修复：跨线程数据竞争 + 协议字段越界 + UDP 发送失败吞错
- 并发安全：PowerManger 新增 m_stateMutex，保护 m_pmCurrentState / m_currentDisBreakerState / m_CcuColCmd / faultCode，并封装 addFaultCode/clearFaultCodes/getFaultCodes 访问器 - SystemData 新增跨线程读访问器（getDynVoltageLink/getPowerBusStatus/ getDcdcStatus/getDeviceCommonStatus 等）及配电故障码集合加锁访问 - upmsg buildMsg / httpserver pushSystemData / LowerCommManager 均改为 持锁快照，避免 listen 线程与 comm 线程撕裂读写 - 修复析构顺序：先删 httpServer 再删其他对象，避免 use-after-free - 修复 ccuState reserved2 越界读（协议预留 2 字节，结构体仅声明 1）， 修正 coutMsg 中 SOC 门限/功率限制字段打印 - udpComm::sendDisSysCmd 不再吞掉异常，返回 sendMsg 实际结果并记录 ERROR， 新增 SendDisSysCmdFailsWithoutSocket 单测 - 新增 fullFeeder 全类型 UDP 集成仿真器与 fetch-data/clean-data 脚本， .gitignore 补充 SQLite 运行期文件与 fullFeeder 二进制
This commit is contained in:
@@ -108,3 +108,20 @@ target_link_libraries(udpFeeder
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pthread
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dl
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)
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################################################fullFeeder（集成测试用）#######
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# 全类型 UDP 仿真器：CCU 状态 + 4 路配电反馈（自包含，仅依赖协议结构体头文件）
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add_executable(fullFeeder
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integration/full_feeder.cpp
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)
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target_include_directories(fullFeeder PRIVATE
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${PM_SRC_DIR}
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${PM_SRC_DIR}/udpcomm
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)
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set_target_properties(fullFeeder PROPERTIES
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CXX_STANDARD 11
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CXX_STANDARD_REQUIRED ON
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)
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target_link_libraries(fullFeeder
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pthread
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)
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@@ -0,0 +1,292 @@
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//=======================================================================
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// full_feeder.cpp: 集成测试用 — 仿真真实 CCU + 配电系统，向 pPowerManger
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// 发送全部 5 类状态反馈 UDP 消息（CCU 状态 + 4 路配电反馈）。
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// 直接使用真实 C++ 结构体构造消息（字节级与协议一致，无打包漂移）。
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// 用法: fullFeeder [host] [port] [rounds] [interval_ms]
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// rounds=0 表示持续发送直到被 kill。
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//=======================================================================
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <cstring>
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#include <cstdio>
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#include <cstdlib>
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#include <unistd.h>
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#include <thread>
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#include <chrono>
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#include "udpcomm/ccuUdpMsg.h"
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static int g_fd = -1;
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static sockaddr_in g_addr{};
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static bool sendBuf(const void* buf, size_t len) {
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ssize_t n = sendto(g_fd, buf, len, 0,
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reinterpret_cast<sockaddr*>(&g_addr), sizeof(g_addr));
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return n == (ssize_t)len;
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}
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// CCU 消息校验和：4 字节全宽（sum 覆盖 sizeof-4 字节）
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static unsigned int ccuChecksum(const unsigned char* d, int size) {
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unsigned int s = 0;
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for (int i = 0; i < size - (int)sizeof(Checksum); ++i) s += d[i];
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return s;
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}
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// 配电消息校验和：1 字节（sum 覆盖 sizeof-1 字节，&0xFF）
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static unsigned char disChecksum(const unsigned char* d, int size) {
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unsigned int s = 0;
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for (int i = 0; i < size - (int)sizeof(cChecksum); ++i) s += d[i];
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return (unsigned char)(s & 0xFF);
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}
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static void fillCcuState(msg_CcuStateFbMsg& m, unsigned int beat) {
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memset(&m, 0, sizeof(m));
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m.header.start1 = CCU_UDPMSG_START1;
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m.header.start2 = CCU_UDPMSG_START2;
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m.header.id = CCU_STATE_FB_ID;
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m.header.length = sizeof(ccuState);
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m.data.fc_mode = 0x02; // 自动
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m.data.fc_status = 0x04; // 运行
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m.data.fc_fault_level = 0x00; // 无故障
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m.data.output_power_limit = 30000;
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m.data.total_generation_time = 1234;
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m.data.total_generation_power = 8000;
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m.data.hydrogen_capacity = 70;
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m.data.liquid_oxygen_capacity = 65;
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m.data.palladium_temp = 60;
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m.data.main_pipe_pressure = 200;
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m.data.aux_pipe_pressure = 180;
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m.data.cabin_pressure1 = 101;
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m.data.cabin_pressure2 = 101;
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m.data.cabin_temp1 = 25;
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m.data.cabin_temp2 = 26;
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m.data.cabin_humidity1 = 50;
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m.data.cabin_humidity2 = 52;
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m.data.flame_detector1 = 0x00;
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m.data.flame_detector2 = 0x00;
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m.data.h2_concentration1 = 5;
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m.data.o2_concentration1 = 2000;
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m.data.ch3oh_concentration1 = 3;
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m.data.emergency_battery1_voltage = 240;
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m.data.emergency_battery1_current = 10;
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m.data.emergency_battery1_max_temp = 30;
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m.data.emergency_battery2_voltage = 240;
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m.data.emergency_battery2_current = 10;
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m.data.emergency_battery2_max_temp = 31;
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m.data.cabin_ox_concentration = 2000;
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m.data.cabin_temperature = 25;
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m.data.cabin_humidity = 50;
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m.data.cabin_pressure = 101;
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m.data.power_cabin_ox_concentration = 2000;
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m.data.power_cabin_temperature = 28;
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m.data.power_cabin_humidity = 48;
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m.data.power_cabin_pressure = 101;
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m.data.ins_relay_status1 = 0x11;
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m.data.ins_relay_status2 = 0x12;
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m.data.dyn_relay_status1 = 0x11;
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m.data.dyn_relay_status2 = 0x12;
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m.data.ins_max_discharge_power = 200;
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m.data.dyn_max_discharge_power = 400;
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m.data.ins_soc = 85;
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m.data.dyn_soc = 80;
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m.data.ins_total_energy = 100;
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m.data.dyn_total_energy = 500;
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m.data.ins_power_input = 10;
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m.data.dyn_power_input = 30;
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m.data.ins_charge_status = 0x20; // 放电
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m.data.dyn_charge_status = 0x20;
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m.data.ins_voltage_link = 2400; // 240.0V
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m.data.ins_voltage_pack = 2350;
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m.data.ins_current = 400; // 20A
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m.data.ins_resistance_pos = 999;
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m.data.ins_resistance_neg = 999;
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m.data.dyn_voltage_link = 5200; // 520.0V
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m.data.dyn_voltage_pack = 5150;
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m.data.dyn_current = 600; // 30A
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m.data.dyn_resistance_pos = 999;
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m.data.dyn_resistance_neg = 999;
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m.data.ins_emergency_status = 0x00;
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m.data.dyn_emergency_status = 0x00;
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m.data.ins_soc_threshold1 = 90;
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m.data.ins_soc_threshold2 = 80;
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m.data.ins_soc_threshold3 = 70;
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m.data.dyn_soc_threshold1 = 90;
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m.data.dyn_soc_threshold2 = 80;
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m.data.dyn_soc_threshold3 = 70;
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m.data.device_online_flag1 = 0x000000FF;
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m.data.device_online_flag2 = 0x0000001F;
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m.data.dyn_charge_level = 0x01;
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m.data.dyn_water_leak_status = 0x00;
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m.data.ins_water_leak_dcdc_status = 0x00;
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m.data.heartbeat = beat;
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m.checkCode = ccuChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
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}
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static void fillDisHighVolBus(msg_disHighVolBusFbMsg& m) {
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memset(&m, 0, sizeof(m));
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m.header.start1 = DIS_MSG_HEAD1;
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m.header.start2 = DIS_MSG_HEAD2;
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m.header.id = DIS_HVBUS_FB_ID;
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m.header.length = sizeof(disHighVolBusState);
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m.data.fuelCellCircuitBreaker = BREAK_ON;
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m.data.powerLithiumBatteryCircuitBreaker = BREAK_ON;
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m.data.propulsionMotorCircuitBreaker = BREAK_OFF;
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m.data.lithiumBatteryGroupInstrumentCircuitBreaker = BREAK_ON;
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m.data.dcDc5ModuleCircuitBreaker = BREAK_ON;
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m.data.bowHighVoltageDistributionBoxCircuitBreaker = BREAK_ON;
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m.data.sternFTDevice45CircuitBreaker = BREAK_OFF;
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m.data.sternRudderSwitch1CircuitBreaker = BREAK_OFF;
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m.data.sternRudderSwitch2CircuitBreaker = BREAK_OFF;
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m.data.fbReservedCircuitBreaker = BREAK_OFF;
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m.data.tyzReservedCircuitBreaker = BREAK_OFF;
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m.data.reservedCircuitBreaker = BREAK_OFF;
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m.data.dcDcFaultWord1 = 0x00;
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m.data.dcDcFaultWord2 = 0x62; // 工作状态启动 + 冷却泵运行
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m.data.powerBusInsulationStatus = BREAK_ON; // 正常
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m.data.aBusInsulationStatus = BREAK_ON;
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m.data.meterPowerLossSignal = BREAK_ON;
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m.data.emergencyPowerLossSignal = BREAK_ON;
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m.data.dcDcTemperature = 60;
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m.data.powerBusVoltage = 5000; // 500.0V
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m.data.dcDc5ModuleCurrent = 200;
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m.data.powerBusCurrent = 400;
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m.data.busbarAVoltage = 5000;
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m.data.propulsionMotorControlBoxCurrent = 10;
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m.data.busbarACurrent = 300;
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m.data.lithiumBatteryGroupMeterCurrent = 50;
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m.data.bowHighVoltageDistributionBoxCurrent = 100;
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m.data.sternFTDevice45Current = 0;
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m.data.tyzReservedSwitchCurrent = 0;
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m.data.sternRudderSwitch1Current = 0;
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m.data.sternRudderSwitch2Current = 0;
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m.data.coolWaterPressure = 150;
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m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
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}
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static void fillDisHighAVolBus(msg_disHighAVolBusFbMsg& m) {
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memset(&m, 0, sizeof(m));
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m.header.start1 = DIS_MSG_HEAD1;
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m.header.start2 = DIS_MSG_HEAD2;
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m.header.id = DIS_HVBUSA_FB_ID;
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m.header.length = sizeof(disHighAVolBusState);
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m.data.bowFTDevice123CircuitBreaker = BREAK_ON;
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m.data.actuatorCircuitBreaker = BREAK_OFF;
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m.data.mastSteeringGearControlBoxCircuitBreaker = BREAK_OFF;
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m.data.xczCircuitBreaker = BREAK_ON;
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m.data.bowRudderControlBoxCircuitBreaker = BREAK_OFF;
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m.data.openWaterCoverStartCylinderCircuitBreaker = BREAK_OFF;
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m.data.instrumentPowerFailureSignal = BREAK_ON;
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m.data.emergencyPowerFailureSignal = BREAK_ON;
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m.data.waterIngressionAlarm = BREAK_ON; // 正常
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m.data.busbarBVoltage = 5000;
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m.data.busbarBCurrent = 300;
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m.data.bowFTDevice123Current = 80;
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m.data.actuatorCurrent = 0;
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m.data.mastSteeringGearControlBoxCurrent = 0;
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m.data.xczCurrent = 40;
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m.data.bowRudderControlBoxCurrent = 0;
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m.data.openWaterCoverStartCylinderCurrent = 0;
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m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
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}
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static void fillDisLowMainBus(msg_disLowMainBusFbMsg& m) {
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memset(&m, 0, sizeof(m));
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m.header.start1 = DIS_MSG_HEAD1;
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m.header.start2 = DIS_MSG_HEAD2;
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m.header.id = DIS_HVBUSB_FB_ID;
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m.header.length = sizeof(disLowMainBusState);
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m.data.lithiumBatteryGroupInstrumentCircuitBreaker = BREAK_ON;
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m.data.bowLowVoltageDistributionBoxCircuitBreaker = BREAK_ON;
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m.data.unit4InstrumentDC48VCircuitBreaker = BREAK_ON;
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m.data.dcC1DCDistributionPanelCircuitBreaker = BREAK_ON;
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m.data.reservedCircuitBreaker1 = BREAK_OFF;
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m.data.reservedCircuitBreaker2 = BREAK_OFF;
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m.data.emergencyLithiumBatteryGroup2CircuitBreaker = BREAK_ON;
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m.data.instrumentPowerFailureSignal = BREAK_ON;
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m.data.emergencyPowerFailureSignal = BREAK_ON;
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m.data.instrumentBusbarInsulationLow = BREAK_ON; // 正常
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m.data.instrumentBusbarVoltage = 480; // 48.0V
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m.data.bowLowVoltageDistributionBoxCurrent = 50;
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m.data.dcC1InstrumentDC48VCurrent = 30;
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m.data.emergencyLithiumBatteryGroup2Current = 10;
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m.data.lithiumBatteryGroupInstrumentCurrent = 20;
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m.data.unit4InstrumentDC48VCurrent = 15;
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m.data.emergency2BusbarVoltage = 480;
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m.data.compositeEnergyManagementSystemEmergencyDC48VCurrent = 5;
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m.data.fuelCellSecuritySystemEmergencyDC48VCurrent = 5;
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m.data.plcControlPowerCurrent = 8;
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m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
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}
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static void fillDisLowBus(msg_disLowBusFbMsg& m) {
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memset(&m, 0, sizeof(m));
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m.header.start1 = DIS_MSG_HEAD1;
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m.header.start2 = DIS_MSG_HEAD2;
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m.header.id = DIS_LVBUS_FB_ID;
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m.header.length = sizeof(disLowBusState);
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m.data.unit1CircuitBreaker = BREAK_ON;
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m.data.unit2CircuitBreaker = BREAK_ON;
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m.data.unit3CircuitBreaker = BREAK_ON;
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m.data.unit5CircuitBreaker = BREAK_OFF;
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m.data.bowPZDeviceCircuitBreaker = BREAK_ON;
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m.data.reservedCircuitBreaker1 = BREAK_OFF;
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m.data.reservedCircuitBreaker2 = BREAK_OFF;
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m.data.emergencyLithiumBatteryGroup1CircuitBreaker = BREAK_ON;
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m.data.powerFailureSignal = BREAK_ON;
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m.data.emergencyPowerFailureSignal = BREAK_ON;
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m.data.waterIngressionAlarm = BREAK_ON; // 正常
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m.data.instrumentBusbarVoltage = 240; // 24.0V
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m.data.instrumentBusbarCurrent = 60;
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m.data.unit1Current = 15;
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m.data.unit2Current = 15;
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m.data.unit3Current = 15;
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m.data.unit5Current = 0;
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m.data.bowPZDeviceCurrent = 10;
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m.data.emergencyLithiumBatteryGroup1Current = 8;
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m.data.emergency1BusbarVoltage = 240;
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m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
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}
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int main(int argc, char* argv[]) {
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const char* host = (argc > 1) ? argv[1] : "127.0.0.1";
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int port = (argc > 2) ? atoi(argv[2]) : 5001;
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int rounds = (argc > 3) ? atoi(argv[3]) : 0; // 0 = 持续
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int intervalMs = (argc > 4) ? atoi(argv[4]) : 200;
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g_fd = socket(AF_INET, SOCK_DGRAM, 0);
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if (g_fd < 0) { perror("socket"); return 1; }
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g_addr.sin_family = AF_INET;
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g_addr.sin_port = htons(static_cast<unsigned short>(port));
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if (inet_pton(AF_INET, host, &g_addr.sin_addr) != 1) {
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perror("inet_pton"); close(g_fd); return 1;
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}
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unsigned int beat = 1;
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int sent = 0;
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while (rounds == 0 || sent < rounds) {
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msg_CcuStateFbMsg ccu;
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msg_disHighVolBusFbMsg hv;
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msg_disHighAVolBusFbMsg hva;
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msg_disLowMainBusFbMsg lvmain;
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msg_disLowBusFbMsg lv;
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fillCcuState(ccu, beat);
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fillDisHighVolBus(hv);
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fillDisHighAVolBus(hva);
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fillDisLowMainBus(lvmain);
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fillDisLowBus(lv);
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if (!sendBuf(&ccu, sizeof(ccu)) ||
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!sendBuf(&hv, sizeof(hv)) ||
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!sendBuf(&hva, sizeof(hva)) ||
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!sendBuf(&lvmain, sizeof(lvmain)) ||
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!sendBuf(&lv, sizeof(lv))) {
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perror("sendto"); break;
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}
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++beat;
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++sent;
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std::this_thread::sleep_for(std::chrono::milliseconds(intervalMs));
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}
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close(g_fd);
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printf("sent %d round(s) of 5 message types to %s:%d\n", sent, host, port);
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return 0;
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}
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@@ -170,3 +170,16 @@ TEST(UdpCommTest, GetDate)
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EXPECT_LE(minute, 59u);
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EXPECT_LE(second, 59u);
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}
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TEST(UdpCommTest, SendDisSysCmdFailsWithoutSocket)
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{
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udpComm u; // 默认构造 udpScoket=nullptr，sendMsg 应返回 false
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disHighVolBusCmd c1{};
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disHighAVolBusCmd c2{};
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disHighBVolBusCmd c3{};
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disLowBusCmd c4{};
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EXPECT_FALSE(u.sendDisSysCmd(c1));
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EXPECT_FALSE(u.sendDisSysCmd(c2));
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EXPECT_FALSE(u.sendDisSysCmd(c3));
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EXPECT_FALSE(u.sendDisSysCmd(c4));
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}
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Block a user