新增复合管控器(pCCU) + 惯导数据解析 + 设备控制页增强 + 0824协议文档归档
- 新增 pCCU 复合管控器程序（src/pCCU）：FC/PM 双链路(UDP)、协议编解码器 (FcProtocol/PmProtocol/Frame/Message/MessageRegistry)、快照与落库(DbStore)、 内置 WebServer；挂入 src/CMakeLists.txt 与板卡 mission（h100.moos） - 惯导/深度数据：新增 uDevice_insData 消息解析，接入 UpperCommManager， pPowerMangerHost 注册监视，UpmsgTest 覆盖 - pPowerMangerHost 设备控制页增强（web/index.html） - 部署/运维脚本改为 4 个 systemd 服务（moosdb/pPowerManger/pPowerMangerHost/pCCU）： deploy/clean-data/fetch-data 同步适配 - 协议文档：归档 0824 控制主机与复合管控器通信协议 xlsx 及关联 docx，移除旧 md - 测试：新增 pccu 单元/集成测试与 disSysTest Python 配电仿真 - 清理：移除未使用的 CCU 状态调试打印 coutMsg；.gitignore 补充编译产物/临时文件忽略
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@@ -1,18 +1,18 @@
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#!/bin/bash
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#=======================================================================
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# FILE: scripts/deploy.sh
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# DESC: 部署 pPowerManger / pPowerMangerHost（aarch64 二进制 + mission）
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# 到目标板卡 (RK3588 / Ubuntu 22.04)，并用三个独立 systemd 服务
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# （moosdb / pPowerManger / pPowerMangerHost）管理。
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# 只安装服务 + daemon-reload，默认不启动、不自启。
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# DESC: 部署 pPowerManger / pPowerMangerHost / pCCU（aarch64 二进制 +
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# mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用四个独立
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# systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）
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# 管理。只安装服务 + daemon-reload，默认不启动、不自启。
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#
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# 用法:
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# ./scripts/deploy.sh setup-ssh 一次性：生成 ed25519 key + ssh-copy-id
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# ./scripts/deploy.sh 默认：推送二进制 + mission + 装 3 个
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# ./scripts/deploy.sh 默认：推送二进制 + mission + 装 4 个
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# systemd 服务 + daemon-reload（不启动）
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# ./scripts/deploy.sh --start 部署后按依赖顺序启动服务
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# ./scripts/deploy.sh status 板卡 3 个服务状态
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# ./scripts/deploy.sh stop 停止 3 个服务
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# ./scripts/deploy.sh status 板卡 4 个服务状态
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# ./scripts/deploy.sh stop 停止 4 个服务
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# ./scripts/deploy.sh help 显示帮助
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#
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# 参数:
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@@ -24,9 +24,9 @@
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# 板卡布局:
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# /root/work/h100/bin/ aarch64 二进制
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# /root/work/h100/missions/ 板卡 mission h100.moos
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# /root/work/h100/data/ 数据库存储目录 (power_data.db)
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# /root/work/h100/data/ 数据库存储目录 (power_data.db 等)
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# /etc/systemd/system/ moosdb.service / pPowerManger.service /
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# pPowerMangerHost.service
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# pPowerMangerHost.service / pCCU.service
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#=======================================================================
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set -uo pipefail
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@@ -38,7 +38,7 @@ USER="root"
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BOARD_DIR="/root/work/h100"
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DO_START=0
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SERVICES=(moosdb pPowerManger pPowerMangerHost)
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
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@@ -91,7 +91,7 @@ cmd_setup_ssh() {
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#-------------------------------------------------------------------
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check_local() {
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local missing=0
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for b in pPowerManger pPowerMangerHost; do
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for b in pPowerManger pPowerMangerHost pCCU; do
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if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
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err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
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elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
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@@ -178,16 +178,17 @@ cmd_deploy() {
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info "推送 aarch64 二进制 ..."
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${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
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"${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
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"${PROJECT_ROOT}/bin/arm64/pCCU" \
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"${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}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; return 1; }
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost"
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU"
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ok "二进制与 mission 已推送"
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# 2. 生成并安装 3 个 systemd unit
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# 2. 生成并安装 4 个 systemd unit
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local unit
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for s in "${SERVICES[@]}"; do
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info "生成 ${s}.service ..."
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@@ -211,8 +212,10 @@ cmd_deploy() {
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else
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echo ""
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info "部署完成。手动启动（或加 --start）:"
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echo " systemctl start moosdb pPowerManger pPowerMangerHost"
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echo " 浏览器: http://${HOST}:18080"
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echo " systemctl start moosdb pPowerManger pPowerMangerHost pCCU"
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echo " 浏览器: http://${HOST}:18080 (上位机模拟)"
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echo " http://${HOST}:8090 (pPowerManger)"
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echo " http://${HOST}:8080 (pCCU)"
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fi
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}
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@@ -220,19 +223,19 @@ cmd_deploy() {
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# 命令: start / status / stop
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#-------------------------------------------------------------------
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cmd_start() {
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info "启动服务 (moosdb -> pPowerManger -> pPowerMangerHost) ..."
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info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU) ..."
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${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
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systemctl start pPowerManger pPowerMangerHost" || { err "启动失败"; return 1; }
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systemctl start pPowerManger pPowerMangerHost pCCU" || { err "启动失败"; return 1; }
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ok "服务已启动"
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cmd_status
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}
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cmd_status() {
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${SSH} "${SSH_TARGET}" "systemctl --no-pager status moosdb pPowerManger pPowerMangerHost" || true
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${SSH} "${SSH_TARGET}" "systemctl --no-pager status ${SERVICES[*]}" || true
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}
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cmd_stop() {
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${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger moosdb" && \
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${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger pCCU moosdb" && \
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ok "服务已停止" || err "停止服务失败"
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}
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