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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

Merged
7iwind merged 1 commits from feature/route into develop 2026-07-26 23:34:53 +08:00
Conversation 0 Commits 1 Files Changed 16
+773 -440
16 changed files with 773 additions and 440 deletions
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.gitea/workflows/ci.yml
+34
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@@ -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 $(nproc)
.gitea/workflows/release.yml
+61 -4
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@@ -11,16 +11,67 @@ jobs:
with: with:
fetch-depth: 0 fetch-depth: 0
- name: Verify merge commit # ── 自动标签：从合并进来的 PR body 提取 v*.*.* ──
- name: Auto-tag from merged PR
id: autotag
run: | run: |
PARENTS=$(git log --format="%P" -1 | wc -w) set -e
[ "$PARENTS" -ge 2 ] || exit 78
# 已有标签 → 跳过
EXISTING=$(git tag --points-at HEAD | grep '^v' | head -n1)
if [ -n "$EXISTING" ]; then
echo "Tag $EXISTING already exists"
echo "tag=$EXISTING" >> "$GITHUB_OUTPUT"
exit 0
fi
# 非 merge commit → 跳过（直接 push 不处理）
PARENTS=$(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)
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: $VERSION"
# 创建本地标签
git config user.email "ci@datarouter"
git config user.name "DataRouter CI"
git tag -a "$VERSION" -m "Release $VERSION"
echo "Created local tag: $VERSION"
# 推送到远端（不会触发本 workflow — 仅匹配 branches: [main]）
git push "https://${TOKEN}@${{ gitea.server_url }}/${{ gitea.repository }}" "$VERSION"
echo "Pushed tag: $VERSION"
echo "tag=$VERSION" >> "$GITHUB_OUTPUT"
# ── 读取标签（已有标签 / auto-tag 创建的标签）──
- name: Read tag from HEAD - name: Read tag from HEAD
id: tag id: tag
run: | run: |
TAG=$(git tag --points-at HEAD | grep '^v' | head -n1) 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" >> "$GITHUB_OUTPUT" echo "tag=$TAG" >> "$GITHUB_OUTPUT"
- name: Install cross-compilers - name: Install cross-compilers
@@ -51,6 +102,12 @@ jobs:
cmake --install "build-$name" --prefix "dist/$pkg" cmake --install "build-$name" --prefix "dist/$pkg"
done done
- name: Cortex-M compile matrix
run: |
cmake -S . -B build-cortex-m -DDR_COMPILE_CHECK=ON
cmake --build build-cortex-m --parallel $(nproc)
echo "--- Cortex-M build matrix: all variants passed ---"
- name: Create release & upload assets - name: Create release & upload assets
run: | run: |
TAG="${{ steps.tag.outputs.tag }}" TAG="${{ steps.tag.outputs.tag }}"
CHANGELOG.md
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@@ -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
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@@ -3,81 +3,69 @@ project(DataRouter C)
set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD 11)
# ======== 静态库 ======== # ── 选项 ──────────────────────────────────────────────────────
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(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 set(DR_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c CACHE INTERNAL "")
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> set(DR_INCLUDES ${CMAKE_CURRENT_SOURCE_DIR} CACHE INTERNAL "")
$<INSTALL_INTERFACE:include>
# ── 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(ARM_MATRIX
"cm3; -mcpu=cortex-m3 -mthumb -mfloat-abi=soft"
"cm4-soft; -mcpu=cortex-m4 -mthumb -mfloat-abi=soft"
"cm4-hard; -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard"
"cm7-soft; -mcpu=cortex-m7 -mthumb -mfloat-abi=soft"
"cm7-hard; -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard"
) )
set_target_properties(DataRouter_shared PROPERTIES OUTPUT_NAME DataRouter) foreach(ENTRY ${ARM_MATRIX})
string(REPLACE ";" "|" ENTRY "${ENTRY}")
string(REPLACE "|" ";" ITEM "${ENTRY}")
list(GET ITEM 0 VARIANT)
list(REMOVE_AT ITEM 0)
string(REPLACE ";" " " FLAGS "${ITEM}")
set(TARGET "check_${VARIANT}")
add_custom_target(${TARGET}
COMMAND ${ARM_GCC} ${FLAGS}
-c ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c
-I${CMAKE_CURRENT_SOURCE_DIR}
-o ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.o
COMMENT "Compile check: ${VARIANT} (${FLAGS})"
)
message(STATUS " compile check: ${VARIANT} (make ${TARGET})")
endforeach()
else()
message(WARNING "arm-none-eabi-gcc not found; skipping ARM compile checks")
endif()
return()
endif() 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 ${CMAKE_CURRENT_SOURCE_DIR})
if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES) if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES)
add_executable(example example.c) add_executable(example example.c)
target_link_libraries(example DataRouter) target_link_libraries(example DataRouter)
endif() endif()
# ======== 测试 ========
if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING) if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
enable_testing() enable_testing()
add_executable(test_datarouter tests/test_datarouter.c) add_executable(test_datarouter tests/test_datarouter.c)
target_link_libraries(test_datarouter DataRouter) target_link_libraries(test_datarouter DataRouter)
add_test(NAME datarouter COMMAND test_datarouter) add_test(NAME datarouter COMMAND test_datarouter)
endif() endif()
# ======== 安装规则 ========
# 静态库 → lib/
install(TARGETS DataRouter
EXPORT DataRouterTargets
ARCHIVE DESTINATION lib
)
# 共享库 → lib/（可选）
if(TARGET DataRouter_shared)
install(TARGETS DataRouter_shared
EXPORT DataRouterTargets
ARCHIVE DESTINATION lib # .lib (Windows import lib)
LIBRARY DESTINATION lib # .so
RUNTIME DESTINATION lib # .dll
)
endif()
# 示例 → bin/
if(TARGET example)
install(TARGETS example RUNTIME DESTINATION bin)
endif()
# 头文件 → include/
install(FILES datarouter.h DESTINATION include)
# 文档 → share/
install(FILES datarouter_config_template.h LICENSE DESTINATION share)
if(EXISTS ${CMAKE_SOURCE_DIR}/README.md)
install(FILES README.md DESTINATION share)
endif()
# CMake 包配置文件 → cmake/
set(INCLUDE_INSTALL_DIR include)
set(LIB_INSTALL_DIR lib)
include(CMakePackageConfigHelpers)
configure_package_config_file(
cmake/DataRouterConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
INSTALL_DESTINATION cmake
PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake DESTINATION cmake)
install(EXPORT DataRouterTargets FILE DataRouterTargets.cmake DESTINATION cmake)
CMakePresets.json
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@@ -0,0 +1,96 @@
{
"version": 3,
"configurePresets": [
{
"name": "default",
"displayName": "Host (native) build",
"description": "Build with host compiler for development, testing, and examples",
"binaryDir": "${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
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@@ -2,14 +2,14 @@
## 1. 设计目标 ## 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 ### 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(data, len) on_recv_rtcm(port, data, len) send_sensor(data, len) on_recv_rtcm(port, data, len)
@@ -28,7 +28,7 @@ DATAROUTER_SEND_CAPABILITIES DATAROUTER_RECV_CAPABILITIES
| 原则 | 说明 | | 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 | | 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 | | 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 | | 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 | | 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 |
@@ -46,7 +46,7 @@ left to right direction
rectangle "用户代码" as User { rectangle "用户代码" as User {
component "应用逻辑\n调 send_<id>(data, len)" as App 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 "dr_config.h\n声明能力" as Cfg
component "外设 handler\nUART / TCP / CAN" as Handlers component "外设 handler\nUART / TCP / CAN" as Handlers
component "接收回调\non_recv_<id>()" as Callbacks component "接收回调\non_recv_<id>()" as Callbacks
} }
@@ -68,7 +68,7 @@ Callbacks --> Impl : 实现 on_recv_<id>
| 文件 | 职责 | | 文件 | 职责 |
|------|------| |------|------|
| `datarouter_config.h` | 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 | | `datarouter.h` | 公共 API + X-macro 展开 |
| `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 | | `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 |
| `example.c` | 使用示例 | | `example.c` | 使用示例 |
@@ -81,29 +81,29 @@ Callbacks --> Impl : 实现 on_recv_<id>
### 3.1 配置声明 ### 3.1 配置声明
```c ```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")
``` ```
### 3.2 展开产物 ### 3.2 展开产物
``` ```
DATAROUTER_SEND_CAPABILITIES 展开： DR_SEND_CAPABILITIES 展开：
enum: sensor = 0, status = 1, SEND_CAP_COUNT = 2 enum: sensor = 0, status = 1, SEND_CAP_COUNT = 2
发送函数: int datarouter_send_sensor(const void *data, size_t len); 发送函数: int dr_send_sensor(const void *data, size_t len);
int datarouter_send_status(const void *data, size_t len); int dr_send_status(const void *data, size_t len);
元数据: send_names[] = {"sensor", "status"} 元数据: send_names[] = {"sensor", "status"}
send_descs[] = {"Sensor data report", "Device status report"} send_descs[] = {"Sensor data report", "Device status report"}
DATAROUTER_RECV_CAPABILITIES 展开： DR_RECV_CAPABILITIES 展开：
enum: rtcm = 0, command = 1, RECV_CAP_COUNT = 2 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); 接收回调: void dr_on_recv_rtcm(uint32_t port, const void*, size_t);
void datarouter_on_recv_command(uint32_t port, const void*, size_t); void dr_on_recv_command(uint32_t port, const void*, size_t);
弱符号默认: 空实现，用户覆盖 弱符号默认: 空实现，用户覆盖
元数据: recv_names[] = {"rtcm", "command"} 元数据: recv_names[] = {"rtcm", "command"}
recv_descs[] = {"RTCM correction data", "Remote control command"} recv_descs[] = {"RTCM correction data", "Remote control command"}
@@ -127,18 +127,18 @@ DATAROUTER_RECV_CAPABILITIES 展开：
@startuml @startuml
== datarouter.h == == datarouter.h ==
-> datarouter_config.h: 获得两组宏列表 -> dr_config.h: 获得两组宏列表
datarouter.h -> "1": #define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id, datarouter.h -> "1": #define DR_SEND(id,desc) DR_SEND_##id,
note right: 发送 enum note right: 发送 enum
datarouter.h -> "2": #define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id, datarouter.h -> "2": #define DR_RECV(id,desc) DR_RECV_##id,
note right: 接收 enum note right: 接收 enum
datarouter.h -> "3": #define DATAROUTER_SEND(id,desc) int send_##id(data, len); datarouter.h -> "3": #define DR_SEND(id,desc) int send_##id(data, len);
note right: 发送函数声明 note right: 发送函数声明
datarouter.h -> "4": #define DATAROUTER_RECV(id,desc) void on_recv_##id(...); datarouter.h -> "4": #define DR_RECV(id,desc) void on_recv_##id(...);
note right: 接收回调声明 note right: 接收回调声明
== datarouter.c == == datarouter.c ==
@@ -159,17 +159,17 @@ datarouter.c -> "7~8": send_names[] / send_descs[] / recv_names[] / recv_descs[]
@startuml @startuml
skinparam classAttributeIconSize 0 skinparam classAttributeIconSize 0
enum "datarouter_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT } enum "dr_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
enum "datarouter_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT } enum "dr_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }
class "port_entry_t" as Entry { class "port_entry_t" as Entry {
- int send_type - int send_type
- datarouter_send_handler_t handlers[] - dr_send_handler_t handlers[]
- int count - int count
- uint8_t in_use - 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) + void (*)(uint32_t port_id, const void *data, size_t len)
} }
@@ -193,11 +193,11 @@ Recv --> Entry : 用户根据业务调对应回调
### 5.2 `port_entry_t` ### 5.2 `port_entry_t`
```c ```c
#define DATAROUTER_MAX_HANDLERS_PER_PORT 4 #define DR_MAX_HANDLERS_PER_PORT 4
typedef struct { typedef struct {
int send_type; int send_type;
datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT]; dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
int count; int count;
uint8_t in_use; uint8_t in_use;
} port_entry_t; } port_entry_t;
@@ -206,8 +206,8 @@ typedef struct {
### 5.3 端口表 ### 5.3 端口表
```c ```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; static uint8_t initialized;
``` ```
@@ -218,30 +218,30 @@ static uint8_t initialized;
### 6.1 初始化 ### 6.1 初始化
```c ```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 ### 6.2 端口管理
```c ```c
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(port, int cap_id); void dr_port_set_send_type(port, int cap_id);
int datarouter_port_get_send_type(port); int dr_port_get_send_type(port);
int datarouter_port_add_handler(port, handler); int dr_port_add_handler(port, handler);
int datarouter_port_remove_handler(port, handler); int dr_port_remove_handler(port, handler);
void datarouter_port_clear_handlers(port); void dr_port_clear_handlers(port);
int datarouter_port_handler_count(port); int dr_port_handler_count(port);
``` ```
### 6.3 发送触发函数（每个 SEND 能力生成一个） ### 6.3 发送触发函数（每个 SEND 能力生成一个）
```c ```c
int datarouter_send_sensor(const void *data, size_t len); int dr_send_sensor(const void *data, size_t len);
int datarouter_send_status(const void *data, size_t len); int dr_send_status(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 返回值：0 成功 / -1 未初始化 / -2 无端口匹配该 send_type
@@ -249,8 +249,8 @@ int datarouter_send_status(const void *data, size_t len);
### 6.4 接收回调（每个 RECV 能力生成一个声明） ### 6.4 接收回调（每个 RECV 能力生成一个声明）
```c ```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。 库提供弱符号默认空实现。
@@ -258,13 +258,13 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
### 6.5 能力元数据 ### 6.5 能力元数据
```c ```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);
``` ```
--- ---
@@ -276,7 +276,7 @@ const char *datarouter_recv_cap_desc(int cap_id);
```plantuml ```plantuml
@startuml @startuml
actor "应用" as App actor "应用" as App
participant "datarouter_send_sensor()" as Send participant "dr_send_sensor()" as Send
participant "端口表 ports[]" as Table participant "端口表 ports[]" as Table
participant "handlers[]" as HList participant "handlers[]" as HList
participant "外设" as Dev participant "外设" as Dev
@@ -349,16 +349,16 @@ Idle --> Created : 复用 ID
### 场景 1：sensor 广播到 UART + TCP + CAN ### 场景 1：sensor 广播到 UART + TCP + CAN
```c ```c
datarouter_port_t p1 = datarouter_port_create(); dr_port_t p1 = dr_port_create();
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_add_handler(p1, uart_send); dr_port_add_handler(p1, uart_send);
datarouter_port_add_handler(p1, tcp_send); dr_port_add_handler(p1, tcp_send);
datarouter_port_t p2 = datarouter_port_create(); dr_port_t p2 = dr_port_create();
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor); dr_port_set_send_type(p2, DR_SEND_sensor);
datarouter_port_add_handler(p2, can_send); dr_port_add_handler(p2, can_send);
datarouter_send_sensor("temp:25.3", 9); dr_send_sensor("temp:25.3", 9);
// → uart_send(p1, "temp:25.3", 9) // → uart_send(p1, "temp:25.3", 9)
// → tcp_send(p1, "temp:25.3", 9) // → tcp_send(p1, "temp:25.3", 9)
// → can_send(p2, "temp:25.3", 9) // → can_send(p2, "temp:25.3", 9)
@@ -367,16 +367,16 @@ datarouter_send_sensor("temp:25.3", 9);
### 场景 2：仅接收 ### 场景 2：仅接收
```c ```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); apply_rtcm_correction(data, len);
} }
// 外设收到后：datarouter_on_recv_rtcm(port, data, len); // 外设收到后：dr_on_recv_rtcm(port, data, len);
``` ```
### 场景 3：运行时移除 handler ### 场景 3：运行时移除 handler
```c ```c
datarouter_port_remove_handler(p1, tcp_send); dr_port_remove_handler(p1, tcp_send);
// 下次 send_sensor 不再触发 tcp // 下次 send_sensor 不再触发 tcp
``` ```
@@ -415,17 +415,17 @@ Weak ..> Result : 后备
## 11. 配置扩展 ## 11. 配置扩展
```c ```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 */ 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 */ DR_RECV(ota, "OTA firmware") /* 新增 */
``` ```
```bash ```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"
``` ```
--- ---
README.md
+99 -43
View File
@@ -1,13 +1,13 @@
# DataRouter # 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` 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 ## 概念
| 术语 | 说明 | | 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 (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>(port, data, len)` | | **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)** | 运行期创建的连接点，包含 `send_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） | | **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） |
@@ -15,19 +15,19 @@
### 1. 声明能力 ### 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 ```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， > 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。无需修改库源码。 > 编译时添加 `-I /path/to/your/config` 即可覆盖。无需修改库源码。
> >
> ```cmake > ```cmake
@@ -51,25 +51,25 @@ static void tcp_send(uint32_t port_id, const void *data, size_t len) {
### 3. 创建端口 ### 3. 创建端口
```c ```c
datarouter_init(); dr_init();
/* —— 传感器上报：sensor 报文走 UART + TCP —— */ /* —— 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);
/* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */ /* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */
datarouter_send_sensor("temperature:25.3", 16); // → UART + TCP dr_send_sensor("temperature:25.3", 16); // → UART + TCP
/* —— 接收：实现回调，外设数据到达后自行调用 —— */ /* —— 接收：实现回调，外设数据到达后自行调用 —— */
datarouter_on_recv_rtcm(rx_port, data, len); dr_on_recv_rtcm(rx_port, data, len);
``` ```
### 4. 实现接收回调 ### 4. 实现接收回调
```c ```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); apply_rtcm_correction(data, len);
} }
``` ```
@@ -79,30 +79,30 @@ void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
### 初始化 ### 初始化
```c ```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 ### 端口管理
```c ```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
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） ### 发送触发（每个 SEND 能力生成一个）
```c ```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 // -2 无匹配端口
``` ```
@@ -111,8 +111,8 @@ int datarouter_send_status(const void *data, size_t len); // -1 未初始化
### 接收回调（每个 RECV 能力生成一个声明） ### 接收回调（每个 RECV 能力生成一个声明）
```c ```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，用户定义同名函数覆盖。
@@ -120,19 +120,19 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
### 能力元数据（两组独立） ### 能力元数据（两组独立）
```c ```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 ## 路由模型
``` ```
datarouter_send_sensor("temperature:25.3", 16) dr_send_sensor("temperature:25.3", 16)
│ │
├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART ├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART
│ handlers[1]=tcp_send → TCP │ handlers[1]=tcp_send → TCP
@@ -155,9 +155,65 @@ cmake --build build
可选配置： 可选配置：
```bash ```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 ${datarouter_SOURCE_DIR})
```
### 编译兼容性矩阵
启用 `DR_COMPILE_CHECK` 可自动检测 `arm-none-eabi-gcc` 并对 CM3/CM4/CM7
各变体执行编译验证：
```bash
cmake -B build-check -DDR_COMPILE_CHECK=ON
cmake --build build-check # 生成 check_cm3, check_cm4-hard, … 等 target
# 或单独检查某个变体：
make check_cm7-hard-dp
```
### 内置 CMake Preset 列表
| Preset | 目标 | FPU | ABI |
|--------|------|-----|-----|
| `cm3` | Cortex-M3 | 无 | soft |
| `cm4-soft` | Cortex-M4 | 无 | soft |
| `cm4-hard` | Cortex-M4F | FPv4-SP-D16 | hard |
| `cm7-soft` | Cortex-M7 | 无 | soft |
| `cm7-hard-sp` | Cortex-M7F | FPv5-SP-D16 | hard |
| `cm7-hard-dp` | Cortex-M7F | FPv5-D16 | hard |
## 测试 ## 测试
```bash ```bash
@@ -172,10 +228,10 @@ ctest --test-dir build
## 文件结构 ## 文件结构
``` ```
datarouter_config.h 发送 + 接收能力配置（用户可覆盖） dr_config.h 发送 + 接收能力配置（用户可覆盖）
datarouter.h 公共 API + X-macro 展开 datarouter.h 公共 API + X-macro 展开
datarouter.c 实现（端口表 + send 遍历） datarouter.c 实现（端口表 + send 遍历）
datarouter_config_template.h 外部配置模板 dr_config_template.h 外部配置模板
example.c 使用示例 example.c 使用示例
tests/test_datarouter.c 单元测试（22 用例） tests/test_datarouter.c 单元测试（22 用例）
DESIGN.md 详细设计文档（含 PlantUML 图） DESIGN.md 详细设计文档（含 PlantUML 图）
build/DataRouterConfig.cmake
+40
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@@ -0,0 +1,40 @@
####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
####### Any changes to this file will be overwritten by the next CMake run ####
####### The input file was DataRouterConfig.cmake.in ########
get_filename_component(PACKAGE_PREFIX_DIR "${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)
build/example
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build/test_datarouter
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datarouter.c
+56 -56
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@@ -6,70 +6,70 @@
#include <string.h> #include <string.h>
#if defined(__GNUC__) || defined(__clang__) #if defined(__GNUC__) || defined(__clang__)
#define DATAROUTER_WEAK __attribute__((weak)) #define DR_WEAK __attribute__((weak))
#else #else
#define DATAROUTER_WEAK #define DR_WEAK
#endif #endif
#ifndef DATAROUTER_MAX_PORTS #ifndef DR_MAX_PORTS
#define DATAROUTER_MAX_PORTS 64 #define DR_MAX_PORTS 64
#endif #endif
typedef struct { typedef struct {
int send_type; int send_type;
datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT]; dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
int count; int count;
uint8_t in_use; uint8_t in_use;
} port_entry_t; } port_entry_t;
static port_entry_t ports[DATAROUTER_MAX_PORTS]; static port_entry_t ports[DR_MAX_PORTS];
static uint8_t initialized; static uint8_t initialized;
/* ---- 元数据 ---- */ /* ---- 元数据 ---- */
static const char *send_names[] = { 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[] = { 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[] = { 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[] = { 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 ---- */ /* ---- 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) \ uint32_t port_id, const void *data, size_t len) \
{ (void)port_id; (void)data; (void)len; } { (void)port_id; (void)data; (void)len; }
DATAROUTER_RECV_CAPABILITIES DR_RECV_CAPABILITIES
#undef DATAROUTER_RECV #undef DR_RECV
/* ---- 发送触发函数 ---- */ /* ---- 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; \ if (!initialized) return -1; \
int called = 0; \ 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].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++) { \ for (int _h = 0; _h < ports[_p].count; _h++) { \
ports[_p].handlers[_h](_p, data, len); \ ports[_p].handlers[_h](_p, data, len); \
called = 1; \ called = 1; \
@@ -77,74 +77,74 @@ DATAROUTER_RECV_CAPABILITIES
} \ } \
return called ? 0 : -2; \ return called ? 0 : -2; \
} }
DATAROUTER_SEND_CAPABILITIES DR_SEND_CAPABILITIES
#undef DATAROUTER_SEND #undef DR_SEND
/* ---- 端口管理 ---- */ /* ---- 端口管理 ---- */
void datarouter_init(void) void dr_init(void)
{ {
if (initialized) return; if (initialized) return;
memset(ports, 0, sizeof(ports)); memset(ports, 0, sizeof(ports));
initialized = 1; initialized = 1;
} }
void datarouter_reset(void) void dr_reset(void)
{ {
initialized = 0; initialized = 0;
memset(ports, 0, sizeof(ports)); 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) { if (!ports[i].in_use) {
ports[i].in_use = 1; ports[i].in_use = 1;
ports[i].send_type = -1; ports[i].send_type = -1;
ports[i].count = 0; 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 (!initialized) return;
if (port < 0 || port >= DATAROUTER_MAX_PORTS) return; if (port < 0 || port >= DR_MAX_PORTS) return;
ports[port].in_use = 0; 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 (!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; 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 (!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; return ports[port].send_type;
} }
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)
{ {
if (!initialized) return -1; 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; if (ports[port].count >= DR_MAX_HANDLERS_PER_PORT) return -2;
for (int i = 0; i < ports[port].count; i++) for (int i = 0; i < ports[port].count; i++)
if (ports[port].handlers[i] == handler) return -3; if (ports[port].handlers[i] == handler) return -3;
ports[port].handlers[ports[port].count++] = handler; ports[port].handlers[ports[port].count++] = handler;
return 0; 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 (!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++) { for (int i = 0; i < ports[port].count; i++) {
if (ports[port].handlers[i] == handler) { if (ports[port].handlers[i] == handler) {
ports[port].handlers[i] = ports[port].handlers[--ports[port].count]; ports[port].handlers[i] = ports[port].handlers[--ports[port].count];
@@ -154,26 +154,26 @@ int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handl
return -2; return -2;
} }
void datarouter_port_clear_handlers(datarouter_port_t port) void dr_port_clear_handlers(dr_port_t port)
{ {
if (!initialized) return; 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; 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 (!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; return ports[port].count;
} }
/* ---- 元数据查询 ---- */ /* ---- 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
+46 -46
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@@ -4,20 +4,20 @@
* *
* ## 概念 * ## 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**：运行期创建的连接点，包含 send_type + handler 列表
* *
* ## 路由 * ## 路由
* *
* 调用 datarouter_send_<id>(data, len) 时，库遍历所有端口， * 调用 dr_send_<id>(data, len) 时，库遍历所有端口，
* 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。 * 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。
* *
* 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。 * 接收侧由用户自行调用 dr_on_recv_<id>(port, data, len) 处理外设收到的数据。
*/ */
#ifndef DATAROUTER_H #ifndef DR_H
#define DATAROUTER_H #define DR_H
#include <stdint.h> #include <stdint.h>
#include <stddef.h> #include <stddef.h>
@@ -38,75 +38,75 @@ extern "C" {
/* ========== 发送能力枚举 ========== */ /* ========== 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 ========== */ /* ========== 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 ========== */ /* ========== 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 #endif
/* ========== 发送触发函数 ========== */ /* ========== 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 ========== */ /* ========== 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 ========== */ /* ========== 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);
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 ========== */ /* ========== 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 #ifdef __cplusplus
} }
#endif #endif
#endif /* DATAROUTER_H */ #endif /* DR_H */
datarouter_config.h
+16 -16
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@@ -6,35 +6,35 @@
* 用户可自定义此文件以实现自己的报文类型： * 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 * 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 * 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。 * 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 * @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 * @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
+22 -22
View File
@@ -4,48 +4,48 @@
* *
* 使用方法： * 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 * 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 * 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 * 4. 库将自动使用你的配置，无需修改库源代码
* *
* 格式说明： * 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。 * 标识符只能包含字母、数字、下划线。
* 描述为字符串字面量。 * 描述为字符串字面量。
* *
* 示例配置： * 示例配置：
* // 传感器设备：只需发送 * // 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 * // 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 * // 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 ========== */ /* ========== 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 ========== */ /* ========== 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
+20 -20
View File
@@ -1,7 +1,7 @@
/** /**
* @file example.c * @file example.c
* *
* 调用 datarouter_send_sensor(data, len) 无需指定端口， * 调用 dr_send_sensor(data, len) 无需指定端口，
* 库自动广播到所有 send_type=sensor 的端口。 * 库自动广播到所有 send_type=sensor 的端口。
*/ */
@@ -23,51 +23,51 @@ static void can_send(uint32_t port_id, const void *data, size_t len)
printf("[CAN port %u] %.*s\n", port_id, (int)len, (const char *)data); printf("[CAN port %u] %.*s\n", port_id, (int)len, (const char *)data);
} }
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) int main(void)
{ {
datarouter_init(); dr_init();
printf("Capabilities:\n"); printf("Capabilities:\n");
for (int i = 0; i < datarouter_send_cap_count(); i++) for (int i = 0; i < dr_send_cap_count(); i++)
printf(" SEND [%d] %s - %s\n", 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));
/* /*
* 创建两个端口，都设 send_type=sensor，各绑不同外设。 * 创建两个端口，都设 send_type=sensor，各绑不同外设。
* 调用 datarouter_send_sensor() 时两个端口同时触发。 * 调用 dr_send_sensor() 时两个端口同时触发。
*/ */
datarouter_port_t p1 = datarouter_port_create(); dr_port_t p1 = dr_port_create();
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_add_handler(p1, uart_send); dr_port_add_handler(p1, uart_send);
datarouter_port_add_handler(p1, tcp_send); dr_port_add_handler(p1, tcp_send);
datarouter_port_t p2 = datarouter_port_create(); dr_port_t p2 = dr_port_create();
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor); dr_port_set_send_type(p2, DR_SEND_sensor);
datarouter_port_add_handler(p2, can_send); dr_port_add_handler(p2, can_send);
/* 不指定端口，自动广播到所有 sensor 端口 */ /* 不指定端口，自动广播到所有 sensor 端口 */
printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\n"); printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\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 */ /* 运行时移除一个 handler，下次发送不再触发它 */
printf("\n--- remove TCP handler from p1, resend ---\n"); printf("\n--- remove TCP handler from p1, resend ---\n");
datarouter_port_remove_handler(p1, tcp_send); dr_port_remove_handler(p1, tcp_send);
datarouter_send_sensor("temperature:26.1", 16); dr_send_sensor("temperature:26.1", 16);
/* 接收侧：用户自行调用回调 */ /* 接收侧：用户自行调用回调 */
printf("\n--- recv command ---\n"); printf("\n--- recv command ---\n");
datarouter_on_recv_command(0, "reboot", 6); dr_on_recv_command(0, "reboot", 6);
/* 删除一个端口，触发时不再走它 */ /* 删除一个端口，触发时不再走它 */
printf("\n--- delete p2 (CAN), resend ---\n"); printf("\n--- delete p2 (CAN), resend ---\n");
datarouter_port_delete(p2); dr_port_delete(p2);
datarouter_send_sensor("temperature:27.0", 16); dr_send_sensor("temperature:27.0", 16);
datarouter_port_delete(p1); dr_port_delete(p1);
return 0; return 0;
} }
tests/test_datarouter.c
+98 -98
View File
@@ -16,14 +16,14 @@ static const char *_cur_name;
#define FIXTURE_MAX 16 #define FIXTURE_MAX 16
typedef struct { typedef struct {
datarouter_port_t ports[FIXTURE_MAX]; dr_port_t ports[FIXTURE_MAX];
int count; int count;
} fixture_t; } fixture_t;
#define FIXTURE_INIT(f) memset((f), 0, sizeof(*(f))) #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_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) \ #define TEST_START(name) \
static void test_##name(void) \ static void test_##name(void) \
@@ -68,7 +68,7 @@ static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
* ================================================================ */ * ================================================================ */
TEST_START(error_uninit) TEST_START(error_uninit)
CHECK(datarouter_send_sensor("d", 1) == -1, "expected -1"); CHECK(dr_send_sensor("d", 1) == -1, "expected -1");
TEST_END() TEST_END()
/* ================================================================ /* ================================================================
@@ -82,22 +82,22 @@ TEST_END()
TEST_START(port_create_max) TEST_START(port_create_max)
int c = 0; int c = 0;
for (int i = 0; i < 64; i++) { 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++; FIXTURE_PUSH(&_fix, p); c++;
} }
CHECK(c >= 64, "got %d", 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_END()
TEST_START(port_delete_invalid) TEST_START(port_delete_invalid)
datarouter_port_delete(-1); datarouter_port_delete(999); dr_port_delete(-1); dr_port_delete(999);
TEST_END() TEST_END()
TEST_START(port_default_state) 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_handler_count(p) == 0, NULL);
TEST_END() TEST_END()
/* ================================================================ /* ================================================================
@@ -105,26 +105,26 @@ TEST_END()
* ================================================================ */ * ================================================================ */
TEST_START(send_type_set_get) 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);
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_END()
TEST_START(handler_add_remove) 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_END()
TEST_START(handler_clear) 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() TEST_END()
/* ================================================================ /* ================================================================
@@ -133,39 +133,39 @@ TEST_END()
TEST_START(send_no_match_port) TEST_START(send_no_match_port)
/* 没有端口配置该 send_type */ /* 没有端口配置该 send_type */
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2"); CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
TEST_END() TEST_END()
TEST_START(send_one_port_one_handler) 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(); 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_cnt == 1, "cnt=%d", _h_cnt);
CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]); CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]);
TEST_END() TEST_END()
TEST_START(send_one_port_multi_handler) 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); dr_port_add_handler(p, _h);
datarouter_port_add_handler(p, _h2); dr_port_add_handler(p, _h2);
reset_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); CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
TEST_END() TEST_END()
TEST_START(send_multi_ports_same_type) TEST_START(send_multi_ports_same_type)
/* 两个端口同类型，各一个 handler */ /* 两个端口同类型，各一个 handler */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix); dr_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix); dr_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor); dr_port_set_send_type(p2, DR_SEND_sensor);
datarouter_port_add_handler(p1, _h); dr_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h); dr_port_add_handler(p2, _h);
reset_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); CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
/* p1 和 p2 各触发一次 */ /* p1 和 p2 各触发一次 */
CHECK((_h_port[0]==p1 && _h_port[1]==p2) || CHECK((_h_port[0]==p1 && _h_port[1]==p2) ||
@@ -173,80 +173,80 @@ TEST_START(send_multi_ports_same_type)
TEST_END() TEST_END()
TEST_START(send_multi_port_multi_handler) TEST_START(send_multi_port_multi_handler)
datarouter_port_t p1 = FIXTURE_CREATE(&_fix); dr_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix); dr_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor); dr_port_set_send_type(p2, DR_SEND_sensor);
datarouter_port_add_handler(p1, _h); dr_port_add_handler(p1, _h);
datarouter_port_add_handler(p1, _h2); /* p1 两个 */ dr_port_add_handler(p1, _h2); /* p1 两个 */
datarouter_port_add_handler(p2, _h3); /* p2 一个 */ dr_port_add_handler(p2, _h3); /* p2 一个 */
reset_h(); reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL); CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 3, "cnt=%d", _h_cnt); CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
TEST_END() TEST_END()
TEST_START(send_type_filter) TEST_START(send_type_filter)
/* 两个端口不同类型，只触发匹配的 */ /* 两个端口不同类型，只触发匹配的 */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix); dr_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix); dr_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_status); dr_port_set_send_type(p2, DR_SEND_status);
datarouter_port_add_handler(p1, _h); dr_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h); dr_port_add_handler(p2, _h);
reset_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_cnt == 1, "cnt=%d", _h_cnt);
CHECK(_h_port[0] == (int)p1, "only p1 should fire"); CHECK(_h_port[0] == (int)p1, "only p1 should fire");
TEST_END() TEST_END()
TEST_START(send_after_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); dr_port_add_handler(p, _h);
reset_h(); datarouter_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL); reset_h(); dr_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
datarouter_port_remove_handler(p, _h); dr_port_remove_handler(p, _h);
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2 after remove"); CHECK(dr_send_sensor("d", 1) == -2, "expected -2 after remove");
TEST_END() TEST_END()
TEST_START(send_after_delete_port) 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_delete(p); dr_port_delete(p);
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2"); CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
_fix.count--; _fix.count--;
TEST_END() TEST_END()
TEST_START(send_zero_length) 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(); reset_h();
CHECK(datarouter_send_sensor("x", 0) == 0, NULL); CHECK(dr_send_sensor("x", 0) == 0, NULL);
CHECK(_h_cnt == 1, NULL); CHECK(_h_cnt == 1, NULL);
TEST_END() TEST_END()
TEST_START(send_null_data) 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(); reset_h();
CHECK(datarouter_send_sensor(NULL, 0) == 0, NULL); CHECK(dr_send_sensor(NULL, 0) == 0, NULL);
CHECK(_h_cnt == 1, NULL); CHECK(_h_cnt == 1, NULL);
TEST_END() TEST_END()
TEST_START(send_multi_cap) TEST_START(send_multi_cap)
/* 发送 status 不影响 sensor 端口 */ /* 发送 status 不影响 sensor 端口 */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix); dr_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix); dr_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor); dr_port_set_send_type(p1, DR_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_status); dr_port_set_send_type(p2, DR_SEND_status);
datarouter_port_add_handler(p1, _h); dr_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h); dr_port_add_handler(p2, _h);
reset_h(); reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL); CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt); CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
CHECK(datarouter_send_status("d", 1) == 0, NULL); CHECK(dr_send_status("d", 1) == 0, NULL);
CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt); CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
TEST_END() TEST_END()
@@ -255,12 +255,12 @@ TEST_END()
* ================================================================ */ * ================================================================ */
static int _rx_r; static int _rx_r;
void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l) void dr_on_recv_rtcm(uint32_t p, const void *d, size_t l)
{ (void)p; (void)d; (void)l; _rx_r++; } { (void)p; (void)d; (void)l; _rx_r++; }
TEST_START(recv_callback) TEST_START(recv_callback)
_rx_r = 0; _rx_r = 0;
datarouter_on_recv_rtcm(0, "d", 1); dr_on_recv_rtcm(0, "d", 1);
CHECK(_rx_r == 1, "cnt=%d", _rx_r); CHECK(_rx_r == 1, "cnt=%d", _rx_r);
TEST_END() TEST_END()
@@ -269,19 +269,19 @@ TEST_END()
* ================================================================ */ * ================================================================ */
TEST_START(send_cap_meta) 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(datarouter_send_cap_name(-1) == NULL, NULL); CHECK(dr_send_cap_name(-1) == NULL, NULL);
CHECK(datarouter_send_cap_name(99) == NULL, NULL); CHECK(dr_send_cap_name(99) == NULL, NULL);
TEST_END() TEST_END()
TEST_START(recv_cap_meta) 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(datarouter_recv_cap_name(-1) == NULL, NULL); CHECK(dr_recv_cap_name(-1) == NULL, NULL);
CHECK(datarouter_recv_cap_desc(99) == NULL, NULL); CHECK(dr_recv_cap_desc(99) == NULL, NULL);
TEST_END() TEST_END()
/* ================================================================ /* ================================================================
@@ -297,7 +297,7 @@ int main(void)
printf("[uninitialized]\n"); printf("[uninitialized]\n");
RUN(error_uninit); RUN(error_uninit);
datarouter_init(); dr_init();
printf("\n[port management]\n"); printf("\n[port management]\n");
RUN(port_create_basic); RUN(port_create_basic);
@@ -306,7 +306,7 @@ int main(void)
RUN(port_default_state); RUN(port_default_state);
printf("\n"); printf("\n");
datarouter_reset(); datarouter_init(); dr_reset(); dr_init();
printf("[send_type & handler]\n"); printf("[send_type & handler]\n");
RUN(send_type_set_get); RUN(send_type_set_get);
RUN(handler_add_remove); RUN(handler_add_remove);