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 +1,117 @@
+"""UDP 通信层：socket 管理、收发线程、按消息 ID 分发。
+
+线程安全：start/stop/reconfigure 可随时调用；
+收包在独立线程解析，解析成功后回调 on_feedback / on_command，
+原始帧经 on_raw 回调（用于转发/透传）。
+"""
+
+import socket
+import threading
+import time
+
+from . import protocol
+
+
+class UdpComm:
+    def __init__(self, logger=None):
+        self.logger = logger
+        self.sock = None
+        self.running = False
+        self._thread = None
+        self._lock = threading.Lock()
+        # 回调
+        self.on_feedback = None   # callable(msg, addr)
+        self.on_command = None    # callable(msg, addr)
+        self.on_raw = None        # callable(data, addr)
+        self.on_unknown = None    # callable(data, addr) 解析失败/未知ID
+        # 统计
+        self.rx_count = 0
+        self.tx_count = 0
+        self.last_rx_time = None
+
+    def bind(self, ip, port):
+        """创建并绑定监听 socket（带超时 + 地址复用）。失败抛 OSError。"""
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        s.settimeout(0.1)
+        s.bind((ip, int(port)))
+        with self._lock:
+            old = self.sock
+            self.sock = s
+        if old:
+            old.close()
+        return self
+
+    @property
+    def bound(self):
+        return self.sock is not None
+
+    def start(self):
+        if self.running:
+            return
+        if self.sock is None:
+            raise RuntimeError("socket 未绑定")
+        self.running = True
+        self._thread = threading.Thread(target=self._recv_loop, daemon=True,
+                                        name="udp-recv")
+        self._thread.start()
+
+    def stop(self):
+        self.running = False
+        t = self._thread
+        self._thread = None
+        if t:
+            t.join(timeout=1.5)
+
+    def _recv_loop(self):
+        while self.running:
+            try:
+                data, addr = self.sock.recvfrom(2048)
+            except socket.timeout:
+                continue
+            except OSError:
+                break
+            self.rx_count += 1
+            self.last_rx_time = time.time()
+            try:
+                self._dispatch(data, addr)
+            except Exception as e:
+                if self.logger:
+                    self.logger.error(f"分发消息异常: {e}")
+
+    def _dispatch(self, data, addr):
+        if self.on_raw:
+            self.on_raw(data, addr)
+        msg_id = protocol.msg_id_of(data)
+        cls = protocol.ALL_MESSAGES.get(msg_id)
+        msg = None
+        if cls:
+            msg = cls()
+            if not msg.unpack(data):
+                msg = None
+        if msg is None:
+            if self.on_unknown:
+                self.on_unknown(data, addr)
+            return
+        if msg_id in protocol.CMD_MESSAGES:
+            if self.on_command:
+                self.on_command(msg, addr)
+        else:
+            if self.on_feedback:
+                self.on_feedback(msg, addr)
+
+    def sendto(self, data, ip, port):
+        """发送原始字节。返回 True/False。"""
+        if self.sock is None:
+            return False
+        try:
+            self.sock.sendto(data, (ip, int(port)))
+            self.tx_count += 1
+            return True
+        except OSError as e:
+            if self.logger:
+                self.logger.error(f"发送到 {ip}:{port} 失败: {e}")
+            return False
+
+    def send_message(self, msg, ip, port):
+        return self.sendto(msg.pack(), ip, port)