Dbus网络通信技术
一、 Dbus原理概述
1.1概述
DBUS是一种高级的进程间通信机制。DBUS支持进程间一对一和多对多的对等通信，在多对多的通讯时，需要后台进程的角色去分转消息，当一个进程发消息给另外一个进程时，先发消息到后台进程，再通过后台进程将信息转发到目的进程。
DBUS后台进程充当着一个路由器的角色。
D-Bus最主要的用途是在Linux桌面环境为进程提供通信，同时能将Linux桌面环境和Linux内核事件作为消息传递到进程。注册后的进程可通过总线接收或传递消息，进程也可注册后等待内核事件响应，例如等待网络状态的转变或者计算机发出关机指令。
DBUS中主要概念为总线，连接到总线的进程可通过总线接收或传递消息，总线收到消息时，根据不同的消息类型进行不同的处理。DBUS中消息分为四类：
1. Methodcall消息：将触发一个函数调用 ；
2. Methodreturn消息：触发函数调用返回的结果；
3. Error消息：触发的函数调用返回一个异常 ；
4. Signal消息：通知，可以看作为事件消息。
1.2 应用场景
根据DBUS消息类型可知，DBUS提供一种高效的进程间通信机制，主要用于进程间函数调用以及进程间信号广播。
1 . 函数调用
DBUS可以实现进程间函数调用，进程A发送函数调用的请求（Methodcall消息），经过总线转发至进程B。进程B将应答函数返回值（Method return消息）或者错误消息（Error消息）。
2 . 消息广播
进程间消息广播（Signal消息）不需要响应，接收方需要向总线注册感兴趣的消息类型，当总线接收到“Signal消息”类型的消息时，会将消息转发至希望接收的进程。
二、用dbus实现C/V通信的实例
server.c
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <dbus/dbus.h>
#include <unistd.h>
DBusConnection* init_bus()
{
DBusConnection *connection;
DBusError err;
int ret = 0;
dbus_error_init(&err);
//与session dbus 建立连接
//param１：bus type = {DBUS_BUS_SESSION, DBUS_BUS_SYSTEM} 一个系统dbus, 一个普通用户dbus
//param２：错误信息，包括错误名与错误信息．
connection = dbus_bus_get(DBUS_BUS_SESSION, &err);
if(dbus_error_is_set(&err))
{
printf("Connection Error: %s--%s\n", err.name, err.message);
dbus_error_free(&err);
return NULL;
}
//为连接设置一个bus name: bus_name;
//param 1: 连接描述符
//param 2: 请求bus要分配的bus name(逻辑上讲，bus name可以是任何字符串，只要符合命名规则)
//param 3: flags ={DBUS_NAME_FLAG_REPLACE_EXISTING,
// DBUS_NAME_FLAG_ALLOW_REPLACEMENT,
// DBUS_NAME_FLAG_DO_NOT_QUEUE
// }
//param 4: err info
ret = dbus_bus_request_name(connection, "hello.world.service", DBUS_NAME_FLAG_REPLACE_EXISTING, &err);
if(dbus_error_is_set(&err))
{
printf("Name Error: %s--%s\n", err.name, err.message);
dbus_error_free(&err);
return NULL;
}
if(ret != DBUS_REQUEST_NAME_REPLY_PRIMARY_OWNER)
return NULL;
//注册感兴趣的signal: 来自接口dbus.test.signal.sender
//param1: 连接描述符
//param2: match rule （常用的类型： sender=
// interface=
// type=
// member= ）
//param3: err info
//只设置一个type = signal,表示所有信号都接受．也可以加上接口，发送者bus_name
dbus_bus_add_match(connection, "type='signal'", &err);
//阻塞，直到消息发送成功．
dbus_connection_flush(connection);
if(dbus_error_is_set(&err))
{
printf("add Match Error %s--%s\n", err.name, err.message);
dbus_error_free(&err);
return connection;
}
return connection;
}
void handle_message(DBusConnection *connection)
{
DBusMessage *msg;
DBusMessageIter arg;
char *str;
while(1)
{
//param1: 连接描述符
//param2: 超时时间， -1无限超时时间
dbus_connection_read_write(connection, 0);
//从队列中取出一条消息
msg = dbus_connection_pop_message(connection);
if(msg == NULL)
{
sleep(1);
continue;
}
//这里应该过滤path，暂且不做
//打印出消息对象路径
printf("path: %s\n", dbus_message_get_path (msg));
//param1: message
//param2: interface 这个名字必须与发送那个接口一样．才能处理
//param3: singal name 方法名也必须一样．
if(dbus_message_is_signal(msg, "aa.bb.cc", "alarm_test"))
{
//解析message 参数，０为无参数．
if(!dbus_message_iter_init(msg, &arg))
{
printf("no argument\n");
}
//获取第一个参数类型
if(dbus_message_iter_get_arg_type(&arg) != DBUS_TYPE_INVALID)
{
//获取参数的值
dbus_message_iter_get_basic(&arg,&str);
printf("recv param --: %s\n", str);
}
}
else if(dbus_message_is_method_call(msg, "hello.world", "add"))
{
/处理 add 远程调用．
DBusMessage *rp;
DBusMessageIter r_arg;
int a = 0;
int b = 0;
int sum = 0;
printf("service: add function\n");
if(!dbus_message_iter_init(msg, &arg))
{
printf("no argument!\n");
goto out;
}
if(dbus_message_iter_get_arg_type(&arg) != DBUS_TYPE_INT32)
{
printf("argument error\n");
goto out;
}
dbus_message_iter_get_basic(&arg, &a);
if(!dbus_message_iter_next(&arg))
{
printf("too few argument!\n");
goto out;
}
//check argument type....
dbus_message_iter_get_basic(&arg, &b);
sum = a + b;
out:
//new 一个回应对象
rp = dbus_message_new_method_return(msg);
dbus_message_iter_init_append(rp, &r_arg);
if(!dbus_message_iter_append_basic(&r_arg, DBUS_TYPE_INT32, &sum))
{
printf("no memory!!\n");
return;
}
//param3: 这个跟消息序列有关
if(!dbus_connection_send(connection, rp, NULL))
{
printf("no memory!!\n");
return;
}
dbus_connection_flush(connection);
dbus_message_unref(rp);
}
//释放空间
dbus_message_unref(msg);
}
//dbus_bus_remove_match();
}
int main(int argc, char **argv)
{
int ret = 0;
DBusConnection *connection;
connection = init_bus();
if(connection == NULL)
{
printf("connect the dbus failed...\n");
return -1;
}
handle_message(connection);
return 0;
}
client.c
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <dbus/dbus.h>
DBusConnection* init_bus()
{
DBusConnection *connection;
DBusError err;
int ret;
dbus_error_init(&err);
connection = dbus_bus_get(DBUS_BUS_SESSION, &err);
if(dbus_error_is_set(&err))
{
printf("connection error: :%s -- %s\n", err.name, err.message);
dbus_error_free(&err);
return NULL;
}
ret = dbus_bus_request_name(connection, "hello.world.client", DBUS_NAME_FLAG_REPLACE_EXISTING, &err);
if(dbus_error_is_set(&err))
{
printf("Name error: %s -- %s\n", err.name, err.message);
dbus_error_free(&err);
return NULL;
}
if(ret != DBUS_REQUEST_NAME_REPLY_PRIMARY_OWNER)
return NULL;
return connection;
}
void send_signal(DBusConnection *connection)
{
DBusMessage *msg;
DBusMessageIter arg;
char *str = "hello world!";
//创建一个signal对象
//param1: path （这个逻辑来说，可以是任何字符串，只要符合规则即可）
//param2: interface (一样)
//param3: 信号方法名（必须与服务端名匹配）
if((msg = dbus_message_new_signal("/hello", "aa.bb.cc", "alarm_test")) == NULL)
{
printf("message is NULL\n");
return;
}
#if 0
//这个看需求添加，一般来说，信号是一种单向广播，加上这一句变单向单播
//param2: bus_name
if(!dbus_message_set_destination(msg, "hello.world.service"))
{
printf("memory error\n");
}
#endif
//添加参数的一些接口
dbus_message_iter_init_append(msg, &arg);
dbus_message_iter_append_basic(&arg, DBUS_TYPE_STRING, &str);
//入队
dbus_connection_send(connection, msg, NULL);
//发送
dbus_connection_flush(connection);
//释放内存
dbus_message_unref(msg);
return;
}
void send_method_call(DBusConnection *connection)
{
DBusMessage *msg;
DBusMessageIter arg;
DBusPendingCall *pending;
int a = 100;
int b = 99;
int sum;
msg = dbus_message_new_method_call("hello.world.service", "/hello/world","hello.world", "add");
if(msg == NULL)
{
printf("no memory\n");
return;
}
dbus_message_iter_init_append(msg, &arg);
if(!dbus_message_iter_append_basic (&arg, DBUS_TYPE_INT32,&a)){
printf("no memory!");
dbus_message_unref(msg);
return;
}
if(!dbus_message_iter_append_basic (&arg, DBUS_TYPE_INT32,&b)){
printf("no memory!");
dbus_message_unref(msg);
return;
}
//入队message,等待回复
//param1: 连接描述符
//param2: message
//param3: 相当于一个回调的一个描述符，为了获了返回的消息
//param4: 超时间． -１代表无限
if(!dbus_connection_send_with_reply (connection, msg, &pending, -1)){
printf("no memeory!");
dbus_message_unref(msg);
return;
}
if(pending == NULL){
printf("Pending is NULL, may be disconnect...\n");
dbus_message_unref(msg);
return;
}
//send
dbus_connection_flush(connection);
dbus_message_unref(msg);
//阻塞，直到接收到一个响应．
dbus_pending_call_block (pending);
msg = dbus_pending_call_steal_reply (pending);
if (msg == NULL) {
printf("reply is null. error\n");
return;
}
//释放pending内存
dbus_pending_call_unref(pending);
//解析参数
if (!dbus_message_iter_init(msg, &arg))
printf("no argument, error\n");
if(dbus_message_iter_get_arg_type(&arg) != DBUS_TYPE_INT32)
{
printf("paramter type error\n");
}
dbus_message_iter_get_basic(&arg, &sum);
printf(" a(%d) + b(%d) = %d\n",a, b, sum);
dbus_message_unref(msg);
return;
}
int main(int argc, char **argv)
{
DBusConnection *connection;
connection = init_bus();
if(connection == NULL)
{
printf("connect to bus failed...\n");
return -1;
}
send_signal(connection);
send_method_call(connection);
return 0;
}
二、 实现双向通信实例
2.1 使用背景
由于之前做项目时，一个项目需要由多个app组成，各个app还需要进行通信，当时所采用的是利用socket进行通信。但是采用socket进行通信时，两个客户端无法直接进行通信，导致还需要额外再建立一个server端进行转发，如此一来，浪费了大量的cpu内存资源以及精力来处理数据转发。后来了解到Dbus这个数据总线后，果断采用dbus来处理。
本来是不想写这篇文章的，因为网上关于dbus的资料很多，但是网上的通信案例大多是单向通信的，最多的也就是接收端收到数据后给个应答，并没有同时双向通信的例子(至少笔者是没找到的)。这里所说的双向通信，比如appA和appB，A可以主动向B发送数据，同时，B也可以主动向A发送数据。两个数据流同时进行，互不干扰。
从网上的资料来看，dbus是一个数据总线，其内部实现依旧采用socket进行通信。详细的原理这里不做介绍，自行了解即可。
接下来，将主要介绍dbus的编译以及对原有的dbus进行c++封装成dbus类，并进行双向通信测试的实现。
2.2 实现代码
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <ctype.h>
#include <dbus/dbus.h>
#include <iostream>
#include <string>
using namespace std;
#define DBUS_RECV 1 //接收
#define DBUS_SEND 2 //发送
#define RECV_DATA_SIZE (512 * 20)
//DBusError dbus_error;
struct recvst
{
string bus_name;
string object_path_name;
string interface_name;
string method_name;
string request_bus_name;
DBusError dbus_error; //xurc 原来为DBusError &err = *perr;
DBusConnection *connection;
DBusMessage *message;
pthread_mutex_t dbus_recv_mutex;
uint8_t recvdata[RECV_DATA_SIZE];
int32_t recvpos;
int32_t recvlen;
};
class Dbus
{
public:
pthread_t precv_id;
struct recvst st;
Dbus(string bus_name, string path_namae, string interface_name, string method_name, string request_bus_name, uint8_t dbus_type);
int32_t DbusSend(const void *data, int32_t data_len, int32_t data_type);
int32_t DbusRecv(void *buff, int32_t buff_len);
//private:
static DBusHandlerResult ws_dbus_message_handler(DBusConnection *connection, DBusMessage *message, void *user_data)
{
DBusMessageIter recvIter;
DBusMessageIter arrayIter;
int ret = 0;
dbus_int32_t len = 0;
struct recvst *st = (struct recvst *)user_data;
//DBusMessage *message = st->message;
DBusMessage *reply = NULL;
const char * path =dbus_message_get_path(message);
if(NULL==path)
{
return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
}
if (strcmp(path, st->object_path_name.c_str()) == 0)
{
if (dbus_message_is_method_call(message, st->interface_name.c_str(), st->method_name.c_str()))
{
dbus_message_iter_init(message, &recvIter);
do
{
ret = dbus_message_iter_get_arg_type(&recvIter);
if (DBUS_TYPE_STRING == ret)
{
char *pdata = NULL;
dbus_message_iter_get_basic(&recvIter, &pdata);
printf("%s\n", pdata);
pthread_mutex_lock(&st->dbus_recv_mutex);
memcpy((char *)st->recvdata + st->recvpos, pdata, strlen(pdata));
st->recvlen = strlen(pdata);
st->recvpos += st->recvlen;
pthread_mutex_unlock(&st->dbus_recv_mutex);
}
else if (DBUS_TYPE_ARRAY == ret)
{
uint8_t *pdata = NULL;
dbus_message_iter_recurse(&recvIter, &arrayIter);
dbus_message_iter_get_fixed_array(&arrayIter, &pdata, &len);
if (len > 0)
{
pthread_mutex_lock(&st->dbus_recv_mutex);
memcpy(st->recvdata + st->recvpos, pdata, len);
st->recvlen = len;
st->recvpos += len;
pthread_mutex_unlock(&st->dbus_recv_mutex);
}
}
} while (dbus_message_iter_next(&recvIter));
char answer [40];
sprintf (answer, "I have get your message!");
if ((reply = dbus_message_new_method_return (message)) == NULL)
{
fprintf (stderr, "Error in dbus_message_new_method_return\n");
exit (1);
}
DBusMessageIter iter;
dbus_message_iter_init_append (reply, &iter);
char *ptr = answer;
if (!dbus_message_iter_append_basic (&iter, DBUS_TYPE_STRING, &ptr))
{
fprintf (stderr, "Error in dbus_message_iter_append_basic\n");
exit (1);
}
}
}
if(reply)
{
// send the reply && flush the connection
if (!dbus_connection_send(connection, reply, NULL))
{
return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
}
dbus_connection_flush(connection);
// free the reply
dbus_message_unref(reply);
return DBUS_HANDLER_RESULT_HANDLED ;
}
else
{
return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
}
}
};
static void *precv_func(void *arg)
{
struct recvst *st = (struct recvst *)arg;
dbus_error_init(&st->dbus_error);
if (!dbus_connection_add_filter(st->connection, Dbus::ws_dbus_message_handler, st, NULL))
{
fprintf(stderr, "dbus_connection_add_filter\n");
exit(1);
}
while (dbus_connection_read_write_dispatch (st->connection, -1))
{
if (st->recvlen > 0)
{
//printf("555555555st->len = %d\n", st->recvlen);
//printf("555555555st->recvdata = %s\n", st->recvdata);
//
//memset(&st->recvdata, 0x00, sizeof(st->recvdata));
//st->recvlen = 0;
printf("get new %d bytes\n", st->recvlen);
st->recvlen = 0;
}
//sleep(1);
}
}
Dbus::Dbus(string bus_name, string path_name, string interface_name, string method_name, string request_bus_name, uint8_t dbus_type)
{
int32_t ret = 0;
st.bus_name = bus_name;
st.object_path_name = path_name;
st.interface_name = interface_name;
st.method_name = method_name;
st.request_bus_name = request_bus_name;
//if (st.connection == NULL)
{
dbus_error_init(&st.dbus_error);
//st.connection = dbus_bus_get (DBUS_BUS_SESSION, &st.dbus_error); //获取公共的connection
st.connection = dbus_bus_get_private(DBUS_BUS_SESSION, &st.dbus_error); //用dbus_bus_get_private获取独立的connection
}
if (dbus_error_is_set (&st.dbus_error))
printf("dbus_bus_get\n");
if (!st.connection)
exit (1);
ret = dbus_bus_request_name (st.connection, st.request_bus_name.c_str(), DBUS_NAME_FLAG_DO_NOT_QUEUE, &st.dbus_error);
if (dbus_error_is_set (&st.dbus_error))
printf("dbus_bus_get\n");
if (ret != DBUS_REQUEST_NAME_REPLY_PRIMARY_OWNER)
{
fprintf (stderr, "Dbus: not primary owner, ret = %d\n", ret);
exit (1);
}
//dbus_error_init(&dbus_error);
//if (!dbus_connection_add_filter (connection, ws_dbus_message_handler, NULL, NULL)) {
// fprintf(stderr, "dbus_connection_add_filter\n");
// exit(1);
//}
//while (dbus_connection_read_write_dispatch (connection, -1));
if (dbus_type == DBUS_RECV)
{
st.recvpos = 0;
st.recvlen = 0;
memset(&st.recvdata, 0x00, RECV_DATA_SIZE);
pthread_mutex_init(&st.dbus_recv_mutex, NULL);
pthread_create(&precv_id, NULL, precv_func, &st);
}
}
int32_t Dbus::DbusRecv(void *buff, int32_t buff_len)
{
int32_t len = 0;
if ((st.recvpos > 0) && (buff_len >= st.recvpos))
{
pthread_mutex_lock(&st.dbus_recv_mutex);
memcpy((uint8_t *)buff, st.recvdata, st.recvpos);
len = st.recvpos;
st.recvpos = 0;
pthread_mutex_unlock(&st.dbus_recv_mutex);
}
return len;
}
int32_t Dbus::DbusSend(const void *data, int32_t data_len, int32_t data_type)
{
DBusMessage *msg = NULL;
DBusPendingCall *pending;
DBusMessageIter sendIter;
DBusMessageIter arrayIter;
char buff[2];
char *ptype = buff;
dbus_bool_t ret = 0;
//针对目的地地址，请参考图，创建一个method call消息。Constructs a new message to invoke a method on a remote object.
msg = dbus_message_new_method_call(st.bus_name.c_str(), st.object_path_name.c_str(), st.interface_name.c_str(), st.method_name.c_str());
if(msg == NULL){
fprintf(stderr, "MessageNULL");
return 0;
}
//为消息添加参数。Appendarguments
dbus_message_iter_init_append(msg, &sendIter);
if (data_type == DBUS_TYPE_STRING)
{
if(!dbus_message_iter_append_basic(&sendIter, DBUS_TYPE_STRING, &data)){
fprintf(stderr, "Out of Memory!");
exit(1);
}
}
else if (data_type == DBUS_TYPE_BYTE)
{
buff[0] = DBUS_TYPE_BYTE;
buff[1] = '\0';
dbus_message_iter_open_container(&sendIter, DBUS_TYPE_ARRAY, ptype, &arrayIter);
ret = dbus_message_iter_append_fixed_array(&arrayIter, DBUS_TYPE_BYTE, &data, data_len);
dbus_message_iter_close_container(&sendIter, &arrayIter);
}
//dbus_connection_send(st.connection, msg, NULL);
//dbus_connection_flush(st.connection);
//dbus_message_unref(msg);
#if 1
//发送消息并获得reply的handle。Queues amessage to send, as withdbus_connection_send() , but also returns aDBusPendingCall used to receive a reply to the message.
if(!dbus_connection_send_with_reply(st.connection, msg, &pending, -1)){
fprintf(stderr, "Out of Memory!");
exit(1);
}
if(pending == NULL){
fprintf(stderr, "Pending CallNULL: connection is disconnected ");
dbus_message_unref(msg);
return 0;
}
dbus_connection_flush(st.connection);
dbus_message_unref(msg);
dbus_pending_call_block(pending);
//接收返回数据
char *s;
DBusMessage *reply;
reply= dbus_pending_call_steal_reply(pending);
if (reply== NULL)
{
fprintf (stderr,"call steal reply failed\n");
dbus_message_unref(reply);
exit(1);;
}
dbus_pending_call_unref(pending);
//从服务器端返回一个简单的字符串
if (dbus_message_get_args (reply, &st.dbus_error, DBUS_TYPE_STRING, &s, DBUS_TYPE_INVALID)) {
printf ("Receive from server: %s\n", s);
}else{
fprintf (stderr, "Did not get arguments in reply\n");
exit (1);
}
dbus_message_unref (reply);
/****************逐个解析获取信息***********
dbus_error_init(&err);
dbus_message_iter_init(msg, &iter);//成功返回1
if(DBUS_TYPE_INT32 == dbus_message_iter_get_arg_type(&iter)){
dbus_message_iter_get_basic(&iter, &status);//获取DBUS_TYPE_INT32类型数据存放到status
}
dbus_message_iter_next(&iter);//获取下一数据
if(DBUS_TYPE_INT32 == dbus_message_iter_get_arg_type(&iter)){
dbus_message_iter_get_basic(&iter, &count);
}
//解析获取的数组数据
DBusMessageIter sub_iter;
if(dbus_message_iter_next(&iter){
if(DBUS_TYPE_ARRAY == dbus_message_iter_get_arg_type(&iter)){
dbus_message_iter_recurse(&iter, &sub_iter);
dbus_message_iter_get_fixed_array(&sub_iter, &mac, &mac_len);
}
}
*******************************************/
#endif
if (dbus_bus_release_name (st.connection, st.request_bus_name.c_str(), &st.dbus_error) == -1) {
fprintf (stderr, "Error in dbus_bus_release_name\n");
exit (1);
}
return 0;
}
#if 0
int32_t main(int32_t argc, char *argv[])
{
struct recvst rcst;
const string recv_bus_name = "in.softprayog.add_server_recv";
const string recv_object_path_name = "/in/softprayog/adder";
const string recv_interface_name = "in.softprayog.dbus_example";
const string recv_methoe_name = "test_dbus_damon";
const string recv_request_name = "in.softprayog.add_server_recv";
const string send_bus_name = "in.softprayog.add_server_send";
const string send_object_path_name = "/in/softprayog/adder";
const string send_interface_name = "in.softprayog.dbus_example";
const string send_methoe_name = "test_dbus_damon";
const string send_request_name = "in.softprayog.add_server_send";
uint8_t recvbuff[1024];
int32_t recvlen = 0;
Dbus recv(recv_bus_name, recv_object_path_name, recv_interface_name, recv_methoe_name, recv_request_name, DBUS_RECV);
Dbus send(send_bus_name, send_object_path_name, send_interface_name, send_methoe_name, send_request_name, DBUS_SEND);
while (1)
{
send.DbusSend("hello", strlen("hello"), DBUS_TYPE_STRING);
recvlen = recv.DbusRecv(recvbuff, sizeof(recvbuff));
for (int i = 0; i < recvlen; i++)
printf("%x ", recvbuff[i]);
printf("\n");
sleep(3);
}
}
#endif
#if 1
static void *hardware_send_dataprocess(void *arg)
{
string send_BusName = "hardware.dataprocess";
string send_Path = "/hardware_dataprocess/method/Object";
string send_InterFace = "hardware_dataprocess.method.Type";
string send_Method = "Method";
string send_requestName = "hardware.dataprocess.source";
uint8_t senddata[512];
uint8_t i = 0;
Dbus dbus_hardware_send_dataprocess(send_BusName, send_Path, send_InterFace, send_Method, send_requestName, DBUS_SEND);
while (1)
{
memset(senddata, i, sizeof(senddata));
dbus_hardware_send_dataprocess.DbusSend(senddata, sizeof(senddata), DBUS_TYPE_BYTE);
i++;
//sleep(1);
usleep(1000 * 50);
}
}
static void *hardware_recv_dataprocess(void *arg)
{
string recv_BusName = "dataprocess.hardware";
string recv_Path = "/dataprocess_hardware/method/Object";
string recv_InterFace = "dataprocess_hardware.method.Type";
string recv_Method = "Method";
string recv_requestName = recv_BusName;
uint8_t recvdata[8200];
int32_t recvlen = 0;
Dbus dbus_hardware_recv_dataprocess(recv_BusName, recv_Path, recv_InterFace, recv_Method, recv_requestName, DBUS_RECV);
while (1)
{
memset(recvdata, 0x00, sizeof(recvdata));
recvlen = dbus_hardware_recv_dataprocess.DbusRecv(recvdata, sizeof(recvdata));
if (recvlen > 0)
{
printf("tellen = %d\n", recvlen);
for (int i = 0; i < 8; i++)
{
printf("%x ", recvdata[i]);
}
}
sleep(1);
}
}
int main(int argc, char *argv[])
{
pthread_t hardware_send_dataprocess_id;
pthread_t hardware_recv_dataprocess_id;
pthread_create(&hardware_send_dataprocess_id, NULL, hardware_send_dataprocess, NULL);
pthread_create(&hardware_recv_dataprocess_id, NULL, hardware_recv_dataprocess, NULL);
while (1)
{
sleep(1);
}
}
#endif