BR_YKC/Core/User/Task/ChargerTask.c

#include "ChargerTask.h"

static struct netconn *datalink_conn; // 数据链路句柄
#define LINK_SERVER_PORT 6001         // 网关UDP服务端口
#define LINK_STAKE_PORT 6001          // 桩通讯端口

/**
 * @brief 桩IP地址
 * @note  桩IP地址从10.12.19.101开始递增
 */
ip4_addr_t stake_ip_1 = IPADDR4_INIT_BYTES(10, 12, 19, 101); // 桩1IP地址
ip4_addr_t stake_ip_2 = IPADDR4_INIT_BYTES(10, 12, 19, 102); // 桩2IP地址
ip4_addr_t stake_ip_3 = IPADDR4_INIT_BYTES(10, 12, 19, 103); // 桩3IP地址
ip4_addr_t stake_ip_4 = IPADDR4_INIT_BYTES(10, 12, 19, 104); // 桩4IP地址
ip4_addr_t stake_ip_5 = IPADDR4_INIT_BYTES(10, 12, 19, 105); // 桩5IP地址
ip4_addr_t stake_ip_6 = IPADDR4_INIT_BYTES(10, 12, 19, 106); // 桩6IP地址

/**
 * @brief UDP发送
 * @note  发送数据到指定桩
 * @param stake_index 目标桩ID
 * @param data 数据指针
 * @param len 数据长度
 * @return err_t 错误码
 */
err_t udp_send_response(uint8_t stake_index, uint8_t *data, u16_t len)
{
    struct netbuf *buf = netbuf_new();
    if (!buf)
    {
        printf("[%s] %d\n", __func__, __LINE__);
        return ERR_MEM;
    }
    ip4_addr_t *dst_ip = NULL;
    switch (stake_index)
    {
    case 1:
        dst_ip = &stake_ip_1;
        break;
    case 2:
        dst_ip = &stake_ip_2;
        break;
    case 3:
        dst_ip = &stake_ip_3;
        break;
    case 4:
        dst_ip = &stake_ip_4;
        break;
    case 5:
        dst_ip = &stake_ip_5;
        break;
    case 6:
        dst_ip = &stake_ip_6;
        break;
    default:
        printf("Invalid stake index\r\n");
        return;
    }
    netbuf_ref(buf, data, len);
    err_t err = netconn_sendto(datalink_conn, buf, dst_ip, LINK_STAKE_PORT);
    netbuf_delete(buf);
    return err;
}

void UDP_ParseTask_Function(void const *argument)
{
    UdpMsg_t msg;
    cJSON *root = NULL, *cmd = NULL, *id = NULL;
    ulTaskNotifyTake(pdTRUE, portMAX_DELAY); /* 等待桩通讯协议层完成*/
    while (1)
    {
        if (xQueueReceive(UDP_Message_Queue, &msg, portMAX_DELAY) == pdPASS)
        {
            root = cJSON_Parse((const char *)msg.data);
            if (root == NULL)
            {
                printf("JSON Parse Failed: %s\r\n", msg.data);
                vPortFree(msg.data);
                continue;
            }
            id = cJSON_GetObjectItem(root, "id");
            cmd = cJSON_GetObjectItem(root, "cmd");

            if (cmd != NULL && id != NULL)
            {
                const char *cmd_str = cmd->valuestring;
                handle_udp_downlink((uint8_t)id->valueint, cmd_str, root);
                cJSON_Delete(root);
            }
            else
            {
                printf("Missing 'code' field from \r\n");
                cJSON_Delete(root);
            }
            vPortFree(msg.data);
            msg.data = NULL;
        }
    }
}

/**
 * @brief   UPLinkTask_Function：桩通讯任务
 *
 * @note    none
 *
 * @param   taskID  : 任务ID
 *
 * @retval  runtime : 任务周期
 */

void UDPTask_Function(void const *argument)
{
    err_t recv_err;
    struct netbuf *datalink_buf = NULL;
    datalink_conn = netconn_new(NETCONN_UDP);
    netconn_bind(datalink_conn, IP_ADDR_ANY, LINK_SERVER_PORT);
    UDP_Message_Queue_Init(); // 初始化UDP接收队列
    /*桩UDP通讯初始化完成 发送云快充任务通知*/
    xTaskNotifyGive(YkcTaskHandle);
    xTaskNotifyGive(DownLinkTaskHandle);
    xTaskNotifyGive(UDP_ParseTaskHandle);

    while (1)
    {
        /*获取任务运行状态*/
        TaskRunTimeStat.UPLinkTask.threads_runtime = GetTask_RunTime(UPLinkTaskID);
        TaskRunTimeStat.UPLinkTask.threads_counter = GetTask_Beatcnt(UPLinkTaskID);
        TaskRunTimeStat.UPLinkTask.threads_freestack = Get_Free_Stack(UPLinkTaskID);

        recv_err = netconn_recv(datalink_conn, &datalink_buf);

        if (recv_err == ERR_OK && datalink_buf != NULL)
        {
            uint8_t *playload;
            uint16_t playload_len;
            netbuf_data(datalink_buf, (void *)&playload, &playload_len);
            if (playload_len > 0)
            {
                UdpMsg_t msg;
                ip_addr_copy(msg.src_ip, *netbuf_fromaddr(datalink_buf)); // 获取UDP源IP
                msg.src_port = netbuf_fromport(datalink_buf);             // 获取UDP源端口
                msg.len = playload_len;
                msg.data = (char *)pvPortMalloc(playload_len + 1);
                if (msg.data != NULL)
                {
                    memcpy(msg.data, playload, playload_len);
                    msg.data[playload_len] = '\0';
                    // 队列满,释放数据内存
                    if (xQueueSend(UDP_Message_Queue, &msg, 0) != pdPASS)
                    {
                        vPortFree(msg.data); 
                    }
                }
            }
            netbuf_delete(datalink_buf); // 释放UDP网络缓冲区
        }
        else
        {
            if (recv_err != ERR_TIMEOUT && recv_err != ERR_WOULDBLOCK)
            {
                printf("datalink netconn_recv err: %d\r\n", recv_err);
            }
        }
    }
}

/**
 * @brief 解析充电桩上电指令
 * @note  设置桩为本地在线状态，发送上电应答
 * @param stake_index 桩索引
 * @param json_pack json数据包
 */
void local_on_cmd_callback_power_on(uint8_t stake_index, cJSON *json_pack)
{
    if (stake_index > 6)
    {
        return;
    }
    g_charger_manager.charger_piles[stake_index - 1].is_udp_online = true; // 设置桩为本地在线状态

    cJSON *root = NULL;
    uint8_t *str = NULL;

    root = cJSON_CreateObject();
    if (root == NULL)
    {
        printf("Failed to create JSON object for stake %d\r\n", stake_index);
        return;
    }

    /* 添加一条字符串类型的JSON数据(添加一个链表节点) */
    cJSON_AddNumberToObject(root, "id", stake_index);
    cJSON_AddStringToObject(root, "cmd", "online");
    cJSON_AddStringToObject(root, "type", "response");

    str = cJSON_Print(root);
    udp_send_response(stake_index, str, strlen(str));
    free(str);
    cJSON_Delete(root);

    printf("南向：对电桩 %d 上电回复成功\r\n", stake_index);
}

/**
 * @brief 解析充电桩心跳指令
 * @note  回复心跳应答
 * @param stake_index 桩索引
 * @param json_pack json数据包
 */
void local_on_cmd_callback_heartbeat_response(uint8_t stake_index, cJSON *json_pack)
{
    if (stake_index > 6)
    {
        return;
    }
    //心跳unpack
  
    cJSON *gun_array = cJSON_GetObjectItem(json_pack, "gun");
    // 直接判断 type 字段
    if (gun_array == NULL || gun_array->type != cJSON_Array) 
    {
        printf("  └── [error] 缺少 gun 数组\r\n");
        return;
    }
    

    
    int gun_count = cJSON_GetArraySize(gun_array);
    for (int i = 0; i < gun_count; i++)
    {
        cJSON *gun = cJSON_GetArrayItem(gun_array, i);
        if (!gun) continue;
        
        cJSON *id = cJSON_GetObjectItem(gun, "id");
        cJSON *state = cJSON_GetObjectItem(gun, "state");
        
        if (!id || !state) continue;
        
     //   if (id->valueint == 1) pile->gun1_state = state->valueint;
       // if (id->valueint == 2) pile->gun2_state = state->valueint;
        printf("  └── [info] 桩%d 枪%d state=%d\r\n", stake_index, id->valueint, state->valueint);
    }

    //心跳回复组包
        cJSON *root = NULL;
    char *str = NULL;

    root = cJSON_CreateObject();
    if (root == NULL)
    {
        printf("Failed to create JSON object for stake %d\r\n", stake_index);
        return;
    }

    /* 添加一条字符串类型的JSON数据(添加一个链表节点) */
    cJSON_AddNumberToObject(root, "id", stake_index);
    cJSON_AddStringToObject(root, "cmd", "heartbeat");
    cJSON_AddStringToObject(root, "type", "response");

    str = cJSON_Print(root);
    udp_send_response(stake_index, str, strlen(str));
    free(str);
    cJSON_Delete(root);

    printf("南向：对电桩 %d 心跳回复成功\r\n", stake_index);
    

}

void handle_udp_downlink(uint8_t id, const char *cmd, cJSON *json_pack)
{
    if (cmd == NULL)
        return;
    // 处理上电指令
    if (strcmp(cmd, "online") == 0)
    {
        printf("南向：收到电桩 %d 上电指令\r\n", id);
        local_on_cmd_callback_power_on(id, json_pack);
    }
    // 处理心跳指令
    else if (strcmp(cmd, "heartbeat") == 0)
    {
        printf("南向：收到电桩 %d 心跳指令\r\n", id);
        local_on_cmd_callback_heartbeat_response(id, json_pack);
    }
    else
    {
        printf("Unknown CMD: '%s' from ID %d\r\n", cmd, id);
    }
}