Auto commit at 2025-06-13 11:29:11

src/mc/include/mc/can_driver.h

@@ -42,25 +42,13 @@ public:
     // 设置接收回调
     void setReceiveCallback(ReceiveCallback callback, void *userData = nullptr);
 
-    // 设置硬件过滤规则
-    bool setFilter(const std::vector<can_filter> &filters);
-
-    // 追加一个过滤器
-    bool addFilter(const can_filter &filter);
-
-    // 追加一组过滤器
-    bool addFilters(const std::vector<can_filter> &filters);
-
 private:
     void receiveThreadFunc();
-    bool applyFilters(); // 应用当前filters_
-
     int sockfd = -1;
     std::atomic<bool> running{false};
     std::thread receiveThread;
     ReceiveCallback callback;
     void *userData = nullptr;
-    std::vector<can_filter> filters_; // 当前所有过滤器
 };
 
 #endif // CAN_DRIVER_H

src/mc/src/can_driver.cpp

@@ -1,15 +1,18 @@
 #include "mc/can_driver.h"
+#include "mc/controlcan.h"
 #include <cstring>
-#include <stdexcept>
-#include <iostream>
-#include <thread>
 #include <fcntl.h>
-#include <unistd.h>
+#include <iostream>
-#include <sys/ioctl.h>
-#include <net/if.h>
 #include <linux/can.h>
 #include <linux/can/raw.h>
-#include "mc/controlcan.h"
+#include <net/if.h>
+#include <stdexcept>
+#include <sys/ioctl.h>
+#include <thread>
+#include <unistd.h>
+#include <mutex>
+
+std::mutex canMutex;
 
 DWORD deviceType = VCI_USBCAN2; // 或 VCI_USBCAN_2E_U 等
 DWORD deviceIndex = 0;          // 通常为 0（第一个设备）
@@ -17,158 +20,140 @@ DWORD channelIndex = 0;         // 通道号：0 表示 CAN1，1 表示 CAN2
 
 CANDriver::CANDriver() = default;
 
-CANDriver::~CANDriver()
+CANDriver::~CANDriver() { close(); }
-{
-    close();
-}
 
 bool CANDriver::open(const std::string &interface)
 {
-    if (running)
+  if (running)
-        return false;
+    return false;
 
-    // 参数可解析 interface 设定 channelIndex，例如 interface="can0" => channelIndex=0
+  // 参数可解析 interface 设定 channelIndex，例如 interface="can0" =>
-    deviceType = VCI_USBCAN2;
+  // channelIndex=0
-    deviceIndex = 0;
+  deviceType = VCI_USBCAN2;
-    channelIndex = (interface == "can1") ? 1 : 0;
+  deviceIndex = 0;
+  channelIndex = (interface == "can1") ? 1 : 0;
 
-    if (VCI_OpenDevice(deviceType, deviceIndex, 0) != STATUS_OK)
+  if (VCI_OpenDevice(deviceType, deviceIndex, 0) != STATUS_OK)
-    {
+  {
-        std::cerr << "VCI_OpenDevice failed" << std::endl;
+    std::cerr << "VCI_OpenDevice failed" << std::endl;
-        return false;
+    return false;
-    }
+  }
 
-    VCI_INIT_CONFIG config{};
+  VCI_INIT_CONFIG config{};
-    config.AccCode = 0;
+  config.AccCode = 0;
-    config.AccMask = 0xFFFFFFFF;
+  config.AccMask = 0xFFFFFFFF;
-    config.Filter = 0;     // 接收所有
+  config.Filter = 0;     // 接收所有
-    config.Timing0 = 0x00; // 500Kbps 示例（需查文档确认 Timing）
+  config.Timing0 = 0x00; // 500Kbps 示例（需查文档确认 Timing）
-    config.Timing1 = 0x1C;
+  config.Timing1 = 0x1C;
-    config.Mode = 0; // 正常模式
+  config.Mode = 0; // 正常模式
 
-    if (VCI_InitCAN(deviceType, deviceIndex, channelIndex, &config) != STATUS_OK)
+  if (VCI_InitCAN(deviceType, deviceIndex, channelIndex, &config) !=
-    {
+      STATUS_OK)
-        std::cerr << "VCI_InitCAN failed" << std::endl;
+  {
-        VCI_CloseDevice(deviceType, deviceIndex);
+    std::cerr << "VCI_InitCAN failed" << std::endl;
-        return false;
+    VCI_CloseDevice(deviceType, deviceIndex);
-    }
+    return false;
+  }
 
-    if (VCI_StartCAN(deviceType, deviceIndex, channelIndex) != STATUS_OK)
+  if (VCI_StartCAN(deviceType, deviceIndex, channelIndex) != STATUS_OK)
-    {
+  {
-        std::cerr << "VCI_StartCAN failed" << std::endl;
+    std::cerr << "VCI_StartCAN failed" << std::endl;
-        VCI_CloseDevice(deviceType, deviceIndex);
+    VCI_CloseDevice(deviceType, deviceIndex);
-        return false;
+    return false;
-    }
+  }
 
-    running = true;
+  if (VCI_ClearBuffer(deviceType, deviceIndex, channelIndex) != 1)
-    receiveThread = std::thread(&CANDriver::receiveThreadFunc, this);
+  {
-    return true;
+    std::cerr << "VCI_ClearBuffer failed" << std::endl;
+    VCI_CloseDevice(deviceType, deviceIndex);
+    return false;
+  }
+
+  running = true;
+  receiveThread = std::thread(&CANDriver::receiveThreadFunc, this);
+  return true;
 }
 
 void CANDriver::close()
 {
-    if (!running)
+  if (!running)
-        return;
+    return;
 
-    running = false;
+  running = false;
-    if (receiveThread.joinable())
+  if (receiveThread.joinable())
-        receiveThread.join();
+    receiveThread.join();
 
-    VCI_ResetCAN(deviceType, deviceIndex, channelIndex);
+  // 先清空缓冲区，防止缓冲区残留数据导致重复接收
-    VCI_CloseDevice(deviceType, deviceIndex);
+  VCI_ClearBuffer(deviceType, deviceIndex, channelIndex);
+
+  VCI_ResetCAN(deviceType, deviceIndex, channelIndex);
+  VCI_CloseDevice(deviceType, deviceIndex);
 }
 
 bool CANDriver::sendFrame(const CANFrame &frame)
 {
-    if (!running)
+  if (!running)
-        return false;
+    return false;
 
-    VCI_CAN_OBJ obj{};
+  VCI_CAN_OBJ obj{};
-    obj.ID = frame.id;
+  obj.ID = frame.id;
-    obj.RemoteFlag = frame.rtr ? 1 : 0;
+  obj.RemoteFlag = frame.rtr ? 1 : 0;
-    obj.ExternFlag = frame.ext ? 1 : 0;
+  obj.ExternFlag = frame.ext ? 1 : 0;
-    obj.SendType = 0; // 普通发送
+  obj.SendType = 0; // 普通发送
-    obj.DataLen = frame.dlc;
+  obj.DataLen = frame.dlc;
-    std::memcpy(obj.Data, frame.data, frame.dlc);
+  std::memcpy(obj.Data, frame.data, frame.dlc);
 
-    if (VCI_Transmit(deviceType, deviceIndex, channelIndex, &obj, 1) != 1)
+  std::lock_guard<std::mutex> lock(canMutex); // 加锁
-    {
+  if (VCI_Transmit(deviceType, deviceIndex, channelIndex, &obj, 1) != 1)
-        std::cerr << "VCI_Transmit failed" << std::endl;
+  {
-        return false;
+    std::cerr << "VCI_Transmit failed" << std::endl;
-    }
+    return false;
+  }
 
-    return true;
+  return true;
 }
 
 void CANDriver::setReceiveCallback(ReceiveCallback callback, void *userData)
 {
-    this->callback = callback;
+  this->callback = callback;
-    this->userData = userData;
+  this->userData = userData;
-}
-
-bool CANDriver::setFilter(const std::vector<can_filter> &filters)
-{
-    if (!running)
-        return false;
-
-    filters_ = filters;
-    return applyFilters();
-}
-
-bool CANDriver::addFilter(const can_filter &filter)
-{
-    filters_.push_back(filter);
-    return applyFilters();
-}
-
-bool CANDriver::addFilters(const std::vector<can_filter> &filters)
-{
-    filters_.insert(filters_.end(), filters.begin(), filters.end());
-    return applyFilters();
-}
-
-bool CANDriver::applyFilters()
-{
-    if (!running)
-        return false;
-
-    if (filters_.empty())
-    {
-        setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER, nullptr, 0);
-        return true;
-    }
-
-    if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER,
-                   filters_.data(), filters_.size() * sizeof(can_filter)) < 0)
-    {
-        perror("setsockopt");
-        return false;
-    }
-
-    return true;
 }
 
 void CANDriver::receiveThreadFunc()
 {
-    while (running)
+  constexpr int maxFrames = 2500;
-    {
+  VCI_CAN_OBJ rec[maxFrames];
-        VCI_CAN_OBJ rec[100];
-        ULONG len = VCI_Receive(deviceType, deviceIndex, channelIndex, rec, 100, 10);
-        if (len == 0)
-        {
-            std::this_thread::sleep_for(std::chrono::milliseconds(10));
-            continue;
-        }
 
-        for (ULONG i = 0; i < len && callback; ++i)
+  while (running)
-        {
+  {
-            CANFrame frame;
+    ULONG len = 0;
-            frame.id = rec[i].ID;
+    {
-            frame.ext = rec[i].ExternFlag != 0;
+      std::lock_guard<std::mutex> lock(canMutex); // 加锁
-            frame.rtr = rec[i].RemoteFlag != 0;
+      len = VCI_Receive(deviceType, deviceIndex, channelIndex, rec, 100, 10);
-            frame.dlc = rec[i].DataLen;
-            std::memcpy(frame.data, rec[i].Data, frame.dlc);
-            callback(frame, userData);
-        }
     }
+
+    if (len == 0)
+    {
+      std::this_thread::sleep_for(std::chrono::milliseconds(10));
+      continue;
+    }
+
+    for (ULONG i = 0; i < len && callback; ++i)
+    {
+      CANFrame frame;
+      frame.id = rec[i].ID;
+      frame.ext = rec[i].ExternFlag != 0;
+      frame.rtr = rec[i].RemoteFlag != 0;
+      frame.dlc = rec[i].DataLen;
+
+      if (frame.dlc > 8)
+      {
+        std::cerr << "Invalid CAN data length: " << (int)frame.dlc << std::endl;
+        frame.dlc = 8; // 或跳过此帧
+      }
+
+      std::memcpy(frame.data, rec[i].Data, frame.dlc);
+      callback(frame, userData);
+    }
+  }
 }

src/mc/src/mc.cpp

@@ -1,12 +1,12 @@
-#include <cstdio>
-#include <iostream>
-#include <iomanip>
 #include "mc/can_driver.h"
 #include "mc/can_struct.h"
 #include "mc/get_config.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/can_frame.hpp"
 #include "sweeper_interfaces/msg/mc_ctrl.hpp"
+#include <cstdio>
+#include <iomanip>
+#include <iostream>
 
 namespace sweeperMsg = sweeper_interfaces::msg;
 
@@ -23,7 +23,7 @@ std::atomic<bool> vcu_awake = false;        // 是否唤醒成功
 rclcpp::Time last_vcu_msg_time;             // 上次收到vcu数据帧的时间
 
 // 全局开关，控制是否打印 CAN 消息到终端
-bool g_can_print_enable = false;
+bool g_can_print_enable = true;
 
 struct ControlCache
 {
@@ -47,7 +47,8 @@ struct ControlCache
       return false;
 
     auto now = std::chrono::steady_clock::now();
-    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_update_time);
+    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(
+        now - last_update_time);
 
     if (duration.count() > 100) // ms超时
     {
@@ -95,23 +96,27 @@ void receiveHandler(const CANFrame &frame, void *userData)
   auto msg = sweeperMsg::CanFrame();
   msg.id = frame.id;
   msg.dlc = frame.dlc;
-  msg.data.assign(frame.data, frame.data + frame.dlc);
+  size_t len = frame.dlc <= 8 ? frame.dlc : 8;
+  msg.data.assign(frame.data, frame.data + len);
+
   publisher->publish(msg);
 
   // 根据开关决定是否打印 CAN 消息
-  if (g_can_print_enable)
+  if (g_can_print_enable && len > 0)
   {
     std::stringstream ss;
     ss << "CAN ID: ";
     if (frame.id > 0x7FF)
       ss << std::hex << std::uppercase << frame.id;
     else
-      ss << std::hex << std::uppercase << std::setw(5) << std::setfill(' ') << frame.id;
+      ss << std::hex << std::uppercase << std::setw(5) << std::setfill(' ')
+         << frame.id;
 
     ss << " Data: ";
     for (int i = 0; i < frame.dlc; ++i)
     {
-      ss << std::setw(2) << std::setfill('0') << std::hex << (int)frame.data[i] << " ";
+      ss << std::setw(2) << std::setfill('0') << std::hex << (int)frame.data[i]
+         << " ";
     }
 
     RCLCPP_INFO(node->get_logger(), "%s", ss.str().c_str());
@@ -162,33 +167,34 @@ void VCUWakeUp()
 void setupTimers(rclcpp::Node::SharedPtr node)
 {
   // VCU 唤醒帧发送定时器，1Hz
-  static rclcpp::TimerBase::SharedPtr timer_wakeup = node->create_wall_timer(
+  static rclcpp::TimerBase::SharedPtr timer_wakeup =
-      std::chrono::seconds(1), [node]()
+      node->create_wall_timer(std::chrono::seconds(1), [node]()
-      {
+                              {
-        if (!vcu_awake.load())
+        if (!vcu_awake.load()) {
-        {
+          RCLCPP_INFO(node->get_logger(),
-          RCLCPP_INFO(node->get_logger(), "[TIMER][VCU] Not awake, sending wake-up frame...");
+                      "[TIMER][VCU] Not awake, sending wake-up frame...");
           VCUWakeUp();
         } });
 
   // vcu报文 watchdog 检查，200ms
-  static rclcpp::TimerBase::SharedPtr timer_estop_watchdog = node->create_wall_timer(
+  static rclcpp::TimerBase::SharedPtr timer_estop_watchdog =
-      std::chrono::milliseconds(200), [node]()
+      node->create_wall_timer(std::chrono::milliseconds(200), [node]()
-      {
+                              {
         auto now = node->now();
         auto elapsed = now - last_vcu_msg_time;
 
-        if (vcu_msg_received.load() && elapsed > rclcpp::Duration::from_seconds(0.5))
+        if (vcu_msg_received.load() &&
-        {
+            elapsed > rclcpp::Duration::from_seconds(0.5)) {
-          RCLCPP_WARN(node->get_logger(), "[TIMER][VCU] message timeout, resetting wake-up state.");
+          RCLCPP_WARN(node->get_logger(),
+                      "[TIMER][VCU] message timeout, resetting wake-up state.");
           vcu_msg_received.store(false);
           vcu_awake.store(false);
         } });
 
   // MCU控制，50Hz
-  static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
+  static rclcpp::TimerBase::SharedPtr timer_mcu =
-      std::chrono::milliseconds(20), []()
+      node->create_wall_timer(std::chrono::milliseconds(20), []()
-      {
+                              {
         sweeperMsg::McCtrl msg = get_safe_control();
 
         mcu_cmd.setEnabled(true);
@@ -199,9 +205,9 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         canctl.sendFrame(mcu_cmd.toFrame()); });
 
   // EPS 控制，20Hz
-  static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
+  static rclcpp::TimerBase::SharedPtr timer_eps =
-      std::chrono::milliseconds(50), []()
+      node->create_wall_timer(std::chrono::milliseconds(50), []()
-      {
+                              {
         sweeperMsg::McCtrl msg = get_safe_control();
 
         eps_cmd.setCenterCmd(0);
@@ -212,9 +218,9 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         canctl.sendFrame(eps_cmd.toFrame()); });
 
   // VCU 控制，10Hz
-  static rclcpp::TimerBase::SharedPtr timer_vcu = node->create_wall_timer(
+  static rclcpp::TimerBase::SharedPtr timer_vcu =
-      std::chrono::milliseconds(100), []()
+      node->create_wall_timer(std::chrono::milliseconds(100), []()
-      {
+                              {
         sweeperMsg::McCtrl msg = get_safe_control();
 
         vcu1_cmd.setLeftLight(msg.left_light);
@@ -229,9 +235,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         vcu2_cmd.setSpray(msg.spray);
         vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
 
-        // canctl.sendFrame(vcu1_cmd.toFrame());
+        canctl.sendFrame(vcu1_cmd.toFrame());
-        // canctl.sendFrame(vcu2_cmd.toFrame());
+        canctl.sendFrame(vcu2_cmd.toFrame()); });
-      });
 }
 
 int main(int argc, char **argv)
@@ -244,7 +249,8 @@ int main(int argc, char **argv)
   RCLCPP_INFO(node->get_logger(), "Starting mc package...");
 
   // 创建一个 Publisher
-  auto can_publisher = node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
+  auto can_publisher =
+      node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
 
   // 创建 Subscriber（收控制指令）
   auto subscriber = node->create_subscription<sweeperMsg::McCtrl>(
@@ -260,7 +266,8 @@ int main(int argc, char **argv)
 
   if (!canctl.open(mc_config.can_dev))
   {
-    RCLCPP_ERROR(node->get_logger(), "Failed to open CAN interface: %s", mc_config.can_dev.c_str());
+    RCLCPP_ERROR(node->get_logger(), "Failed to open CAN interface: %s",
+                 mc_config.can_dev.c_str());
     return -1;
   }
 

src/radio_ctrl/src/radio_ctrl.cpp

@@ -91,17 +91,26 @@ private:
                 {
                     msg.gear = 1; // R挡
                 }
-
+                else
-                // 油门 / 刹车逻辑
-                if (ch_data[1] <= speed[1])
                 {
+                    msg.gear = 0;
                     msg.brake = 1;
                     msg.rpm = 0;
                 }
-                else
+
+                if (ch_data[7] != 992)
                 {
-                    msg.brake = 0;
+                    // 油门 / 刹车逻辑
-                    msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    if (ch_data[1] <= speed[1])
+                    {
+                        msg.brake = 1;
+                        msg.rpm = 0;
+                    }
+                    else
+                    {
+                        msg.brake = 0;
+                        msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    }
                 }
 
                 // 一键清扫
@@ -123,7 +132,7 @@ private:
                 }
 
                 // 转向逻辑
-                float target_angle = (992 - static_cast<float>(ch_data[3])) / 800 * EPS_ANGLE_MAX;
+                float target_angle = (static_cast<float>(ch_data[3] - 992)) / 800 * EPS_ANGLE_MAX;
 
                 // 角速度（度/秒）
                 float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;