FC协议(0827 docx)： - 控制指令域：字节12,13/16,17由纵倾/横倾姿态数据2改为预留（编码恒0、解码忽略） - 状态反馈域：字节147,148由预留12改为剩余发电量(MWh)，贯通JSON/网页显示 - PM→CCU链路：姿态字段4xuchar改为2xshort(数据1)，结构体大小与线上布局不变 - 同步更新：CCU转发映射、SnapshotBuilder、pCCU网页、fuelcell网页、SQLite列描述、单测/模拟器 - 修正集成测试遗留断言(20B→24B、心跳d[19]→d[23])并增强预留字节校验 CCU地址可配置： - pPowerManger 支持 moos 配置项 ccuhost/ccuport（默认127.0.0.1:7000） - build-board.sh 增加 --ccu-host/--ccu-port 参数 文档：FC协议文档更新为0827版，清理过期协议docx
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@@ -19,6 +19,8 @@
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# --jobs <n> 编译并行度（默认板卡 nproc）
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# --start 编译部署后重启服务
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# --clean 先重新 cmake（配置变更时用）
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# --ccu-host <ip> 覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
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# --ccu-port <n> 覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
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# -h, --help 显示帮助
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#
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# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
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@@ -39,7 +41,8 @@
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# 关联端口:
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# FC 状态: FC:7000 -> 板卡:6000 (pCCU 监听)
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# FC 控制: 板卡:6000 -> FC:7000 (pCCU 发送)
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# PM 指令: pPowerManger:5001 -> pCCU:7000 (127.0.0.1，见 PowerManger.h CCUHOST)
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# PM 指令: pPowerManger:5001 -> pCCU:7000 (127.0.0.1，
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# 见 missions/h100.moos ccuhost/ccuport，默认值在 PowerManger.h CCUHOST)
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# PM 状态: pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
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#
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# 排障提示:
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@@ -62,6 +65,8 @@ BOARD_BIN="/root/work/h100/bin"
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JOBS=""
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DO_START=0
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DO_CLEAN=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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@@ -71,7 +76,7 @@ warn() { printf '\033[1;33m[build-board]\033[0m %s\n' "$*"; }
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err() { printf '\033[1;31m[build-board]\033[0m %s\n' "$*"; }
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usage() {
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sed -n '2,29p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
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sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
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exit 0
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}
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@@ -87,6 +92,8 @@ while [ $# -gt 0 ]; do
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--jobs) [ $# -ge 2 ] || { err "--jobs 需要参数"; exit 1; }; JOBS="$2"; shift 2 ;;
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--start) DO_START=1; shift ;;
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--clean) DO_CLEAN=1; shift ;;
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--ccu-host) [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
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--ccu-port) [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
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-h|--help) usage ;;
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*) err "未知参数: $1（见 --help）"; exit 1 ;;
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esac
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@@ -95,6 +102,10 @@ done
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SSH_TARGET="${USER}@${HOST}"
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SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
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case "${CCU_PORT}" in
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""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
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esac
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#-------------------------------------------------------------------
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# 1. 前置检查
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#-------------------------------------------------------------------
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@@ -105,6 +116,21 @@ if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
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fi
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ok "SSH 连接正常: ${SSH_TARGET}"
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#-------------------------------------------------------------------
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# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
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# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
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#-------------------------------------------------------------------
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upsert_moos_param() {
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local f="$1" key="$2" val="$3"
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if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
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sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
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else
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awk -v kv=" ${key} = ${val}" \
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'!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
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"${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
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fi
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}
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#-------------------------------------------------------------------
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# 2. 同步源码到板卡（排除构建产物 / git / 数据）
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#-------------------------------------------------------------------
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@@ -129,8 +155,19 @@ ok "源码已同步"
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if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
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info "同步 mission h100.moos ..."
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rsync -az "${PROJECT_ROOT}/missions/h100.moos" \
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"${SSH_TARGET}:/root/work/h100/missions/" || { err "rsync mission 失败"; exit 1; }
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local_mission="${PROJECT_ROOT}/missions/h100.moos"
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tmp_moos=""
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if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
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tmp_moos="$(mktemp)"
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cp "${local_mission}" "${tmp_moos}"
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[ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
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[ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
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local_mission="${tmp_moos}"
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info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
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fi
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rsync -az "${local_mission}" \
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"${SSH_TARGET}:/root/work/h100/missions/h100.moos" || { err "rsync mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; exit 1; }
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[ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
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ok "mission 已同步"
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fi
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+39
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@@ -20,6 +20,8 @@
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# --user <user> 登录用户（默认 root）
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# --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
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# --start 部署后立即启动服务
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# --ccu-host <ip> 覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
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# --ccu-port <n> 覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
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#
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# 板卡布局:
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# /root/work/h100/bin/ aarch64 二进制
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@@ -37,6 +39,8 @@ HOST="192.168.0.223"
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USER="root"
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BOARD_DIR="/root/work/h100"
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DO_START=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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@@ -46,7 +50,7 @@ warn() { printf '\033[1;33m[deploy]\033[0m %s\n' "$*"; }
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err() { printf '\033[1;31m[deploy]\033[0m %s\n' "$*"; }
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usage() {
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sed -n '2,29p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
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sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
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exit 0
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}
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@@ -60,6 +64,8 @@ while [ $# -gt 0 ]; do
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--user) [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
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--board-dir)[ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
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--start) DO_START=1; shift ;;
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--ccu-host) [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
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--ccu-port) [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
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setup-ssh|status|stop|help|-h|--help) ACTION="$1"; shift ;;
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"") shift ;;
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*) err "未知参数: $1（见 help）"; exit 1 ;;
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@@ -67,6 +73,10 @@ while [ $# -gt 0 ]; do
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done
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[ -n "${ACTION}" ] || ACTION="deploy"
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case "${CCU_PORT}" in
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""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
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esac
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SSH_TARGET="${USER}@${HOST}"
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SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
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SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
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@@ -164,6 +174,21 @@ WantedBy=multi-user.target
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EOF
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}
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#-------------------------------------------------------------------
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# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
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# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
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#-------------------------------------------------------------------
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upsert_moos_param() {
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local f="$1" key="$2" val="$3"
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if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
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sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
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else
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awk -v kv=" ${key} = ${val}" \
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'!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
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"${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
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fi
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}
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#-------------------------------------------------------------------
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# 命令: deploy
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#-------------------------------------------------------------------
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@@ -182,8 +207,19 @@ cmd_deploy() {
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"${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
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info "推送 mission h100.moos ..."
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${SCP} -q "${PROJECT_ROOT}/missions/h100.moos" \
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"${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; return 1; }
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local mission_src="${PROJECT_ROOT}/missions/h100.moos"
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local mission_push="${mission_src}" tmp_moos=""
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if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
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tmp_moos="$(mktemp)"
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cp "${mission_src}" "${tmp_moos}"
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[ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
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[ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
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mission_push="${tmp_moos}"
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info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
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fi
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${SCP} -q "${mission_push}" \
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"${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
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[ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU"
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ok "二进制与 mission 已推送"
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