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| #!/bin/bash
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
RED='\033[0;31m'
NC='\033[0m'
WS=$(pwd)
sudo -v
echo -e "\n${YELLOW}===== [步骤 1/5] 模型路径校验 =====${NC}"
DEFAULT_MODEL_DIR="$WS/simulik"
DEFAULT_MODEL_NAME="pinnsformer_P.onnx"
DEFAULT_MODEL_PATH="$DEFAULT_MODEL_DIR/$DEFAULT_MODEL_NAME"
if [ -f "$DEFAULT_MODEL_PATH" ]; then
echo -e "${GREEN}✅ 在默认路径找到模型：${NC}$DEFAULT_MODEL_PATH"
FINAL_MODEL_PATH=$DEFAULT_MODEL_PATH
else
echo -e "${RED}❌ 默认路径未找到模型：${NC}$DEFAULT_MODEL_PATH"
echo -e "${YELLOW}💡 提示：您可以将模型放在上述文件夹，或在下方输入自定义路径。${NC}"
echo -e "示例输入：/home/henu/xiao/models/my_model.onnx"
read -p "请输入 ONNX 模型完整路径 (或按 Ctrl+C 退出): " USER_PATH
if [ -f "$USER_PATH" ]; then
echo -e "${GREEN}✅ 已确认自定义模型：${NC}$USER_PATH"
FINAL_MODEL_PATH=$USER_PATH
else
echo -e "${RED}❌ 错误：路径 $USER_PATH 不存在或不是文件，程序无法启动。${NC}"
exit 1
fi
fi
echo -e "\n${YELLOW}===== [步骤 2/5] 运行模式选择 =====${NC}"
echo "1. 模拟模式 (启动推理机 + 随机数据模拟器)"
echo "2. 实装模式 (只启动推理机，对接硬件机箱)"
read -p "请选择模式 [默认 1]: " RUN_MODE
RUN_MODE=${RUN_MODE:-1}
read -p "是否需要重新生成源码 (覆盖旧的 IP/路径)? [y/N]: " REWRITE_SRC
read -p "是否需要重新执行编译? [y/N]: " NEED_BUILD
if [[ "$REWRITE_SRC" == "y" || "$REWRITE_SRC" == "Y" ]]; then
echo -e "\n${GREEN}[步骤 3/5] 正在生成核心源码...${NC}"
mkdir -p $WS/edge_node/build $WS/box_side/build
cat > $WS/edge_node/HIL_Edge_Core.cpp <<EOF
#include <iostream>
#include <chrono>
#include <openvino/openvino.hpp>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <sys/mman.h>
#include <sched.h>
#include <iomanip>
using namespace std;
// [部署配置]
const char* TARGET_IP = "127.0.0.1"; // 联调时改此 IP
const int DEST_PORT = 12346;
const double SCALE = 100000.0; const double OFFSET = 1200000000.0;
const float TS_VAL = 1e-4f; const float C_VAL = 5e-4f;
struct BoxPacket { uint32_t data[7]; int64_t t1; };
struct EdgeResult { uint32_t val; int64_t t1; int64_t t2; int64_t t3; };
void render_dashboard(const float* phys, double d_in, double d_proc, double d_out, double d_total, float p, int count, double max_j) {
printf("\033[1;1H");
const char* status_tag = (d_total <= 1.0) ? "● NORMAL" : "▲ TIMEOUT";
const char* status_color = (d_total <= 1.0) ? "\033[1;32m" : "\033[1;31m";
printf("===========================================================\n");
printf(" HIL 实时监控 V12.1 | 状态: %s%s\033[0m \n", status_color, status_tag);
printf("===========================================================\n");
printf(" 循环次数: %-10d | RTT 峰值抖动: \033[1;33m%8.4f ms\033[0m \n", count, max_j);
printf("-----------------------------------------------------------\n");
printf(" 1. UDP In (Box->Edge) | %8.4f ms \n", d_in);
printf(" 2. Inference (OpenVINO) | %8.4f ms \n", d_proc);
printf(" 3. UDP Out (Edge->Box) | %8.4f ms \n", d_out);
printf(" 4. Total RTT (闭环总时延) | %s %8.4f ms\033[0m \n", status_color, d_total);
printf("-----------------------------------------------------------\n");
const char* n[] = {"Vbus", "Vbus_next", "io", "ib", "ib_prev", "isc", "isc_prev"};
for(int i=0; i<7; ++i) printf(" %-29s | %12.6f \n", n[i], phys[i]);
printf(" %-29s | %12.6f \n", "Ts (Fixed)", TS_VAL);
printf(" %-29s | %12.6f \n", "C (Fixed)", C_VAL);
printf("-----------------------------------------------------------\n");
printf(" 神经网络输出 (P) | %12.6f \n", p);
printf("===========================================================\n");
fflush(stdout);
}
int main() {
// 实时性锁定
cpu_set_t cpuset; CPU_ZERO(&cpuset); CPU_SET(7, &cpuset);
sched_setaffinity(0, sizeof(cpuset), &cpuset);
struct sched_param param; param.sched_priority = 99;
sched_setscheduler(0, SCHED_FIFO, ¶m);
mlockall(MCL_CURRENT | MCL_FUTURE);
string model_path = "$FINAL_MODEL_PATH";
cout << ">>> 正在加载模型: " << model_path << endl;
ov::Core core;
shared_ptr<ov::Model> model;
try {
model = core.read_model(model_path);
model->reshape(ov::PartialShape({1, 9}));
auto compiled = core.compile_model(model, "CPU", {{"INFERENCE_NUM_THREADS", "1"}});
auto req = compiled.create_infer_request();
float* input = req.get_input_tensor().data<float>();
int sock = socket(AF_INET, SOCK_DGRAM, 0);
sockaddr_in rx_addr{}, tx_addr{};
rx_addr.sin_family = AF_INET; rx_addr.sin_port = htons(12345); rx_addr.sin_addr.s_addr = INADDR_ANY;
bind(sock, (struct sockaddr*)&rx_addr, sizeof(rx_addr));
tx_addr.sin_family = AF_INET; tx_addr.sin_port = htons(DEST_PORT); inet_pton(AF_INET, TARGET_IP, &tx_addr.sin_addr);
printf("\033[2J\033[1;1H\033[1;32m>>> 模型加载成功，等待机箱信号...\033[0m\n");
BoxPacket rx; EdgeResult tx; float phys[7]; int count = 0; double max_jitter = 0;
while (true) {
if (recvfrom(sock, &rx, sizeof(rx), 0, nullptr, nullptr) > 0) {
auto t2 = chrono::high_resolution_clock::now().time_since_epoch().count();
for(int i=0; i<7; ++i) {
phys[i] = (float)((double)rx.data[i] - OFFSET) / SCALE;
input[i] = phys[i];
}
input[7] = TS_VAL; input[8] = C_VAL;
req.infer();
auto t3 = chrono::high_resolution_clock::now().time_since_epoch().count();
tx.val = 1; tx.t1 = rx.t1; tx.t2 = t2; tx.t3 = t3;
sendto(sock, &tx, sizeof(tx), 0, (struct sockaddr*)&tx_addr, sizeof(tx_addr));
auto t4 = chrono::high_resolution_clock::now().time_since_epoch().count();
double rtt = (double)(t4 - rx.t1) / 1e6;
if (count > 1000 && rtt > max_jitter) max_jitter = rtt;
if (++count % 500 == 0) render_dashboard(phys, (double)(t2-rx.t1)/1e6, (double)(t3-t2)/1e6, (double)(t4-t3)/1e6, rtt, req.get_output_tensor().data<float>()[0], count, max_jitter);
}
}
} catch (const exception& e) {
cerr << "\033[1;31m!!! 模型加载严重错误 !!!\033[0m" << endl;
cerr << "原因: " << e.what() << endl;
cerr << "请检查 ONNX 文件是否损坏或输入维度是否匹配。" << endl;
return 1;
}
return 0;
}
EOF
cat > $WS/box_side/Box_Simulator.cpp <<EOF
#include <iostream>
#include <chrono>
#include <thread>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <random>
using namespace std;
struct BoxPacket { uint32_t data[7]; int64_t t1; };
struct EdgeResult { uint32_t val; int64_t t1; int64_t t2; int64_t t3; };
int main() {
int sock = socket(AF_INET, SOCK_DGRAM, 0);
sockaddr_in edge_addr{}, local_addr{};
edge_addr.sin_family = AF_INET; edge_addr.sin_port = htons(12345); inet_pton(AF_INET, "127.0.0.1", &edge_addr.sin_addr);
local_addr.sin_family = AF_INET; local_addr.sin_port = htons(12346); local_addr.sin_addr.s_addr = INADDR_ANY;
bind(sock, (struct sockaddr*)&local_addr, sizeof(local_addr));
struct timeval tv; tv.tv_sec = 0; tv.tv_usec = 100000;
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
mt19937 gen(time(0));
uniform_int_distribution<uint32_t> dist(1200140000, 1200155000);
BoxPacket tx; EdgeResult rx;
while (true) {
tx.t1 = chrono::high_resolution_clock::now().time_since_epoch().count();
for(int i=0; i<7; ++i) tx.data[i] = dist(gen);
sendto(sock, &tx, sizeof(tx), 0, (struct sockaddr*)&edge_addr, sizeof(edge_addr));
recvfrom(sock, &rx, sizeof(rx), 0, nullptr, nullptr);
this_thread::sleep_for(chrono::milliseconds(1));
}
return 0;
}
EOF
fi
if [[ "$NEED_BUILD" == "y" || "$NEED_BUILD" == "Y" ]]; then
echo -e "\n${GREEN}[步骤 4/5] 正在构建 HIL 实时系统...${NC}"
CONDA_ROOT=$(conda info --base 2>/dev/null || echo "$HOME/anaconda3")
OV_CMAKE=$(find "$CONDA_ROOT/envs" -name "cmake" -path "*/openvino/*" -type d 2>/dev/null | head -n 1)
cat > $WS/edge_node/CMakeLists.txt <<EOF
cmake_minimum_required(VERSION 3.10)
project(EdgeNode)
set(CMAKE_CXX_STANDARD 17)
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)
set(OpenVINO_DIR "$OV_CMAKE")
find_package(OpenVINO REQUIRED)
add_executable(HIL_Edge_Core HIL_Edge_Core.cpp)
target_link_libraries(HIL_Edge_Core PRIVATE openvino::runtime pthread)
EOF
cd $WS/edge_node/build && cmake .. >/dev/null && make -j$(nproc) >/dev/null
cd $WS/box_side && mkdir -p build && g++ Box_Simulator.cpp -o build/Box_Simulator -lpthread
echo -e " ✅ 编译成功。"
fi
echo -e "\n${GREEN}[步骤 5/5] 启动实时回路...${NC}"
( sudo pkill -9 HIL_Edge_Core; pkill -9 Box_Simulator ) >/dev/null 2>&1
sleep 1
if [[ "$RUN_MODE" == "1" ]]; then
taskset -c 5 $WS/box_side/build/Box_Simulator &
BOX_PID=$!
fi
sudo taskset -c 7 $WS/edge_node/build/HIL_Edge_Core
cleanup() { [[ ! -z "$BOX_PID" ]] && kill -9 $BOX_PID 2>/dev/null; sudo pkill -9 HIL_Edge_Core 2>/dev/null; exit 0; }
trap cleanup SIGINT SIGTERM
|
