494 lines
13 KiB
Markdown
494 lines
13 KiB
Markdown
# DataRouter 详细设计文档
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## 1. 设计目标
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轻量级 C 语言数据路由库。发送与接收能力分开声明，每个端口独立设置发送类型和接收类型，支持多外设一对多广播路由。
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### 核心设计
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```
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DATAROUTER_SEND_CAPABILITIES DATAROUTER_RECV_CAPABILITIES
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DATAROUTER_SEND(sensor, ...) DATAROUTER_RECV(rtcm, ...)
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DATAROUTER_SEND(status, ...) DATAROUTER_RECV(command, ...)
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│ │
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▼ ▼
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send_sensor(port, data) on_recv_rtcm(port, data)
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send_status(port, data) on_recv_command(port, data)
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│ （用户实现回调）
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▼
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端口校验 → for each handler(port, data)
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│
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┌────────┼────────┐
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▼ ▼ ▼
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UART TCP CAN
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```
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**关键区别**：sensor 只声明发送，不生成接收回调；rtcm 只声明接收，不生成发送函数。端口可独立设置 send_type 和 recv_type，互不干扰。
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### 设计原则
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| 原则 | 说明 |
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|------|------|
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| 收发分离 | 发送能力和接收能力在配置中分开声明，按需组合 |
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| 编译期确定能力 | 所有能力在 `datarouter_config.h` 中声明，库自动生成代码 |
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| 运行期绑定外设 | 端口创建后，通过 `add_handler` 注册物理外设发送函数 |
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| 一对多广播 | 一个端口可注册多个 handler，发送时逐一调用 |
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| 不关心物理外设 | 库不依赖任何外设 API，只调用用户提供的 handler |
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| 零动态内存 | 纯静态数组，无 malloc/free |
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---
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## 2. 整体架构
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### 2.1 模块依赖
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```plantuml
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@startuml
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left to right direction
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rectangle "用户代码" as User {
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component "应用逻辑" as App
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component "datarouter_config.h\n声明发送+接收能力" as Cfg
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component "外设 handler\nUART / TCP / CAN" as Handlers
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component "接收回调\n处理收到的报文" as Callbacks
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}
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database "DataRouter 库" as Lib {
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component "datarouter.h\n公共 API + X-macro 展开" as Hdr
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component "datarouter.c\n端口表 + handler 遍历" as Impl
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}
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App --> Hdr
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Cfg --> Hdr
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Impl --> Cfg
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Handlers --> Impl : 注册 handler
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Callbacks --> Impl : 实现 on_recv_<id>
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@enduml
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```
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### 2.2 文件结构
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| 文件 | 职责 |
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|------|------|
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| `datarouter_config.h` | 分别声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
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| `datarouter.h` | 公共 API + X-macro 展开（两组枚举 + 声明） |
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| `datarouter.c` | 端口表 + handler 列表遍历 + 弱符号回调 |
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| `example.c` | 收发分离示例 |
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| `tests/test_datarouter.c` | 27 个单元测试 |
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---
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## 3. 收发分离设计
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### 3.1 配置声明
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```c
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// 发送能力 —— 只生成发送触发函数
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#define DATAROUTER_SEND_CAPABILITIES \
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DATAROUTER_SEND(sensor, "Sensor data report") \
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DATAROUTER_SEND(status, "Device status report")
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// 接收能力 —— 只生成接收回调声明
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#define DATAROUTER_RECV_CAPABILITIES \
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DATAROUTER_RECV(rtcm, "RTCM correction data") \
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DATAROUTER_RECV(command, "Remote control command")
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```
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### 3.2 展开产物
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```
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DATAROUTER_SEND_CAPABILITIES 展开：
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enum: DATAROUTER_SEND_sensor = 0,
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DATAROUTER_SEND_status = 1,
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DATAROUTER_SEND_CAP_COUNT = 2
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发送函数: int datarouter_send_sensor(port, data, len);
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int datarouter_send_status(port, data, len);
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元数据: send_names[] = {"sensor", "status"}
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send_descs[] = {"Sensor data report", "Device status report"}
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DATAROUTER_RECV_CAPABILITIES 展开：
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enum: DATAROUTER_RECV_rtcm = 0,
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DATAROUTER_RECV_command = 1,
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DATAROUTER_RECV_CAP_COUNT = 2
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接收回调: void datarouter_on_recv_rtcm(port, data, len);
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void datarouter_on_recv_command(port, data, len);
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弱符号默认: 每个回调提供空的 weak 实现，用户覆盖
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元数据: recv_names[] = {"rtcm", "command"}
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recv_descs[] = {"RTCM correction data", "Remote control command"}
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```
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### 3.3 端口组合示例
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```
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端口 A: send_type = sensor, recv_type = -1 → 只发送
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端口 B: send_type = -1, recv_type = rtcm → 只接收
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端口 C: send_type = status, recv_type = command → 同时收发
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端口 D: send_type = -1, recv_type = -1 → 无功能
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```
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---
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## 4. X-macro 代码生成
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### 4.1 展开流程
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```plantuml
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@startuml
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== datarouter.h：4 次展开 ==
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-> datarouter_config.h: 获得两组宏列表
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datarouter.h -> "第 1 遍":
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#define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
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DATAROUTER_SEND_CAPABILITIES → 发送 enum
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datarouter.h -> "第 2 遍":
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#define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
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DATAROUTER_RECV_CAPABILITIES → 接收 enum
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datarouter.h -> "第 3 遍":
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#define DATAROUTER_SEND(id,desc) int datarouter_send_##id(...);
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DATAROUTER_SEND_CAPABILITIES → 发送函数声明
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datarouter.h -> "第 4 遍":
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#define DATAROUTER_RECV(id,desc) void datarouter_on_recv_##id(...);
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DATAROUTER_RECV_CAPABILITIES → 接收回调声明
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== datarouter.c：4 次展开 ==
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datarouter.c -> "第 5 遍":
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弱符号回调默认实现（DATAROUTER_RECV 展开）
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datarouter.c -> "第 6 遍":
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发送函数实现 body（DATAROUTER_SEND 展开）
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校验 → 遍历 handler 列表
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datarouter.c -> "第 7 ~ 8 遍":
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send_names[] / send_descs[]
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recv_names[] / recv_descs[]
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@enduml
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```
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---
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## 5. 数据结构
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### 5.1 核心数据类型
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```plantuml
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@startuml
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skinparam classAttributeIconSize 0
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enum "datarouter_send_cap" as S {
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SENSOR
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STATUS
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SEND_CAP_COUNT
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}
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enum "datarouter_recv_cap" as R {
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RTCM
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COMMAND
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RECV_CAP_COUNT
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}
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class "port_entry_t" as Entry {
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- int send_type
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- int recv_type
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- datarouter_send_handler_t handlers[]
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- int count
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- uint8_t in_use
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}
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class "datarouter_send_handler_t" as Handler {
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+ void (*)(uint32_t port_id, const void *data, size_t len)
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}
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class "发送函数" as Send {
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+ int send_sensor(port, data, len)
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+ int send_status(port, data, len)
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}
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class "接收回调" as Recv {
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+ void on_recv_rtcm(port, data, len) ← 用户实现
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+ void on_recv_command(port, data, len)
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}
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Entry --> S : send_type ∈ S enum / -1
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Entry --> R : recv_type ∈ R enum / -1
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Entry --> Handler : handlers[] 数组
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Send --> Entry : 校验 send_type + 遍历 handlers
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Recv --> Entry : 用户根据业务调对应回调
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@enduml
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```
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### 5.2 `port_entry_t`
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```c
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#define DATAROUTER_MAX_HANDLERS_PER_PORT 4 // 每端口最多 4 个外设
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typedef struct {
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int send_type; // DATAROUTER_SEND_xxx / -1
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int recv_type; // DATAROUTER_RECV_xxx / -1
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datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
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int count; // 当前 handler 数量
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uint8_t in_use;
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} port_entry_t;
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```
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### 5.3 端口表
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```c
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#define DATAROUTER_MAX_PORTS 64
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static port_entry_t ports[DATAROUTER_MAX_PORTS];
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static uint8_t initialized;
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```
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---
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## 6. API 参考
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### 6.1 初始化
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```c
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void datarouter_init(void); // 幂等初始化
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void datarouter_reset(void); // 重置全部状态
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```
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### 6.2 端口管理
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```c
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datarouter_port_t datarouter_port_create(void); // 创建
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void datarouter_port_delete(datarouter_port_t port); // 删除
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void datarouter_port_set_send_type(port, int cap_id); // 设置发送类型
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int datarouter_port_get_send_type(port); // -1 表示未设置
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void datarouter_port_set_recv_type(port, int cap_id); // 设置接收类型
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int datarouter_port_get_recv_type(port); // -1 表示未设置
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int datarouter_port_add_handler(port, handler); // 注册外设 handler
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int datarouter_port_remove_handler(port, handler); // 移除
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void datarouter_port_clear_handlers(port); // 清除全部
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int datarouter_port_handler_count(port); // 数量
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```
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### 6.3 发送触发函数（每个 SEND 能力生成一个）
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```c
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int datarouter_send_sensor(port, data, len);
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int datarouter_send_status(port, data, len);
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```
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返回值：0 成功 / -1 未初始化 / -2 端口无效 / -3 send_type 不匹配 / -4 无 handler
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### 6.4 接收回调（每个 RECV 能力生成一个声明）
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```c
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void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
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void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
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```
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库提供弱符号默认空实现，用户定义同名函数覆盖。
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### 6.5 能力元数据（两组独立）
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```c
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// 发送能力
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int datarouter_send_cap_count(void);
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const char *datarouter_send_cap_name(int cap_id);
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const char *datarouter_send_cap_desc(int cap_id);
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// 接收能力
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int datarouter_recv_cap_count(void);
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const char *datarouter_recv_cap_name(int cap_id);
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const char *datarouter_recv_cap_desc(int cap_id);
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```
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---
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## 7. 核心流程
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### 7.1 发送流程
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```plantuml
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@startuml
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actor "应用" as App
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participant "datarouter_send_sensor()" as Send
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participant "端口表" as Table
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participant "handlers[]" as HList
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participant "外设" as Dev
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App -> Send : send_sensor(port=2, data, len)
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group 校验
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Send -> Send : initialized?
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alt 否 → return -1
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end
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Send -> Table : ports[2].in_use?
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alt 否 → return -2
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end
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Send -> Table : ports[2].send_type == SENSOR?
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alt 否 → return -3
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end
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Send -> Table : ports[2].count > 0?
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alt 否 → return -4
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end
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end
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loop for each handler in ports[2].handlers[]
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Send -> HList : handlers[i](port, data, len)
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HList -> Dev : 实际外设写入
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end
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Send --> App : return 0
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@enduml
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```
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### 7.2 接收流程
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```plantuml
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@startuml
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actor "外设" as Dev
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participant "用户分发代码" as Dispatch
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participant "on_recv_rtcm()" as Callback
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Dev -> Dispatch : 收到数据，识别为 rtcm 类型
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Dispatch -> Callback : on_recv_rtcm(port_id, data, len)
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Callback --> Dispatch : void
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@enduml
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```
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### 7.3 端口生命周期
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```plantuml
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@startuml
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state "空闲" as Idle
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state "已创建\nsend=-1 recv=-1" as Created
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state "已配置" as Config
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[*] --> Idle : reset / 启动
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Idle --> Created : port_create()
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Created --> Config : set_send_type / set_recv_type / add_handler
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Config --> Config : 独立切换 send_type / recv_type\n增删 handler
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Config --> Created : set_send_type(-1) / set_recv_type(-1)\nclear_handlers
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Created --> Idle : port_delete()
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Config --> Idle : port_delete()
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Idle --> Created : 复用 ID
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@enduml
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```
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---
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## 8. 路由场景
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### 场景 1：传感器只发送（sensor → UART + TCP）
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```c
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datarouter_port_t p = datarouter_port_create();
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datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
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datarouter_port_add_handler(p, uart_send);
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datarouter_port_add_handler(p, tcp_send);
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datarouter_send_sensor(p, "temp:25.3", 9);
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// → uart_send(p, "temp:25.3", 9)
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// → tcp_send(p, "temp:25.3", 9)
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```
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### 场景 2：RTCM 只接收
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```c
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datarouter_port_t p = datarouter_port_create();
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datarouter_port_set_recv_type(p, DATAROUTER_RECV_rtcm);
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// 无 send_type，不注册 handler
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// 外设收到数据后由用户调回调：
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datarouter_on_recv_rtcm(p, data, len);
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```
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### 场景 3：双向端口（status 发送 + command 接收）
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```c
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datarouter_port_t p = datarouter_port_create();
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datarouter_port_set_send_type(p, DATAROUTER_SEND_status);
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datarouter_port_set_recv_type(p, DATAROUTER_RECV_command);
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datarouter_port_add_handler(p, uart_send);
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// 发送
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datarouter_send_status(p, "status:OK", 9);
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// 接收
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datarouter_on_recv_command(p, "reboot", 6);
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```
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---
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## 9. 弱符号机制
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```plantuml
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@startuml
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package "libDataRouter.a" {
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component "弱符号\nvoid on_recv_rtcm(...){}" as Weak
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}
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package "用户代码" {
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component "强符号\nvoid on_recv_rtcm(...){...}" as Strong
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}
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package "最终链接产物" {
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component "使用用户版本" as Result
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}
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Strong --> Result
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Weak ..> Result : 后备
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@enduml
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```
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---
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## 10. 错误码
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| 返回值 | 含义 |
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|:------:|------|
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| 0 | 成功，所有 handler 被调用 |
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| -1 | 库未初始化（未调 init） |
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| -2 | 端口无效（越界/未创建/已删除） |
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| -3 | 端口 send_type 与调用的发送函数不匹配 |
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| -4 | 端口 handler 列表为空（count == 0） |
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---
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## 11. 配置扩展
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### 增加能力
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```c
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#define DATAROUTER_SEND_CAPABILITIES \
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DATAROUTER_SEND(sensor, "Sensor data") \
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DATAROUTER_SEND(debug, "Debug log") /* 新增发送能力 */
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#define DATAROUTER_RECV_CAPABILITIES \
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DATAROUTER_RECV(rtcm, "RTCM data") \
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DATAROUTER_RECV(ota, "OTA firmware") /* 新增接收能力 */
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```
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### 自定义限制
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```bash
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||
cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
|
||
```
|
||
|
||
---
|
||
|
||
## 12. 约束
|
||
|
||
| 约束 | 说明 |
|
||
|------|------|
|
||
| 能力声明 | 编译期固定，修改需重新编译 |
|
||
| 最大端口数 | 默认 64，通过 `-D` 覆盖 |
|
||
| 每端口 handler 上限 | 默认 4，通过 `-D` 覆盖 |
|
||
| 线程安全 | 不支持（无锁），多线程需外部加锁 |
|
||
| 弱符号 | GCC/Clang 原生支持 |
|
||
| 内存分配 | 纯静态，无 malloc/free |
|