Merge pull request 'feat: 新增接收dispatch反向路由' (#38) from feature/route into main

Reviewed-on: #38

.gitea/workflows/ci.yml

@@ -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)

.gitea/workflows/release.yml

@@ -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 $name"
@@ -51,6 +97,27 @@ jobs:
             cmake --install "build-$name" --prefix "dist/$pkg"
           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 }}"

CHANGELOG.md

@@ -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

CMakeLists.txt

@@ -1,33 +1,73 @@
 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 ──────────────────────────────────────────────────────
+
+option(DR_SOURCE_ONLY    "Provide source/include vars instead of building lib" OFF)
+option(DR_COMPILE_CHECK  "Build compile-compatibility tests for each Cortex-M variant" OFF)
+
+# 源码路径变量：嵌入式项目直接 target_sources() 使用
+set(DR_SOURCES  ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c  CACHE INTERNAL "")
+set(DR_INCLUDES ${CMAKE_CURRENT_SOURCE_DIR}               CACHE INTERNAL "")
+
+# 预编译包使用者可用 find_package(DataRouter CONFIG) 从此路径加载
+set(DataRouter_CMAKE_CONFIG_DIR ${CMAKE_CURRENT_SOURCE_DIR}/lib/cmake 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()
+
+# ── 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:include>
 )
 
-# ======== 共享库（可选，通过 BUILD_SHARED 控制） ========
-option(BUILD_SHARED "Build shared library" ON)
-if(BUILD_SHARED)
-    add_library(DataRouter_shared SHARED datarouter.c)
-    target_include_directories(DataRouter_shared PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-        $<INSTALL_INTERFACE:include>
-    )
-    set_target_properties(DataRouter_shared PROPERTIES OUTPUT_NAME DataRouter)
-endif()
-
-# ======== 示例程序 ========
 if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES)
     add_executable(example example.c)
     target_link_libraries(example DataRouter)
 endif()
 
-# ======== 测试 ========
 if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
     enable_testing()
     add_executable(test_datarouter tests/test_datarouter.c)
@@ -35,49 +75,50 @@ if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
     add_test(NAME datarouter COMMAND test_datarouter)
 endif()
 
-# ======== 安装规则 ========
+# ── 安装规则（用于打包发布） ─────────────────────────────
+
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+
+set(DataRouter_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/DataRouter")
 
-# 静态库 → lib/
 install(TARGETS DataRouter
     EXPORT DataRouterTargets
-    ARCHIVE DESTINATION lib
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
 
-# 共享库 → lib/（可选）
+install(FILES
-if(TARGET DataRouter_shared)
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.h
-    install(TARGETS DataRouter_shared
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config.h
-        EXPORT DataRouterTargets
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config_template.h
-        ARCHIVE DESTINATION lib   # .lib (Windows import lib)
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-        LIBRARY DESTINATION lib   # .so
+)
-        RUNTIME DESTINATION lib   # .dll
-    )
-endif()
 
-# 示例 → bin/
+# ── CMake 包配置文件（find_package(DataRouter) 用） ────
-if(TARGET example)
-    install(TARGETS example RUNTIME DESTINATION bin)
-endif()
 
-# 头文件 → include/
+set(PACKAGE_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
-install(FILES datarouter.h DESTINATION include)
+set(PACKAGE_LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR})
 
-# 文档 → share/
-install(FILES datarouter_config_template.h LICENSE DESTINATION share)
-if(EXISTS ${CMAKE_SOURCE_DIR}/README.md)
-    install(FILES README.md DESTINATION share)
-endif()
-
-# CMake 包配置文件 → cmake/
-set(INCLUDE_INSTALL_DIR include)
-set(LIB_INSTALL_DIR lib)
-
-include(CMakePackageConfigHelpers)
 configure_package_config_file(
-    cmake/DataRouterConfig.cmake.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/DataRouterConfig.cmake.in
     ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
-    INSTALL_DESTINATION cmake
+    INSTALL_DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
-    PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+    PATH_VARS PACKAGE_INCLUDE_INSTALL_DIR PACKAGE_LIB_INSTALL_DIR
 )
 
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake DESTINATION cmake)
+write_basic_package_version_file(
-install(EXPORT DataRouterTargets FILE DataRouterTargets.cmake DESTINATION cmake)
+    ${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}
+)

CMakePresets.json

@@ -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" }
+    ]
+}

DESIGN.md

@@ -2,435 +2,181 @@
 
 ## 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，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动遍历端口表，广播到所有 `send_type` 匹配的端口。
+轻量级 C 语言数据路由库。发送能力与接收能力分开声明，端口可独立设置 `send_type` 和 `recv_type`。发送时自动广播到所有匹配端口，接收时通过 `dr_port_dispatch()` 查表自动路由到回调。
 
 ### 核心设计
 
 ```
-DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
+发送: dr_send_sensor(data, len)
-  DATAROUTER_SEND(sensor, ...)         DATAROUTER_RECV(rtcm, ...)
+        │
-  DATAROUTER_SEND(status, ...)         DATAROUTER_RECV(command, ...)
-          │                                     │
-          ▼                                     ▼
-    send_sensor(data, len)              on_recv_rtcm(port, data, len)
-          │                              （用户实现回调）
         ▼
     遍历端口表 → send_type 匹配？
         │
         ▼
     for each handler(port, data)  ─── UART / TCP / CAN
+
+接收: dr_port_dispatch(port, data, len)
+        │
+        ▼
+    查 recv_table[port.recv_type]
+        │
+        ▼
+    dr_on_recv_rtcm(port, data, len)  ← 用户实现
 ```
 
-**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/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 |
-| 运行期绑定外设 | 端口创建后，通过 `add_handler` 注册物理外设发送函数 |
-| 自动广播 | `send_<id>(data, len)` 遍历所有端口，自动匹配 send_type |
-| 不关心物理外设 | 库不依赖任何外设 API，只调用用户提供的 handler |
-| 零动态内存 | 纯静态数组，无 malloc/free |
-
 ---
 
-## 2. 整体架构
+## 2. 数据结构
 
-### 2.1 模块依赖
+### 2.1 `port_entry_t`
-
-```plantuml
-@startuml
-left to right direction
-
-rectangle "用户代码" as User {
-  component "应用逻辑\n调 send_<id>(data, len)" as App
-  component "datarouter_config.h\n声明能力" as Cfg
-  component "外设 handler\nUART / TCP / CAN" as Handlers
-  component "接收回调\non_recv_<id>()" as Callbacks
-}
-
-database "DataRouter 库" as Lib {
-  component "datarouter.h\n公共 API + X-macro" as Hdr
-  component "datarouter.c\n端口表+遍历路由" as Impl
-}
-
-App --> Hdr
-Cfg --> Hdr
-Impl --> Cfg
-Handlers --> Impl : add_handler
-Callbacks --> Impl : 实现 on_recv_<id>
-@enduml
-```
-
-### 2.2 文件结构
-
-| 文件 | 职责 |
-|------|------|
-| `datarouter_config.h` | 声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
-| `datarouter.h` | 公共 API + X-macro 展开 |
-| `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 |
-| `example.c` | 使用示例 |
-| `tests/test_datarouter.c` | 22 个单元测试 |
-
----
-
-## 3. 收发分离设计
-
-### 3.1 配置声明
 
 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
+#define DR_MAX_HANDLERS_PER_PORT 4
-    DATAROUTER_SEND(sensor, "Sensor data report") \
-    DATAROUTER_SEND(status, "Device status report")
-
-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data") \
-    DATAROUTER_RECV(command, "Remote control command")
-```
-
-### 3.2 展开产物
-
-```
-DATAROUTER_SEND_CAPABILITIES 展开：
-  enum:       sensor = 0, status = 1, SEND_CAP_COUNT = 2
-  发送函数:   int datarouter_send_sensor(const void *data, size_t len);
-              int datarouter_send_status(const void *data, size_t len);
-  元数据:     send_names[] = {"sensor", "status"}
-              send_descs[] = {"Sensor data report", "Device status report"}
-
-DATAROUTER_RECV_CAPABILITIES 展开：
-  enum:       rtcm = 0, command = 1, RECV_CAP_COUNT = 2
-  接收回调:   void datarouter_on_recv_rtcm(uint32_t port, const void*, size_t);
-              void datarouter_on_recv_command(uint32_t port, const void*, size_t);
-  弱符号默认: 空实现，用户覆盖
-  元数据:     recv_names[] = {"rtcm", "command"}
-              recv_descs[] = {"RTCM correction data", "Remote control command"}
-```
-
-### 3.3 端口示例
-
-```
-端口 A:  send_type = sensor,  handlers=[uart_send, tcp_send]
-端口 B:  send_type = sensor,  handlers=[can_send]
-端口 C:  send_type = status,  handlers=[uart_send]
-```
-
-调用 `send_sensor("temp", 4)` → A 和 B 同时触发。
-
----
-
-## 4. X-macro 代码生成
-
-```plantuml
-@startuml
-== datarouter.h ==
-
--> datarouter_config.h: 获得两组宏列表
-
-datarouter.h -> "1": #define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
-note right: 发送 enum
-
-datarouter.h -> "2": #define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
-note right: 接收 enum
-
-datarouter.h -> "3": #define DATAROUTER_SEND(id,desc) int send_##id(data, len);
-note right: 发送函数声明
-
-datarouter.h -> "4": #define DATAROUTER_RECV(id,desc) void on_recv_##id(...);
-note right: 接收回调声明
-
-== datarouter.c ==
-
-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
-```
-
----
-
-## 5. 数据结构
-
-### 5.1 核心数据类型
-
-```plantuml
-@startuml
-skinparam classAttributeIconSize 0
-
-enum "datarouter_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
-enum "datarouter_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }
-
-class "port_entry_t" as Entry {
-  - int    send_type
-  - datarouter_send_handler_t handlers[]
-  - int    count
-  - uint8_t in_use
-}
-
-class "datarouter_send_handler_t" as Handler {
-  + void (*)(uint32_t port_id, const void *data, size_t len)
-}
-
-class "发送函数" as Send {
-  + int send_sensor(data, len)
-  + int send_status(data, len)
-}
-
-class "接收回调" as Recv {
-  + void on_recv_rtcm(port, data, len)      ← 用户实现
-  + void on_recv_command(port, data, len)
-}
-
-Entry --> S : send_type
-Entry --> Handler : handlers[]
-Send --> Entry : 遍历端口表 → 匹配 send_type → 遍历 handlers
-Recv --> Entry : 用户根据业务调对应回调
-@enduml
-```
-
-### 5.2 `port_entry_t`
-
-```c
-#define DATAROUTER_MAX_HANDLERS_PER_PORT 4
 
 typedef struct {
-    int                       send_type;
+    int                send_type;   // DR_SEND_xxx / -1
-    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
+    int                recv_type;   // DR_RECV_xxx / -1
+    dr_send_handler_t  handlers[DR_MAX_HANDLERS_PER_PORT];
     int                count;
     uint8_t            in_use;
 } port_entry_t;
 ```
 
-### 5.3 端口表
+### 2.2 接收回调函数指针表
 
 ```c
-#define DATAROUTER_MAX_PORTS 64
+// 编译期由 X-macro 生成，DR_RECV_rtcm 的枚举值即为数组下标
-static port_entry_t ports[DATAROUTER_MAX_PORTS];
+static void (*const recv_table[DR_RECV_CAP_COUNT])(uint32_t, const void*, size_t) = {
+    dr_on_recv_rtcm,
+    dr_on_recv_command,
+};
+```
+
+### 2.3 端口表
+
+```c
+#define DR_MAX_PORTS 64
+static port_entry_t ports[DR_MAX_PORTS];
 static uint8_t      initialized;
 ```
 
 ---
 
-## 6. API 参考
+## 3. API
 
-### 6.1 初始化
+### 3.1 端口管理
 
 ```c
-void datarouter_init(void);    // 幂等初始化
+dr_port_t dr_port_create(void);
-void datarouter_reset(void);   // 重置全部状态
+void      dr_port_delete(dr_port_t port);
+
+void      dr_port_set_send_type(port, int cap_id);
+int       dr_port_get_send_type(port);
+void      dr_port_set_recv_type(port, int cap_id);
+int       dr_port_get_recv_type(port);
+
+int       dr_port_add_handler(port, handler);
+int       dr_port_remove_handler(port, handler);
+void      dr_port_clear_handlers(port);
+int       dr_port_handler_count(port);
+
+void      dr_port_dispatch(port, data, len);  // ← 自动路由接收
 ```
 
-### 6.2 端口管理
+### 3.2 发送触发
 
 ```c
-datarouter_port_t datarouter_port_create(void);
+int dr_send_sensor(const void *data, size_t len);
-void  datarouter_port_delete(datarouter_port_t port);
+int dr_send_status(const void *data, size_t len);
-
-void  datarouter_port_set_send_type(port, int cap_id);
-int   datarouter_port_get_send_type(port);
-
-int   datarouter_port_add_handler(port, handler);
-int   datarouter_port_remove_handler(port, handler);
-void  datarouter_port_clear_handlers(port);
-int   datarouter_port_handler_count(port);
 ```
 
-### 6.3 发送触发函数（每个 SEND 能力生成一个）
+返回值：0 成功 / -1 未初始化 / -2 无匹配端口
+
+### 3.3 接收回调
 
 ```c
-int datarouter_send_sensor(const void *data, size_t len);
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
-int datarouter_send_status(const void *data, size_t len);
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len);
-```
-
-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 datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
-```
-
-库提供弱符号默认空实现。
-
-### 6.5 能力元数据
-
-```c
-int         datarouter_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
-
-int         datarouter_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
 ```
 
 ---
 
-## 7. 核心流程
+## 4. 核心流程
 
-### 7.1 发送流程
+### 4.1 发送
 
 ```plantuml
 @startuml
-actor "应用" as App
+actor App
-participant "datarouter_send_sensor()" as Send
+participant dr_send_sensor as Send
-participant "端口表 ports[]" as Table
+participant ports[] as Table
-participant "handlers[]" as HList
+participant handlers[] as H
-participant "外设" as Dev
 
-App -> Send : send_sensor("temp:25.3", 9)
+App -> Send : send_sensor("temp", 9)
-
+loop for p in 0..MAX_PORTS-1
-group 初始化检查
+  Send -> Table : in_use && send_type == SENSOR ?
-  Send -> Send : initialized?
-  alt 否 → return -1
-  end
-end
-
-group 遍历端口表
-  loop for p in 0..MAX_PORTS-1
-    Send -> Table : ports[p].in_use && ports[p].send_type == SENSOR ?
   alt 匹配
-      loop for h in 0..count-1
+    loop for h in handlers
-        Send -> HList : handlers[h](p, data, len)
+      Send -> H : handlers[h](p, data, len)
-        HList -> Dev : 实际外设写入
-      end
     end
   end
 end
-
+alt 至少调了一次
-alt 至少调了一次 handler
   Send --> App : return 0
-else 无匹配端口
+else 无匹配
   Send --> App : return -2
 end
 @enduml
 ```
 
-### 7.2 接收流程
+### 4.2 接收（dispatch）
 
 ```plantuml
 @startuml
-actor "外设" as Dev
+actor 外设ISR as Dev
-participant "用户分发代码" as Dispatch
+participant dr_port_dispatch as Dispatch
-participant "on_recv_rtcm()" as Callback
+participant recv_table[] as Table
+participant dr_on_recv_rtcm as Cb
 
-Dev -> Dispatch : 收到数据，识别为 rtcm
+Dev -> Dispatch : dispatch(port, data, len)
-Dispatch -> Callback : on_recv_rtcm(port_id, data, len)
+Dispatch -> Table : 查 recv_table[port.recv_type]
-Callback --> Dispatch : void
+Dispatch -> Cb : recv_table[rid](port, data, len)
-@enduml
+Cb --> Dev : void
-```
-
-### 7.3 端口生命周期
-
-```plantuml
-@startuml
-state "空闲" as Idle
-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
-Config --> Config : 切换 send_type\n增删 handler
-Config --> Created : set_send_type(-1) / clear_handlers
-Created --> Idle : port_delete()
-Config --> Idle : port_delete()
-Idle --> Created : 复用 ID
 @enduml
 ```
 
 ---
 
-## 8. 路由场景
+## 5. Dispatch 实现
 
-### 场景 1：sensor 广播到 UART + TCP + CAN
+`dr_port_dispatch` 是零分支的查表路由：
 
 ```c
-datarouter_port_t p1 = datarouter_port_create();
+void dr_port_dispatch(dr_port_t port, const void *data, size_t len)
-datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
+{
-datarouter_port_add_handler(p1, uart_send);
+    if (!initialized) return;
-datarouter_port_add_handler(p1, tcp_send);
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
-
+    int rid = ports[port].recv_type;
-datarouter_port_t p2 = datarouter_port_create();
+    if (rid < 0 || rid >= DR_RECV_CAP_COUNT) return;
-datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
+    recv_table[rid]((uint32_t)port, data, len);  // 直接函数指针调用
-datarouter_port_add_handler(p2, can_send);
-
-datarouter_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：仅接收
-
-```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
-    apply_rtcm_correction(data, len);
 }
-// 外设收到后：datarouter_on_recv_rtcm(port, data, len);
 ```
 
-### 场景 3：运行时移除 handler
+`recv_table[]` 是 `const` 数组，编译期由 X-macro 生成。`DR_RECV_rtcm` 的枚举值等于数组下标，查表时间为 O(1)，无分支预测开销，适合 ISR。
-
-```c
-datarouter_port_remove_handler(p1, tcp_send);
-// 下次 send_sensor 不再触发 tcp
-```
 
 ---
 
-## 9. 弱符号机制
+## 6. 错误码
-
-```plantuml
-@startuml
-package "libDataRouter.a" {
-  component "弱符号\nvoid on_recv_rtcm(...){}" as Weak
-}
-package "用户代码" {
-  component "强符号\nvoid on_recv_rtcm(...){...}" as Strong
-}
-package "最终链接产物" {
-  component "使用用户版本" as Result
-}
-Strong --> Result
-Weak ..> Result : 后备
-@enduml
-```
-
----
-
-## 10. 错误码
 
 | 返回值 | 含义 |
 |:------:|------|
-| 0 | 成功，至少有一个 handler 被调用 |
+| 0 | 成功 |
-| -1 | 库未初始化（未调 init） |
+| -1 | 库未初始化 |
-| -2 | 无端口匹配该 send_type（或匹配端口均无 handler） |
+| -2 | 无端口匹配该 send_type |
 
 ---
 
-## 11. 配置扩展
+## 7. 约束
-
-```c
-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data")  \
-    DATAROUTER_SEND(debug,  "Debug log")   /* 新增 */
-
-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm, "RTCM data")       \
-    DATAROUTER_RECV(ota,  "OTA firmware")   /* 新增 */
-```
-
-```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
-```
-
----
-
-## 12. 约束
 
 | 约束 | 说明 |
 |------|------|

README.md

@@ -1,15 +1,16 @@
 # 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**，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动广播到所有匹配端口。
+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` + `recv_type` + handler 列表。发送时自动广播到所有匹配端口，接收时 `dr_port_dispatch()` 自动路由到对应回调。
 
 ## 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>(data, len)` |
+| **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，生成 `datarouter_on_recv_<id>(port, data, len)` |
+| **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)** | 运行期创建的连接点，包含 `send_type` + handler 列表 |
+| **端口** | 运行期连接点，包含 `send_type` + `recv_type` + handler 列表 |
 | **Handler** | 用户实现的物理外设发送函数，一个端口可注册多个（默认上限 4） |
+| **Dispatch** | `dr_port_dispatch(port, data, len)` 根据端口的 `recv_type` 自动路由到回调 |
 
 ## 快速开始
 
@@ -18,60 +19,43 @@
 创建自己的 `datarouter_config.h`（可参考 `datarouter_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")
 ```
 
-> 库自带默认配置。将你的 `datarouter_config.h` 放到项目目录，
+### 2. 实现 handler 和回调
-> 编译时添加 `-I /path/to/your/config` 即可覆盖。无需修改库源码。
->
-> ```cmake
-> include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR})
-> add_subdirectory(path/to/DataRouter)
-> target_link_libraries(my_app DataRouter)
-> ```
-
-### 2. 实现外设发送 handler
 
 ```c
-static void uart_send(uint32_t port_id, const void *data, size_t len) {
+static void uart_write(uint32_t port_id, const void *data, size_t len) {
     HAL_UART_Transmit(&huart1, data, len, 1000);
 }
 
-static void tcp_send(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) {
-    send(tcp_socket, data, len, 0);
+    apply_rtcm_correction(data, len);
 }
 ```
 
 ### 3. 创建端口
 
 ```c
-datarouter_init();
+dr_init();
 
-/* —— 传感器上报：sensor 报文走 UART + TCP —— */
+dr_port_t uart = dr_port_create();
-datarouter_port_t tx = datarouter_port_create();
+dr_port_set_send_type(uart, DR_SEND_sensor);
-datarouter_port_set_send_type(tx, DATAROUTER_SEND_sensor);
+dr_port_set_recv_type(uart, DR_RECV_rtcm);
-datarouter_port_add_handler(tx, uart_send);
+dr_port_add_handler(uart, uart_write);
-datarouter_port_add_handler(tx, tcp_send);
+dr_port_add_handler(uart, tcp_write);
 
-/* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */
+/* 发送：自动广播到所有 send_type=sensor 的端口 */
-datarouter_send_sensor("temperature:25.3", 16);  // → UART + TCP
+dr_send_sensor("temperature:25.3", 16);
 
-/* —— 接收：实现回调，外设数据到达后自行调用 —— */
+/* 接收：外设中断中一行 dispatch，自动调 dr_on_recv_rtcm() */
-datarouter_on_recv_rtcm(rx_port, data, len);
+dr_port_dispatch(uart, data, len);
-```
-
-### 4. 实现接收回调
-
-```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
-    apply_rtcm_correction(data, len);
-}
 ```
 
 ## API 一览
@@ -79,83 +63,68 @@ void datarouter_on_recv_rtcm(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);
-void datarouter_reset(void);   // 重置全部状态
+void dr_reset(void);
 ```
 
 ### 端口管理
 
 ```c
-datarouter_port_t datarouter_port_create(void);          // 创建端口
+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 = 未设置
+int   dr_port_get_send_type(port);
+void  dr_port_set_recv_type(port, int cap_id);
+int   dr_port_get_recv_type(port);
 
-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);               // 当前数量
+int   dr_port_handler_count(port);
+
+void  dr_port_dispatch(port, data, len);  /* 自动路由接收 */
 ```
 
-### 发送触发（每个 SEND 能力生成一个）
+### 发送触发
 
 ```c
-int datarouter_send_sensor(const void *data, size_t len);   // 0 成功
+int dr_send_sensor(const void *data, size_t len);   // 0 成功
-int datarouter_send_status(const void *data, size_t len);   // -1 未初始化
+int dr_send_status(const void *data, size_t len);   // -1 未初始化
                                                      // -2 无匹配端口
 ```
 
-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
-
-### 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。
+### 能力元数据
-
-### 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
 
 ```
-datarouter_send_sensor("temperature:25.3", 16)
+发送：dr_send_sensor("temp:25.3", 9)
   │
-  ├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART
+  ├─→ port A (send_type=sensor) handlers = [uart_write, tcp_write]
-  │                           handlers[1]=tcp_send → TCP
+  └─→ port B (send_type=sensor) handlers = [can_write]
-  └─→ port 1 (send_type=sensor) handlers[0]=can_send  → CAN
-```
 
-- 调用 `send_<id>(data, len)` 时，库遍历所有端口，自动匹配 `send_type`
+接收：dr_port_dispatch(uart1, data, len)
-- 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）
+  └─→ uart1.recv_type = DR_RECV_rtcm
-- 运行时通过 `add_handler` / `remove_handler` / `port_delete` 动态改变路由
+      └─→ dr_on_recv_rtcm(uart1, data, len)   ← 查表调用
-- 无任何端口匹配该 `send_type` 时返回 -2
-
-## 编译
-
-```bash
-cmake -S . -B build
-cmake --build build
-```
-
-可选配置：
-
-```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
 ```
 
 ## 测试
@@ -163,27 +132,7 @@ cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_
 ```bash
 cmake --build build
 ctest --test-dir build
-# 或直接运行
 ./build/test_datarouter
 ```
 
-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。
+当前 24 个测试用例，覆盖端口管理、send_type/recv_type、handler、自动广播、dispatch、能力元数据。
-
-## 文件结构
-
-```
-datarouter_config.h             发送 + 接收能力配置（用户可覆盖）
-datarouter.h                    公共 API + X-macro 展开
-datarouter.c                    实现（端口表 + send 遍历）
-datarouter_config_template.h    外部配置模板
-example.c                       使用示例
-tests/test_datarouter.c         单元测试（22 用例）
-DESIGN.md                       详细设计文档（含 PlantUML 图）
-TEST_CASES.md                   测试用例文档
-```
-
-## 依赖
-
-- C11 编译器
-- CMake ≥ 3.10
-- 无第三方库依赖

TEST_CASES.md

@@ -26,63 +26,65 @@ ctest --test-dir build
 
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 1 | `error_uninit` | 未 init 时发送 | `send_sensor("d", 1)` | 返回 -1 |
+| 1 | `error_uninit` | 未 init 时发送 | `dr_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 |
+| 2 | `port_create_basic` | 基本创建 | `dr_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 | 循环到满 | 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 | 新建端口，查 send_type / handler count | `send_type=-1`, `count=0` |
+| 5 | `port_default_state` | 默认状态 | 查 send_type / recv_type / count | 均为 -1 / 0 |
 
-### 3. send_type 与 handler（3 个）
+### 3. send_type / recv_type / handler（4 个）
 
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 6 | `send_type_set_get` | 设置并清除 send_type | `set_send_type(sensor)` → `get` → `set(-1)` → `get` | sensor → -1 |
+| 6 | `send_type_set_clear` | 设置并清除 send_type | set(sensor) → get → set(-1) → get | sensor → -1 |
-| 7 | `handler_add_remove` | 添加后移除 handler | add(h) count=1 → remove(h) count=0 | count 正确 |
+| 7 | `recv_type_set_clear` | 设置并清除 recv_type | set(rtcm) → get → set(-1) → get | rtcm → -1 |
-| 8 | `handler_clear` | 清除全部 handler | add → clear | count == 0 |
+| 8 | `types_independent` | 收发类型独立设置 | 同时 set_send(sensor) + set_recv(command) | 各自返回正确值 |
+| 9 | `handler_add_remove` | 添加后移除 handler | add(h) → count=1 → remove(h) → count=0 | 正确 |
 
-### 4. 发送 — 自动广播（11 个）
+### 4. 发送 — 自动广播（7 个）
 
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 9 | `send_no_match_port` | 无匹配端口 | 不创建任何端口，直接 `send_sensor` | 返回 -2 |
+| 10 | `send_no_match_port` | 无匹配端口 | 不创建端口直接 send | 返回 -2 |
-| 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_one_handler` | 单端口单 handler | send_type + add → send | 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` | 两端口同类型 | p1(sensor) + p2(sensor) → 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_type_filter` | 类型过滤 | p1(sensor) + p2(status) → send_sensor | 只触发 p1 |
-| 13 | `send_multi_port_multi_handler` | 多端口多 handler | p1(h,h2) + p2(h3) → send | handler 3 次 |
+| 14 | `send_after_delete` | 删除端口后 send | 创建→设好→删除→send | 返回 -2 |
-| 14 | `send_type_filter` | 类型过滤 | p1(sensor,h) + p2(status,h) → `send_sensor` | 只触发 p1 |
+| 15 | `send_zero_length` | 零长度数据 | send("x", 0) | 0，handler 被调 |
-| 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_null_data` | NULL 数据 | send(NULL, 0) | 0，handler 被调 |
-| 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. 接收回调（1 个）
+### 5. 接收回调 + dispatch（6 个）
 
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 20 | `recv_callback` | 用户实现接收回调 | `on_recv_rtcm(0, "d", 1)` | 回调被触发 |
+| 17 | `recv_callback_direct` | 直接调用回调 | `dr_on_recv_rtcm()` + `dr_on_recv_command()` | 各自触发 |
+| 18 | `dispatch_valid` | dispatch 自动路由 rtcm | set_recv(rtcm) → dispatch(port, data) | dr_on_recv_rtcm 触发 |
+| 19 | `dispatch_command` | dispatch 自动路由 command | set_recv(command) → dispatch(port, data) | dr_on_recv_command 触发 |
+| 20 | `dispatch_unset` | recv_type 未设置 | recv_type=-1 → dispatch | 无回调触发 |
+| 21 | `dispatch_invalid_port` | 无效端口 dispatch | dispatch(999/-1, ...) | 无回调触发 |
+| 22 | `dispatch_deleted_port` | 已删端口 dispatch | 创建→设置→删除→dispatch | 无回调触发 |
 
 ### 6. 能力元数据（2 个）
 
 | # | 测试名 | 描述 | 步骤 | 预期 |
 |---|--------|------|------|------|
-| 21 | `send_cap_meta` | 发送能力元数据 | count / name / desc / 边界 | SEND 两组正确 |
+| 23 | `send_cap_meta` | 发送能力元数据 | count / name / 边界 | 正确 |
-| 22 | `recv_cap_meta` | 接收能力元数据 | count / name / desc / 边界 | RECV 两组正确 |
+| 24 | `recv_cap_meta` | 接收能力元数据 | count / name / 边界 | 正确 |
 
 ## 覆盖矩阵
 
 | 功能模块 | 用例数 | 主要验证点 |
 |----------|:------:|------------|
 | 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 |
+| 端口管理 | 4 | 创建/满容量/删除/默认状态 |
-| send_type & handler | 3 | 设置/清除/添加/移除/清空 |
+| 收发类型 & handler | 4 | send_type/recv_type 独立设置、handler 增删 |
-| 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 |
+| 发送自动广播 | 7 | 单播/多播/过滤/删除后/零长/NULL |
-| 接收回调 | 1 | 用户实现覆盖弱符号 |
+| 接收 dispatch | 6 | 直接回调/有效路由/无效路由/未设置/无效端口/已删除 |
-| 能力元数据 | 2 | SEND 与 RECV 两组独立查询 |
+| 能力元数据 | 2 | 两组独立查询 |
 
-**总计：22 个测试用例**
+**总计：24 个测试用例**

build/DataRouterConfig.cmake

@@ -0,0 +1,51 @@
+
+####### 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(${_NAME}_FOUND FALSE)
+      endif()
+    endif()
+  endforeach()
+endmacro()
+
+####################################################################################
+
+get_filename_component(DataRouter_INCLUDE_DIR
+    "${CMAKE_CURRENT_LIST_DIR}/../../../include" ABSOLUTE)
+get_filename_component(DataRouter_LIBRARY_DIR
+    "${CMAKE_CURRENT_LIST_DIR}/../../../lib" ABSOLUTE)
+
+include("${CMAKE_CURRENT_LIST_DIR}/DataRouterTargets.cmake" OPTIONAL)
+
+# 无论 targets 文件是否加载，都覆盖 include 路径为正确值
+# （targets 文件中的 _IMPORT_PREFIX 在某些平台/工具链下可能计算异常）
+if(TARGET DataRouter)
+    set_target_properties(DataRouter PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${DataRouter_INCLUDE_DIR}"
+    )
+    if(NOT TARGET DataRouter::DataRouter)
+        add_library(DataRouter::DataRouter ALIAS DataRouter)
+    endif()
+else()
+    add_library(DataRouter::DataRouter STATIC IMPORTED)
+    set_target_properties(DataRouter::DataRouter PROPERTIES
+        IMPORTED_LOCATION "${DataRouter_LIBRARY_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}DataRouter${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        INTERFACE_INCLUDE_DIRECTORIES "${DataRouter_INCLUDE_DIR}"
+    )
+endif()
+
+check_required_components(DataRouter)

cmake/DataRouterConfig.cmake.in

@@ -1,11 +1,22 @@
 @PACKAGE_INIT@
 
-set_and_check(DataRouter_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+get_filename_component(DataRouter_INCLUDE_DIR
-set_and_check(DataRouter_LIBRARY_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+    "${CMAKE_CURRENT_LIST_DIR}/../../../include" ABSOLUTE)
+get_filename_component(DataRouter_LIBRARY_DIR
+    "${CMAKE_CURRENT_LIST_DIR}/../../../lib" ABSOLUTE)
 
 include("${CMAKE_CURRENT_LIST_DIR}/DataRouterTargets.cmake" OPTIONAL)
 
-if(NOT TARGET DataRouter::DataRouter)
+# 无论 targets 文件是否加载，都覆盖 include 路径为正确值
+# （targets 文件中的 _IMPORT_PREFIX 在某些平台/工具链下可能计算异常）
+if(TARGET DataRouter)
+    set_target_properties(DataRouter PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${DataRouter_INCLUDE_DIR}"
+    )
+    if(NOT TARGET DataRouter::DataRouter)
+        add_library(DataRouter::DataRouter ALIAS DataRouter)
+    endif()
+else()
     add_library(DataRouter::DataRouter STATIC IMPORTED)
     set_target_properties(DataRouter::DataRouter PROPERTIES
         IMPORTED_LOCATION "${DataRouter_LIBRARY_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}DataRouter${CMAKE_STATIC_LIBRARY_SUFFIX}"

datarouter.c

@@ -6,70 +6,79 @@
 #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;
-    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
+    int                       recv_type;
+    dr_send_handler_t         handlers[DR_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;
 
 /* ---- 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
 };
 
 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
+};
+
+/* ---- 接收回调函数指针表（dispatch 查表用） ---- */
+
+static void (*const recv_table[DR_RECV_CAP_COUNT])(uint32_t, const void*, size_t) = {
+#define DR_RECV(id, desc) dr_on_recv_##id,
+    DR_RECV_CAPABILITIES
+#undef DR_RECV
 };
 
 /* ---- 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; }
-DATAROUTER_RECV_CAPABILITIES
+DR_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#undef DR_RECV
 
 /* ---- 发送触发函数 ---- */
 
-#define DATAROUTER_SEND(id, desc) \
+#define DR_SEND(id, desc) \
-    int datarouter_send_##id(const void *data, size_t len) \
+    int dr_send_##id(const void *data, size_t len) \
     { \
         if (!initialized) return -1; \
         int called = 0; \
-        for (uint32_t _p = 0; _p < DATAROUTER_MAX_PORTS; _p++) { \
+        for (uint32_t _p = 0; _p < DR_MAX_PORTS; _p++) { \
             if (!ports[_p].in_use) continue; \
-            if (ports[_p].send_type != DATAROUTER_SEND_##id) continue; \
+            if (ports[_p].send_type != DR_SEND_##id) continue; \
             for (int _h = 0; _h < ports[_p].count; _h++) { \
                 ports[_p].handlers[_h](_p, data, len); \
                 called = 1; \
@@ -77,74 +86,98 @@ DATAROUTER_RECV_CAPABILITIES
         } \
         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;
 }
 
-int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler)
+void dr_port_set_recv_type(dr_port_t port, int cap_id)
+{
+    if (!initialized) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
+    ports[port].recv_type = cap_id;
+}
+
+int dr_port_get_recv_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;
-    if (ports[port].count >= DATAROUTER_MAX_HANDLERS_PER_PORT) return -2;
+    return ports[port].recv_type;
+}
+
+void dr_port_dispatch(dr_port_t port, const void *data, size_t len)
+{
+    if (!initialized) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
+    int rid = ports[port].recv_type;
+    if (rid < 0 || rid >= DR_RECV_CAP_COUNT) return;
+    recv_table[rid]((uint32_t)port, data, len);
+}
+
+int dr_port_add_handler(dr_port_t port, dr_send_handler_t handler)
+{
+    if (!initialized) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
+    if (ports[port].count >= DR_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];
@@ -154,26 +187,26 @@ 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) { return DATAROUTER_SEND_CAP_COUNT; }
+int dr_send_cap_count(void) { return DR_SEND_CAP_COUNT; }
-const char *datarouter_send_cap_name(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_names[c]; }
+const char *dr_send_cap_name(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_names[c]; }
-const char *datarouter_send_cap_desc(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_descs[c]; }
+const char *dr_send_cap_desc(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_descs[c]; }
 
-int datarouter_recv_cap_count(void) { return DATAROUTER_RECV_CAP_COUNT; }
+int dr_recv_cap_count(void) { return DR_RECV_CAP_COUNT; }
-const char *datarouter_recv_cap_name(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_names[c]; }
+const char *dr_recv_cap_name(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_names[c]; }
-const char *datarouter_recv_cap_desc(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_descs[c]; }
+const char *dr_recv_cap_desc(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_descs[c]; }

datarouter.h

@@ -4,20 +4,23 @@
  *
  * ## 概念
  *
- * - **发送能力**：编译期声明的可发送报文类型，生成 datarouter_send_<id>(data, len)
+ * - **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**：编译期声明的可接收报文类型，生成 datarouter_on_recv_<id>(port, data, len)
+ * - **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**：运行期创建的连接点，包含 send_type + handler 列表
+ * - **端口**：运行期连接点，包含 send_type + recv_type + handler 列表
  *
- * ## 路由
+ * ## 发送路由
  *
- * 调用 datarouter_send_<id>(data, len) 时，库遍历所有端口，
+ * dr_send_<id>(data, len) 遍历所有端口，找到 send_type 匹配的端口，
- * 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。
+ * 逐一调用其全部 handler，无需指定从哪个端口发送。
  *
- * 接收侧由用户自行调用 datarouter_on_recv_<id>(port, data, len) 处理外设收到的数据。
+ * ## 接收路由
+ *
+ * 外设（UART / SPI / CAN）收到数据后，调用 dr_port_dispatch(port, data, len)，
+ * 库根据端口的 recv_type 自动查表调用对应的 dr_on_recv_<id>()，无需手动 if/else。
  */
 
-#ifndef DATAROUTER_H
+#ifndef DR_H
-#define DATAROUTER_H
+#define DR_H
 
 #include <stdint.h>
 #include <stddef.h>
@@ -38,75 +41,89 @@ 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 ========== */
 
-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 ========== */
 
-#define DATAROUTER_SEND(id, desc) \
+#define DR_SEND(id, desc) \
-    int datarouter_send_##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 ========== */
 
-#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 dr_port_set_recv_type(dr_port_t port, int cap_id);
+int  dr_port_get_recv_type(dr_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);
+
+/**
+ * @brief 按端口绑定的 recv_type 自动路由到对应的 dr_on_recv_<id>() 回调
+ *
+ * 外设中断中收到数据后调用此函数，无需自己写 if/else 判断报文类型。
+ * 库通过 X-macro 生成函数指针表，直接查表调用，零分支预测开销。
+ *
+ * @param[in] port  接收端口 ID
+ * @param[in] data  数据缓冲区
+ * @param[in] len   数据长度
+ */
+void dr_port_dispatch(dr_port_t port, const void *data, size_t len);
 
 /* ========== 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 */

datarouter_config.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 */

datarouter_config_template.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 */

example.c

@@ -1,73 +1,76 @@
 /**
  * @file example.c
  *
- * 调用 datarouter_send_sensor(data, len) 无需指定端口，
+ * 展示：
- * 库自动广播到所有 send_type=sensor 的端口。
+ *   1. send_type + 多 handler 发送广播
+ *   2. recv_type + dr_port_dispatch 自动路由接收
+ *   3. 外设中断中只需一行 dr_port_dispatch()
  */
 
 #include "datarouter.h"
 #include <stdio.h>
 
-static void uart_send(uint32_t port_id, const void *data, size_t len)
+/* ---- 发送 handler ---- */
+
+static void uart_write(uint32_t port_id, const void *data, size_t len)
 {
     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)
+static void tcp_write(uint32_t port_id, const void *data, size_t len)
 {
     printf("[TCP  port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }
 
-static void can_send(uint32_t port_id, const void *data, size_t len)
+/* ---- 接收回调 ---- */
+
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len)
 {
-    printf("[CAN  port %u] %.*s\n", port_id, (int)len, (const char *)data);
+    printf("[RX:rtcm port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }
 
-void datarouter_on_recv_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);
 }
 
+/* ---- main ---- */
+
 int main(void)
 {
-    datarouter_init();
+    dr_init();
-
-    printf("Capabilities:\n");
-    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));
 
     /*
-     * 创建两个端口，都设 send_type=sensor，各绑不同外设。
+     * 创建端口，配置发送和接收能力。
-     * 调用 datarouter_send_sensor() 时两个端口同时触发。
+     * 一个端口可以同时有 send_type 和 recv_type。
      */
-    datarouter_port_t p1 = datarouter_port_create();
+    dr_port_t uart1 = dr_port_create();
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(uart1, DR_SEND_sensor);
-    datarouter_port_add_handler(p1, uart_send);
+    dr_port_set_recv_type(uart1, DR_RECV_rtcm);
-    datarouter_port_add_handler(p1, tcp_send);
+    dr_port_add_handler(uart1, uart_write);
+    dr_port_add_handler(uart1, tcp_write);
 
-    datarouter_port_t p2 = datarouter_port_create();
+    dr_port_t uart2 = dr_port_create();
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(uart2, DR_SEND_status);
-    datarouter_port_add_handler(p2, can_send);
+    dr_port_set_recv_type(uart2, DR_RECV_command);
+    dr_port_add_handler(uart2, uart_write);
 
-    /* 不指定端口，自动广播到所有 sensor 端口 */
+    /* ---- 发送 ---- */
-    printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\n");
+    printf("--- send sensor (auto-route to uart1) ---\n");
-    datarouter_send_sensor("temperature:25.3", 16);
+    dr_send_sensor("temperature:25.3", 16);
 
-    /* 运行时移除一个 handler，下次发送不再触发它 */
+    printf("\n--- send status (auto-route to uart2) ---\n");
-    printf("\n--- remove TCP handler from p1, resend ---\n");
+    dr_send_status("status:OK", 9);
-    datarouter_port_remove_handler(p1, tcp_send);
-    datarouter_send_sensor("temperature:26.1", 16);
 
-    /* 接收侧：用户自行调用回调 */
+    /* ---- 接收（模拟外设中断） ---- */
-    printf("\n--- recv command ---\n");
+    printf("\n--- UART1 received data → dispatch to rtcm ---\n");
-    datarouter_on_recv_command(0, "reboot", 6);
+    dr_port_dispatch(uart1, "rtcm_data_v3.2", 14);
 
-    /* 删除一个端口，触发时不再走它 */
+    printf("\n--- UART2 received data → dispatch to command ---\n");
-    printf("\n--- delete p2 (CAN), resend ---\n");
+    dr_port_dispatch(uart2, "reboot", 6);
-    datarouter_port_delete(p2);
-    datarouter_send_sensor("temperature:27.0", 16);
 
-    datarouter_port_delete(p1);
+    /* 清理 */
+    dr_port_delete(uart1);
+    dr_port_delete(uart2);
     return 0;
 }

tests/test_datarouter.c

@@ -16,14 +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)                                   \
@@ -52,23 +52,27 @@ cleanup:                                                            \
     } while (0)
 
 /* ================================================================
- *  测试用 handler
+ *  测试用 handler / 回调
  * ================================================================ */
 
 static int  _h_cnt;
-static int  _h_port[16];
+static void _h(uint32_t p, const void *d, size_t l) { (void)p; (void)d; (void)l; _h_cnt++; }
-static int  _h_pos;
+static void reset_h(void) { _h_cnt = 0; }
-static void _h(uint32_t p, const void *d, size_t l) { (void)d; (void)l; _h_cnt++; if (_h_pos<16) _h_port[_h_pos++]=p; }
+
-static void _h2(uint32_t p, const void *d, size_t l) { (void)d; (void)l; _h_cnt++; if (_h_pos<16) _h_port[_h_pos++]=p; }
+static int _rx_rtcm;
-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 int _rx_cmd;
-static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
+void dr_on_recv_rtcm(uint32_t p, const void *d, size_t l)
+    { (void)p; (void)d; (void)l; _rx_rtcm++; }
+void dr_on_recv_command(uint32_t p, const void *d, size_t l)
+    { (void)p; (void)d; (void)l; _rx_cmd++; }
+static void reset_rx(void) { _rx_rtcm = _rx_cmd = 0; }
 
 /* ================================================================
  *  1. 未初始化
  * ================================================================ */
 
 TEST_START(error_uninit)
-    CHECK(datarouter_send_sensor("d", 1) == -1, "expected -1");
+    CHECK(dr_send_sensor("d", 1) == -1, "expected -1");
 TEST_END()
 
 /* ================================================================
@@ -82,49 +86,59 @@ 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, NULL);
+    CHECK(dr_port_get_send_type(p) == -1, NULL);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    CHECK(dr_port_get_recv_type(p) == -1, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
 TEST_END()
 
 /* ================================================================
- *  3. send_type 与 handler
+ *  3. send_type / recv_type 与 handler
  * ================================================================ */
 
-TEST_START(send_type_set_get)
+TEST_START(send_type_set_clear)
-    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);
-    datarouter_port_set_send_type(p, -1);
+    dr_port_set_send_type(p, -1);
-    CHECK(datarouter_port_get_send_type(p) == -1, NULL);
+    CHECK(dr_port_get_send_type(p) == -1, NULL);
+TEST_END()
+
+TEST_START(recv_type_set_clear)
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_recv_type(p, DR_RECV_rtcm);
+    CHECK(dr_port_get_recv_type(p) == DR_RECV_rtcm, NULL);
+    dr_port_set_recv_type(p, -1);
+    CHECK(dr_port_get_recv_type(p) == -1, NULL);
+TEST_END()
+
+TEST_START(types_independent)
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_set_recv_type(p, DR_RECV_command);
+    CHECK(dr_port_get_send_type(p) == DR_SEND_sensor, NULL);
+    CHECK(dr_port_get_recv_type(p) == DR_RECV_command, NULL);
 TEST_END()
 
 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) == 0, NULL);
+    CHECK(dr_port_add_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_handler_count(p) == 1, NULL);
+    CHECK(dr_port_handler_count(p) == 1, NULL);
-    CHECK(datarouter_port_remove_handler(p, _h) == 0, NULL);
+    CHECK(dr_port_remove_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
-TEST_END()
-
-TEST_START(handler_clear)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_add_handler(p, _h);
-    datarouter_port_clear_handlers(p);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
 TEST_END()
 
 /* ================================================================
@@ -132,136 +146,128 @@ TEST_END()
  * ================================================================ */
 
 TEST_START(send_no_match_port)
-    /* 没有端口配置该 send_type */
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
-    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
 TEST_END()
 
 TEST_START(send_one_port_one_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);
+    dr_port_add_handler(p, _h);
     reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
     CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
-    CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]);
 TEST_END()
 
-TEST_START(send_one_port_multi_handler)
+TEST_START(send_multi_ports)
-    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);
-    datarouter_port_add_handler(p, _h);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
-    datarouter_port_add_handler(p, _h2);
+    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_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
     CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
 TEST_END()
 
-TEST_START(send_multi_ports_same_type)
-    /* 两个端口同类型，各一个 handler */
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p2, _h);
-    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 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_multi_port_multi_handler)
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p1, _h2);  /* p1 两个 */
-    datarouter_port_add_handler(p2, _h3);  /* p2 一个 */
-    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
-TEST_END()
-
 TEST_START(send_type_filter)
-    /* 两个端口不同类型，只触发匹配的 */
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
+    dr_port_set_send_type(p2, DR_SEND_status);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
+    dr_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p1, _h);
+    dr_port_add_handler(p2, _h);
-    datarouter_port_add_handler(p2, _h);
     reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    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_after_remove_handler)
+TEST_START(send_after_delete)
-    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(); datarouter_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
+    dr_port_delete(p);
-    datarouter_port_remove_handler(p, _h);
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
-    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2 after remove");
-TEST_END()
-
-TEST_START(send_after_delete_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("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("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(NULL, 0) == 0, NULL);
+    CHECK(dr_send_sensor(NULL, 0) == 0, NULL);
     CHECK(_h_cnt == 1, NULL);
 TEST_END()
 
-TEST_START(send_multi_cap)
-    /* 发送 status 不影响 sensor 端口 */
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p2, _h);
-    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
-    CHECK(datarouter_send_status("d", 1) == 0, NULL);
-    CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
-TEST_END()
-
 /* ================================================================
- *  5. 接收回调
+ *  5. 接收回调 + dispatch
  * ================================================================ */
 
-static int _rx_r;
+TEST_START(recv_callback_direct)
-void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
+    /* 直接调用回调（旧方式） */
-    { (void)p; (void)d; (void)l; _rx_r++; }
+    reset_rx();
+    dr_on_recv_rtcm(0, "d", 1);
+    CHECK(_rx_rtcm == 1, "rtcm=%d", _rx_rtcm);
+    dr_on_recv_command(1, "d", 1);
+    CHECK(_rx_cmd == 1, "cmd=%d", _rx_cmd);
+TEST_END()
 
-TEST_START(recv_callback)
+TEST_START(dispatch_valid)
-    _rx_r = 0;
+    /* dr_port_dispatch 自动路由到对应回调 */
-    datarouter_on_recv_rtcm(0, "d", 1);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
-    CHECK(_rx_r == 1, "cnt=%d", _rx_r);
+    dr_port_set_recv_type(p, DR_RECV_rtcm);
+
+    reset_rx();
+    dr_port_dispatch(p, "data", 4);
+    CHECK(_rx_rtcm == 1, "rtcm should fire: %d", _rx_rtcm);
+    CHECK(_rx_cmd == 0, "cmd should not fire: %d", _rx_cmd);
+TEST_END()
+
+TEST_START(dispatch_command)
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_recv_type(p, DR_RECV_command);
+
+    reset_rx();
+    dr_port_dispatch(p, "data", 4);
+    CHECK(_rx_cmd  == 1, "cmd should fire: %d", _rx_cmd);
+    CHECK(_rx_rtcm == 0, "rtcm should not fire: %d", _rx_rtcm);
+TEST_END()
+
+TEST_START(dispatch_unset)
+    /* recv_type 为 -1 时 dispatch 不应调用任何回调 */
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    reset_rx();
+    dr_port_dispatch(p, "data", 4);
+    CHECK(_rx_rtcm == 0, NULL);
+    CHECK(_rx_cmd == 0, NULL);
+TEST_END()
+
+TEST_START(dispatch_invalid_port)
+    reset_rx();
+    dr_port_dispatch(999, "data", 4);
+    dr_port_dispatch(-1, "data", 4);
+    CHECK(_rx_rtcm == 0, NULL);
+    CHECK(_rx_cmd == 0, NULL);
+TEST_END()
+
+TEST_START(dispatch_deleted_port)
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_recv_type(p, DR_RECV_rtcm);
+    dr_port_delete(p);
+    reset_rx();
+    dr_port_dispatch(p, "data", 4);
+    CHECK(_rx_rtcm == 0, "deleted should not fire");
+    _fix.count--;
 TEST_END()
 
 /* ================================================================
@@ -269,26 +275,22 @@ TEST_END()
  * ================================================================ */
 
 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(dr_send_cap_name(-1) == 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(dr_recv_cap_name(-1) == NULL, NULL);
-    CHECK(datarouter_recv_cap_name(-1) == NULL, NULL);
-    CHECK(datarouter_recv_cap_desc(99) == NULL, NULL);
 TEST_END()
 
 /* ================================================================
  *  主函数
  * ================================================================ */
 
-#define RUN(name) do { reset_h(); _rx_r = 0; test_##name(); } while (0)
+#define RUN(name) do { reset_h(); reset_rx(); test_##name(); } while (0)
 
 int main(void)
 {
@@ -297,7 +299,7 @@ int main(void)
     printf("[uninitialized]\n");
     RUN(error_uninit);
 
-    datarouter_init();
+    dr_init();
 
     printf("\n[port management]\n");
     RUN(port_create_basic);
@@ -306,29 +308,31 @@ int main(void)
     RUN(port_default_state);
     printf("\n");
 
-    datarouter_reset(); datarouter_init();
+    dr_reset(); dr_init();
-    printf("[send_type & handler]\n");
+    printf("[send_type / recv_type / handler]\n");
-    RUN(send_type_set_get);
+    RUN(send_type_set_clear);
+    RUN(recv_type_set_clear);
+    RUN(types_independent);
     RUN(handler_add_remove);
-    RUN(handler_clear);
     printf("\n");
 
     printf("[send — auto broadcast]\n");
     RUN(send_no_match_port);
     RUN(send_one_port_one_handler);
-    RUN(send_one_port_multi_handler);
+    RUN(send_multi_ports);
-    RUN(send_multi_ports_same_type);
-    RUN(send_multi_port_multi_handler);
     RUN(send_type_filter);
-    RUN(send_after_remove_handler);
+    RUN(send_after_delete);
-    RUN(send_after_delete_port);
     RUN(send_zero_length);
     RUN(send_null_data);
-    RUN(send_multi_cap);
     printf("\n");
 
-    printf("[receive callback]\n");
+    printf("[receive — dispatch]\n");
-    RUN(recv_callback);
+    RUN(recv_callback_direct);
+    RUN(dispatch_valid);
+    RUN(dispatch_command);
+    RUN(dispatch_unset);
+    RUN(dispatch_invalid_port);
+    RUN(dispatch_deleted_port);
     printf("\n");
 
     printf("[capability metadata]\n");