离使用示例
+dr_config_template.h    外部配置模板
-tests/test_datarouter.c  单元测试（27 用例）
+example.c                       使用示例
-DESIGN.md                详细设计文档（含 PlantUML 图）
+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
@@ -17,7 +17,6 @@
 cmake -S . -B build
 cmake --build build
 ctest --test-dir build
 # 或直接运行:
 ./build/test_datarouter
 ```
@@ -27,68 +26,53 @@ ctest --test-dir build
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 1 | `error_uninit` | 未 init 时发送 | 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（4 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
 | 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 |
+| 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 |
+| 5 | `port_default_state` | 默认状态 | 新建端口，查 send_type / handler count | `send_type=-1`, `count=0` |
-### 3. send_type / recv_type 独立设置（6 个）
+### 3. send_type 与 handler（3 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 6 | `send_type_set_get` | 设置发送类型 | `set_send_type(sensor)` → `get_send_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 |
-| 7 | `recv_type_set_get` | 设置接收类型 | `set_recv_type(rtcm)` → `get_recv_type()` | 返回 rtcm |
+| 7 | `handler_add_remove` | 添加后移除 handler | add(h) count=1 → remove(h) count=0 | count 正确 |
-| 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 |
+| 8 | `handler_clear` | 清除全部 handler | add → clear | count == 0 |
 | 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. handler 增删（2 个）
+### 4. 发送 — 自动广播（11 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 12 | `handler_add_remove` | 添加后移除 | ① add(a) add(b) count=2 ② remove(a) count=1 | count 正确 |
+| 9 | `send_no_match_port` | 无匹配端口 | 不创建任何端口，直接 `send_sensor` | 返回 -2 |
-| 13 | `handler_clear` | 清除全部 | add 后 clear | count == 0 |
+| 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 |
 | 11 | `send_one_port_multi_handler` | 单端口双 handler | add(h) + add(h2) → send | handler 2 次 |
 | 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 |
 |---|--------|------|------|------|
-| 14 | `send_one_handler` | 单 handler 发送 | send_type + add_handler → send_sensor | 返回 0；handler 被调用 1 次 |
+| 20 | `recv_callback` | 用户实现接收回调 | `on_recv_rtcm(0, "d", 1)` | 回调被触发 |
 | 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）
+### 6. 能力元数据（2 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 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 |
+| 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. 能力元数据（2 个）
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
 | 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
@@ -96,11 +80,9 @@ ctest --test-dir build
 |----------|:------:|------------|
 | 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 |
+| send_type & handler | 3 | 设置/清除/添加/移除/清空 |
-| handler 增删 | 2 | 添加/移除/清空 |
+| 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 | 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：27 个测试用例**
+**总计：22 个测试用例**
@@ -0,0 +1,40 @@
 ####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
 ####### Any changes to this file will be overwritten by the next CMake run ####
 ####### The input file was DataRouterConfig.cmake.in                            ########
 get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../" ABSOLUTE)
 macro(set_and_check _var _file)
  set(${_var} "${_file}")
  if(NOT EXISTS "${_file}")
    message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !")
  endif()
 endmacro()
 macro(check_required_components _NAME)
  foreach(comp ${${_NAME}_FIND_COMPONENTS})
    if(NOT ${_NAME}_${comp}_FOUND)
      if(${_NAME}_FIND_REQUIRED_${comp})
        set(${_NAME}_FOUND FALSE)
      endif()
    endif()
  endforeach()
 endmacro()
 ####################################################################################
 set_and_check(DataRouter_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")
 set_and_check(DataRouter_LIBRARY_DIR "${PACKAGE_PREFIX_DIR}/lib")
 include("${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 +1,16 @@
@PACKAGE_INIT@
 set(DataRouter_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
 set(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)
@@ -1,167 +1,150 @@
 /**
 * @file datarouter.c
 * @brief 数据路由库 —— 实现
 */
 #include "datarouter.h"
 #include <string.h>
 #if defined(__GNUC__) || defined(__clang__)
-#define DATAROUTER_WEAK __attribute__((weak))
+#define DR_WEAK __attribute__((weak))
 #else
-#define DATAROUTER_WEAK
+#define DR_WEAK
 #endif
-#ifndef DATAROUTER_MAX_PORTS
+#ifndef DR_MAX_PORTS
-#define DATAROUTER_MAX_PORTS 64
+#define DR_MAX_PORTS 64
 #endif
 typedef struct {
    int                       send_type;
-    int                       recv_type;
+    dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
    int                       count;
    uint8_t                   in_use;
 } port_entry_t;
-static port_entry_t ports[DATAROUTER_MAX_PORTS];
+static port_entry_t ports[DR_MAX_PORTS];
 static uint8_t      initialized;
-/* ---- 发送能力元数据 ---- */
+/* ---- 元数据 ---- */
 static const char *send_names[] = {
-#define DATAROUTER_SEND(id, desc) #id,
+#define DR_SEND(id, desc) #id,
-    DATAROUTER_SEND_CAPABILITIES
+    DR_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#undef DR_SEND
 };
 static const char *send_descs[] = {
-#define DATAROUTER_SEND(id, desc) desc,
+#define DR_SEND(id, desc) desc,
-    DATAROUTER_SEND_CAPABILITIES
+    DR_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#undef DR_SEND
 };
 /* ---- 接收能力元数据 ---- */
 static const char *recv_names[] = {
-#define DATAROUTER_RECV(id, desc) #id,
+#define DR_RECV(id, desc) #id,
-    DATAROUTER_RECV_CAPABILITIES
+    DR_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#undef DR_RECV
 };
 static const char *recv_descs[] = {
-#define DATAROUTER_RECV(id, desc) desc,
+#define DR_RECV(id, desc) desc,
-    DATAROUTER_RECV_CAPABILITIES
+    DR_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#undef DR_RECV
 };
-/* ---- 弱符号接收回调默认实现 ---- */
+/* ---- 弱符号接收回调 ---- */
-#define DATAROUTER_RECV(id, desc) \
+#define DR_RECV(id, desc) \
-    DATAROUTER_WEAK void datarouter_on_recv_##id( \
+    DR_WEAK void dr_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; \
+DR_RECV_CAPABILITIES
-    }
+#undef DR_RECV
 DATAROUTER_RECV_CAPABILITIES
 #undef DATAROUTER_RECV
-/* ---- 发送触发函数实现 ---- */
+/* ---- 发送触发函数 ---- */
-#define DATAROUTER_SEND(id, desc) \
+#define DR_SEND(id, desc) \
-    int datarouter_send_##id(uint32_t port_id, const void *data, size_t len) \
+    int dr_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].send_type != DATAROUTER_SEND_##id) return -3; \
+        for (uint32_t _p = 0; _p < DR_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 != DR_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_SEND_CAPABILITIES
+DR_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#undef DR_SEND
 /* ---- 端口管理 ---- */
-void datarouter_init(void)
+void dr_init(void)
 {
    if (initialized) return;
    memset(ports, 0, sizeof(ports));
    initialized = 1;
 }
-void datarouter_reset(void)
+void dr_reset(void)
 {
    initialized = 0;
    memset(ports, 0, sizeof(ports));
 }
-datarouter_port_t datarouter_port_create(void)
+dr_port_t dr_port_create(void)
 {
-    if (!initialized) return DATAROUTER_INVALID_PORT;
+    if (!initialized) return DR_INVALID_PORT;
-    for (int i = 0; i < DATAROUTER_MAX_PORTS; i++) {
+    for (int i = 0; i < DR_MAX_PORTS; i++) {
        if (!ports[i].in_use) {
            ports[i].in_use    = 1;
            ports[i].send_type = -1;
            ports[i].recv_type = -1;
            ports[i].count     = 0;
-            return (datarouter_port_t)i;
+            return (dr_port_t)i;
        }
    }
-    return DATAROUTER_INVALID_PORT;
+    return DR_INVALID_PORT;
 }
-void datarouter_port_delete(datarouter_port_t port)
+void dr_port_delete(dr_port_t port)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS) return;
+    if (port < 0 || port >= DR_MAX_PORTS) return;
    ports[port].in_use = 0;
 }
-void datarouter_port_set_send_type(datarouter_port_t port, int cap_id)
+void dr_port_set_send_type(dr_port_t port, int cap_id)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
    ports[port].send_type = cap_id;
 }
-int datarouter_port_get_send_type(datarouter_port_t port)
+int dr_port_get_send_type(dr_port_t port)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    return ports[port].send_type;
 }
-void datarouter_port_set_recv_type(datarouter_port_t port, int cap_id)
+int dr_port_add_handler(dr_port_t port, dr_send_handler_t handler)
 {
    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;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
-    return ports[port].recv_type;
+    if (ports[port].count >= DR_MAX_HANDLERS_PER_PORT) return -2;
 }
 int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler)
 {
    if (!initialized) return -1;
    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
    if (ports[port].count >= DATAROUTER_MAX_HANDLERS_PER_PORT) return -2;
    for (int i = 0; i < ports[port].count; i++)
        if (ports[port].handlers[i] == handler) return -3;
    ports[port].handlers[ports[port].count++] = handler;
    return 0;
 }
-int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler)
+int dr_port_remove_handler(dr_port_t port, dr_send_handler_t handler)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    for (int i = 0; i < ports[port].count; i++) {
        if (ports[port].handlers[i] == handler) {
            ports[port].handlers[i] = ports[port].handlers[--ports[port].count];
@@ -171,52 +154,26 @@ int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handl
    return -2;
 }
-void datarouter_port_clear_handlers(datarouter_port_t port)
+void dr_port_clear_handlers(dr_port_t port)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
    ports[port].count = 0;
 }
-int datarouter_port_handler_count(datarouter_port_t port)
+int dr_port_handler_count(dr_port_t port)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    return ports[port].count;
 }
 /* ---- 元数据查询 ---- */
-int datarouter_send_cap_count(void)
+int dr_send_cap_count(void) { return DR_SEND_CAP_COUNT; }
-{
+const char *dr_send_cap_name(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_names[c]; }
-    return DATAROUTER_SEND_CAP_COUNT;
+const char *dr_send_cap_desc(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_descs[c]; }
 }
-const char *datarouter_send_cap_name(int cap_id)
+int dr_recv_cap_count(void) { return DR_RECV_CAP_COUNT; }
-{
+const char *dr_recv_cap_name(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_names[c]; }
-    if (cap_id < 0 || cap_id >= DATAROUTER_SEND_CAP_COUNT) return NULL;
+const char *dr_recv_cap_desc(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_descs[c]; }
    return send_names[cap_id];
 }
 const char *datarouter_send_cap_desc(int cap_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];
 }
@@ -4,36 +4,24 @@
 *
 * ## 概念
 *
- * - **发送能力 (Send Capability)**：编译期声明的可发送报文类型
+ * - **发送能力**：编译期声明的可发送报文类型，生成 dr_send_<id>(data, len)
- * - **接收能力 (Recv Capability)**：编译期声明的可接收报文类型
+ * - **接收能力**：编译期声明的可接收报文类型，生成 dr_on_recv_<id>(port, data, len)
- * - **端口 (Port)**：运行期连接点，独立设置 send_type + recv_type + 外设 handler 列表
+ * - **端口**：运行期创建的连接点，包含 send_type + handler 列表
 *
- * ## 使用流程
+ * ## 路由
 *
- * 1. 创建 datarouter_config.h 声明发送和接收能力（见 datarouter_config_template.h）
+ * 调用 dr_send_<id>(data, len) 时，库遍历所有端口，
- * 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
+ * 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. datarouter_init() 初始化
+ *
- * 4. port_create() 创建端口
+ * 接收侧由用户自行调用 dr_on_recv_<id>(port, data, len) 处理外设收到的数据。
 * 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
+#ifndef DR_H
-#define DATAROUTER_H
+#define DR_H
 #include <stdint.h>
 #include <stddef.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>
@@ -50,77 +38,75 @@ extern "C" {
 /* ========== 发送能力枚举 ========== */
-enum datarouter_send_cap {
+enum dr_send_cap {
-#define DATAROUTER_SEND(id, desc) DATAROUTER_SEND_##id,
+#define DR_SEND(id, desc) DR_SEND_##id,
-    DATAROUTER_SEND_CAPABILITIES
+    DR_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#undef DR_SEND
-    DATAROUTER_SEND_CAP_COUNT
+    DR_SEND_CAP_COUNT
 };
 /* ========== 接收能力枚举 ========== */
-enum datarouter_recv_cap {
+enum dr_recv_cap {
-#define DATAROUTER_RECV(id, desc) DATAROUTER_RECV_##id,
+#define DR_RECV(id, desc) DR_RECV_##id,
-    DATAROUTER_RECV_CAPABILITIES
+    DR_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#undef DR_RECV
-    DATAROUTER_RECV_CAP_COUNT
+    DR_RECV_CAP_COUNT
 };
-/* ========== 外设发送 handler 类型 ========== */
+/* ========== 外设发送 handler ========== */
-typedef void (*datarouter_send_handler_t)(uint32_t port_id, const void *data, size_t len);
+typedef void (*dr_send_handler_t)(uint32_t port_id, const void *data, size_t len);
-#ifndef DATAROUTER_MAX_HANDLERS_PER_PORT
+#ifndef DR_MAX_HANDLERS_PER_PORT
-#define DATAROUTER_MAX_HANDLERS_PER_PORT 4
+#define DR_MAX_HANDLERS_PER_PORT 4
 #endif
-/* ========== 发送触发函数（每个发送能力生成一个） ========== */
+/* ========== 发送触发函数 ========== */
-#define DATAROUTER_SEND(id, desc) \
+#define DR_SEND(id, desc) \
-    int datarouter_send_##id(uint32_t port_id, const void *data, size_t len);
+    int dr_send_##id(const void *data, size_t len);
-DATAROUTER_SEND_CAPABILITIES
+DR_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#undef DR_SEND
-/* ========== 接收回调声明（每个接收能力生成一个，用户实现） ========== */
+/* ========== 接收回调声明 ========== */
-#define DATAROUTER_RECV(id, desc) \
+#define DR_RECV(id, desc) \
-    void datarouter_on_recv_##id(uint32_t port_id, const void *data, size_t len);
+    void dr_on_recv_##id(uint32_t port_id, const void *data, size_t len);
-DATAROUTER_RECV_CAPABILITIES
+DR_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#undef DR_RECV
 /* ========== 端口管理 API ========== */
-typedef int32_t datarouter_port_t;
+typedef int32_t dr_port_t;
-#define DATAROUTER_INVALID_PORT ((datarouter_port_t)-1)
+#define DR_INVALID_PORT ((dr_port_t)-1)
-void datarouter_init(void);
+void dr_init(void);
-void datarouter_reset(void);
+void dr_reset(void);
-datarouter_port_t datarouter_port_create(void);
+dr_port_t dr_port_create(void);
-void datarouter_port_delete(datarouter_port_t port);
+void dr_port_delete(dr_port_t port);
-void datarouter_port_set_send_type(datarouter_port_t port, int cap_id);
+void dr_port_set_send_type(dr_port_t port, int cap_id);
-int  datarouter_port_get_send_type(datarouter_port_t port);
+int  dr_port_get_send_type(dr_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);
-int  datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler);
+int  dr_port_add_handler(dr_port_t port, dr_send_handler_t handler);
-int  datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler);
+int  dr_port_remove_handler(dr_port_t port, dr_send_handler_t handler);
-void datarouter_port_clear_handlers(datarouter_port_t port);
+void dr_port_clear_handlers(dr_port_t port);
-int  datarouter_port_handler_count(datarouter_port_t port);
+int  dr_port_handler_count(dr_port_t port);
 /* ========== 能力元数据查询 ========== */
-int         datarouter_send_cap_count(void);
+int         dr_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
+const char *dr_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
+const char *dr_send_cap_desc(int cap_id);
-int         datarouter_recv_cap_count(void);
+int         dr_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
+const char *dr_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);
 #ifdef __cplusplus
 }
 #endif
-#endif /* DATAROUTER_H */
+#endif /* DR_H */
@@ -6,35 +6,35 @@
 * 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
+ *   2. 按需修改 DR_SEND_CAPABILITIES / DR_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
+#ifndef DR_CONFIG_H
-#define DATAROUTER_CONFIG_H
+#define DR_CONFIG_H
 /**
- * @def DATAROUTER_SEND_CAPABILITIES
+ * @def DR_SEND_CAPABILITIES
 * @brief 发送能力列表
 *
- * 每行格式：DATAROUTER_SEND(标识符, "描述")
+ * 每行格式：DR_SEND(标识符, "描述")
- * 每项生成：发送触发函数 datarouter_send_<id>(port, data, len)
+ * 每项生成：发送触发函数 dr_send_<id>(port, data, len)
 */
-#define DATAROUTER_SEND_CAPABILITIES \
+#define DR_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
+    DR_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+    DR_SEND(status, "Device status report")
 /**
- * @def DATAROUTER_RECV_CAPABILITIES
+ * @def DR_RECV_CAPABILITIES
 * @brief 接收能力列表
 *
- * 每行格式：DATAROUTER_RECV(标识符, "描述")
+ * 每行格式：DR_RECV(标识符, "描述")
- * 每项生成：接收回调声明 datarouter_on_recv_<id>(port, data, len)
+ * 每项生成：接收回调声明 dr_on_recv_<id>(port, data, len)
 */
-#define DATAROUTER_RECV_CAPABILITIES \
+#define DR_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+    DR_RECV(command, "Remote control command")
-#endif /* DATAROUTER_CONFIG_H */
+#endif /* DR_CONFIG_H */
@@ -4,48 +4,48 @@
 *
 * 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
+ *   2. 修改下面的 DR_SEND_CAPABILITIES 和 DR_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")
+ *   发送能力：DR_SEND(标识符, "描述")
- *   接收能力：DATAROUTER_RECV(标识符, "描述")
+ *   接收能力：DR_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 \
+ *   #define DR_SEND_CAPABILITIES \
- *       DATAROUTER_SEND(sensor, "Sensor data report")
+ *       DR_SEND(sensor, "Sensor data report")
- *   #define DATAROUTER_RECV_CAPABILITIES
+ *   #define DR_RECV_CAPABILITIES
 *
 *   // 遥控设备：只需接收
- *   #define DATAROUTER_SEND_CAPABILITIES
+ *   #define DR_SEND_CAPABILITIES
- *   #define DATAROUTER_RECV_CAPABILITIES \
+ *   #define DR_RECV_CAPABILITIES \
- *       DATAROUTER_RECV(command, "Remote command")
+ *       DR_RECV(command, "Remote command")
 *
 *   // 网关设备：同时收发
- *   #define DATAROUTER_SEND_CAPABILITIES \
+ *   #define DR_SEND_CAPABILITIES \
- *       DATAROUTER_SEND(status, "Status report")
+ *       DR_SEND(status, "Status report")
- *   #define DATAROUTER_RECV_CAPABILITIES \
+ *   #define DR_RECV_CAPABILITIES \
- *       DATAROUTER_RECV(config, "Configuration update")
+ *       DR_RECV(config, "Configuration update")
 */
-#ifndef DATAROUTER_CONFIG_H
+#ifndef DR_CONFIG_H
-#define DATAROUTER_CONFIG_H
+#define DR_CONFIG_H
 /* ========== 在此声明你的发送能力 ========== */
-#define DATAROUTER_SEND_CAPABILITIES \
+#define DR_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
+    DR_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+    DR_SEND(status, "Device status report")
 /* ========== 在此声明你的接收能力 ========== */
-#define DATAROUTER_RECV_CAPABILITIES \
+#define DR_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+    DR_RECV(command, "Remote control command")
-#endif /* DATAROUTER_CONFIG_H */
+#endif /* DR_CONFIG_H */
@@ -1,93 +1,73 @@
 /**
 * @file example.c
 * @brief 数据路由库使用示例
 *
- * 展示：
+ * 调用 dr_send_sensor(data, len) 无需指定端口，
- *   - 发送能力和接收能力分开声明（sensor 只发送，rtcm 只接收）
+ * 库自动广播到所有 send_type=sensor 的端口。
 *   - 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 ---- */
 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);
 }
-/* ---- 接收回调实现 ---- */
+static void can_send(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:rtcm] port %u: %.*s\n", port_id, (int)len, (const char *)data);
+    printf("[CAN  port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }
-void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len)
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len)
 {
-    printf("[RX:cmd]  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);
 }
 int main(void)
 {
-    datarouter_init();
+    dr_init();
-    /* 查询能力 */
+    printf("Capabilities:\n");
-    printf("Send capabilities: %d\n", datarouter_send_cap_count());
+    for (int i = 0; i < dr_send_cap_count(); i++)
    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));
+               dr_send_cap_name(i), dr_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));
    /*
-     * 端口 A：只有发送能力 —— 上报传感器数据
+     * 创建两个端口，都设 send_type=sensor，各绑不同外设。
     * 调用 dr_send_sensor() 时两个端口同时触发。
     */
-    datarouter_port_t tx_port = datarouter_port_create();
+    dr_port_t p1 = dr_port_create();
-    datarouter_port_set_send_type(tx_port, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
-    datarouter_port_add_handler(tx_port, uart_send);
+    dr_port_add_handler(p1, uart_send);
-    datarouter_port_add_handler(tx_port, tcp_send);
+    dr_port_add_handler(p1, tcp_send);
-    printf("\n--- send sensor (UART + TCP) ---\n");
+    dr_port_t p2 = dr_port_create();
-    datarouter_send_sensor(tx_port, "temperature:25.3", 16);
+    dr_port_set_send_type(p2, DR_SEND_sensor);
-    /* 该端口没有 recv_type，不能接收任何报文 */
+    dr_port_add_handler(p2, can_send);
-    /*
+    /* 不指定端口，自动广播到所有 sensor 端口 */
-     * 端口 B：只有接收能力 —— 接收 RTCM 修正
+    printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\n");
-     */
+    dr_send_sensor("temperature:25.3", 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");
+    /* 运行时移除一个 handler，下次发送不再触发它 */
-    datarouter_on_recv_rtcm(rtcm_port, "rtcm_data_v3.2", 14);
+    printf("\n--- remove TCP handler from p1, resend ---\n");
    dr_port_remove_handler(p1, tcp_send);
    dr_send_sensor("temperature:26.1", 16);
-    /*
+    /* 接收侧：用户自行调用回调 */
-     * 端口 C：同时有收发能力 —— 接收命令 + 上报状态
+    printf("\n--- recv command ---\n");
-     */
+    dr_on_recv_command(0, "reboot", 6);
    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);
-    printf("\n--- bidirectional port ---\n");
+    /* 删除一个端口，触发时不再走它 */
-    datarouter_send_status(bi_port, "status:OK", 9);
+    printf("\n--- delete p2 (CAN), resend ---\n");
-    datarouter_on_recv_command(bi_port, "reboot", 6);
+    dr_port_delete(p2);
    dr_send_sensor("temperature:27.0", 16);
-    /* 清理 */
+    dr_port_delete(p1);
    datarouter_port_delete(tx_port);
    datarouter_port_delete(rtcm_port);
    datarouter_port_delete(bi_port);
    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
 *   - 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
 */
 #include "datarouter.h"
@@ -17,7 +7,7 @@
 #include <string.h>
 /* ================================================================
- *  测试框架
+ *  框架
 * ================================================================ */
 static int  _total_run, _total_pass, _total_fail;
@@ -26,14 +16,14 @@ static const char *_cur_name;
 #define FIXTURE_MAX 16
 typedef struct {
-    datarouter_port_t ports[FIXTURE_MAX];
+    dr_port_t ports[FIXTURE_MAX];
    int count;
 } fixture_t;
 #define FIXTURE_INIT(f)     memset((f), 0, sizeof(*(f)))
 #define FIXTURE_PUSH(f, p)  do { if ((f)->count < FIXTURE_MAX) (f)->ports[(f)->count++] = (p); } while (0)
-#define FIXTURE_CLEAN(f)    do { for (int _i = 0; _i < (f)->count; _i++) datarouter_port_delete((f)->ports[_i]); } while (0)
+#define FIXTURE_CLEAN(f)    do { for (int _i = 0; _i < (f)->count; _i++) dr_port_delete((f)->ports[_i]); } while (0)
-#define FIXTURE_CREATE(f)   ({ datarouter_port_t _p = datarouter_port_create(); FIXTURE_PUSH(f, _p); _p; })
+#define FIXTURE_CREATE(f)   ({ dr_port_t _p = dr_port_create(); FIXTURE_PUSH(f, _p); _p; })
 #define TEST_START(name)                                            \
    static void test_##name(void)                                   \
@@ -66,19 +56,19 @@ cleanup:                                                            \
 * ================================================================ */
 static int  _h_cnt;
-static void _h(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
+static int  _h_port[16];
-static void _h_a(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
+static int  _h_pos;
-static void _h_b(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
+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 _h_c(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
+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; }
-static void _h_d(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
+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; }
-static void reset_h(void) { _h_cnt = 0; }
+static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
 /* ================================================================
 *  1. 未初始化
 * ================================================================ */
 TEST_START(error_uninit)
-    CHECK(datarouter_send_sensor(0, "d", 1) == -1, "expected -1");
+    CHECK(dr_send_sensor("d", 1) == -1, "expected -1");
 TEST_END()
 /* ================================================================
@@ -86,244 +76,219 @@ TEST_END()
 * ================================================================ */
 TEST_START(port_create_basic)
-    CHECK(FIXTURE_CREATE(&_fix) >= 0, "create failed");
+    CHECK(FIXTURE_CREATE(&_fix) >= 0, NULL);
 TEST_END()
 TEST_START(port_create_max)
    int c = 0;
    for (int i = 0; i < 64; i++) {
-        datarouter_port_t p = datarouter_port_create();
+        dr_port_t p = dr_port_create();
-        if (p == DATAROUTER_INVALID_PORT) break;
+        if (p == DR_INVALID_PORT) break;
        FIXTURE_PUSH(&_fix, p); c++;
    }
    CHECK(c >= 64, "got %d", c);
-    CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT, NULL);
+    CHECK(dr_port_create() == DR_INVALID_PORT, NULL);
 TEST_END()
 TEST_START(port_delete_invalid)
-    datarouter_port_delete(-1); datarouter_port_delete(999);
+    dr_port_delete(-1); dr_port_delete(999);
 TEST_END()
 TEST_START(port_default_state)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_port_get_send_type(p) == -1, "send_type should be -1");
+    CHECK(dr_port_get_send_type(p) == -1, NULL);
-    CHECK(datarouter_port_get_recv_type(p) == -1, "recv_type should be -1");
+    CHECK(dr_port_handler_count(p) == 0, NULL);
    CHECK(datarouter_port_handler_count(p) == 0, "handler count 0");
 TEST_END()
 /* ================================================================
- *  3. send_type / recv_type 独立设置
+ *  3. send_type 与 handler
 * ================================================================ */
 TEST_START(send_type_set_get)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
+    CHECK(dr_port_get_send_type(p) == DR_SEND_sensor, NULL);
    dr_port_set_send_type(p, -1);
    CHECK(dr_port_get_send_type(p) == -1, NULL);
 TEST_END()
 TEST_START(recv_type_set_get)
    datarouter_port_t p = FIXTURE_CREATE(&_fix);
    datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
    CHECK(datarouter_port_get_recv_type(p) == DATAROUTER_RECV_rtcm, NULL);
 TEST_END()
 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_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(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
 * ================================================================ */
 TEST_START(handler_add_remove)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_port_add_handler(p, _h_a) == 0, NULL);
+    CHECK(dr_port_add_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_add_handler(p, _h_b) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 1, NULL);
-    CHECK(datarouter_port_handler_count(p) == 2, NULL);
+    CHECK(dr_port_remove_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_remove_handler(p, _h_a) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
    CHECK(datarouter_port_handler_count(p) == 1, NULL);
 TEST_END()
 TEST_START(handler_clear)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_add_handler(p, _h);
+    dr_port_add_handler(p, _h);
-    datarouter_port_clear_handlers(p);
+    dr_port_clear_handlers(p);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
 TEST_END()
 /* ================================================================
- *  5. 发送触发
+ *  4. 发送 — 自动广播
 * ================================================================ */
-TEST_START(send_one_handler)
+TEST_START(send_no_match_port)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    /* 没有端口配置该 send_type */
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
-    datarouter_port_add_handler(p, _h);
+TEST_END()
 TEST_START(send_one_port_one_handler)
    dr_port_t p = FIXTURE_CREATE(&_fix);
    dr_port_set_send_type(p, DR_SEND_sensor);
    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor(p, "d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 1, "handler called %d times", _h_cnt);
+    CHECK(_h_cnt == 1, "cnt=%d", _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);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h_a);
+    dr_port_add_handler(p, _h);
-    datarouter_port_add_handler(p, _h_b);
+    dr_port_add_handler(p, _h2);
    datarouter_port_add_handler(p, _h_c);
    reset_h();
-    CHECK(datarouter_send_sensor(p, "d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 3, "handler called %d times", _h_cnt);
+    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
 TEST_END()
-TEST_START(send_type_mismatch)
+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_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_add_handler(p, _h);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
    dr_port_set_send_type(p1, DR_SEND_sensor);
    dr_port_set_send_type(p2, DR_SEND_sensor);
    dr_port_add_handler(p1, _h);
    dr_port_add_handler(p2, _h);
    reset_h();
-    CHECK(datarouter_send_status(p, "d", 1) == -3, "expected -3");
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 0, NULL);
+    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
    /* p1 和 p2 各触发一次 */
    CHECK((_h_port[0]==p1 && _h_port[1]==p2) ||
          (_h_port[0]==p2 && _h_port[1]==p1), "ports %d,%d", _h_port[0], _h_port[1]);
 TEST_END()
-TEST_START(send_no_handler)
+TEST_START(send_multi_port_multi_handler)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4");
+    dr_port_set_send_type(p1, DR_SEND_sensor);
    dr_port_set_send_type(p2, DR_SEND_sensor);
    dr_port_add_handler(p1, _h);
    dr_port_add_handler(p1, _h2);  /* p1 两个 */
    dr_port_add_handler(p2, _h3);  /* p2 一个 */
    reset_h();
    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
 TEST_END()
-TEST_START(send_no_send_type)
+TEST_START(send_type_filter)
-    /* 端口只有 recv_type，没有 send_type */
+    /* 两个端口不同类型，只触发匹配的 */
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_send_sensor(p, "d", 1) == -3, "expected -3 (send_type unset)");
+    dr_port_set_send_type(p1, DR_SEND_sensor);
    dr_port_set_send_type(p2, DR_SEND_status);
    dr_port_add_handler(p1, _h);
    dr_port_add_handler(p2, _h);
    reset_h();
    CHECK(dr_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_remove_handler)
+TEST_START(send_after_remove_handler)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h_a);
+    dr_port_add_handler(p, _h);
-    datarouter_port_add_handler(p, _h_b);
+    reset_h(); dr_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
-    reset_h(); datarouter_send_sensor(p, "d", 1); CHECK(_h_cnt == 2, NULL);
+    dr_port_remove_handler(p, _h);
-    datarouter_port_remove_handler(p, _h_a);
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2 after remove");
    reset_h(); datarouter_send_sensor(p, "d", 1); CHECK(_h_cnt == 1, NULL);
 TEST_END()
-TEST_START(send_clear_handlers)
+TEST_START(send_after_delete_port)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_add_handler(p, _h);
-    datarouter_port_clear_handlers(p);
+    dr_port_delete(p);
-    CHECK(datarouter_send_sensor(p, "d", 1) == -4, "expected -4");
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
    _fix.count--;
 TEST_END()
 TEST_START(send_zero_length)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor(p, "x", 0) == 0, NULL);
+    CHECK(dr_send_sensor("x", 0) == 0, NULL);
    CHECK(_h_cnt == 1, NULL);
 TEST_END()
 TEST_START(send_null_data)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor(p, NULL, 0) == 0, NULL);
+    CHECK(dr_send_sensor(NULL, 0) == 0, NULL);
    CHECK(_h_cnt == 1, NULL);
 TEST_END()
-/* ================================================================
+TEST_START(send_multi_cap)
- *  6. 接收回调
+    /* 发送 status 不影响 sensor 端口 */
- * ================================================================ */
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
-
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
-static int _rx_r, _rx_c;
+    dr_port_set_send_type(p1, DR_SEND_sensor);
-void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
+    dr_port_set_send_type(p2, DR_SEND_status);
-    { (void)p; (void)d; (void)l; _rx_r++; }
+    dr_port_add_handler(p1, _h);
-void datarouter_on_recv_command(uint32_t p, const void *d, size_t l)
+    dr_port_add_handler(p2, _h);
-    { (void)p; (void)d; (void)l; _rx_c++; }
+    reset_h();
-
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
-TEST_START(recv_callbacks)
+    CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
-    _rx_r = _rx_c = 0;
+    CHECK(dr_send_status("d", 1) == 0, NULL);
-    datarouter_on_recv_rtcm(0, "d", 1);
+    CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
    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()
 /* ================================================================
- *  7. 能力元数据（两组独立）
+ *  5. 接收回调
 * ================================================================ */
 static int _rx_r;
 void dr_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;
    dr_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(dr_send_cap_count() == 2, NULL);
-    CHECK(strcmp(datarouter_send_cap_name(0), "sensor") == 0, NULL);
+    CHECK(strcmp(dr_send_cap_name(0), "sensor") == 0, NULL);
-    CHECK(strcmp(datarouter_send_cap_desc(0), "Sensor data report") == 0, NULL);
+    CHECK(strcmp(dr_send_cap_desc(0), "Sensor data report") == 0, NULL);
-    CHECK(strcmp(datarouter_send_cap_name(1), "status") == 0, NULL);
+    CHECK(dr_send_cap_name(-1) == NULL, NULL);
-    CHECK(strcmp(datarouter_send_cap_desc(1), "Device status report") == 0, NULL);
+    CHECK(dr_send_cap_name(99) == NULL, 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(dr_recv_cap_count() == 2, NULL);
-    CHECK(strcmp(datarouter_recv_cap_name(0), "rtcm") == 0, NULL);
+    CHECK(strcmp(dr_recv_cap_name(0), "rtcm") == 0, NULL);
-    CHECK(strcmp(datarouter_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
+    CHECK(strcmp(dr_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
-    CHECK(strcmp(datarouter_recv_cap_name(1), "command") == 0, NULL);
+    CHECK(dr_recv_cap_name(-1) == NULL, NULL);
-    CHECK(strcmp(datarouter_recv_cap_desc(1), "Remote control command") == 0, NULL);
+    CHECK(dr_recv_cap_desc(99) == NULL, 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)
    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_send_type(p, DATAROUTER_SEND_sensor);
    datarouter_port_add_handler(p, _h);
    datarouter_port_delete(p);
    CHECK(datarouter_send_sensor(p, "d", 1) == -2, NULL);
    _fix.count--;
 TEST_END()
 /* ================================================================
 *  主函数
 * ================================================================ */
-#define RUN(name) do { reset_h(); test_##name(); } while (0)
+#define RUN(name) do { reset_h(); _rx_r = 0; test_##name(); } while (0)
 int main(void)
 {
@@ -332,7 +297,7 @@ int main(void)
    printf("[uninitialized]\n");
    RUN(error_uninit);
-    datarouter_init();
+    dr_init();
    printf("\n[port management]\n");
    RUN(port_create_basic);
@@ -341,35 +306,29 @@ int main(void)
    RUN(port_default_state);
    printf("\n");
-    datarouter_reset();  datarouter_init();
+    dr_reset(); dr_init();
-    printf("[send_type / recv_type]\n");
+    printf("[send_type & handler]\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("[handler add/remove]\n");
    RUN(handler_add_remove);
    RUN(handler_clear);
    printf("\n");
-    printf("[send trigger]\n");
+    printf("[send — auto broadcast]\n");
-    RUN(send_one_handler);
+    RUN(send_no_match_port);
-    RUN(send_multi_handlers);
+    RUN(send_one_port_one_handler);
-    RUN(send_type_mismatch);
+    RUN(send_one_port_multi_handler);
-    RUN(send_no_handler);
+    RUN(send_multi_ports_same_type);
-    RUN(send_no_send_type);
+    RUN(send_multi_port_multi_handler);
-    RUN(send_remove_handler);
+    RUN(send_type_filter);
-    RUN(send_clear_handlers);
+    RUN(send_after_remove_handler);
    RUN(send_after_delete_port);
    RUN(send_zero_length);
    RUN(send_null_data);
    RUN(send_multi_cap);
    printf("\n");
    printf("[receive callback]\n");
-    RUN(recv_callbacks);
+    RUN(recv_callback);
    printf("\n");
    printf("[capability metadata]\n");
@@ -377,11 +336,6 @@ int main(void)
    RUN(recv_cap_meta);
    printf("\n");
    printf("[error handling]\n");
    RUN(error_invalid_port);
    RUN(error_deleted_port);
    printf("\n");
    printf("==============================\n");
    printf("  total: %d  |  pass: %d  |  fail: %d\n\n",
           _total_run, _total_pass, _total_fail);
Author	SHA1	Message	Date
7iwind	ccde2f73e9	Merge pull request 'fix: 修正缺失构建平台的错误' (#35 ) from feature/route into main CI / host (push) Successful in 7s Details CI / cortex-m (push) Successful in 7s Details Release / release (push) Successful in 16s Details Reviewed-on: #35	2026-07-27 00:30:21 +08:00
7iwind	3b44bd97f7	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 6s Details	2026-07-27 00:29:35 +08:00
7iwind	c5fea61784	Merge pull request 'fix: 修正缺失构建平台的错误' (#34 ) from feature/route into main CI / host (push) Successful in 18s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Successful in 9s Details Reviewed-on: #34	2026-07-27 00:23:31 +08:00
7iwind	07c4aa316a	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 3s Details	2026-07-27 00:20:33 +08:00
7iwind	5d1ef621db	Merge pull request 'fix: 修正缺失构建平台的错误' (#33 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Successful in 9s Details Reviewed-on: #33	2026-07-27 00:15:18 +08:00
7iwind	8fe1b36cdc	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:15:00 +08:00
7iwind	b717c5f163	Merge pull request 'fix: 修正缺失构建平台的错误' (#32 ) from feature/route into main CI / host (push) Successful in 8s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 10s Details Reviewed-on: #32	2026-07-27 00:13:06 +08:00
7iwind	5ddc63abdf	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 10s Details CI / cortex-m (pull_request) Successful in 10s Details	2026-07-27 00:12:49 +08:00
7iwind	4e61ef5655	Merge pull request 'v1.1.0:fix: 修正缺失构建平台的错误' (#31 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Failing after 4s Details Reviewed-on: #31	2026-07-27 00:10:50 +08:00
7iwind	361158c343	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:09:45 +08:00
7iwind	5fd55496bf	v1.1.0:Merge pull request 'fix: 修正CD错误' (#30 ) from feature/route into main CI / host (push) Successful in 3s Details CI / cortex-m (push) Successful in 4s Details Release / release (push) Successful in 26s Details v1.1.0:Reviewed-on: #30	2026-07-27 00:03:44 +08:00
7iwind	f0d0c4fb1e	fix: 修正CD错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:02:47 +08:00
7iwind	26862bf05f	Merge pull request 'fix: 修正CD错误' (#29 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 4s Details Release / release (push) Failing after 5s Details Reviewed-on: #29	2026-07-26 23:56:11 +08:00
7iwind	b90c98d3ad	fix: 修正CD错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-26 23:55:44 +08:00
7iwind	04770e5df2	Merge pull request 'develop' (#28 ) from develop into main CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 7s Details Release / release (push) Failing after 6s Details Reviewed-on: #28	2026-07-26 23:51:28 +08:00
7iwind	5a92e2ccfa	Merge pull request 'fix: 修正CD错误' (#27 ) from feature/route into develop CI / host (push) Successful in 9s Details CI / cortex-m (push) Successful in 7s Details CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 5s Details Reviewed-on: #27	2026-07-26 23:50:47 +08:00
7iwind	b98236466c	fix: 修正CD错误	2026-07-26 23:49:36 +08:00
7iwind	badb4ebf61	v1.1.0:Merge pull request 'develop' (#26 ) from develop into main CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 6s Details v1.1.0:Reviewed-on: #26	2026-07-26 23:47:02 +08:00
7iwind	5aba22d8e9	Merge pull request 'fix: 修正CD错误' (#25 ) from feature/route into develop CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 10s Details CI / host (pull_request) Successful in 7s Details CI / cortex-m (pull_request) Successful in 9s Details Reviewed-on: #25	2026-07-26 23:45:37 +08:00
7iwind	052df2fc21	fix: 修正CD错误	2026-07-26 23:45:10 +08:00
7iwind	8c670003b8	Merge pull request 'v1.1.0' (#24 ) from develop into main CI / host (push) Successful in 20s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 9s Details v1.0.0:Reviewed-on: #24	2026-07-26 23:42:21 +08:00
7iwind	dee130197c	Merge pull request 'fix: 修正CI错误' (#23 ) from feature/route into develop CI / host (pull_request) Successful in 18s Details CI / cortex-m (pull_request) Successful in 5s Details CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 6s Details Reviewed-on: #23	2026-07-26 23:38:29 +08:00
7iwind	d0500151ab	fix: 修正CI错误	2026-07-26 23:37:41 +08:00
7iwind	9258ced2d0	Merge pull request 'feat: 添加CM3/4/7的硬件与软件浮点单元构建矩阵，变更api接口为dr_*' (#21 ) from feature/route into develop CI / host (push) Successful in 6s Details CI / cortex-m (push) Failing after 6s Details CI / host (pull_request) Successful in 8s Details CI / cortex-m (pull_request) Failing after 9s Details Reviewed-on: #21	2026-07-26 23:34:53 +08:00
7iwind	7ba20659b2	feat: 添加CM3/4/7的硬件与软件浮点单元构建矩阵，变更api接口为dr_*	2026-07-26 23:34:11 +08:00
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