rtu_xy_v/mcu_ctrl_board/bridge.go

// Author: NiuJiuRu
// Email: niujiuru@qq.com
// Date: 2025-11-20

package mcu_ctrl_board

/*
#include "mcu_ctrl_board.h"
*/
import "C"

import (
	"encoding/json"
	"fmt"
	"sync"
	"time"
	"unsafe"

	"hnyfkj.com.cn/rtu/linux/baseapp"
	"hnyfkj.com.cn/rtu/linux/netmgrd"
	"hnyfkj.com.cn/rtu/linux/utils/jsonrpc2"
)

// 打开与MCU控制板的串口通讯
func mcuCtrlBoard_ComInit() (int, error) {
	ret := int(C.MCBComInit())
	if ret != 0 {
		return ret, fmt.Errorf("an error occurred while calling the C.MCBComInit function(%d)", ret)
	}
	return 0, nil
}

// 关闭与MCU控制板的串口通讯
func mcuCtrlBoard_ComExit() error {
	ret := int(C.MCBComExit())
	if ret != 0 {
		return fmt.Errorf("an error occurred while calling the C.MCBComExit function(%d)", ret)
	}
	return nil
}

// 主动的发送指令给MCU控制板
func mcuCtrlBoard_SendCmd(cmd string) error {
	cstr := C.CString(cmd)
	defer C.free(unsafe.Pointer(cstr))

	ret := int(C.MCBComSendCmd(cstr))
	if ret != 0 {
		return fmt.Errorf("an error occurred while calling the C.MCBComSendCmd function(%d)", ret)
	}
	return nil
}

// 判断输入字符串是请求/应答
func detectJsonRole(jsonStr string) string {
	var obj map[string]json.RawMessage
	if json.Unmarshal([]byte(jsonStr), &obj) != nil {
		return "invalid"
	}
	switch {
	case obj["method"] != nil:
		return "request"
	case obj["result"] != nil || obj["error"] != nil:
		return "response"
	default:
		return "unknown"
	}
}

//export RTU_JsonMsgProcCb
func RTU_JsonMsgProcCb(jsonStr *C.char) *C.char {
	s := C.GoString(jsonStr)
	role := detectJsonRole(s)

	var w *jsonrpc2.Response

	wret := func() *C.char {
		b, err := w.String()
		if err != nil {
			return C.CString(fmt.Sprintf("an error occurred while calling the String() method of jsonrpc2.Response: %v", err))
		}
		return C.CString(b)
	}

	if role == "response" {
		err := Board.handleResponse(s)
		if err != nil {
			baseapp.Logger.Errorf("[%s] 解析数据板发送的命令应答时发生错误: %v", MODULE_NAME, err)
		}
		return nil
	}

	if role != "request" {
		w = jsonrpc2.BuildError(nil, jsonrpc2.ErrInvalidRequest, "")
		return wret()
	}

	r, err := jsonrpc2.ParseRequest(s)

	call := func(f func(*jsonrpc2.Request) (*jsonrpc2.Response, error)) *jsonrpc2.Response {
		w, e := f(r)
		if e != nil { // 调用本地RPC处理函数时发生错误
			return jsonrpc2.BuildError(r, jsonrpc2.ErrInternal, "")
		}
		return w
	}

	if err != nil {
		w = jsonrpc2.BuildError(nil, jsonrpc2.ErrParse, "")
	} else {
		switch r.Method {
		// 控制板查询数据板状态
		case "get_rtu_status":
			w = call(Board.getRTUStatus)
		// 控制板发送传感器数据
		case "send_sensor_data":
			w = call(Board.sendSensorData)
		// 控制板请求数据板拍照
		case "take_photo":
			w = call(Board.takePhoto)
		// 控制板发送预掉电通知
		case "power_down":
			w = call(Board.powerDown)
		default:
			w = jsonrpc2.BuildError(r, jsonrpc2.ErrMethodNotFound, "")
		}
	}

	return wret()
}

// 控制板查询数据板状态
func (b *MCUCtrlBoard) getRTUStatus(r *jsonrpc2.Request) (*jsonrpc2.Response, error) {
	netst := "offline"
	if netmgrd.IsInetAvailable() {
		netst = "online"
	}

	systm := ""
	if netmgrd.IsSyncedNtpTime() {
		now := time.Now()
		systm = now.Format("2006-01-02 15:04:05")
	}

	wrkst := "idle"
	if GlobalWorkState.Get() != Idle {
		wrkst = "busy"
	}

	wjson := fmt.Sprintf(`{"netst":"%s","systm":"%s","wrkst":"%s"}`, netst, systm, wrkst)
	return jsonrpc2.BuildResult(r, wjson)
}

// 控制板发送传感器数据
func (board *MCUCtrlBoard) sendSensorData(r *jsonrpc2.Request) (*jsonrpc2.Response, error) {
	GlobalWorkState.Add(SensorDataReceiving)
	defer GlobalWorkState.Remove(SensorDataReceiving)

	var dataOne EnvSensorData
	if err := json.Unmarshal([]byte(r.Params), &dataOne); err != nil {
		return jsonrpc2.BuildError(r, jsonrpc2.ErrInvalidParams, ""), nil
	}

	select {
	case board.OneEnvDataCh <- &dataOne:
	default:
		old := <-board.OneEnvDataCh // 弹出旧数据
		baseapp.Logger.Warnf("OneEnvData 通道满, 丢弃一条老数据: %s!", old.String())
		board.OneEnvDataCh <- &dataOne
	}

	return jsonrpc2.BuildResult(r, "success")
}

// 控制板请求数据板拍照
func (board *MCUCtrlBoard) takePhoto(r *jsonrpc2.Request) (*jsonrpc2.Response, error) {
	select {
	case board.ReqTakePhoCh <- true:
	default:
		<-board.ReqTakePhoCh // 弹出旧数据
		board.ReqTakePhoCh <- true
	}

	return jsonrpc2.BuildResult(r, "success")
}

// 控制板发送预掉电通知
func (board *MCUCtrlBoard) powerDown(r *jsonrpc2.Request) (*jsonrpc2.Response, error) {
	netst := "offline"
	if netmgrd.IsInetAvailable() {
		netst = "online"
	}

	systm := ""
	if netmgrd.IsSyncedNtpTime() {
		now := time.Now()
		systm = now.Format("2006-01-02 15:04:05")
	}

	wrkst := "idle"
	if GlobalWorkState.Get() != Idle {
		wrkst = "busy"
	} else {
		close(board.PwrWillOffCh)
	}

	wjson := fmt.Sprintf(`{"netst":"%s","systm":"%s","wrkst":"%s"}`, netst, systm, wrkst)

	return jsonrpc2.BuildResult(r, wjson)
}

var pendingRequests sync.Map // 存储所有待处理的请求ID和对应的应答通道

// 发送请求, 并等待应答
func (board *MCUCtrlBoard) SendRequest(req *jsonrpc2.Request, timeout int /*单位: ms*/) (*jsonrpc2.Response, error) {
	if req == nil || req.ID == nil {
		return nil, fmt.Errorf("invalid request or request ID")
	}

	id := *req.ID
	ch := make(chan *jsonrpc2.Response, 1)
	pendingRequests.Store(id, ch)
	defer pendingRequests.Delete(id)

	jsonStr, err := req.String()
	if err != nil {
		return nil, err
	}

	err = mcuCtrlBoard_SendCmd(jsonStr)
	if err != nil {
		return nil, err
	}

	timer := time.NewTimer(time.Duration(timeout) * time.Millisecond)
	defer timer.Stop()

	select {
	case resp := <-ch:
		return resp, nil
	case <-timer.C:
		return nil, fmt.Errorf("request %v timed out after %d ms", id, timeout)
	}
}

// 处理控制板返回的请求
func (board *MCUCtrlBoard) handleResponse(jsonStr string) error {
	w, err := jsonrpc2.ParseResponse(jsonStr)
	if err != nil {
		return fmt.Errorf("an error occurred while parsing JSON-RPC response: %v", err)
	}

	if w.ID == nil {
		return nil
	}

	id := *w.ID

	v, ok := pendingRequests.Load(id)
	if !ok {
		return fmt.Errorf("orphan response id=%d, no pending request", id)
	}

	ch, ok := v.(chan *jsonrpc2.Response)
	if !ok {
		return fmt.Errorf("invalid response channel for id=%d", id)
	}

	select {
	case ch <- w:
		return nil
	default:
		return fmt.Errorf("response dropped for id=%d, channel not receiving", id)
	}
}