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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

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- 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
This commit is contained in:
zjk
2026-08-26 22:43:10 +08:00
parent e0488d513b
commit 54c32a180a
79 changed files with 8731 additions and 1398 deletions
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src/pCCU/CCU_Info.cpp
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/****************************************************************/
/* NAME: CCU_Info */
/* FILE: CCU_Info.cpp */
/****************************************************************/
#include <cstdlib>
#include <iostream>
#include "CCU_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
void showSynopsis() {
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The pCCU application is the composite controller (CCU) ");
blk(" gateway between the fuel cell (FC) system and pPowerManger. ");
blk(" It receives FC status, integrates & forwards to pPowerManger, ");
blk(" forwards pPowerManger commands to FC, stores data in SQLite ");
blk(" and provides a web monitoring page. ");
blk(" ");
}
void showHelpAndExit() {
blk(" ");
blu("=============================================================== ");
blu("Usage: pCCU file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","=<ProcessName> ");
blk(" Launch pCCU with the given process name ");
blk(" rather than pCCU. ");
mag(" --example, -e ");
blk(" Display example MOOS configuration block. ");
mag(" --help, -h ");
blk(" Display this help message. ");
mag(" --interface, -i ");
blk(" Display MOOS publications and subscriptions. ");
mag(" --version,-v ");
blk(" Display the release version of pCCU. ");
blk(" ");
blk("Note: If argv[2] does not otherwise match a known option, ");
blk(" then it will be interpreted as a run alias. This is ");
blk(" to support pAntler launching conventions. ");
blk(" ");
exit(0);
}
void showExampleConfigAndExit() {
blk(" ");
blu("=============================================================== ");
blu("pCCU Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = pCCU ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" fc_local_port = 6000 // FC 状态接收端口 ");
blk(" fc_remote_ip = 192.168.1.162 // 燃料电池控制器 IP ");
blk(" fc_remote_port = 7000 // FC 控制端口 ");
blk(" pm_local_port = 7000 // PM 指令接收端口 ");
blk(" pm_remote_ip = 192.168.0.140 // 控制主机 IP ");
blk(" pm_remote_port = 5001 // 控制主机接收端口 ");
blk(" dbpath = pccu_data.db // 数据库路径 ");
blk(" logpath = pCCU.log // 日志路径 ");
blk(" web_port = 8080 // 网页端口(避开8090/18080) ");
blk(" web_enable = true // 是否启用网页 ");
blk("} ");
blk(" ");
exit(0);
}
void showInterfaceAndExit() {
blk(" ");
blu("=============================================================== ");
blu("pCCU INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" (数据交换主要通过 UDP 链路完成，MOOSDB 交互有限) ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" CCU_FC_LINK_STATE = 运行状态字符串 ");
blk(" CCU_PM_LINK_STATE = 运行状态字符串 ");
blk(" ");
exit(0);
}
void showReleaseInfoAndExit() {
showReleaseInfo("pCCU", "gpl");
exit(0);
}