SOMEIP/source/soa_server/spi_server.cpp

//#include "someip_client.hpp"
//#include "someip_client_cfg.hpp"

#include "spi_server.hpp"
#include "spi_protocol.hpp"

#ifndef VSOMEIP_ENABLE_SIGNAL_HANDLING
    // client *my_client_ptr(nullptr);
    // void client_handle_signal(int _signal) {
    //     if (my_client_ptr != nullptr &&
    //             (_signal == SIGINT || _signal == SIGTERM
    //             || _signal == SIGKILL))
    //         my_client_ptr->stop();
    // }
#endif


/*
 * spi_slave_recv_loop.c - SPI从设备持续接收程序
 *
 * 功能：SoC作为SPI从设备，配置与MCU主设备对齐，循环接收并打印数据
 *       MCU每秒发送一帧（8字节）
 *
 * MCU主设备配置（需对齐）：
 *   Mode      : SPI_MODE_0 (CPOL=0, CPHA=0)
 *   Bits/Word : 8
 *   Speed     : 1 MHz
 *   发送数据   : {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08}
 *
 * 编译：aarch64-linux-gnu-gcc -o spi_slave_recv_loop spi_slave_recv_loop.c
 * 运行：./spi_slave_recv_loop
 * 退出：按 Ctrl+C
 */

#include <mutex>
#include <vector>

/* CAN 数据缓冲区 — SPI 线程写入，notifier 线程读取 */
std::vector<uint8_t> g_can_data[CAN_CHANNEL_COUNT];
std::mutex           g_can_mutex[CAN_CHANNEL_COUNT];

#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <signal.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>

/* ========== SPI配置（必须与MCU主设备完全一致）========== */
#define SPI_DEVICE      "/dev/spidev4.0"
#define SPI_MODE        SPI_MODE_3              /* CPOL=1, CPHA=1 */
#define SPI_BITS        8
#define SPI_SPEED       1000000                 /* 1MHz */
#define FRAME_LEN       SPI_PROTO_FRAME_SIZE    /* 每帧SPI_PROTO_FRAME_SIZE字节 */
/* ===================================================== */

static volatile int keep_running = 1;

void sigint_handler(int sig) {
    (void)sig;
    keep_running = 0;
    printf("\n[INFO] User interrupted, exiting...\n");
}

void my_spi_server_thread_func(void* arg) {

#ifndef VSOMEIP_ENABLE_SIGNAL_HANDLING
    // signal(SIGINT, client_handle_signal);
    // signal(SIGTERM, client_handle_signal);
    // signal(SIGKILL, client_handle_signal);
#endif


    uint8_t buf[FRAME_LEN];
    int fd, ret;
    unsigned int frame_count = 0;

    /* 注册退出信号 */
    signal(SIGINT, sigint_handler);

    /* 1. 打开 SPI 设备 */
    fd = open(SPI_DEVICE, O_RDWR);
    if (fd < 0) {
        perror("open " SPI_DEVICE);
        return;
    }

    /* 2. 配置 SPI 模式 */
    uint8_t mode = SPI_MODE;
	mode |= SPI_LSB_FIRST;
    ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
    if (ret == -1) {
        perror("SPI_IOC_WR_MODE");
        close(fd);
        return;
    }

    /* 3. 配置每字位数 */
    uint8_t bits = SPI_BITS;
    ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
    if (ret == -1) {
        perror("SPI_IOC_WR_BITS_PER_WORD");
        close(fd);
        return;
    }

    /* 4. 配置最大时钟频率 */
    uint32_t speed = SPI_SPEED;
    ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
    if (ret == -1) {
        perror("SPI_IOC_WR_MAX_SPEED_HZ");
        close(fd);
        return;
    }

    /* 5. 回读验证配置 */
    ioctl(fd, SPI_IOC_RD_MODE, &mode);
    ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
    ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);

    printf("========================================\n");
    printf("SPI Slave Config (aligned with MCU)\n");
    printf("========================================\n");
    printf("Device      : %s\n", SPI_DEVICE);
    printf("Mode        : %d (CPOL=%d, CPHA=%d)\n",
           mode, (mode & SPI_CPOL) ? 1 : 0, (mode & SPI_CPHA) ? 1 : 0);
    printf("Bits/Word   : %d\n", bits);
    printf("Max Speed   : %d Hz\n", speed);
    printf("Frame length: %d bytes\n", FRAME_LEN);
    printf("========================================\n");
    printf("Waiting for MCU (master) to send data...\n");
    printf("Press Ctrl+C to stop.\n\n");

    /* 6. 循环接收数据 */
    while (keep_running) {
        memset(buf, 0, FRAME_LEN);
        ret = read(fd, buf, FRAME_LEN);
        if (ret < 0) {
            perror("read");
            break;
        } else if (ret == 0) {
            /* 非阻塞模式可能返回0，但这里用了阻塞模式，一般不会出现 */
            //continue;
        }

        
        frame_count++;
        printf("\n========== Frame #%u (%d bytes) ==========\n", frame_count, ret);
        printf("HEX  : ");
        for (int i = 0; i < ret; i++)
            printf("0x%02X ", buf[i]);
        printf("\n");

        printf("ASCII: ");
        for (int i = 0; i < ret; i++)
            printf(" %c  ", (buf[i] >= 0x20 && buf[i] < 0x7F) ? buf[i] : '.');
        printf("\n");

        printf("DEC  : ");
        for (int i = 0; i < ret; i++)
            printf("%3d ", buf[i]);
        printf("\n");
        printf("=========================================\n");

        // 调用SpiProtocol_Unpack解析SPI数据
        SpiProtocol_RxResultType result;
        int32_t unpack_ret = SpiProtocol_Unpack(buf, sizeof(buf), SPI_PROTO_FRAME_SIZE, &result);
        if (unpack_ret < 0)
        {
            printf("SpiProtocol_Unpack error: %d\n", unpack_ret);
            continue;
        }
        printf("SpiProtocol_Unpack success, tlv_count=%d\n", unpack_ret);

        // 处理解包后的数据：提取 CAN0~CAN5 数据分发到对应缓冲区
        for (uint8_t i = 0; i < result.tlv_count; i++)
        {
            if (result.tlvs[i].service_id == SPI_PROTO_SID_CAN)
            {
                uint8_t can_ch = result.tlvs[i].method_id;  /* method_id 对应 CAN0~CAN5 */
                if (can_ch < CAN_CHANNEL_COUNT)
                {
                    std::lock_guard<std::mutex> lock(g_can_mutex[can_ch]);
                    g_can_data[can_ch].assign(result.tlvs[i].value,
                                              result.tlvs[i].value + result.tlvs[i].length);
                    printf("CAN%d data updated, length=%u\n", can_ch, result.tlvs[i].length);
                    printf("  HEX: ");
                    for (size_t j = 0; j < g_can_data[can_ch].size(); j++)
                        printf("%02X ", g_can_data[can_ch][j]);
                    printf("\n");
                }
                else
                {
                    printf("WARNING: CAN channel %u out of range (max %u)\n", can_ch, CAN_CHANNEL_COUNT - 1);
                }
            }
        }

    }

    close(fd);
    return;
}