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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#include "CCU.h"
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#include "MBUtils.h"
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#include "../pPowerManger/logc/loguru.hpp"
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#include "protocol/Frame.h"
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#include <chrono>
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using namespace ccu;
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using namespace std;
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//---------------------------------------------------------
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// Constructor / Destructor
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CCU::CCU() {}
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CCU::~CCU() {
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if (m_web) { m_web->stop(); delete m_web; m_web = nullptr; }
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if (m_fcLink) { m_fcLink->stop(); delete m_fcLink; m_fcLink = nullptr; }
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if (m_pmLink) { m_pmLink->stop(); delete m_pmLink; m_pmLink = nullptr; }
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if (m_db) { delete m_db; m_db = nullptr; }
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if (m_snap) { delete m_snap; m_snap = nullptr; }
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if (m_sysData) { delete m_sysData; m_sysData = nullptr; }
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}
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//---------------------------------------------------------
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// OnStartUp：读取配置并初始化各组件
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bool CCU::OnStartUp() {
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AppCastingMOOSApp::OnStartUp();
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STRING_LIST sParams;
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m_MissionReader.EnableVerbatimQuoting(false);
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if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
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reportConfigWarning("No config block found for " + GetAppName());
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STRING_LIST::iterator p;
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for (p = sParams.begin(); p != sParams.end(); p++) {
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string orig = *p;
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string line = *p;
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string param = stripBlankEnds(tolower(biteStringX(line, '=')));
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string value = stripBlankEnds(line);
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bool handled = true;
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if (param == "fc_local_port") m_fcLocalPort = atol(value.c_str());
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else if (param == "fc_remote_ip") m_fcHost = value;
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else if (param == "fc_remote_port") m_fcPort = atol(value.c_str());
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else if (param == "pm_local_port") m_pmLocalPort = atol(value.c_str());
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else if (param == "pm_remote_ip") m_pmHost = value;
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else if (param == "pm_remote_port") m_pmPort = atol(value.c_str());
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else if (param == "dbpath") m_dbPath = value;
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else if (param == "logpath") m_logPath = value;
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else if (param == "web_port") m_webPort = atoi(value.c_str());
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else if (param == "web_enable") {
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m_webEnable = (tolower(value) == "true" || value == "1");
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}
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else handled = false;
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if (!handled)
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reportUnhandledConfigWarning(orig);
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}
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registerVariables();
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// 日志文件
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if (m_logPath.empty()) m_logPath = "pCCU.log";
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loguru::add_file(m_logPath.c_str(), loguru::Append, loguru::Verbosity_MAX);
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LOG_F(INFO, "pCCU log path: %s", m_logPath.c_str());
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// 数据库
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m_db = new DbStore(m_dbPath);
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if (!m_db->open()) {
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LOG_F(ERROR, "open database failed: %s", m_db->lastError().c_str());
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delete m_db;
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m_db = nullptr;
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} else {
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LOG_F(INFO, "database path: %s", m_dbPath.c_str());
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}
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// 系统数据快照
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m_sysData = new SystemData();
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// FC 链路
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m_fcLink = new FcLinkManager(m_fcLocalPort, m_fcHost, m_fcPort);
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m_fcLink->setLogSink(m_db);
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m_fcLink->setOnMessage([this](Message* msg, const std::vector<uint8_t>& frame) {
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handleFcMessage(msg, frame);
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});
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m_fcLink->setOnRawFrame([](int dir, const std::vector<uint8_t>&, bool) {
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// 原始帧已通过 LogSink 落库；如需 Web 实时原始报文可在此扩展
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});
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if (!m_fcLink->start())
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LOG_F(ERROR, "FC link start failed");
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// PM 链路
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m_pmLink = new PmLinkManager(m_pmLocalPort, m_pmHost, m_pmPort);
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m_pmLink->setLogSink(m_db);
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m_pmLink->setOnMessage([this](Message* msg, const std::vector<uint8_t>& frame) {
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handlePmMessage(msg, frame);
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});
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m_pmLink->setOnRawFrame([](int dir, const std::vector<uint8_t>&, bool) {
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});
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if (!m_pmLink->start())
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LOG_F(ERROR, "PM link start failed");
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// 快照构建器（链路就绪后创建）
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m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink, m_db);
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// 网页
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if (m_webEnable) {
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m_web = new WebServer();
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m_web->setOnOpen([this]() { return buildSnapshot(); });
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m_web->setApiHandler([this](const std::string& uri, const std::string& query) {
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return handleApi(uri, query);
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});
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if (!m_web->start(m_webPort)) {
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LOG_F(ERROR, "web server start failed on port %d", m_webPort);
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delete m_web;
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m_web = nullptr;
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}
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}
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LOG_F(INFO, "pCCU started: fc_link local=%ld -> %s:%ld, pm_link local=%ld -> %s:%ld",
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m_fcLocalPort, m_fcHost.c_str(), m_fcPort,
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m_pmLocalPort, m_pmHost.c_str(), m_pmPort);
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return true;
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}
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//---------------------------------------------------------
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// OnConnectToServer
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bool CCU::OnConnectToServer() {
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registerVariables();
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return true;
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}
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//---------------------------------------------------------
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// registerVariables
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void CCU::registerVariables() {
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AppCastingMOOSApp::RegisterVariables();
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// pCCU 数据交换主要走 UDP；MOOSDB 仅登记运行状态变量
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Register("CCU_FC_LINK_STATE", 0);
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Register("CCU_PM_LINK_STATE", 0);
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}
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//---------------------------------------------------------
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// OnNewMail
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bool CCU::OnNewMail(MOOSMSG_LIST &NewMail) {
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AppCastingMOOSApp::OnNewMail(NewMail);
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MOOSMSG_LIST::iterator p;
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for (p = NewMail.begin(); p != NewMail.end(); p++) {
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CMOOSMsg &msg = *p;
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// 预留：未来如需通过 MOOSDB 下发指令可在此处理
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}
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return true;
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}
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//---------------------------------------------------------
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// Iterate：周期任务（AppTick 次/秒）
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bool CCU::Iterate() {
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AppCastingMOOSApp::Iterate();
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double now = MOOSTime();
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// 周期（1Hz）整合 FC 状态并发送 PM 状态报文给控制主机
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if (now - m_lastStatusTx >= 1.0) {
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sendPmStatus();
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m_lastStatusTx = now;
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}
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// 周期（1Hz）推送网页快照
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if (m_web) {
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static double lastWebPush = 0;
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if (now - lastWebPush >= 1.0) {
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lastWebPush = now;
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m_web->broadcast(buildSnapshot());
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}
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}
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AppCastingMOOSApp::PostReport();
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return true;
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}
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//---------------------------------------------------------
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// handleFcMessage：处理 FC 链路收到的消息
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void CCU::handleFcMessage(Message* msg, const std::vector<uint8_t>& frame) {
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if (!msg) return;
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switch (msg->id()) {
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case 0x0002: { // FC 状态反馈
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FcStatusValue v;
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if (msg->decode(frame, static_cast<void*>(&v))) {
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m_sysData->updateFcStatus(v);
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LOG_F(INFO, "[FC] status: mode=%d status=%d fault_level=%d",
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v.fc_mode, v.fc_status, v.fc_fault_level);
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} else {
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LOG_F(ERROR, "[FC] status decode failed");
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}
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break;
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}
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default:
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LOG_F(WARNING, "[FC] unhandled msg id 0x%04X", msg->id());
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break;
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}
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}
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//---------------------------------------------------------
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// handlePmMessage：处理 PM 链路收到的消息
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void CCU::handlePmMessage(Message* msg, const std::vector<uint8_t>& frame) {
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if (!msg) return;
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switch (msg->id()) {
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case 0x0001: { // PM 操控指令 -> 转发给 FC
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PmControlValue c;
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if (msg->decode(frame, static_cast<void*>(&c))) {
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m_sysData->updatePmControl(c);
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LOG_F(INFO, "[PM] control: mode=%d cmd=%d power=%d",
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c.mode, c.cmd, c.outputPower);
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// 映射并转发到 FC
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FcControlValue f;
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f.mode = c.mode;
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f.cmd = c.cmd;
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f.outputPower = c.outputPower;
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f.pitch = c.pitch;
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f.roll = c.roll;
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f.emergencyAllow = c.emergencyAllow;
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f.depth = c.depth;
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f.supplyCmd = c.supplyCmd;
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f.reservedCmd5 = c.reservedCmd5;
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f.reservedCmd6 = c.reservedCmd6;
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f.heartbeat = c.heartbeat;
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m_sysData->updateFcControl(f);
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m_fcLink->sendMessage(0x0001, &f);
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LOG_F(INFO, "[FC] forward control cmd=%d power=%d", f.cmd, f.outputPower);
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} else {
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LOG_F(ERROR, "[PM] control decode failed");
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}
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break;
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}
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case 0x0002: { // PM 参数设定 -> 回参数反馈
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PmParamSetValue p;
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if (msg->decode(frame, static_cast<void*>(&p))) {
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m_sysData->updatePmParamSet(p);
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LOG_F(INFO, "[PM] param set received");
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// 当前阶段直接回成功
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PmParamSetFbValue fb;
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fb.flag = 0x10; // 设定成功
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fb.failCode = 0;
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m_sysData->updatePmParamFb(fb);
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m_pmLink->sendMessage(0x0003, &fb);
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LOG_F(INFO, "[PM] param set feedback sent");
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} else {
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LOG_F(ERROR, "[PM] param set decode failed");
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}
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break;
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}
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default:
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LOG_F(WARNING, "[PM] unhandled msg id 0x%04X", msg->id());
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break;
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}
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}
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//---------------------------------------------------------
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// sendPmStatus：整合最新 FC 状态，编码 PM 状态报文发送
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void CCU::sendPmStatus() {
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if (!m_pmLink || !m_sysData) return;
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const FcStatusValue& fc = m_sysData->fcStatus();
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PmStatusValue s;
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s.fc_mode = fc.fc_mode;
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s.fc_status = fc.fc_status;
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s.fault_level_1 = fc.fault_level_1;
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s.fault_level_2 = fc.fault_level_2;
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s.fault_level_3 = fc.fault_level_3;
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s.fault_level_4 = fc.fault_level_4;
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s.total_generation_time = fc.total_generation_time;
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s.fc_fault_level = fc.fc_fault_level;
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s.output_power_limit = 0; // FC 状态未含此字段，置 0
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s.generation_power = fc.generation_power;
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s.hydrogen_capacity = fc.hydrogen_capacity;
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s.liquid_oxygen_capacity = fc.liquid_oxygen_capacity;
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s.fc1_min_cell_voltage = fc.fc1_min_cell_voltage;
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s.fc1_min_cell_pos = fc.fc1_min_cell_pos;
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s.fc1_avg_cell_voltage = fc.fc1_avg_cell_voltage;
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s.fc2_min_cell_voltage = fc.fc2_min_cell_voltage;
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s.fc2_min_cell_pos = fc.fc2_min_cell_pos;
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s.fc2_avg_cell_voltage = fc.fc2_avg_cell_voltage;
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s.palladium_temp = fc.palladium_temp;
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s.buffer_tank_pressure = fc.buffer_tank_pressure;
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s.flue_total_emission = fc.flue_total_emission;
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s.flue_pressure = fc.flue_pressure;
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s.reactor_pressure = fc.reactor_pressure;
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s.electric_valve_open = fc.electric_valve_open;
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s.main_pipe_pressure = 0;
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s.aux_pipe_pressure = 0;
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s.dcdc1_in_voltage = fc.dcdc1_in_voltage;
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s.dcdc1_in_current = fc.dcdc1_in_current;
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s.dcdc2_in_voltage = fc.dcdc2_in_voltage;
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s.dcdc2_in_current = fc.dcdc2_in_current;
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s.dcdc_out_voltage = fc.dcdc_out_voltage;
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s.dcdc_out_current = fc.dcdc_out_current;
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s.dcdc_ctrl_voltage = fc.dcdc_ctrl_voltage;
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s.dcdc_aux_voltage = fc.dcdc_aux_voltage;
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s.methanol_total_use = fc.methanol_total_use;
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s.methanol_feed = fc.methanol_feed;
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s.oxygen_side_water_level = fc.oxygen_side_water_level;
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s.hydrogen_side_water_level = fc.hydrogen_side_water_level;
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s.ballast_water_level = fc.ballast_water_level;
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s.exhaust_inlet_pressure = fc.exhaust_inlet_pressure;
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s.exhaust_outlet_pressure = fc.exhaust_outlet_pressure;
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s.exhaust_run_freq = fc.exhaust_run_freq;
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s.exhaust_inlet_temp = fc.exhaust_inlet_temp;
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s.exhaust_outlet_temp = fc.exhaust_outlet_temp;
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s.exhaust_water_in_pressure = fc.exhaust_water_in_pressure;
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s.exhaust_water_out_pressure = fc.exhaust_water_out_pressure;
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s.tank_lo2_pressure = fc.tank_lo2_pressure;
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s.tank_co2_pressure = fc.tank_co2_pressure;
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s.tank_lo2_level = fc.tank_lo2_level;
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s.alloy_h2_flow = fc.alloy_h2_flow;
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s.fc_h2_flow = fc.fc_h2_flow;
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s.fc_o2_flow = fc.fc_o2_flow;
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s.emergency_float_depth = fc.emergency_float_depth;
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s.emergency_float_time = fc.emergency_float_time;
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s.cabin_pressure1 = fc.cabin_pressure1;
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s.cabin_pressure2 = fc.cabin_pressure2;
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s.cabin_temp1 = fc.cabin_temp1;
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s.cabin_temp2 = fc.cabin_temp2;
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s.cabin_humidity1 = fc.cabin_humidity1;
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s.cabin_humidity2 = fc.cabin_humidity2;
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s.h2_concentration1 = fc.h2_concentration1;
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s.h2_concentration2 = fc.h2_concentration2;
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s.h2_concentration3 = fc.h2_concentration3;
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s.o2_concentration1 = fc.o2_concentration1;
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s.o2_concentration2 = fc.o2_concentration2;
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s.ch3oh_concentration1 = fc.ch3oh_concentration1;
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s.ch3oh_concentration2 = fc.ch3oh_concentration2;
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s.flame_detector1 = fc.flame_detector1;
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s.flame_detector2 = fc.flame_detector2;
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// 通信心跳自增
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s.heartbeat = m_pmHeartbeat++;
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s.emergency_cmd = fc.emergency_cmd;
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m_sysData->updatePmStatus(s);
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m_pmLink->sendMessage(0x0004, &s);
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LOG_F(INFO, "[PM] status sent: mode=%d status=%d heartbeat=%d",
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s.fc_mode, s.fc_status, s.heartbeat);
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}
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//---------------------------------------------------------
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// buildSnapshot
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std::string CCU::buildSnapshot() {
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if (m_snap) return m_snap->build();
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return "{}";
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}
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//---------------------------------------------------------
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// handleApi：/api/logs
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std::string CCU::handleApi(const std::string& uri, const std::string& query) {
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if (uri == "/api/logs") {
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if (m_snap) return m_snap->buildLogs(50);
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return "[]";
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}
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return "";
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}
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//---------------------------------------------------------
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// buildReport
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bool CCU::buildReport() {
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m_msgs << "============================================" << "\n";
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m_msgs << "pCCU 复合管控器" << "\n";
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m_msgs << "============================================" << "\n";
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if (m_fcLink) {
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m_msgs << "FC 链路 local:" << m_fcLink->localPort()
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||||
<< " rx:" << m_fcLink->rxCount()
|
||||
<< " tx:" << m_fcLink->txCount()
|
||||
<< " err:" << m_fcLink->errorCount() << "\n";
|
||||
}
|
||||
if (m_pmLink) {
|
||||
m_msgs << "PM 链路 local:" << m_pmLink->localPort()
|
||||
<< " rx:" << m_pmLink->rxCount()
|
||||
<< " tx:" << m_pmLink->txCount()
|
||||
<< " err:" << m_pmLink->errorCount() << "\n";
|
||||
}
|
||||
if (m_sysData) {
|
||||
m_msgs << "FC 状态接收次数:" << m_sysData->fcStatusCount() << "\n";
|
||||
m_msgs << "PM 指令接收次数:" << m_sysData->pmControlCount() << "\n";
|
||||
}
|
||||
if (m_db) {
|
||||
m_msgs << "数据库记录数:" << m_db->count() << "\n";
|
||||
}
|
||||
return true;
|
||||
}
|
||||
Reference in New Issue
Block a user