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0827协议修订：姿态数据2改预留 + 状态帧新增剩余发电量 + CCU地址可配置
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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
This commit is contained in:
zjk
2026-08-28 00:09:17 +08:00
parent c8becd1f6c
commit 2590282aed
28 changed files with 199 additions and 91 deletions
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src/pCCU/protocol/FcProtocol.cpp
+12 -9
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@@ -22,9 +22,9 @@ enum : size_t {
CO_CMD = 1, // 操控指令 (字节8)
CO_OUT_POWER = 2, // 输出功率指令 (字节9)
CO_PITCH1 = 3, // 纵倾姿态数据1 int16 (字节10,11)
CO_PITCH2 = 5, // 纵倾姿态数据2 int16 (字节12,13)
CO_RESERVED1 = 5, // 预留 (字节12,13)，0827协议由纵倾姿态数据2改为预留
CO_ROLL1 = 7, // 横倾姿态数据1 int16 (字节14,15)
CO_ROLL2 = 9, // 横倾姿态数据2 int16 (字节16,17)
CO_RESERVED2 = 9, // 预留 (字节16,17)，0827协议由横倾姿态数据2改为预留
CO_EMER_ALLOW = 11, // 应急允许 (字节18)
CO_DEPTH = 12, // 潜深深度 u16 (字节19,20)
CO_SUPPLY_CMD = 14, // 补给/排放指令 (字节21)
@@ -42,9 +42,9 @@ std::vector<uint8_t> FcControlMessage::encode(const void* obj) const {
FieldCodec::putU8(payload, CO_CMD, v->cmd);
FieldCodec::putU8(payload, CO_OUT_POWER, v->outputPower);
FieldCodec::putU16(payload, CO_PITCH1, static_cast<uint16_t>(v->pitch1));
FieldCodec::putU16(payload, CO_PITCH2, static_cast<uint16_t>(v->pitch2));
FieldCodec::putU16(payload, CO_RESERVED1, 0); // 预留恒填0
FieldCodec::putU16(payload, CO_ROLL1, static_cast<uint16_t>(v->roll1));
FieldCodec::putU16(payload, CO_ROLL2, static_cast<uint16_t>(v->roll2));
FieldCodec::putU16(payload, CO_RESERVED2, 0); // 预留恒填0
FieldCodec::putU8(payload, CO_EMER_ALLOW, v->emergencyAllow);
FieldCodec::putU16(payload, CO_DEPTH, v->depth);
FieldCodec::putU8(payload, CO_SUPPLY_CMD, v->supplyCmd);
@@ -64,9 +64,9 @@ bool FcControlMessage::decode(const std::vector<uint8_t>& frame, void* obj) cons
v->cmd = FieldCodec::getU8(frame, o + CO_CMD);
v->outputPower = FieldCodec::getU8(frame, o + CO_OUT_POWER);
v->pitch1 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_PITCH1));
v->pitch2 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_PITCH2));
// 字节12,13 预留，忽略
v->roll1 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_ROLL1));
v->roll2 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_ROLL2));
// 字节16,17 预留，忽略
v->emergencyAllow = FieldCodec::getU8(frame, o + CO_EMER_ALLOW);
v->depth = FieldCodec::getU16(frame, o + CO_DEPTH);
v->supplyCmd = FieldCodec::getU8(frame, o + CO_SUPPLY_CMD);
@@ -153,7 +153,8 @@ enum : size_t {
OFF_ALLOY_H2_FLOW = 112, // 合金供氢流量 (字节119-120)
OFF_FC_H2_FLOW = 114, // FC供氢流量 (字节121-122)
OFF_FC_O2_FLOW = 116, // FC供氧流量 (字节123-124)
OFF_RESERVED = 118, // 预留1~12 u16*12 -> 118..141 (字节125-148)
OFF_RESERVED = 118, // 预留1~11 u16*11 -> 118..138 (字节125-146)
OFF_REMAIN_GEN = 140, // 剩余发电量 u16 (字节147,148)，0827协议由预留12改为
OFF_HEARTBEAT = 142, // 通信心跳 (字节149)
OFF_EMERGENCY_CMD = 143, // 应急指令 (字节150)
};
@@ -244,7 +245,8 @@ std::vector<uint8_t> FcStatusMessage::encode(const void* obj) const {
FieldCodec::putU16(p, OFF_FC_H2_FLOW, v->fc_h2_flow);
FieldCodec::putU16(p, OFF_FC_O2_FLOW, v->fc_o2_flow);
putU16Arr(p, OFF_RESERVED, v->reserved, 12);
putU16Arr(p, OFF_RESERVED, v->reserved, 11);
FieldCodec::putU16(p, OFF_REMAIN_GEN, v->remaining_generation);
FieldCodec::putU8(p, OFF_HEARTBEAT, v->heartbeat);
FieldCodec::putU8(p, OFF_EMERGENCY_CMD, v->emergency_cmd);
@@ -331,7 +333,8 @@ bool FcStatusMessage::decode(const std::vector<uint8_t>& frame, void* obj) const
v->fc_h2_flow = FieldCodec::getU16(frame, o + OFF_FC_H2_FLOW);
v->fc_o2_flow = FieldCodec::getU16(frame, o + OFF_FC_O2_FLOW);
getU16Arr(frame, o + OFF_RESERVED, v->reserved, 12);
getU16Arr(frame, o + OFF_RESERVED, v->reserved, 11);
v->remaining_generation = FieldCodec::getU16(frame, o + OFF_REMAIN_GEN);
v->heartbeat = FieldCodec::getU8(frame, o + OFF_HEARTBEAT);
v->emergency_cmd = FieldCodec::getU8(frame, o + OFF_EMERGENCY_CMD);