crc校验modbus，实现linux，c++的modbus通信，并控制电机

#include <cstdint>  
#include <thread>  
#include <unistd.h>  
#include <arpa/inet.h>  
#include <sys/socket.h>  
#include <pthread.h>  
#include <iostream>  
#include <cstring>  
#include <netinet/in.h>  
#include <limits>
#include <linux/can.h> 
#include <net/if.h>  
#include <linux/sockios.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fstream>
#include <sstream>
#include <linux/can/raw.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <fcntl.h>

// CRC校验函数（这里使用简单的CRC16校验）  
uint16_t crc16(const uint8_t* data, size_t length) {
    static const uint16_t polynomial = 0xA001;
    uint16_t crc = 0xFFFF;
    for (size_t pos = 0; pos < length; ++pos) {
        crc ^= (uint16_t)data[pos];
        for (uint8_t i = 8; i != 0; --i) {
            if (crc & 0x0001) {
                crc = (crc >> 1) ^ polynomial;
            }
            else {
                crc >>= 1;
            }
        }
    }
    std::printf("%02X ", crc);
    return crc;
}

void sendCanFrame(int canSock, int ifaceNum, uint32_t canID, uint8_t* data, size_t size) 
{
    struct can_frame frame;
    frame.can_id = canID;
    frame.can_dlc = size;
    memcpy(frame.data, data, size);

    struct sockaddr_can addr;
    memset(&addr, 0, sizeof(addr));
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifaceNum;

    ssize_t nbytes = write(canSock, &frame, sizeof(frame));
    if (nbytes < 0) {
        perror("Failed to write CAN frame");
    }
}

// 假设的setmotor函数定义  
bool setmotor(uint32_t id, uint32_t speed) {
    int canSock0 = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (canSock0 < 0) {
        perror("Failed to open CAN socket");
        return 1;
    }

    struct ifreq ifr0;
    strcpy(ifr0.ifr_name, "can0");
    if (ioctl(canSock0, SIOCGIFINDEX, &ifr0) < 0) {
        perror("Failed to get7 CAN interface index");
        return 1;
    }

    // 将CAN0接口绑定到套接字
    struct sockaddr_can addr0;
    memset(&addr0, 0, sizeof(addr0));
    addr0.can_family = AF_CAN;
    addr0.can_ifindex = ifr0.ifr_ifindex;
    if (bind(canSock0, (struct sockaddr*)&addr0, sizeof(addr0)) < 0) {
        perror("Failed to bind CAN socket");
        return 1;
    }



    uint8_t data1[2] = { 0x1,static_cast<uint8_t>(id) };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, 0x0, data1, sizeof(data1));
    uint8_t data2[8] = { 0x2F, 0x60, 0x60, 0x00, 0x03, 0x00, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data2, sizeof(data2));
    uint8_t data3[8] = { 0x23, 0xFF, 0x60, 0X00, static_cast<uint8_t>(speed & 0xff), static_cast<uint8_t>((speed >> 8) & 0xff), 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data3, sizeof(data3));
    uint8_t data4[8] = { 0x23, 0x83, 0x60, 0X00, 0x88, 0x13, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data4, sizeof(data4));
    uint8_t data5[8] = { 0x23, 0x84, 0x60, 0X00, 0x88, 0x13, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data5, sizeof(data5));
    uint8_t data6[8] = { 0x2B, 0x40, 0x60, 0X00, 0x06, 0x00, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data6, sizeof(data6));
    uint8_t data7[8] = { 0x2B, 0x40, 0x60, 0X00, 0x07, 0x00, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data7, sizeof(data7));
    uint8_t data8[8] = { 0x2B, 0x40, 0x60, 0X00, 0x0F, 0x00, 0x00, 0x00 };
    sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data8, sizeof(data8));
    sleep(1);
    if (speed <= 200 && speed > 24000) {

        uint8_t data7[8] = { 0x2B, 0x40, 0x60, 0X00, 0x07, 0x00, 0x00, 0x00 };
        sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data7, sizeof(data7));
    }
    else if (id == 1)
    {
        if (speed <= 200 && speed > 1500)
        {
            uint8_t data7[8] = { 0x2B, 0x40, 0x60, 0X00, 0x07, 0x00, 0x00, 0x00 };
            sendCanFrame(canSock0, ifr0.ifr_ifindex, (0x600 + id), data7, sizeof(data7));
        }
    }
    

    return true;
}

const char* SERVER_IP = "192.168.1.104";
const int SERVER_PORT = 8009;
const int BUFFER_SIZE = 1024;

// 客户端连接结构  
struct ClientConnection {
    int socket_fd;
    struct sockaddr_in client_addr;
    socklen_t client_addr_size;
};

// 接收数据的线程函数  
void* receive_thread(void* arg) {
    ClientConnection* conn = static_cast<ClientConnection*>(arg);
    uint8_t buffer[BUFFER_SIZE];
    ssize_t bytes_read;

    while (true) {
        bytes_read = recv(conn->socket_fd, buffer, BUFFER_SIZE, 0);
        if (bytes_read <= 0) {
            std::cerr << "Client disconnected" << std::endl;
            break;
        }

        // 确保接收到足够的数据  
        if (bytes_read < 8) {
            std::cerr << "Invalid data length received from client" << std::endl;
            continue;
        }

        uint16_t received_crc = (buffer[7] << 8) | buffer[6];
        uint16_t calculated_crc = crc16(buffer, 6);
        std::printf("%02X\n ", received_crc);
        std::printf("%02X \n", calculated_crc);


        if (calculated_crc == received_crc)
        {
            // 提取最后两个字节并转换为10进制  
            uint16_t speed = buffer[5] | (buffer[4] << 8);

            // 检查第二个字节的值  
            if (buffer[1] == 0x06 && buffer[3] == 0xF3 && buffer[2] == 03) {
                if (setmotor(4, speed)) { // 假设电机ID为0，根据实际需要修改  
                    std::string response = "id :4 MOTOR_SET_SUCCESS Speed: " + std::to_string(speed);
                    send(conn->socket_fd, response.c_str(), response.length() + 1, 0);
                }
                else {
                    send(conn->socket_fd, "MOTOR_SET_FAILURE", 17, 0);
                }
            }
            else {
                // 只返回speed值  
                std::string response = "motor :4 Speed: " + std::to_string(speed);
                send(conn->socket_fd, response.c_str(), response.length() + 1, 0);
            }
        }
    }

    close(conn->socket_fd);
    delete conn;
    return nullptr;
}

// 接受客户端连接的线程函数  
void* accept_thread(void* arg) {
    int server_fd = *(static_cast<int*>(arg));
    struct sockaddr_in client_addr;
    socklen_t client_addr_size = sizeof(client_addr);

    while (true) {
        int client_fd = accept(server_fd, (struct sockaddr*)&client_addr, &client_addr_size);
        if (client_fd == -1) {
            std::cerr << "Error accepting connection" << std::endl;
            continue;
        }

        std::cout << "Client connected" << std::endl;

        // 创建ClientConnection对象并传递给接收线程  
        ClientConnection* conn = new ClientConnection{ client_fd, client_addr, client_addr_size };
        pthread_t receive_thread_id;
        if (pthread_create(&receive_thread_id, nullptr, receive_thread, conn)) {
            std::cerr << "Error creating receive thread" << std::endl;
            close(client_fd);
            delete conn;
        }
        else {
            // 分离线程，以便在结束时自动回收资源  
            pthread_detach(receive_thread_id);
        }
    }

    return nullptr;
}

int main() {
    int server_fd;
    struct sockaddr_in server_addr;

    // 创建套接字  
    server_fd = socket(AF_INET, SOCK_STREAM, 0);
    if (server_fd == -1) {
        std::cerr << "Error creating socket" << std::endl;
        return 1;
    }

    // 设置服务器地址  
    memset(&server_addr, 0, sizeof(server_addr));
    server_addr.sin_family = AF_INET;
    server_addr.sin_port = htons(SERVER_PORT);
    server_addr.sin_addr.s_addr = inet_addr(SERVER_IP);

    // 绑定套接字到地址  
    if (bind(server_fd, (struct sockaddr*)&server_addr, sizeof(server_addr)) == -1) {
        std::cerr << "Error binding socket" << std::endl;
        close(server_fd);
        return 1;
    }

    // 监听连接  
    if (listen(server_fd, 5) == -1) {
        std::cerr << "Error listening on socket" << std::endl;
        close(server_fd);
        return 1;
    }

    std::cout << "Server listening on " << SERVER_IP << ":" << SERVER_PORT << std::endl;

    // 创建接受连接的线程  
    pthread_t accept_thread_id;
    if (pthread_create(&accept_thread_id, nullptr, accept_thread, &server_fd)) {
        std::cerr << "Error creating accept thread" << std::endl;
        close(server_fd);
        return 1;
    }

    // 分离线程，以便在结束时自动回收资源  
    pthread_detach(accept_thread_id);

    // 主线程可以继续执行其他任务，或者等待直到服务器被强制关闭  
    // 这里我们简单地让主线程休眠，防止它立即退出  
    while (true) {
        sleep(1);
    }

    return 0;
}

协议已经验证过正确。