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
2026-08-26 22:43:10 +08:00
parent e0488d513b
commit 54c32a180a
79 changed files with 8731 additions and 1398 deletions
@@ -0,0 +1,189 @@
+"""内置模拟器：产生四路母线反馈，支持配电指令回显。
+
+设计：模拟器状态(反馈消息 + 最近指令)独立维护；周期性调用 update()
+返回需要注入解析管线的反馈消息列表。配电指令通过 apply_command()
+回写对应断路器状态，从而与真实设备的收发链路完全一致。
+"""
+
+import random
+
+from . import protocol
+from .protocol import (MsgDisHighVolBusFb, MsgDisHighAVolBusFb,
+                       MsgDisLowMainBusFb, MsgDisLowBusFb,
+                       BREAKER_ON)
+
+
+class Simulator:
+    # 指令消息 ID -> 对应反馈消息 ID
+    CMD_TO_FB = {0x0001: 0x0005, 0x0002: 0x0006,
+                 0x0003: 0x0007, 0x0004: 0x0008}
+
+    def __init__(self):
+        self.fb = {
+            0x0005: MsgDisHighVolBusFb(),
+            0x0006: MsgDisHighAVolBusFb(),
+            0x0007: MsgDisLowMainBusFb(),
+            0x0008: MsgDisLowBusFb(),
+        }
+        # 最近一次配电指令（用于回显）
+        self.last_cmd = {
+            0x0001: protocol.MsgDisHVBCmd(),
+            0x0002: protocol.MsgDisHVBACmd(),
+            0x0003: protocol.MsgDisLVMBCmd(),
+            0x0004: protocol.MsgDisLVBCmd(),
+        }
+        self.fault_animation = True
+        self.noise = True
+        self._fault_counter = 0
+        self.reset()
+
+    def reset(self):
+        self._init_high_vol()
+        self._init_high_a_vol()
+        self._init_low_main()
+        self._init_low_bus()
+        # 复位指令状态
+        for cmd in self.last_cmd.values():
+            for name in cmd.field_names():
+                setattr(cmd, name, 0)
+
+    # ---- 初始值（与 test.py 一致） ---------------------------------
+    def _init_high_vol(self):
+        m = self.fb[0x0005]
+        for name in m.field_names():
+            setattr(m, name, 0)
+        for name in ("fuelCellCircuitBreaker", "powerLithiumBatteryCircuitBreaker",
+                     "propulsionMotorCircuitBreaker", "lithiumBatteryGroupInstrumentCircuitBreaker",
+                     "dcDc5ModuleCircuitBreaker", "bowHighVoltageDistributionBoxCircuitBreaker",
+                     "sternFTDevice45CircuitBreaker", "sternRudderSwitch1CircuitBreaker",
+                     "sternRudderSwitch2CircuitBreaker", "fbReservedCircuitBreaker",
+                     "tyzReservedCircuitBreaker", "reservedCircuitBreaker"):
+            setattr(m, name, BREAKER_ON)
+        m.dcDcFaultWord1 = 0x01
+        m.dcDcFaultWord2 = 0x01
+        m.powerBusInsulationStatus = BREAKER_ON
+        m.aBusInsulationStatus = BREAKER_ON
+        m.meterPowerLossSignal = BREAKER_ON
+        m.emergencyPowerLossSignal = BREAKER_ON
+        m.dcdcTemperature = 0x08
+        m.powerBusVoltage = 6000
+        m.dcDc5ModuleCurrent = 500
+        m.powerBusCurrent = 1000
+        m.busbarAVoltage = 6000
+        m.propulsionMotorControlBoxCurrent = 800
+        m.busbarACurrent = 500
+        m.lithiumBatteryGroupMeterCurrent = 300
+        m.bowHighVoltageDistributionBoxCurrent = 200
+        m.sternFTDevice45Current = 150
+        m.tyzReservedSwitchCurrent = 0
+        m.sternRudderSwitch1Current = 100
+        m.reservedCurrent1 = 1000
+        m.sternRudderSwitch2Current = 100
+        m.reservedCurrent2 = 1000
+        m.fbReservedSwitchCurrent = 10000
+        m.reservedCurrent3 = 1000
+        m.coolWaterPressure = 1000
+
+    def _init_high_a_vol(self):
+        m = self.fb[0x0006]
+        for name in m.field_names():
+            setattr(m, name, 0)
+        for name in ("bowFTDevice123CircuitBreaker", "actuatorCircuitBreaker",
+                     "mastSteeringGearControlBoxCircuitBreaker", "xczCircuitBreaker",
+                     "bowRudderControlBoxCircuitBreaker", "openWaterCoverStartCylinderCircuitBreaker"):
+            setattr(m, name, BREAKER_ON)
+        m.instrumentPowerFailureSignal = BREAKER_ON
+        m.emergencyPowerFailureSignal = BREAKER_ON
+        m.waterIngressionAlarm = BREAKER_ON
+        m.busbarBVoltage = 6000
+        m.busbarBCurrent = 300
+        m.bowFTDevice123Current = 200
+        m.actuatorCurrent = 150
+        m.mastSteeringGearControlBoxCurrent = 100
+        m.xczCurrent = 50
+        m.bowRudderControlBoxCurrent = 80
+        m.openWaterCoverStartCylinderCurrent = 0
+
+    def _init_low_main(self):
+        m = self.fb[0x0007]
+        for name in m.field_names():
+            setattr(m, name, 0)
+        m.lithiumBatteryGroupInstrumentCircuitBreaker = BREAKER_ON
+        m.bowLowVoltageDistributionBoxCircuitBreaker = BREAKER_ON
+        m.unit4InstrumentDC48VCircuitBreaker = BREAKER_ON
+        m.dcC1DCDistributionPanelCircuitBreaker = BREAKER_ON
+        m.reservedCircuitBreaker1 = BREAKER_ON
+        m.reservedCircuitBreaker2 = BREAKER_ON
+        m.emergencyLithiumBatteryGroup2CircuitBreaker = BREAKER_ON
+        m.instrumentPowerFailureSignal = BREAKER_ON
+        m.emergencyPowerFailureSignal = BREAKER_ON
+        m.instrumentBusbarInsulationLow = BREAKER_ON
+        m.instrumentBusbarVoltage = 480
+        m.bowLowVoltageDistributionBoxCurrent = 100
+        m.dcC1InstrumentDC48VCurrent = 50
+        m.reservedCurrent1 = 1100
+        m.emergencyLithiumBatteryGroup2Current = 1000
+        m.lithiumBatteryGroupInstrumentCurrent = 200
+        m.unit4InstrumentDC48VCurrent = 50
+        m.reservedCurrent2 = 1000
+        m.emergency2BusbarVoltage = 480
+        m.compositeEnergyManagementSystemEmergencyDC48VCurrent = 20
+        m.fuelCellSecuritySystemEmergencyDC48VCurrent = 20
+        m.plcControlPowerCurrent = 10
+
+    def _init_low_bus(self):
+        m = self.fb[0x0008]
+        for name in m.field_names():
+            setattr(m, name, 0)
+        for name in ("unit1CircuitBreaker", "unit2CircuitBreaker",
+                     "unit3CircuitBreaker", "unit5CircuitBreaker",
+                     "bowPZDeviceCircuitBreaker", "reservedCircuitBreaker1",
+                     "reservedCircuitBreaker2", "emergencyLithiumBatteryGroup1CircuitBreaker"):
+            setattr(m, name, BREAKER_ON)
+        m.instrumentPowerFailureSignal = BREAKER_ON
+        m.emergencyPowerFailureSignal = BREAKER_ON
+        m.waterIngressionAlarm = BREAKER_ON
+        m.instrumentBusbarVoltage = 480
+        m.instrumentBusbarCurrent = 5000
+        m.unit1Current = 1000
+        m.unit2Current = 1000
+        m.unit3Current = 1000
+        m.unit5Current = 1000
+        m.bowPZDeviceCurrent = 500
+        m.emergencyLithiumBatteryGroup1Current = 1000
+        m.emergency1BusbarVoltage = 480
+
+    # ---- 对外接口 ------------------------------------------------
+    def apply_command(self, cmd):
+        """收到配电指令后回写对应母线反馈的断路器状态。"""
+        fb = self.fb.get(self.CMD_TO_FB.get(cmd.MSG_ID))
+        if fb is None:
+            return
+        self.last_cmd[cmd.MSG_ID] = cmd
+        for name in cmd.field_names():
+            if hasattr(fb, name):
+                setattr(fb, name, getattr(cmd, name))
+
+    def _jitter(self, fb):
+        """给电流/电压叠加轻微随机波动，模拟真实读数。"""
+        for name in fb.field_names():
+            if name.endswith("Current") or name.endswith("Voltage") or name.endswith("Pressure"):
+                v = getattr(fb, name)
+                if v > 0:
+                    setattr(fb, name, max(0, v + random.randint(-int(v * 0.05), int(v * 0.05))))
+
+    def _step_fault(self):
+        m = self.fb[0x0005]
+        w1 = ((m.dcDcFaultWord1 << 1) | (m.dcDcFaultWord1 >> 7)) & 0xFF
+        w2 = ((m.dcDcFaultWord2 >> 1) | (m.dcDcFaultWord2 << 7)) & 0xFF
+        m.dcDcFaultWord1 = w1
+        m.dcDcFaultWord2 = w2
+
+    def update(self, interval=1.0):
+        """推进一帧模拟。返回需要注入解析管线的反馈消息列表。"""
+        if self.fault_animation:
+            self._step_fault()
+        if self.noise:
+            for fb in self.fb.values():
+                self._jitter(fb)
+        return list(self.fb.values())