343 lines
12 KiB
C++
343 lines
12 KiB
C++
#include "dc_param.h"
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#include "tinyxml2.h"
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// 中央元数据表（以 saddr 为键，初始化时写入，运行时只读）
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static std::unordered_map<std::string, stru_signal_param> g_param_metadata;
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void dc_param_metadata_store(const std::string &saddr, const stru_signal_param ¶m)
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{
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g_param_metadata[saddr] = param;
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}
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bool dc_param_metadata_lookup(const std::string &saddr, stru_signal_param &out_param)
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{
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auto it = g_param_metadata.find(saddr);
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if (it != g_param_metadata.end())
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{
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out_param = it->second;
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return true;
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}
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return false;
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}
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// 解析 param.xml，只提取元数据存入 g_param_metadata，不注册信号
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static int dc_param_parse_metadata(const std::string &path)
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{
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using namespace tinyxml2;
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XMLDocument doc;
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if (XML_SUCCESS != doc.LoadFile(path.c_str()))
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{
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MY_LOG_E("failed to load param file: %s", path.c_str());
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return -1;
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}
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XMLElement *root = doc.RootElement();
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if (nullptr == root)
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{
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MY_LOG_E("param file has no root element");
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return -1;
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}
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// 解析 Ao 段
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XMLElement *ao_elem = root->FirstChildElement("Ao");
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if (ao_elem)
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{
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for (XMLElement *sig = ao_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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if (nullptr == saddr)
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{
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MY_LOG_E("Ao Signal missing saddr, skipping");
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continue;
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}
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stru_signal_param param;
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param.min = sig->FloatAttribute("min", 0.0f);
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param.max = sig->FloatAttribute("max", 0.0f);
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param.step = sig->FloatAttribute("step", 0.0f);
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const char *unit = sig->Attribute("unit");
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param.unit = unit ? std::string(unit) : std::string();
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g_param_metadata[saddr] = param;
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}
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}
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// 解析 Param 段
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XMLElement *param_elem = root->FirstChildElement("Param");
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if (param_elem)
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{
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for (XMLElement *sig = param_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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if (nullptr == saddr)
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{
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MY_LOG_E("Param Signal missing saddr, skipping");
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continue;
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}
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stru_signal_param param;
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param.min = sig->FloatAttribute("min", 0.0f);
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param.max = sig->FloatAttribute("max", 0.0f);
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param.step = sig->FloatAttribute("step", 0.0f);
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const char *unit = sig->Attribute("unit");
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param.unit = unit ? std::string(unit) : std::string();
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g_param_metadata[saddr] = param;
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}
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}
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return 0;
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}
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// 从 self_param.xml 加载运行时值，返回 saddr → value字符串 的映射
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// Ao段: key=saddr, value="value_attr"
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// Param段: key=saddr + "_" + index, value="value_attr"
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static std::unordered_map<std::string, std::string> dc_self_param_load(const std::string &path)
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{
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using namespace tinyxml2;
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std::unordered_map<std::string, std::string> values;
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XMLDocument doc;
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if (XML_SUCCESS != doc.LoadFile(path.c_str()))
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return values; // 文件不存在或解析失败，返回空映射
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XMLElement *root = doc.RootElement();
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if (nullptr == root) return values;
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// 加载 Ao 段值
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XMLElement *ao_elem = root->FirstChildElement("Ao");
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if (ao_elem)
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{
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for (XMLElement *sig = ao_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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const char *val = sig->Attribute("value");
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if (saddr && val)
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values[saddr] = std::string(val);
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}
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}
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// 加载 Param 段值
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XMLElement *param_elem = root->FirstChildElement("Param");
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if (param_elem)
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{
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for (XMLElement *sig = param_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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if (nullptr == saddr) continue;
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for (XMLElement *item = sig->FirstChildElement("Item"); item != nullptr;
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item = item->NextSiblingElement("Item"))
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{
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int index = item->IntAttribute("index", -1);
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const char *val = item->Attribute("value");
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if (index >= 1 && val)
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{
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std::string key = std::string(saddr) + "_" + std::to_string(index);
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values[key] = std::string(val);
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}
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}
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}
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}
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return values;
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}
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// 根据 param.xml 和 self_param.xml 的值生成信号并注册
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static int dc_param_register_signals(const std::string ¶m_path,
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const std::unordered_map<std::string, std::string> &self_values)
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{
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using namespace tinyxml2;
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XMLDocument doc;
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if (XML_SUCCESS != doc.LoadFile(param_path.c_str()))
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{
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MY_LOG_E("failed to reload param file: %s", param_path.c_str());
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return -1;
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}
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XMLElement *root = doc.RootElement();
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if (nullptr == root)
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{
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MY_LOG_E("param file has no root element");
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return -1;
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}
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// 注册 Ao 段信号
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XMLElement *ao_elem = root->FirstChildElement("Ao");
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if (ao_elem)
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{
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for (XMLElement *sig = ao_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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const char *desc = sig->Attribute("desc");
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const char *type_str = sig->Attribute("type");
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if (nullptr == saddr || nullptr == desc || nullptr == type_str)
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{
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MY_LOG_E("Ao Signal missing required attributes, skipping");
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continue;
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}
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uint8_t data_type = dc_get_data_type_id_by_str(type_str);
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if (0 == data_type)
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{
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MY_LOG_E("unknown data type %s for saddr %s", type_str, saddr);
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continue;
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}
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// 默认值始终从 param.xml 读取
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const char *default_val = sig->Attribute("default");
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// 运行时值：优先使用 self_param.xml 中的值，否则使用 param.xml 的 value 属性
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const char *val_attr = sig->Attribute("value");
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std::string run_val;
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auto it = self_values.find(std::string(saddr));
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if (it != self_values.end())
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run_val = it->second;
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else if (val_attr && strlen(val_attr) > 0)
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run_val = std::string(val_attr);
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else if (default_val && strlen(default_val) > 0)
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run_val = std::string(default_val);
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void *p_data = dc_create_data_ptr_by_type(data_type);
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if (p_data)
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{
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if (!run_val.empty())
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dc_set_signal_val_from_str(p_data, data_type, run_val);
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}
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void *p_default_data = dc_create_data_ptr_by_type(data_type);
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if (p_default_data)
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{
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if (default_val && strlen(default_val) > 0)
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dc_set_signal_val_from_str(p_default_data, data_type, std::string(default_val));
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}
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if (p_data && p_default_data)
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{
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dc_signal_ao(saddr, desc, data_type,
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SIGNAL_CTRL_TYPE::SBO_NORMAL,
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p_data, p_default_data, nullptr);
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}
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}
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}
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// 注册 Param 段信号
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XMLElement *param_elem = root->FirstChildElement("Param");
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if (param_elem)
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{
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for (XMLElement *sig = param_elem->FirstChildElement("Signal"); sig != nullptr;
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sig = sig->NextSiblingElement("Signal"))
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{
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const char *saddr = sig->Attribute("saddr");
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const char *desc = sig->Attribute("desc");
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const char *type_str = sig->Attribute("type");
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if (nullptr == saddr || nullptr == desc || nullptr == type_str)
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{
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MY_LOG_E("Param Signal missing required attributes, skipping");
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continue;
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}
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uint8_t data_type = dc_get_data_type_id_by_str(type_str);
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if (0 == data_type)
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{
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MY_LOG_E("unknown data type %s for saddr %s", type_str, saddr);
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continue;
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}
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int num = sig->IntAttribute("num", -1);
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if (num < 1) continue;
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std::vector<void *> vec_p_data;
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std::vector<void *> vec_p_default_data;
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for (XMLElement *item = sig->FirstChildElement("Item"); item != nullptr;
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item = item->NextSiblingElement("Item"))
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{
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int index = item->IntAttribute("index", -1);
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const char *default_val = item->Attribute("default");
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const char *val_attr = item->Attribute("value");
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// 运行时值：优先使用 self_param.xml 中的值
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std::string key = std::string(saddr) + "_" + std::to_string(index);
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std::string run_val;
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auto it = self_values.find(key);
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if (it != self_values.end())
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run_val = it->second;
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else if (val_attr && strlen(val_attr) > 0)
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run_val = std::string(val_attr);
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else if (default_val && strlen(default_val) > 0)
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run_val = std::string(default_val);
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void *p_data = dc_create_data_ptr_by_type(data_type);
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if (p_data)
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{
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if (!run_val.empty())
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dc_set_signal_val_from_str(p_data, data_type, run_val);
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vec_p_data.push_back(p_data);
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}
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void *p_default_data = dc_create_data_ptr_by_type(data_type);
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if (p_default_data)
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{
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if (default_val && strlen(default_val) > 0)
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dc_set_signal_val_from_str(p_default_data, data_type, std::string(default_val));
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vec_p_default_data.push_back(p_default_data);
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}
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}
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if (!vec_p_data.empty() && vec_p_data.size() == vec_p_default_data.size())
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{
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dc_signal_param(saddr, desc, data_type,
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SIGNAL_CTRL_TYPE::SBO_NORMAL,
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vec_p_data.data(), vec_p_default_data.data(), num, nullptr);
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}
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}
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}
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// 首次注册后标记变更，触发 self_param.xml 生成
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dc_set_param_cfg_change(true);
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return 0;
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}
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int dc_param_cfg_parse(const std::string &path)
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{
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// 1. 从 param.xml 提取元数据到 g_param_metadata
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if (0 != dc_param_parse_metadata(path))
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{
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MY_LOG_E("dc_param_parse_metadata failed, path:%s", path.c_str());
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return -1;
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}
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// 2. 构造 self_param.xml 路径
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std::string self_path = path;
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size_t pos = self_path.rfind("param.xml");
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if (pos != std::string::npos)
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self_path.replace(pos, 9, "self_param.xml");
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else
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self_path = path.substr(0, path.rfind('/') + 1) + "self_param.xml";
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// 3. 尝试加载 self_param.xml 中的运行时值
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std::unordered_map<std::string, std::string> self_values = dc_self_param_load(self_path);
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if (!self_values.empty())
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MY_LOG_I("loaded %zu saved values from self_param.xml", self_values.size());
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else
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MY_LOG_I("no self_param.xml found, using default values from param.xml");
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// 4. 用合并后的值注册所有信号
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if (0 != dc_param_register_signals(path, self_values))
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{
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MY_LOG_E("dc_param_register_signals failed");
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return -1;
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}
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return 0;
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}
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