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
This commit is contained in:
@@ -0,0 +1,301 @@
|
||||
//============================================================================
|
||||
// pccuTest：pCCU 协议编解码 / 校验和 / 帧长度 / 链路分发 / 数据库 单元测试
|
||||
// 无第三方测试库，独立可执行。参照 test/until/testSqlitdb.cpp 的轻量风格。
|
||||
//============================================================================
|
||||
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <iostream>
|
||||
|
||||
#include "../../src/pCCU/protocol/FieldCodec.h"
|
||||
#include "../../src/pCCU/protocol/Frame.h"
|
||||
#include "../../src/pCCU/protocol/ChecksumPolicy.h"
|
||||
#include "../../src/pCCU/protocol/MessageRegistry.h"
|
||||
#include "../../src/pCCU/protocol/FcProtocol.h"
|
||||
#include "../../src/pCCU/protocol/PmProtocol.h"
|
||||
#include "../../src/pCCU/comm/LinkManager.h"
|
||||
#include "../../src/pCCU/comm/FcLinkManager.h"
|
||||
#include "../../src/pCCU/comm/PmLinkManager.h"
|
||||
#include "../../src/pCCU/store/DbStore.h"
|
||||
|
||||
using namespace ccu;
|
||||
|
||||
static int g_fail = 0;
|
||||
static int g_pass = 0;
|
||||
|
||||
#define CHECK(cond) do { \
|
||||
if (cond) { ++g_pass; } \
|
||||
else { ++g_fail; std::printf("FAIL %s:%d %s\n", __FILE__, __LINE__, #cond); } \
|
||||
} while (0)
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 1. 帧长度必须与协议文档一致
|
||||
static void testFrameLengths() {
|
||||
FcControlMessage fcm;
|
||||
FcStatusMessage fsm;
|
||||
PmControlMessage pcm;
|
||||
PmParamSetMessage pps;
|
||||
PmParamSetFbMessage ppf;
|
||||
PmStatusMessage psm;
|
||||
|
||||
CHECK(fcm.totalLength() == 20); // FC 控制指令 24B 文档表，实际 20B（域字节数0x0014）
|
||||
CHECK(fsm.totalLength() == 150); // FC 状态反馈 150B
|
||||
CHECK(pcm.totalLength() == 45); // PM 操控指令 45B
|
||||
CHECK(pps.totalLength() == 28); // PM 参数设定 28B
|
||||
CHECK(ppf.totalLength() == 12); // PM 参数反馈 12B
|
||||
CHECK(psm.totalLength() == 248); // PM 状态报文 248B
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 2. FC 控制指令编解码往返
|
||||
static void testFcControlRoundTrip() {
|
||||
FcControlValue v;
|
||||
v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch = 35; v.roll = -12;
|
||||
v.emergencyAllow = 0x03; v.depth = 150;
|
||||
v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6; v.heartbeat = 7;
|
||||
|
||||
FcControlMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
|
||||
CHECK(frame.size() == 20);
|
||||
CHECK(frame[0] == 0x40 && frame[1] == 0x40);
|
||||
|
||||
// 字节位置校验：纵倾数据1=低位(字节10=0x23=35), 数据2=高位(字节11=0x00)
|
||||
CHECK(frame[6 + 3] == 0x23); // 姿态数据1(低位)
|
||||
CHECK(frame[6 + 4] == 0x00); // 姿态数据2(高位)
|
||||
CHECK(frame[6 + 5] == 0xF4); // 横倾数据1(低位, -12 = 0xFFF4 小端)
|
||||
CHECK(frame[6 + 6] == 0xFF); // 横倾数据2(高位)
|
||||
|
||||
FcControlValue out;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&out)));
|
||||
CHECK(out.mode == 2);
|
||||
CHECK(out.cmd == 2);
|
||||
CHECK(out.outputPower == 100);
|
||||
CHECK(out.pitch == 35);
|
||||
CHECK(out.roll == -12);
|
||||
CHECK(out.emergencyAllow == 0x03);
|
||||
CHECK(out.depth == 150);
|
||||
CHECK(out.supplyCmd == 1);
|
||||
CHECK(out.reservedCmd5 == 5 && out.reservedCmd6 == 6);
|
||||
CHECK(out.heartbeat == 7);
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 3. FC 状态编解码往返（关键字段抽查）
|
||||
static void testFcStatusRoundTrip() {
|
||||
FcStatusValue v;
|
||||
v.fc_mode = 2; v.fc_status = 6; v.fc_fault_level = 0;
|
||||
v.fault_level_1 = 0x0102; v.fault_level_2 = 0x0304;
|
||||
v.fault_level_3 = 0x0506; v.fault_level_4 = 0x0708;
|
||||
v.total_generation_time = 12345;
|
||||
v.generation_power = 23456;
|
||||
v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
|
||||
v.palladium_temp = 350; v.buffer_tank_pressure = 200;
|
||||
v.dcdc1_in_voltage = 12; v.dcdc_out_current = 33;
|
||||
v.methanol_total_use = 100;
|
||||
v.cabin_temp1 = 25; v.h2_concentration1 = 500;
|
||||
v.heartbeat = 9; v.emergency_cmd = 0x01;
|
||||
v.reserved[0] = 0xAAAA; v.reserved[11] = 0xBBBB;
|
||||
|
||||
FcStatusMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
CHECK(frame.size() == 150);
|
||||
|
||||
// 字节位置校验（对照 0821 docx）：发电功率在字节21-22(offset 14)，心跳在字节149(offset 142)
|
||||
CHECK(frame[6 + 12] == 0); // 故障等级 offset12
|
||||
CHECK(frame[6 + 14] == 0xA0 && frame[6 + 15] == 0x5B); // 发电功率 23456 -> 0x5BA0 小端
|
||||
CHECK(frame[6 + 142] == 9); // 心跳 offset142
|
||||
CHECK(frame[6 + 143] == 0x01);// 应急指令 offset143
|
||||
|
||||
FcStatusValue out;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&out)));
|
||||
CHECK(out.fc_mode == 2 && out.fc_status == 6);
|
||||
CHECK(out.fault_level_1 == 0x0102 && out.fault_level_4 == 0x0708);
|
||||
CHECK(out.total_generation_time == 12345);
|
||||
CHECK(out.generation_power == 23456);
|
||||
CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
|
||||
CHECK(out.palladium_temp == 350);
|
||||
CHECK(out.dcdc1_in_voltage == 12 && out.dcdc_out_current == 33);
|
||||
CHECK(out.methanol_total_use == 100);
|
||||
CHECK(out.cabin_temp1 == 25 && out.h2_concentration1 == 500);
|
||||
CHECK(out.heartbeat == 9 && out.emergency_cmd == 0x01);
|
||||
CHECK(out.reserved[0] == 0xAAAA && out.reserved[11] == 0xBBBB);
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 4. PM 操控指令编解码往返
|
||||
static void testPmControlRoundTrip() {
|
||||
PmControlValue v;
|
||||
v.year = 2026; v.month = 8; v.day = 26; v.hour = 17; v.minute = 30; v.second = 5;
|
||||
v.millisecond10 = 3;
|
||||
v.mode = 2; v.cmd = 2; v.outputPower = 120;
|
||||
v.pitch = 35; v.roll = -12;
|
||||
v.emergencyAllow = 0x03; v.depth = 200;
|
||||
v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6;
|
||||
v.insBatCmd = 0x10; v.dynBatCmd = 0x20; v.dynBatPower = 300;
|
||||
v.heartbeat = 11; v.hostState = 0xAA;
|
||||
v.reserved1 = 0x11223344; v.reserved2 = 0x55667788;
|
||||
|
||||
PmControlMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
CHECK(frame.size() == 45);
|
||||
|
||||
PmControlValue out;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&out)));
|
||||
CHECK(out.year == 2026 && out.month == 8 && out.day == 26);
|
||||
CHECK(out.hour == 17 && out.minute == 30 && out.second == 5);
|
||||
CHECK(out.millisecond10 == 3);
|
||||
CHECK(out.mode == 2 && out.cmd == 2 && out.outputPower == 120);
|
||||
CHECK(out.pitch == 35 && out.roll == -12);
|
||||
CHECK(out.depth == 200);
|
||||
CHECK(out.insBatCmd == 0x10 && out.dynBatCmd == 0x20 && out.dynBatPower == 300);
|
||||
CHECK(out.heartbeat == 11 && out.hostState == 0xAA);
|
||||
CHECK(out.reserved1 == 0x11223344 && out.reserved2 == 0x55667788);
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 5. PM 状态报文编解码往返（抽查关键字段，覆盖各分组）
|
||||
static void testPmStatusRoundTrip() {
|
||||
PmStatusValue v;
|
||||
v.fc_mode = 2; v.fc_status = 6;
|
||||
v.fault_level_1 = 1; v.fault_level_2 = 2; v.fault_level_3 = 3; v.fault_level_4 = 4;
|
||||
v.total_generation_time = 500; v.fc_fault_level = 0;
|
||||
v.output_power_limit = 30000; v.generation_power = 100;
|
||||
v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
|
||||
v.main_pipe_pressure = 500; v.aux_pipe_pressure = 400;
|
||||
v.dcdc_out_voltage = 240; v.dcdc_out_current = 100;
|
||||
v.cabin_temp1 = 2500; v.cabin_temp2 = 2400;
|
||||
v.h2_concentration1 = 300; v.o2_concentration1 = 200;
|
||||
v.emergency_battery1_voltage = 24; v.emergency_battery2_voltage = 26;
|
||||
v.ins_soc = 60; v.dyn_soc = 55;
|
||||
v.ins_voltage_link = 4800; v.dyn_voltage_link = 4900;
|
||||
v.ins_current = 120; v.dyn_current = 130;
|
||||
v.device_online_flag1 = 0x0F; v.device_online_flag2 = 0x07;
|
||||
v.heartbeat = 42; v.emergency_cmd = 0x01;
|
||||
v.dyn_alarm_flag[0] = 0xAA; v.ins_alarm_flag[5] = 0x55;
|
||||
|
||||
PmStatusMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
CHECK(frame.size() == 248);
|
||||
|
||||
PmStatusValue out;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&out)));
|
||||
CHECK(out.fc_mode == 2 && out.fc_status == 6);
|
||||
CHECK(out.fault_level_1 == 1 && out.fault_level_4 == 4);
|
||||
CHECK(out.total_generation_time == 500 && out.fc_fault_level == 0);
|
||||
CHECK(out.output_power_limit == 30000 && out.generation_power == 100);
|
||||
CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
|
||||
CHECK(out.main_pipe_pressure == 500 && out.aux_pipe_pressure == 400);
|
||||
CHECK(out.dcdc_out_voltage == 240 && out.dcdc_out_current == 100);
|
||||
CHECK(out.cabin_temp1 == 2500 && out.h2_concentration1 == 300);
|
||||
CHECK(out.emergency_battery1_voltage == 24 && out.emergency_battery2_voltage == 26);
|
||||
CHECK(out.ins_soc == 60 && out.dyn_soc == 55);
|
||||
CHECK(out.ins_voltage_link == 4800 && out.dyn_voltage_link == 4900);
|
||||
CHECK(out.device_online_flag1 == 0x0F && out.device_online_flag2 == 0x07);
|
||||
CHECK(out.heartbeat == 42 && out.emergency_cmd == 0x01);
|
||||
CHECK(out.dyn_alarm_flag[0] == 0xAA && out.ins_alarm_flag[5] == 0x55);
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 6. PM 校验和：正确帧通过，篡改字节校验失败
|
||||
static void testChecksum() {
|
||||
PmControlValue v;
|
||||
v.mode = 2; v.cmd = 3; v.heartbeat = 1;
|
||||
|
||||
PmControlMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
PmControlValue tmp;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&tmp))); // 校验通过
|
||||
|
||||
// 篡改数据域中间字节
|
||||
std::vector<uint8_t> bad = frame;
|
||||
bad[10] ^= 0xFF; // 数据域某字节
|
||||
CHECK(!msg.decode(bad, static_cast<void*>(&tmp)));
|
||||
|
||||
// 篡改帧头长度
|
||||
std::vector<uint8_t> badLen = frame;
|
||||
badLen[4] = 0x01; // length 低字节改小 -> 0x012D != 45
|
||||
CHECK(!msg.decode(badLen, static_cast<void*>(&tmp)));
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 7. 链路分发：FC 链路收到状态帧 -> 回调解码
|
||||
static void testLinkDispatch() {
|
||||
// 注册表按链路隔离：FC 与 PM 共用 0x0001/0x0002 不应冲突
|
||||
MessageRegistry fcReg;
|
||||
registerFcMessages(fcReg);
|
||||
MessageRegistry pmReg;
|
||||
registerPmMessages(pmReg);
|
||||
|
||||
CHECK(fcReg.size() == 2);
|
||||
CHECK(pmReg.size() == 4);
|
||||
CHECK(fcReg.find(0x0001)->id() == 0x0001);
|
||||
CHECK(pmReg.find(0x0001)->id() == 0x0001); // id 重叠但隔离
|
||||
|
||||
// 用 LinkManager 的 handleIncoming 模拟收帧
|
||||
FcStatusValue fv;
|
||||
fv.fc_status = 6; fv.heartbeat = 8;
|
||||
FcStatusMessage fsMsg;
|
||||
std::vector<uint8_t> frame = fsMsg.encode(fv);
|
||||
|
||||
LinkManager lm("test_fc", 0);
|
||||
registerFcMessages(lm.registry());
|
||||
|
||||
bool got = false;
|
||||
lm.setOnMessage([&](Message* m, const std::vector<uint8_t>& f) {
|
||||
if (m && m->id() == 0x0002) {
|
||||
FcStatusValue out;
|
||||
if (m->decode(f, static_cast<void*>(&out))) {
|
||||
got = (out.fc_status == 6 && out.heartbeat == 8);
|
||||
}
|
||||
}
|
||||
});
|
||||
CHECK(lm.handleIncoming(frame));
|
||||
CHECK(got);
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
// 8. 数据库落库与查询
|
||||
static void testDbStore() {
|
||||
std::string path = "test_pccu.db";
|
||||
std::remove(path.c_str());
|
||||
{
|
||||
DbStore db(path);
|
||||
CHECK(db.open());
|
||||
|
||||
std::vector<uint8_t> frame = {0x40,0x40,0x01,0x00,0x14,0x00, 1,2,3,4,5,6,7,8,9,10,11,12,13,14};
|
||||
db.onRawFrame(0, 0x0001, "fc", frame, true);
|
||||
db.onRawFrame(1, 0x0004, "pm", frame, false);
|
||||
|
||||
CHECK(db.count() == 2);
|
||||
|
||||
auto rows = db.queryRecent("", -1, 0, 10);
|
||||
CHECK(rows.size() == 2);
|
||||
CHECK(rows[0].msgId == 0x0004 || rows[0].msgId == 0x0001);
|
||||
CHECK(rows[0].checksumOk == 0); // 最近一条是 pm 的 false
|
||||
|
||||
auto fcRows = db.queryRecent("fc", 0, 0, 10);
|
||||
CHECK(fcRows.size() == 1);
|
||||
CHECK(fcRows[0].msgId == 0x0001 && fcRows[0].direction == 0);
|
||||
|
||||
db.close();
|
||||
}
|
||||
std::remove(path.c_str());
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
int main() {
|
||||
testFrameLengths();
|
||||
testFcControlRoundTrip();
|
||||
testFcStatusRoundTrip();
|
||||
testPmControlRoundTrip();
|
||||
testPmStatusRoundTrip();
|
||||
testChecksum();
|
||||
testLinkDispatch();
|
||||
testDbStore();
|
||||
|
||||
std::printf("\n==== pccuTest: %d passed, %d failed ====\n", g_pass, g_fail);
|
||||
return g_fail == 0 ? 0 : 1;
|
||||
}
|
||||
Reference in New Issue
Block a user