完成MCU的错误消息上报

src/mqtt_report/include/mqtt_report/fault_codes.h

@@ -56,6 +56,12 @@ public:
         std::cout << std::endl;
     }
 
+    // 获取所有当前错误码
+    const std::set<int> &getAllErrorCodes() const
+    {
+        return errors;
+    }
+
     // 判断某个错误码是否存在
     bool hasError(int code) const
     {
@@ -68,6 +74,7 @@ private:
 
 // 故障字典声明（在 .cpp 实现里定义）
 extern std::unordered_map<int, FaultInfo> faultMap;
+extern const uint8_t mcuErrorCode[25];
 extern ErrorCodeSet vehicle_error_code;
 
 std::string generateFaultJson(int code, const std::string &vin, int64_t timestamp);

src/mqtt_report/src/fault_codes.cpp

@@ -37,6 +37,8 @@ bool updateFaultLevel(int code, int newLevel)
     return true;
 }
 
+const uint8_t mcuErrorCode[25] = {1, 2, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 30, 31, 32, 33, 34};
+
 std::unordered_map<int, FaultInfo> faultMap = {
     {1001, {"BMS", "BMS_TEMP_HIGH_ERR", "温度过高", 0}},
     {1002, {"BMS", "BMS_TEMP_LOW_ERR", "温度过低", 0}},

src/mqtt_report/src/mqtt_report.cpp

@@ -54,7 +54,7 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
 
     case 0x1825E5F1:
     {
-        for (int i = 0; i < 28; i++)
+        for (int i = 0; i < 28; ++i)
         {
             int byte_index = 1 + (i / 4);       // 从 data[1] 开始，所以 +1
             int bit_offset = (3 - (i % 4)) * 2; // 每 2bit 表示一个错误
@@ -74,6 +74,30 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
         }
         break;
     }
+
+    case 0x1A4:
+    {
+        // 清空所有 MCU 错误码
+        for (int code = 1101; code <= 1125; ++code)
+        {
+            vehicle_error_code.removeErrorCode(code);
+        }
+
+        // 添加当前报文中的错误码（最多6个）
+        for (uint8_t i = 0; i < 6; ++i)
+        {
+            for (uint8_t j = 0; j < 25; ++j)
+            {
+                if (msg->data[i] == mcuErrorCode[j])
+                {
+                    int error_code = 1101 + j;
+                    vehicle_error_code.addErrorCode(error_code);
+                    break;
+                }
+            }
+        }
+        break;
+    }
     }
 }
 
@@ -133,13 +157,10 @@ private:
 
     void fault_timer_callback()
     {
-        for (int code = 1001; code <= 1028; ++code)
+        for (int code : vehicle_error_code.getAllErrorCodes())
         {
-            if (vehicle_error_code.hasError(code))
+            std::string fault_json = generateFaultJson(code, config.vid, getCurrentTimestampMs());
-            {
+            mqtt_client_.publish(fault_topic_, fault_json);
-                std::string bms_fault_json = generateFaultJson(code, config.vid, getCurrentTimestampMs());
-                mqtt_client_.publish(fault_topic_, bms_fault_json);
-            }
         }
     }
 

src/radio_ctrl/src/uart_handler.cpp

@@ -136,7 +136,7 @@ void UartHandler::read_loop()
 
 void UartHandler::print_hex(uint8_t *buf, int len)
 {
-    for (int i = 0; i < len; i++)
+    for (int i = 0; i < len; ++i)
     {
         printf("%02X ", buf[i]);
     }