From 7e4d08808addfeff4b77a8a810a56eda0bbdf43c Mon Sep 17 00:00:00 2001 From: zjk <1553836110@qq.com> Date: Sun, 30 Aug 2026 14:40:27 +0800 Subject: [PATCH] =?UTF-8?q?pCCU=E6=96=B0=E5=A2=9E=E9=94=82=E7=94=B5?= =?UTF-8?q?=E6=B1=A0=E9=80=9A=E4=BF=A1/=E5=8D=8F=E8=B0=83=E6=93=8D?= =?UTF-8?q?=E4=BD=9C=20+=20=E7=94=B5=E6=BA=90=E5=8D=8F=E8=B0=83=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E6=9C=BA=E9=AA=A8=E6=9E=B6(=E6=83=B0=E6=80=A7)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 锂电池通信(docs/锂电池协议20230324.docx)： - 协议层 BatProtocol：自检0x0000(2B)/设备控制0x0001(17B)/电池组状态0x0003(80B)/ 电池包报警0x0004(68B)，uint32字节和校验、小端 - 链路层 BatLinkManager：动力/仪表锂电池独立UDP链路，本机监听与远端IP端口 均由.moos配置(dyn_bat_*/ins_bat_*/bat_work_condition) - SystemData/SnapshotBuilder/网页：电池数据按动力/仪表归类展示(运行状态/接触器 电气量/电池包电压温度/报警)，收发帧落库SQLite，网页新增电池标签页 操作->指令下发(PowerCoordinator)： - 操作接口：自检/上下电(母线接触器55H接通77H断开,含预充)/功率设定(0~500kW)/ 电池切换(低压->高压6步、高压->低压5步,按协议时序) - 步骤引擎：每电池独立步骤队列，下发->状态反馈确认->超时兜底；周期1s心跳控制帧 - PM操控指令insBatCmd/dynBatCmd/dynBatPower自动映射为电池操作 电源协调状态机骨架(CoordFsm, TinyFSM)： - 事件Tick/PmControl/StepDone + 状态Normal/Switching/Fault，react均为TODO占位 - 当前未接线(无start/dispatch调用,运行行为与接入前一致)，CoordFsm.hpp头部附接线指南 测试与部署： - pccuTest新增电池协议编解码/帧长/链路分发用例(175项通过)；集成测试覆盖电池 心跳、启停映射(0x10->0x55/0x20->0x77)、状态落库；同步pccu_it.moos与ws_check - h100.moos与pCCU.moos增加锂电池链路配置；归档锂电池协议文档 --- docs/锂电池协议20230324.docx | Bin 0 -> 45747 bytes missions/h100.moos | 11 + src/pCCU/CCU.cpp | 114 +++++++- src/pCCU/CCU.h | 20 ++ src/pCCU/CCU_Info.cpp | 16 +- src/pCCU/CCU软件需求.txt | 5 +- src/pCCU/CMakeLists.txt | 3 + src/pCCU/comm/BatLinkManager.h | 47 +++ src/pCCU/core/CoordFsm.cpp | 122 ++++++++ src/pCCU/core/CoordFsm.hpp | 168 +++++++++++ src/pCCU/core/PowerCoordinator.cpp | 388 +++++++++++++++++++++++++ src/pCCU/core/PowerCoordinator.h | 147 ++++++++++ src/pCCU/core/SnapshotBuilder.cpp | 113 +++++++- src/pCCU/core/SnapshotBuilder.h | 5 +- src/pCCU/core/SystemData.h | 38 +++ src/pCCU/fsm/tinyfsm.hpp | 251 ++++++++++++++++ src/pCCU/pCCU.moos | 20 +- src/pCCU/protocol/BatProtocol.cpp | 446 +++++++++++++++++++++++++++++ src/pCCU/protocol/BatProtocol.h | 334 +++++++++++++++++++++ src/pCCU/web/pages/index.h | 110 ++++++- test/CMakeLists.txt | 1 + test/pccu/pccuTest.cpp | 248 ++++++++++++++++ test/pccu/pccu_integration_test.py | 93 +++++- test/pccu/pccu_it.moos | 8 + test/pccu/pccu_ws_check.py | 6 +- 25 files changed, 2691 insertions(+), 23 deletions(-) create mode 100644 docs/锂电池协议20230324.docx create mode 100644 src/pCCU/comm/BatLinkManager.h create mode 100644 src/pCCU/core/CoordFsm.cpp create mode 100644 src/pCCU/core/CoordFsm.hpp create mode 100644 src/pCCU/core/PowerCoordinator.cpp create mode 100644 src/pCCU/core/PowerCoordinator.h create mode 100644 src/pCCU/fsm/tinyfsm.hpp create mode 100644 src/pCCU/protocol/BatProtocol.cpp create mode 100644 src/pCCU/protocol/BatProtocol.h diff --git a/docs/锂电池协议20230324.docx b/docs/锂电池协议20230324.docx new file mode 100644 index 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z|LObqi{2{ZU-WYx6mP`PEK$?3gj=H{WY!3v?+!T zumJ!xdjJ6Ufj7MUk)!0lbp~;Avo`$?;{UGjziY4b@xORGnVZ^}{;zR9R(jZV1;0NX m82~{1hv~n#&itM5H#x_j2S<6>JHSxC8o literal 0 HcmV?d00001 diff --git a/missions/h100.moos b/missions/h100.moos index 091dc9b..e541719 100644 --- a/missions/h100.moos +++ b/missions/h100.moos @@ -51,6 +51,17 @@ ProcessConfig = pCCU pm_remote_ip = 127.0.0.1 pm_remote_port = 5001 + // 锂电池链路（协议：docs/锂电池协议20230324.docx） + // 动力/仪表锂电池各自独立端口；本机监听端口需与电池侧配置的目的端口一致 + dyn_bat_local_port = 7001 + dyn_bat_remote_ip = 192.168.100.137 + dyn_bat_remote_port = 7000 + ins_bat_local_port = 7002 + ins_bat_remote_ip = 192.168.100.136 + ins_bat_remote_port = 7000 + // 电池工况设定：10工房调试 / 30试验实航 / 50科研模式 + bat_work_condition = 10 + dbpath = /root/work/h100/data/pccu_data.db logpath = /root/work/h100/data/pCCU.log diff --git a/src/pCCU/CCU.cpp b/src/pCCU/CCU.cpp index fa2f596..c4306c1 100644 --- a/src/pCCU/CCU.cpp +++ b/src/pCCU/CCU.cpp @@ -14,8 +14,11 @@ CCU::CCU() {} CCU::~CCU() { if (m_web) { m_web->stop(); delete m_web; m_web = nullptr; } + if (m_coord) { delete m_coord; m_coord = nullptr; } if (m_fcLink) { m_fcLink->stop(); delete m_fcLink; m_fcLink = nullptr; } if (m_pmLink) { m_pmLink->stop(); delete m_pmLink; m_pmLink = nullptr; } + if (m_dynBatLink) { m_dynBatLink->stop(); delete m_dynBatLink; m_dynBatLink = nullptr; } + if (m_insBatLink) { m_insBatLink->stop(); delete m_insBatLink; m_insBatLink = nullptr; } if (m_db) { delete m_db; m_db = nullptr; } if (m_snap) { delete m_snap; m_snap = nullptr; } if (m_sysData) { delete m_sysData; m_sysData = nullptr; } @@ -46,6 +49,13 @@ bool CCU::OnStartUp() { else if (param == "pm_local_port") m_pmLocalPort = atol(value.c_str()); else if (param == "pm_remote_ip") m_pmHost = value; else if (param == "pm_remote_port") m_pmPort = atol(value.c_str()); + else if (param == "dyn_bat_local_port") m_dynBatLocalPort = atol(value.c_str()); + else if (param == "dyn_bat_remote_ip") m_dynBatHost = value; + else if (param == "dyn_bat_remote_port") m_dynBatPort = atol(value.c_str()); + else if (param == "ins_bat_local_port") m_insBatLocalPort = atol(value.c_str()); + else if (param == "ins_bat_remote_ip") m_insBatHost = value; + else if (param == "ins_bat_remote_port") m_insBatPort = atol(value.c_str()); + else if (param == "bat_work_condition") m_batWorkCondition = atol(value.c_str()); else if (param == "dbpath") m_dbPath = value; else if (param == "logpath") m_logPath = value; else if (param == "web_port") m_webPort = atoi(value.c_str()); @@ -101,8 +111,33 @@ bool CCU::OnStartUp() { if (!m_pmLink->start()) LOG_F(ERROR, "PM link start failed"); + // 锂电池链路（动力 / 仪表） + m_dynBatLink = new BatLinkManager(BatRole::Dyn, m_dynBatLocalPort, m_dynBatHost, m_dynBatPort); + m_dynBatLink->setLogSink(m_db); + m_dynBatLink->setOnMessage([this](Message* msg, const std::vector& frame) { + handleBatMessage(BatRole::Dyn, msg, frame); + }); + m_dynBatLink->setOnRawFrame([](int, const std::vector&, bool) {}); + if (!m_dynBatLink->start()) + LOG_F(ERROR, "Dyn battery link start failed"); + + m_insBatLink = new BatLinkManager(BatRole::Ins, m_insBatLocalPort, m_insBatHost, m_insBatPort); + m_insBatLink->setLogSink(m_db); + m_insBatLink->setOnMessage([this](Message* msg, const std::vector& frame) { + handleBatMessage(BatRole::Ins, msg, frame); + }); + m_insBatLink->setOnRawFrame([](int, const std::vector&, bool) {}); + if (!m_insBatLink->start()) + LOG_F(ERROR, "Ins battery link start failed"); + + // 电源协调器（操作->指令下发 + 锂电池/燃料电池协调占位） + m_coord = new PowerCoordinator(); + m_coord->setup(m_sysData, m_fcLink, m_pmLink, m_dynBatLink, m_insBatLink); + m_coord->setWorkCondition(static_cast(m_batWorkCondition)); + // 快照构建器（链路就绪后创建） - m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink, m_db); + m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink, + m_dynBatLink, m_insBatLink, m_db); // 网页 if (m_webEnable) { @@ -118,9 +153,12 @@ bool CCU::OnStartUp() { } } - LOG_F(INFO, "pCCU started: fc_link local=%ld -> %s:%ld, pm_link local=%ld -> %s:%ld", + LOG_F(INFO, "pCCU started: fc_link local=%ld -> %s:%ld, pm_link local=%ld -> %s:%ld, " + "bat_dyn local=%ld -> %s:%ld, bat_ins local=%ld -> %s:%ld", m_fcLocalPort, m_fcHost.c_str(), m_fcPort, - m_pmLocalPort, m_pmHost.c_str(), m_pmPort); + m_pmLocalPort, m_pmHost.c_str(), m_pmPort, + m_dynBatLocalPort, m_dynBatHost.c_str(), m_dynBatPort, + m_insBatLocalPort, m_insBatHost.c_str(), m_insBatPort); return true; } @@ -140,6 +178,8 @@ void CCU::registerVariables() { // pCCU 数据交换主要走 UDP；MOOSDB 仅登记运行状态变量 Register("CCU_FC_LINK_STATE", 0); Register("CCU_PM_LINK_STATE", 0); + Register("CCU_DYN_BAT_LINK_STATE", 0); + Register("CCU_INS_BAT_LINK_STATE", 0); } //--------------------------------------------------------- @@ -169,6 +209,10 @@ bool CCU::Iterate() { m_lastStatusTx = now; } + // 电源协调器：操作步骤推进 + 锂电池心跳指令（1s） + 协调算法占位 + if (m_coord) + m_coord->tick(now); + // 周期（1Hz）推送网页快照 if (m_web) { static double lastWebPush = 0; @@ -234,6 +278,16 @@ void CCU::handlePmMessage(Message* msg, const std::vector& frame) { m_sysData->updateFcControl(f); m_fcLink->sendMessage(0x0001, &f); LOG_F(INFO, "[FC] forward control cmd=%d power=%d", f.cmd, f.outputPower); + + // 锂电池启停/功率指令 -> 生成电池操作序列（协调器按步骤下发） + // 启停指令：00无效 / 10启动 / 20关闭 + if (m_coord) { + if (c.insBatCmd == 0x10) m_coord->submitPowerOn(BatRole::Ins); + else if (c.insBatCmd == 0x20) m_coord->submitPowerOff(BatRole::Ins); + if (c.dynBatCmd == 0x10) m_coord->submitPowerOn(BatRole::Dyn); + else if (c.dynBatCmd == 0x20) m_coord->submitPowerOff(BatRole::Dyn); + if (c.dynBatPower > 0) m_coord->submitSetPower(BatRole::Dyn, c.dynBatPower); + } } else { LOG_F(ERROR, "[PM] control decode failed"); } @@ -262,6 +316,43 @@ void CCU::handlePmMessage(Message* msg, const std::vector& frame) { } } +//--------------------------------------------------------- +// handleBatMessage：处理锂电池链路收到的消息（动力/仪表共用协议） + +void CCU::handleBatMessage(BatRole role, Message* msg, const std::vector& frame) { + if (!msg) return; + const char* tag = (role == BatRole::Dyn) ? "BAT_DYN" : "BAT_INS"; + switch (msg->id()) { + case 0x0003: { // 电池组状态反馈 + BatStatusValue v; + if (msg->decode(frame, static_cast(&v))) { + m_sysData->updateBatStatus(static_cast(role), v); + LOG_F(INFO, "[%s] status: wc=0x%02X selfCheck=0x%02X bus=0x%02X " + "soc=%.1f%% pwr_out=%.1fkW hb=%d", + tag, v.workCondition, v.selfCheckState, v.busContactorState, + v.soc * 0.1, v.currentAccessPower * 0.1, v.heartbeat); + } else { + LOG_F(ERROR, "[%s] status decode failed", tag); + } + break; + } + case 0x0004: { // 电池包报警信息 + BatPackAlarmValue v; + if (msg->decode(frame, static_cast(&v))) { + m_sysData->updateBatAlarm(static_cast(role), v); + LOG_F(INFO, "[%s] pack alarm: packNo=%d alarm1=0x%02X alarm2=0x%02X", + tag, v.packNo, v.alarmFlag[0], v.alarmFlag[1]); + } else { + LOG_F(ERROR, "[%s] pack alarm decode failed", tag); + } + break; + } + default: + LOG_F(WARNING, "[%s] unhandled msg id 0x%04X", tag, msg->id()); + break; + } +} + //--------------------------------------------------------- // sendPmStatus：整合最新 FC 状态，编码 PM 状态报文发送 @@ -398,9 +489,26 @@ bool CCU::buildReport() { << " tx:" << m_pmLink->txCount() << " err:" << m_pmLink->errorCount() << "\n"; } + if (m_dynBatLink) { + m_msgs << "动力锂电池链路 local:" << m_dynBatLink->localPort() + << " rx:" << m_dynBatLink->rxCount() + << " tx:" << m_dynBatLink->txCount() + << " err:" << m_dynBatLink->errorCount() << "\n"; + } + if (m_insBatLink) { + m_msgs << "仪表锂电池链路 local:" << m_insBatLink->localPort() + << " rx:" << m_insBatLink->rxCount() + << " tx:" << m_insBatLink->txCount() + << " err:" << m_insBatLink->errorCount() << "\n"; + } + if (m_coord) { + m_msgs << "协调器待执行步骤:" << m_coord->pendingSteps() << "\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"; + m_msgs << "动力电池状态接收次数:" << m_sysData->batStatusCount(0) << "\n"; + m_msgs << "仪表电池状态接收次数:" << m_sysData->batStatusCount(1) << "\n"; } if (m_db) { m_msgs << "数据库记录数:" << m_db->count() << "\n"; diff --git a/src/pCCU/CCU.h b/src/pCCU/CCU.h index 322a276..a8e9026 100644 --- a/src/pCCU/CCU.h +++ b/src/pCCU/CCU.h @@ -5,8 +5,10 @@ #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" #include "comm/FcLinkManager.h" #include "comm/PmLinkManager.h" +#include "comm/BatLinkManager.h" #include "core/SystemData.h" #include "core/SnapshotBuilder.h" +#include "core/PowerCoordinator.h" #include "store/DbStore.h" #include "web/WebServer.h" @@ -18,7 +20,10 @@ namespace ccu { // 数据流： // 收 FC 状态(0x0002) -> SystemData 快照 -> 周期整合为 PM 状态(0x0004)发给 pPowerManger // 收 PM 操控(0x0001) -> 转发为 FC 控制(0x0001)发给燃料电池 +// -> 锂电池启停/功率指令映射为电池操作序列（协调器） // 收 PM 参数设定(0x0002) -> 回 PM 参数反馈(0x0003) +// 收 电池组状态(0x0003)/电池包报警(0x0004)（动力/仪表锂电池） -> SystemData 快照 +// 周期向锂电池下发设备控制指令(0x0001，1s 心跳)；协调器按操作时序下发自检(0x0000)等 // 收发全部帧落库 SQLite；网页周期推送 JSON 快照。 //============================================================================ @@ -39,6 +44,7 @@ private: // 链路收帧处理 void handleFcMessage(Message* msg, const std::vector& frame); void handlePmMessage(Message* msg, const std::vector& frame); + void handleBatMessage(BatRole role, Message* msg, const std::vector& frame); // 整合并发送 PM 状态报文 void sendPmStatus(); @@ -56,6 +62,17 @@ private: std::string m_pmHost = "192.168.0.140"; long m_pmPort = 5001; + // 锂电池链路（动力/仪表，ip与端口均可配置） + long m_dynBatLocalPort = 7001; + std::string m_dynBatHost = "192.168.100.137"; + long m_dynBatPort = 7000; + + long m_insBatLocalPort = 7002; + std::string m_insBatHost = "192.168.100.136"; + long m_insBatPort = 7000; + + long m_batWorkCondition = 10; // 工况设定 10工房/30实航/50科研 + std::string m_dbPath = "pccu_data.db"; std::string m_logPath = "pCCU.log"; int m_webPort = 8080; // 与 pPowerManger(8090)/pPowerMangerHost(18080) 错开 @@ -68,10 +85,13 @@ private: // 组件 FcLinkManager* m_fcLink = nullptr; PmLinkManager* m_pmLink = nullptr; + BatLinkManager* m_dynBatLink = nullptr; + BatLinkManager* m_insBatLink = nullptr; SystemData* m_sysData = nullptr; DbStore* m_db = nullptr; SnapshotBuilder* m_snap = nullptr; WebServer* m_web = nullptr; + PowerCoordinator* m_coord = nullptr; }; } // namespace ccu diff --git a/src/pCCU/CCU_Info.cpp b/src/pCCU/CCU_Info.cpp index e4a3407..74664db 100644 --- a/src/pCCU/CCU_Info.cpp +++ b/src/pCCU/CCU_Info.cpp @@ -15,9 +15,10 @@ 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(" gateway between the fuel cell (FC) system / lithium battery "); + blk(" packs and pPowerManger. It receives FC & battery status, "); + blk(" integrates & forwards to pPowerManger, maps pPowerManger "); + blk(" commands to FC / battery operations, stores data in SQLite "); blk(" and provides a web monitoring page. "); blk(" "); } @@ -67,6 +68,13 @@ void showExampleConfigAndExit() { 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(" dyn_bat_local_port = 7001 // 动力锂电池状态接收端口 "); + blk(" dyn_bat_remote_ip = 192.168.100.137 // 动力锂电池 IP "); + blk(" dyn_bat_remote_port = 7000 // 动力锂电池控制端口 "); + blk(" ins_bat_local_port = 7002 // 仪表锂电池状态接收端口 "); + blk(" ins_bat_remote_ip = 192.168.100.136 // 仪表锂电池 IP "); + blk(" ins_bat_remote_port = 7000 // 仪表锂电池控制端口 "); + blk(" bat_work_condition = 10 // 电池工况 10工房/30实航/50科研 "); 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) "); @@ -92,6 +100,8 @@ void showInterfaceAndExit() { 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(" CCU_DYN_BAT_LINK_STATE = 运行状态字符串 "); + blk(" CCU_INS_BAT_LINK_STATE = 运行状态字符串 "); blk(" "); exit(0); } diff --git a/src/pCCU/CCU软件需求.txt b/src/pCCU/CCU软件需求.txt index c370c84..46d162c 100644 --- a/src/pCCU/CCU软件需求.txt +++ b/src/pCCU/CCU软件需求.txt @@ -4,4 +4,7 @@ 4.具备sqlit数据库存储功能，可以把接收和发送的数据都存储到sqlit数据库中 5.各端口配置、IP配置、日志及数据库配置可以通过.moos文件进行配置 6.具备网页显示功能，可以显示接收、发送的数据、各数据状态等，数据展示要按照类型进行归类，要直观、简介 -7.编译部署与仓库内其他程序一样，可以跟随整个仓库一块部署 \ No newline at end of file +7.编译部署与仓库内其他程序一样，可以跟随整个仓库一块部署 +8.接收动力/仪表锂电池的消息，协议见docs/锂电池协议20230324.docx；动力/仪表锂电池的ip和端口均可通过.moos文件配置 +9.锂电池需要额外操作（自检/上下电/电池切换/功率设定），pCCU根据操作按协议时序下发指令（0x0000自检/0x0001控制，1s心跳） +10.pCCU按自身算法进行锂电池与燃料电池的协调操作，算法入口为core/PowerCoordinator.cpp的coordinationTick()（当前为占位，待完善） \ No newline at end of file diff --git a/src/pCCU/CMakeLists.txt b/src/pCCU/CMakeLists.txt index 3ea4d8b..e72a243 100644 --- a/src/pCCU/CMakeLists.txt +++ b/src/pCCU/CMakeLists.txt @@ -24,6 +24,7 @@ SET(CCU_PROTOCOL_SRC protocol/MessageRegistry.cpp protocol/FcProtocol.cpp protocol/PmProtocol.cpp + protocol/BatProtocol.cpp ) SET(CCU_COMM_SRC @@ -33,6 +34,8 @@ SET(CCU_COMM_SRC SET(CCU_CORE_SRC core/SnapshotBuilder.cpp + core/PowerCoordinator.cpp + core/CoordFsm.cpp ) SET(CCU_STORE_SRC diff --git a/src/pCCU/comm/BatLinkManager.h b/src/pCCU/comm/BatLinkManager.h new file mode 100644 index 0000000..145c90f --- /dev/null +++ b/src/pCCU/comm/BatLinkManager.h @@ -0,0 +1,47 @@ +#ifndef PCCU_BAT_LINK_MANAGER_H +#define PCCU_BAT_LINK_MANAGER_H + +#include "LinkManager.h" +#include "../protocol/BatProtocol.h" + +namespace ccu { + +//============================================================================ +// BatLinkManager：面向锂电池组（动力/仪表，协议一致）的链路。 +// +// - 本地监听：接收电池状态反馈的端口（动力/仪表各自独立端口，可配置） +// - 发送目标：锂电池组（默认 动力 192.168.100.137:7000 / 仪表 192.168.100.136:7000） +// 地址端口均可由 .moos 配置覆盖。 +//============================================================================ + +class BatLinkManager : public LinkManager { +public: + BatLinkManager(BatRole role, long localPort, + const std::string& batHost, long batPort) + : LinkManager((role == BatRole::Dyn) ? "bat_dyn" : "bat_ins", localPort), + m_role(role), + m_batHost(batHost), m_batPort(batPort) { + registerBatMessages(registry()); + } + + BatRole role() const { return m_role; } + + void setBatAddress(const std::string& host, long port) { + m_batHost = host; m_batPort = port; + } + const std::string& batHost() const { return m_batHost; } + long batPort() const { return m_batPort; } + +protected: + std::string defaultRemoteHost() const override { return m_batHost; } + long defaultRemotePort() const override { return m_batPort; } + +private: + BatRole m_role; + std::string m_batHost; + long m_batPort; +}; + +} // namespace ccu + +#endif // PCCU_BAT_LINK_MANAGER_H diff --git a/src/pCCU/core/CoordFsm.cpp b/src/pCCU/core/CoordFsm.cpp new file mode 100644 index 0000000..69d2f3d --- /dev/null +++ b/src/pCCU/core/CoordFsm.cpp @@ -0,0 +1,122 @@ +#include "CoordFsm.hpp" +#include "SystemData.h" +#include "loguru.hpp" + +namespace ccu { + +// 静态上下文（接线时由 CoordFsm::init 注入） +PowerCoordinator* CoordFsm::m_coord = nullptr; +SystemData* CoordFsm::m_sys = nullptr; + +//============================================================================ +// CoordNormalState 正常运行（初始状态） +//============================================================================ + +void CoordNormalState::entry() { + LOG_F(INFO, "[CoordFsm] 进入状态: CoordNormalState"); +} + +void CoordNormalState::exit() { + LOG_F(INFO, "[CoordFsm] 离开状态: CoordNormalState"); +} + +void CoordNormalState::react(TickEvent const &e) { + // TODO(策略填写)：周期决策入口（AppTick 频率，默认 4Hz）。 + // + // 读取最新状态： + // sys()->fcStatus() 燃料电池状态 + // sys()->batStatus((int)BatRole::Dyn) 动力锂电池状态 + // sys()->batStatus((int)BatRole::Ins) 仪表锂电池状态 + // sys()->batAlarm(role) 电池包报警信息 + // sys()->pmControl() 主机最新操控指令 + // + // 下发操作（提交后由协调器步骤引擎按序执行并等待确认）： + // coord()->submitPowerOn(role) / submitPowerOff(role) + // coord()->submitSelfCheck(role) / submitSelfCheckReset(role) + // coord()->submitSetPower(role, kW) + // coord()->submitSwitchLowToHigh(low, high) / submitSwitchHighToLow(high, low) + // coord()->setWorkCondition(wc) + // coord()->sendFcControl(FcControlValue) 直接控燃料电池 + // + // 防重复下发：提交前检查 coord()->busy() / pendingSteps() + (void)e; +} + +void CoordNormalState::react(PmControlEvent const &e) { + // TODO(策略填写)：响应主机操控指令（边沿触发，指令到达一次触发一次）。 + // 示例（按需解开并完善）： + // if (e.cmd.dynBatCmd == 0x10) coord()->submitPowerOn(BatRole::Dyn); + // if (e.cmd.dynBatCmd == 0x20) coord()->submitPowerOff(BatRole::Dyn); + // if (e.cmd.dynBatPower > 0) coord()->submitSetPower(BatRole::Dyn, e.cmd.dynBatPower); + LOG_F(INFO, "[CoordFsm][Normal] PmControlEvent: mode=%d cmd=%d insBat=0x%02X dynBat=0x%02X dynPwr=%u", + e.cmd.mode, e.cmd.cmd, e.cmd.insBatCmd, e.cmd.dynBatCmd, e.cmd.dynBatPower); +} + +void CoordNormalState::react(StepDoneEvent const &e) { + // TODO(策略填写)：单步操作完成/超时的处理。 + // e.confirmed==false 表示超时未确认； + // e.status.busContactorState / posDiodeState 可判 0x33/0x44 等故障值。 + // 切换流程示例（按需解开）：步骤失败时进入故障态 + // if (!e.confirmed) transit(); + LOG_F(INFO, "[CoordFsm][Normal] StepDoneEvent: role=%d type=%d confirmed=%d", + static_cast(e.role), static_cast(e.type), e.confirmed); +} + +//============================================================================ +// CoordSwitchingState 电池切换中 +//============================================================================ + +void CoordSwitchingState::entry() { + LOG_F(INFO, "[CoordFsm] 进入状态: CoordSwitchingState"); +} + +void CoordSwitchingState::exit() { + LOG_F(INFO, "[CoordFsm] 离开状态: CoordSwitchingState"); +} + +void CoordSwitchingState::react(TickEvent const &e) { + // TODO(策略填写)：切换过程中的周期监视（如各步骤进度/超时统计、 + // 是否需要中止切换并回退）。状态可通过 sys()->batStatus(role) 获取。 + (void)e; +} + +void CoordSwitchingState::react(StepDoneEvent const &e) { + // TODO(策略填写)：切换步骤完成推进。 + // 全部步骤完成后返回正常运行态（coord()->pendingSteps()==0 可作为判据）： + // if (coord()->pendingSteps() == 0) transit(); + // 步骤失败（超时或接触器故障）可中止并进入故障态： + // if (!e.confirmed) transit(); + LOG_F(INFO, "[CoordFsm][Switching] StepDoneEvent: role=%d type=%d confirmed=%d pending=%zu", + static_cast(e.role), static_cast(e.type), e.confirmed, + coord() ? coord()->pendingSteps() : 0); +} + +//============================================================================ +// CoordFaultState 故障处理 +//============================================================================ + +void CoordFaultState::entry() { + LOG_F(INFO, "[CoordFsm] 进入状态: CoordFaultState"); +} + +void CoordFaultState::exit() { + LOG_F(INFO, "[CoordFsm] 离开状态: CoordFaultState"); +} + +void CoordFaultState::react(TickEvent const &e) { + // TODO(策略填写)：故障处理与恢复判断（周期检查故障是否消除， + // 消除后 transit() 回正常运行态）。 + // 可用：sys()->fcStatus().fc_fault_level、sys()->batStatus(role).emergencyState / + // alarmFlag、sys()->batAlarm(role) 等。 + (void)e; +} + +void CoordFaultState::react(StepDoneEvent const &e) { + // TODO(策略填写)：故障态下操作步骤结果处理（如降级下电指令的确认）。 + (void)e; +} + +} // namespace ccu + +// 初始状态声明（TinyFSM 宏要求全局作用域 + 命名空间限定名） +FSM_INITIAL_STATE(ccu::CoordFsm, ccu::CoordNormalState) diff --git a/src/pCCU/core/CoordFsm.hpp b/src/pCCU/core/CoordFsm.hpp new file mode 100644 index 0000000..bd30a35 --- /dev/null +++ b/src/pCCU/core/CoordFsm.hpp @@ -0,0 +1,168 @@ +#ifndef PCCU_COORD_FSM_HPP +#define PCCU_COORD_FSM_HPP + +#include "../fsm/tinyfsm.hpp" +#include "../protocol/FcProtocol.h" +#include "../protocol/PmProtocol.h" +#include "../protocol/BatProtocol.h" +#include "PowerCoordinator.h" + +namespace ccu { + +class SystemData; + +//============================================================================ +// CoordFsm：pCCU 电源协调状态机骨架（TinyFSM，事件驱动）。 +// +// 【当前状态：框架已参与编译，未接入运行流程（惰性）】 +// - 无任何代码调用 CoordFsm::start() / CoordFsm::dispatch()， +// 运行行为与接入前完全一致； +// - 各状态 react() 均为 TODO 空实现，由开发者填写协调策略。 +// +// 【设计约定】 +// - 边沿事件走 dispatch：指令到达(PmControlEvent)、操作步骤完成(StepDoneEvent)、 +// 周期节拍(TickEvent)； +// - 电平状态不进事件：最新 FC/电池状态由状态机在 TickEvent 中直接读取 +// SystemData 快照，避免 1Hz 状态报文淹没事件队列； +// - TinyFSM 非线程安全：dispatch 必须收敛到单线程（MOOS 主循环线程）， +// 链路接收线程产生的事件一律经 PowerCoordinator::pushEvent() 排队， +// 由 tick() 在主线程统一 drain 后逐个 dispatch（见接线指南第 1 步）。 +// +// 【接线指南：将来启用时按以下步骤操作】 +// +// 1) PowerCoordinator 增加事件桥（core/PowerCoordinator.h/.cpp）： +// a. 新增成员： +// std::function m_tickHook = nullptr; // 节拍转发 +// std::mutex m_evtMutex; +// std::deque> m_events; // 事件队列（闭包） +// 新增方法： +// void setTickHook(std::function h) { m_tickHook = std::move(h); } +// void pushEvent(std::function fn) { // 线程安全；带上限防积压 +// std::lock_guard l(m_evtMutex); +// if (m_events.size() >= 512) { m_events.pop_front(); /*LOG告警*/ } +// m_events.push_back(std::move(fn)); +// } +// b. tick() 末尾 drain（单线程执行闭包；coordinationTick 占位改为转发）： +// if (m_tickHook) m_tickHook(now); +// std::deque> evs; +// { std::lock_guard l(m_evtMutex); evs.swap(m_events); } +// for (auto& f : evs) f(); +// c. processSteps 步骤完成/超时处（pop_front 之前，仅接线后产生事件）： +// if (m_tickHook) { +// BatOpStep info = s; // 拷贝步骤信息 +// BatStatusValue st = m_sys ? m_sys->batStatus(static_cast(s.role)) +// : BatStatusValue(); +// bool ok = confirmed; +// pushEvent([info, st, ok]() { +// CoordFsm::dispatch(StepDoneEvent(info.role, info.type, ok, st)); +// }); +// } +// （事件产生以 m_tickHook 非空为前提：未接线时零开销、零行为） +// +// 2) CCU::OnStartUp（m_coord->setup(...) 之后）： +// CoordFsm::init(m_coord, m_sysData); +// CoordFsm::start(); +// m_coord->setTickHook([](double now) { +// CoordFsm::dispatch(TickEvent(now)); +// }); +// +// 3) CCU::handlePmMessage 的 0x0001 分支（decode 成功后）： +// m_coord->pushEvent([c]() { CoordFsm::dispatch(PmControlEvent(c)); }); +// （c 为已解析的 PmControlValue，按值捕获） +// +// 4) 验证：编译运行后日志出现 "[CoordFsm] 进入状态: CoordNormalState" 即接线成功。 +// +// 【状态说明】 +// CoordNormalState 正常运行（初始状态）：周期功率分配/阈值判断、响应主机指令 +// CoordSwitchingState 电池切换中：等待 StepDoneEvent 推进，完成后返回 Normal +// CoordFaultState 故障处理：告警抑制/降级运行/恢复判断 +//============================================================================ + +//---- 事件定义（边沿触发） ------------------------------------------------ + +// 周期节拍：由 coordinationTick 转发（AppTick 频率，默认 4Hz） +struct TickEvent : tinyfsm::Event { + double now; // MOOSTime + TickEvent() : now(0) {} + explicit TickEvent(double t) : now(t) {} +}; + +// 主机操控指令到达：PM 0x0001 每次成功解析触发一次 +struct PmControlEvent : tinyfsm::Event { + PmControlValue cmd; + PmControlEvent() {} + explicit PmControlEvent(const PmControlValue& c) : cmd(c) {} +}; + +// 电池操作步骤完成/超时：由协调器步骤引擎产生 +struct StepDoneEvent : tinyfsm::Event { + BatRole role; // 目标电池 + BatOpType type; // 步骤类型 + bool confirmed; // true=状态反馈确认；false=超时未确认 + BatStatusValue status; // 完成时刻状态快照（含接触器状态/报警标识字，可判 0x33/0x44 等故障） + StepDoneEvent() + : role(BatRole::Dyn), type(BatOpType::ApplyControl), confirmed(false) {} + StepDoneEvent(BatRole r, BatOpType t, bool ok, const BatStatusValue& s) + : role(r), type(t), confirmed(ok), status(s) {} +}; + +//---- 状态机 --------------------------------------------------------------- + +class CoordFsm : public tinyfsm::Fsm { +public: + // 启用时注入上下文（见接线指南） + static void init(PowerCoordinator* coord, SystemData* sys) { + m_coord = coord; + m_sys = sys; + } + static PowerCoordinator* coord() { return m_coord; } + static SystemData* sys() { return m_sys; } + + // 事件处理默认实现：状态类按需覆盖；未覆盖的事件静默忽略 + virtual void react(tinyfsm::Event const &) {} + virtual void react(TickEvent const &) {} + virtual void react(PmControlEvent const &) {} + virtual void react(StepDoneEvent const &) {} + + // 状态进入/退出钩子（状态类覆盖以打日志/做进出动作） + virtual void entry() {} + virtual void exit() {} + +private: + static PowerCoordinator* m_coord; + static SystemData* m_sys; +}; + +//---- 状态类 --------------------------------------------------------------- + +// 正常运行（初始状态） +class CoordNormalState : public CoordFsm { +public: + void entry() override; + void exit() override; + void react(TickEvent const &e) override; + void react(PmControlEvent const &e) override; + void react(StepDoneEvent const &e) override; +}; + +// 电池切换中（提交 submitSwitchLowToHigh/HighToLow 后进入） +class CoordSwitchingState : public CoordFsm { +public: + void entry() override; + void exit() override; + void react(TickEvent const &e) override; + void react(StepDoneEvent const &e) override; +}; + +// 故障处理 +class CoordFaultState : public CoordFsm { +public: + void entry() override; + void exit() override; + void react(TickEvent const &e) override; + void react(StepDoneEvent const &e) override; +}; + +} // namespace ccu + +#endif // PCCU_COORD_FSM_HPP diff --git a/src/pCCU/core/PowerCoordinator.cpp b/src/pCCU/core/PowerCoordinator.cpp new file mode 100644 index 0000000..90737fc --- /dev/null +++ b/src/pCCU/core/PowerCoordinator.cpp @@ -0,0 +1,388 @@ +#include "PowerCoordinator.h" +#include "SystemData.h" +#include "../comm/FcLinkManager.h" +#include "../comm/PmLinkManager.h" +#include "../comm/BatLinkManager.h" +#include "loguru.hpp" +#include + +namespace ccu { + +namespace { + +//---- 状态反馈判定辅助（0x0003 电池组状态） ---- + +// 电池自检完成（正常或异常均视为"自检动作结束"，异常由上层算法处理） +bool selfCheckFinished(const BatStatusValue& s) { + return s.selfCheckState == BAT_SCST_OK || s.selfCheckState == BAT_SCST_FAULT; +} + +// 母线接触器闭合/断开完成 +bool busClosed(const BatStatusValue& s) { return s.busContactorState == BAT_BUSST_CLOSED; } +bool busOpened(const BatStatusValue& s) { return s.busContactorState == BAT_BUSST_OPENED; } + +// 正极接触器闭合/断开完成（低4位） +bool posClosed(const BatStatusValue& s) { return batPosStateOf(s.posDiodeState) == BAT_POSST_CLOSED; } +bool posOpened(const BatStatusValue& s) { return batPosStateOf(s.posDiodeState) == BAT_POSST_OPENED; } + +// 二极管回路闭合/断开完成（高4位） +bool diodeClosed(const BatStatusValue& s) { return batDiodeStateOf(s.posDiodeState) == BAT_DIODST_CLOSED; } +bool diodeOpened(const BatStatusValue& s) { return batDiodeStateOf(s.posDiodeState) == BAT_DIODST_OPENED; } + +// 自检步骤确认：优先确认"自检完成"；若设备从未反馈（状态恒 0），由超时兜底 +std::function doneSelfCheck() { + return std::function(selfCheckFinished); +} + +} // namespace + +//--------------------------------------------------------- +// 构造 / 依赖注入 + +PowerCoordinator::PowerCoordinator() {} + +void PowerCoordinator::setup(SystemData* sys, + FcLinkManager* fc, + PmLinkManager* pm, + BatLinkManager* dynBat, + BatLinkManager* insBat) { + m_sys = sys; + m_fc = fc; + m_pm = pm; + m_bat[static_cast(BatRole::Dyn)] = dynBat; + m_bat[static_cast(BatRole::Ins)] = insBat; +} + +//--------------------------------------------------------- +// 操作接口 + +// 提交一个步骤：挂入其目标电池的队列（同一电池内的步骤按序执行）。 +// 复合操作（电池切换）的各步骤依次调用本函数即可保持时序。 +static void pushStep(std::deque& q, const BatOpStep& s) { + q.push_back(s); +} + +bool PowerCoordinator::submit(const BatOpStep& step) { + std::deque& q = m_steps[static_cast(step.role)]; + pushStep(q, step); + LOG_F(INFO, "[Coord] operation step queued: role=%s type=%d (pending=%zu)", + batRoleName(step.role), static_cast(step.type), q.size()); + return true; +} + +bool PowerCoordinator::submitSelfCheck(BatRole role) { + BatOpStep s; + s.role = role; + s.type = BatOpType::SelfCheck; + s.selfCheck = true; + s.done = doneSelfCheck(); + s.timeoutSec = 30.0; // 自检耗时较长 + return submit(s); +} + +bool PowerCoordinator::submitSelfCheckReset(BatRole role) { + BatOpStep s; + s.role = role; + s.type = BatOpType::SelfCheck; + s.selfCheckReset = true; + s.done = nullptr; // 复位指令无确认反馈，仅等待超时 + s.timeoutSec = 2.0; + return submit(s); +} + +bool PowerCoordinator::submitPowerOn(BatRole role) { + BatOpStep s; + s.role = role; + s.type = BatOpType::ApplyControl; + s.busContactor = BAT_CTR_CLOSE; // 接通（含预充过程） + s.done = busClosed; + s.timeoutSec = 30.0; + return submit(s); +} + +bool PowerCoordinator::submitPowerOff(BatRole role) { + BatOpStep s; + s.role = role; + s.type = BatOpType::ApplyControl; + s.busContactor = BAT_CTR_OPEN; // 断开 + s.done = busOpened; + s.timeoutSec = 15.0; + return submit(s); +} + +bool PowerCoordinator::submitSetPower(BatRole role, uint16_t kw) { + if (kw > 500) kw = 500; // 协议范围 0~500 kW + BatOpStep s; + s.role = role; + s.type = BatOpType::ApplyControl; + s.setPower = true; + s.powerKw = kw; + s.done = nullptr; // 以电池功率配置状态反馈为准，占位阶段直接下发 + s.timeoutSec = 1.0; + return submit(s); +} + +bool PowerCoordinator::submitSwitchLowToHigh(BatRole low, BatRole high) { + // 正常切换，低压切高压（协议文档时序）： + // 1.发送高压电池自检命令 + // 2.低压电池二极管接触器闭合 + // 3.低压电池正极接触器断开 + // 4.高压电池母线接触器闭合 + // 5.高压电池二极管接触器闭合 + // 6.低压电池二极管接触器断开 + // 全部步骤挂入高压电池队列，保证跨电池步骤按序执行 + std::deque& q = m_steps[static_cast(high)]; + + BatOpStep s1; + s1.role = high; s1.type = BatOpType::SelfCheck; + s1.selfCheck = true; s1.done = doneSelfCheck(); s1.timeoutSec = 30.0; + q.push_back(s1); + + BatOpStep s2; + s2.role = low; s2.type = BatOpType::ApplyControl; + s2.diodeContactor = BAT_CTR_CLOSE; s2.done = diodeClosed; s2.timeoutSec = 15.0; + q.push_back(s2); + + BatOpStep s3; + s3.role = low; s3.type = BatOpType::ApplyControl; + s3.posContactor = BAT_CTR_OPEN; s3.done = posOpened; s3.timeoutSec = 15.0; + q.push_back(s3); + + BatOpStep s4; + s4.role = high; s4.type = BatOpType::ApplyControl; + s4.busContactor = BAT_CTR_CLOSE; s4.done = busClosed; s4.timeoutSec = 30.0; + q.push_back(s4); + + BatOpStep s5; + s5.role = high; s5.type = BatOpType::ApplyControl; + s5.diodeContactor = BAT_CTR_CLOSE; s5.done = diodeClosed; s5.timeoutSec = 15.0; + q.push_back(s5); + + BatOpStep s6; + s6.role = low; s6.type = BatOpType::ApplyControl; + s6.diodeContactor = BAT_CTR_OPEN; s6.done = diodeOpened; s6.timeoutSec = 15.0; + q.push_back(s6); + + LOG_F(INFO, "[Coord] switch low->high submitted (%s -> %s), 6 steps queued on %s", + batRoleName(low), batRoleName(high), batRoleName(high)); + return true; +} + +bool PowerCoordinator::submitSwitchHighToLow(BatRole high, BatRole low) { + // 异常切换，高压切低压（协议文档时序）： + // 1.发送低压电池自检命令 + // 2.高压电池二极管接触器闭合 + // 3.低压电池二极管接触器闭合 + // 4.高压电池母线接触器断开 + // 5.低压电池正极接触器闭合 + // 全部步骤挂入低压电池队列，保证跨电池步骤按序执行 + std::deque& q = m_steps[static_cast(low)]; + + BatOpStep s1; + s1.role = low; s1.type = BatOpType::SelfCheck; + s1.selfCheck = true; s1.done = doneSelfCheck(); s1.timeoutSec = 30.0; + q.push_back(s1); + + BatOpStep s2; + s2.role = high; s2.type = BatOpType::ApplyControl; + s2.diodeContactor = BAT_CTR_CLOSE; s2.done = diodeClosed; s2.timeoutSec = 15.0; + q.push_back(s2); + + BatOpStep s3; + s3.role = low; s3.type = BatOpType::ApplyControl; + s3.diodeContactor = BAT_CTR_CLOSE; s3.done = diodeClosed; s3.timeoutSec = 15.0; + q.push_back(s3); + + BatOpStep s4; + s4.role = high; s4.type = BatOpType::ApplyControl; + s4.busContactor = BAT_CTR_OPEN; s4.done = busOpened; s4.timeoutSec = 15.0; + q.push_back(s4); + + BatOpStep s5; + s5.role = low; s5.type = BatOpType::ApplyControl; + s5.posContactor = BAT_CTR_CLOSE; s5.done = posClosed; s5.timeoutSec = 15.0; + q.push_back(s5); + + LOG_F(INFO, "[Coord] switch high->low submitted (%s -> %s), 5 steps queued on %s", + batRoleName(high), batRoleName(low), batRoleName(low)); + return true; +} + +void PowerCoordinator::setWorkCondition(uint8_t wc) { + desired(BatRole::Dyn).workCondition = wc; + desired(BatRole::Ins).workCondition = wc; + LOG_F(INFO, "[Coord] work condition set to 0x%02X for both batteries", wc); +} + +//--------------------------------------------------------- +// 周期驱动 + +void PowerCoordinator::tick(double now) { + processSteps(now); + periodicControl(now); + coordinationTick(now); +} + +size_t PowerCoordinator::pendingSteps() const { + return m_steps[0].size() + m_steps[1].size(); +} + +// 操作步骤执行：每条队列的当前步骤下发后等待状态反馈确认或超时。 +// 动力/仪表两条队列相互独立、并行推进。 +void PowerCoordinator::processSteps(double now) { + for (int i = 0; i < 2; ++i) { + std::deque& q = m_steps[i]; + if (q.empty()) { + m_stepActive[i] = false; + continue; + } + BatOpStep& s = q.front(); + + if (!m_stepActive[i]) { + // 首次下发 + m_stepStart[i] = now; + m_stepLastTx[i] = now; + applyStep(s, now); + m_stepActive[i] = true; + continue; + } + + // 自检指令周期重发（1s），直至确认完成 + if (s.type == BatOpType::SelfCheck && (now - m_stepLastTx[i]) >= 1.0) { + applyStep(s, now); + } + + bool confirmed = false; + if (s.done && m_sys) { + const BatStatusValue st = m_sys->batStatus(static_cast(s.role)); + confirmed = s.done(st); + } + bool timedOut = (now - m_stepStart[i]) >= s.timeoutSec; + + if (confirmed || timedOut) { + if (timedOut && !confirmed) { + LOG_F(WARNING, "[Coord] step timeout (role=%s type=%d), continue next step", + batRoleName(s.role), static_cast(s.type)); + } else { + LOG_F(INFO, "[Coord] step confirmed (role=%s type=%d)", + batRoleName(s.role), static_cast(s.type)); + } + q.pop_front(); + m_stepActive[i] = false; + } + } +} + +// 心跳：周期 1s 向两块锂电池下发设备控制指令（携带当前期望状态） +void PowerCoordinator::periodicControl(double now) { + for (int i = 0; i < 2; ++i) { + DesiredState& d = m_desired[i]; + if ((now - d.lastCtrlTx) >= 1.0) + sendControl(static_cast(i), now); + } +} + +//--------------------------------------------------------- +// 指令下发 + +void PowerCoordinator::applyStep(const BatOpStep& s, double now) { + const int idx = static_cast(s.role); + if (s.type == BatOpType::SelfCheck) { + sendSelfCheck(s.role, s.selfCheck, s.selfCheckReset); + m_stepLastTx[idx] = now; + return; + } + // ApplyControl：更新期望状态并立即下发一帧 + DesiredState& d = desired(s.role); + if (s.busContactor) d.busContactor = s.busContactor; + if (s.posContactor) d.posContactor = s.posContactor; + if (s.diodeContactor) d.diodeContactor = s.diodeContactor; + if (s.setPower) d.powerKw = s.powerKw; + sendControl(s.role, now); + m_stepLastTx[idx] = now; +} + +bool PowerCoordinator::sendSelfCheck(BatRole role, bool start, bool reset) { + BatLinkManager* l = batLink(role); + if (!l || !l->isRunning()) return false; + BatSelfCheckValue v; + v.selfCheck = start ? BAT_SC_START : BAT_SC_NONE; + v.selfCheckReset = reset ? BAT_SCR_RESET : BAT_SCR_NONE; + bool ok = l->sendMessage(0x0000, &v); + LOG_F(INFO, "[Coord] %s self-check cmd sent: start=%d reset=%d -> %s", + batRoleName(role), start, reset, ok ? "ok" : "fail"); + return ok; +} + +bool PowerCoordinator::sendControl(BatRole role, double now) { + BatLinkManager* l = batLink(role); + if (!l || !l->isRunning()) return false; + + DesiredState& d = desired(role); + + BatControlValue c; + // 系统时间（本地时间） + time_t t = ::time(nullptr); + struct tm lt; + localtime_r(&t, <); + c.year = static_cast(lt.tm_year + 1900); + c.month = static_cast(lt.tm_mon + 1); + c.day = static_cast(lt.tm_mday); + c.hour = static_cast(lt.tm_hour); + c.minute = static_cast(lt.tm_min); + c.second = static_cast(lt.tm_sec); + c.ms10 = 0; + + c.workCondition = d.workCondition; + c.busContactor = d.busContactor; + c.posContactor = d.posContactor; + c.diodeContactor = d.diodeContactor; + c.powerKw = d.powerKw; + c.reserved = 0; + c.heartbeat = d.heartbeat++; + + if (l->sendMessage(0x0001, &c)) { + d.lastCtrlTx = now; + return true; + } + return false; +} + +bool PowerCoordinator::sendFcControl(const FcControlValue& fcCmd) { + if (!m_fc || !m_fc->isRunning()) return false; + return m_fc->sendMessage(0x0001, &fcCmd); +} + +BatLinkManager* PowerCoordinator::batLink(BatRole role) const { + return m_bat[static_cast(role)]; +} + +//--------------------------------------------------------- +// 协调算法占位 +// +// 【占位说明】 +// 本函数为锂电池与燃料电池协调策略的入口，由 CCU::Iterate 周期调用。 +// +// 可用输入（通过 m_sys 读取最新状态）： +// - m_sys->fcStatus() : 燃料电池最新状态 +// - m_sys->batStatus((int)role) : 动力/仪表锂电池最新状态 +// - m_sys->batAlarm((int)role) : 动力/仪表电池包报警信息 +// - m_sys->pmControl() : 控制主机最新操控指令 +// +// 可用操作（提交后将按步骤下发指令）： +// - submitPowerOn/Off(role) : 电池上下电（母线接触器） +// - submitSetPower(role, kW) : 电池功率设定 +// - submitSelfCheck(role) : 电池自检 +// - submitSwitchLowToHigh(low, high) : 正常切换（低压->高压） +// - submitSwitchHighToLow(high, low) : 异常切换（高压->低压） +// - setWorkCondition(wc) : 工况设定 +// - sendFcControl(FcControlValue) : 直接下发燃料电池控制指令 +// +// TODO(开发者完善)：在此实现具体的功率分配、电池切换时机、 +// 燃料电池与锂电池联合调度等协调策略。当前为空实现。 +//--------------------------------------------------------- +void PowerCoordinator::coordinationTick(double now) { + (void)now; // 占位：暂不执行任何协调动作 +} + +} // namespace ccu diff --git a/src/pCCU/core/PowerCoordinator.h b/src/pCCU/core/PowerCoordinator.h new file mode 100644 index 0000000..5bfd6d4 --- /dev/null +++ b/src/pCCU/core/PowerCoordinator.h @@ -0,0 +1,147 @@ +#ifndef PCCU_POWER_COORDINATOR_H +#define PCCU_POWER_COORDINATOR_H + +#include +#include +#include +#include +#include "../protocol/BatProtocol.h" +#include "../protocol/FcProtocol.h" + +namespace ccu { + +class SystemData; +class FcLinkManager; +class PmLinkManager; +class BatLinkManager; + +//============================================================================ +// PowerCoordinator：电源协调器。 +// +// 职责： +// 1. 操作 -> 指令：把"自检/上下电/电池切换/功率设定"等高级操作， +// 按协议文档要求的时序拆解为操作步骤队列，逐步下发锂电池指令， +// 并以电池状态反馈确认每一步的执行结果（超时兜底）。 +// 2. 心跳维持：周期(1s)向动力/仪表锂电池下发设备控制指令(0x0001)， +// 携带当前期望状态（工况/接触器/功率）与自增心跳。 +// 3. 协调算法占位：coordinationTick() 为锂电池与燃料电池协调策略的 +// 占位入口，由后续完善（当前为空实现）。 +// +// 电池切换时序（docs/锂电池协议20230324.docx）： +// 正常切换(低压->高压)： +// 高压电池自检 -> 低压二极管闭合 -> 低压正极断开 +// -> 高压母线闭合 -> 高压二极管闭合 -> 低压二极管断开 +// 异常切换(高压->低压)： +// 低压电池自检 -> 高压二极管闭合 -> 低压二极管闭合 +// -> 高压母线断开 -> 低压正极闭合 +//============================================================================ + +// 操作步骤类型 +enum class BatOpType { + SelfCheck, // 下发自检指令(0x0000) + ApplyControl, // 修改接触器/功率期望值（随 0x0001 控制指令下发） +}; + +// 单个操作步骤 +struct BatOpStep { + BatRole role = BatRole::Dyn; + BatOpType type = BatOpType::ApplyControl; + // SelfCheck 参数 + bool selfCheck = false; // 触发自检(01H) + bool selfCheckReset = false; // 自检复位(55H) + // ApplyControl 参数（0 = 保持不变，仅下发非 0 值时更新期望状态） + uint8_t busContactor = BAT_CTR_NONE; // BAT_CTR_CLOSE / BAT_CTR_OPEN + uint8_t posContactor = BAT_CTR_NONE; + uint8_t diodeContactor = BAT_CTR_NONE; + bool setPower = false; // 是否更新功率期望 + uint16_t powerKw = 0; // 电池组功率 kW (0~500) + // 完成判定：返回 true 表示该步骤完成（以状态反馈 0x0003 为准）； + // 为空时仅等待下发后超时结束 + std::function done; + double timeoutSec = 10.0; // 确认超时（超时也进入下一步并告警） +}; + +class PowerCoordinator { +public: + PowerCoordinator(); + + // 注入依赖（均在 CCU::OnStartUp 中创建完成后调用） + void setup(SystemData* sys, + FcLinkManager* fc, + PmLinkManager* pm, + BatLinkManager* dynBat, + BatLinkManager* insBat); + + //---------------- 操作接口（生成指令序列） ---------------- + // 单电池自检（随状态反馈确认自检完成） + bool submitSelfCheck(BatRole role); + // 自检复位（下发一次，无确认判定） + bool submitSelfCheckReset(BatRole role); + // 上电：母线接触器接通(55H，含预充过程) + bool submitPowerOn(BatRole role); + // 下电：母线接触器断开(77H) + bool submitPowerOff(BatRole role); + // 功率设定（kW，0~500） + bool submitSetPower(BatRole role, uint16_t kw); + // 正常切换：低压 -> 高压（协议文档时序） + bool submitSwitchLowToHigh(BatRole low, BatRole high); + // 异常切换：高压 -> 低压（协议文档时序） + bool submitSwitchHighToLow(BatRole high, BatRole low); + // 工况设定（BAT_WC_WORKSHOP/BAT_WC_SEA_TRIAL/BAT_WC_RESEARCH），随心跳帧下发 + void setWorkCondition(uint8_t wc); + + bool busy() const { return pendingSteps() > 0; } + size_t pendingSteps() const; // 两条队列中待执行步骤总数 + + //---------------- 周期驱动 ---------------- + // 由 CCU::Iterate 周期调用（now = MOOSTime()） + void tick(double now); + + // 直接向燃料电池下发控制指令（供协调算法联动使用） + bool sendFcControl(const FcControlValue& fcCmd); + + //---------------- 协调算法占位 ---------------- + // TODO(算法完善)：锂电池与燃料电池协调策略入口。 + void coordinationTick(double now); + +private: + // 每电池期望状态（随 0x0001 周期下发） + struct DesiredState { + uint8_t workCondition = BAT_WC_NONE; + uint8_t busContactor = BAT_CTR_NONE; + uint8_t posContactor = BAT_CTR_NONE; + uint8_t diodeContactor = BAT_CTR_NONE; + uint16_t powerKw = 0; + uint8_t heartbeat = 0; + double lastCtrlTx = 0; // 上次控制帧发送时间 + }; + + bool submit(const BatOpStep& step); + void processSteps(double now); + void periodicControl(double now); + void applyStep(const BatOpStep& s, double now); + bool sendSelfCheck(BatRole role, bool start, bool reset); + bool sendControl(BatRole role, double now); + + BatLinkManager* batLink(BatRole role) const; + DesiredState& desired(BatRole role) { return m_desired[static_cast(role)]; } + + SystemData* m_sys = nullptr; + FcLinkManager* m_fc = nullptr; + PmLinkManager* m_pm = nullptr; + BatLinkManager* m_bat[2] = {nullptr, nullptr}; // [Dyn, Ins] + + DesiredState m_desired[2]; + + // 每电池一条步骤队列：动力/仪表可并行执行各自的操作； + // 复合操作（如电池切换）的全部步骤按序挂入其首个步骤目标电池的队列， + // 步骤自身携带目标 role，从而保证跨电池时序 + std::deque m_steps[2]; + bool m_stepActive[2] = {false, false}; + double m_stepStart[2] = {0, 0}; + double m_stepLastTx[2] = {0, 0}; +}; + +} // namespace ccu + +#endif // PCCU_POWER_COORDINATOR_H diff --git a/src/pCCU/core/SnapshotBuilder.cpp b/src/pCCU/core/SnapshotBuilder.cpp index c0063b9..11eb55d 100644 --- a/src/pCCU/core/SnapshotBuilder.cpp +++ b/src/pCCU/core/SnapshotBuilder.cpp @@ -13,6 +13,7 @@ namespace { void put(JsonVal& j, const char* k, uint8_t v) { j[k] = JsonVal(v); } void put(JsonVal& j, const char* k, uint16_t v){ j[k] = JsonVal(v); } void put(JsonVal& j, const char* k, uint32_t v){ j[k] = JsonVal(static_cast(v)); } +void putI(JsonVal& j, const char* k, int16_t v) { j[k] = JsonVal(static_cast(v)); } //-------------------------------------------------------------------------- // 消息描述：根据链路 + 消息 ID + 方向(0=收 1=发)，给出中文名与"来源→去向"。 @@ -33,6 +34,14 @@ std::string describeMessageName(const std::string& link, uint16_t id) { case 0x0004: return "PM状态报文"; default: break; } + } else if (link == "bat_dyn" || link == "bat_ins") { + switch (id) { + case 0x0000: return "电池自检指令"; + case 0x0001: return "电池控制指令"; + case 0x0003: return "电池组状态"; + case 0x0004: return "电池包报警"; + default: break; + } } char buf[32]; std::snprintf(buf, sizeof(buf), "未知(0x%04X)", id); @@ -40,7 +49,10 @@ std::string describeMessageName(const std::string& link, uint16_t id) { } std::string describeDirection(const std::string& link, int direction) { - const std::string peer = (link == "fc") ? "FC" : "PM"; + std::string peer = "PM"; + if (link == "fc") peer = "FC"; + else if (link == "bat_dyn") peer = "动力电池"; + else if (link == "bat_ins") peer = "仪表电池"; return (direction == 1) ? ("CCU→" + peer) : (peer + "→CCU"); } @@ -206,6 +218,87 @@ JsonVal pmFbJson(const PmParamSetFbValue& v) { return j; } +// 锂电池组状态（0x0003 收）-> JSON（关键字段） +JsonVal batStatusJson(const BatStatusValue& v) { + JsonVal j(Json::objectValue); + j["time"] = JsonVal(static_cast(v.year)); + put(j, "workCondition", v.workCondition); + put(j, "selfCheckState", v.selfCheckState); + put(j, "powerCfgState", v.powerCfgState); + put(j, "busContactorState", v.busContactorState); + put(j, "posDiodeState", v.posDiodeState); + put(j, "emergencyState", v.emergencyState); + put(j, "soc", v.soc); // 0.1% + put(j, "energy", v.energy); // 0.1kWh + put(j, "maxDischargePower", v.maxDischargePower); // 0.1kW + put(j, "maxChargePower", v.maxChargePower); // 0.1kW + put(j, "currentAccessPower", v.currentAccessPower); // 0.1kW + put(j, "packOnlineFlag", v.packOnlineFlag); + put(j, "packAccessFlag", v.packAccessFlag); + put(j, "relayPosCharge", v.relayPosCharge); + put(j, "relayPreNeg", v.relayPreNeg); + put(j, "relayOut2Pre", v.relayOut2Pre); + put(j, "relayChgOnlinePre", v.relayChgOnlinePre); + put(j, "voltageLoad", v.voltageLoad); // 0.01V + put(j, "voltagePack", v.voltagePack); // 0.01V + putI(j, "current", v.current); // 0.05A + put(j, "insulationPos", v.insulationPos); + put(j, "insulationNeg", v.insulationNeg); + put(j, "packVoltageMid", v.packVoltageMid); // 0.1V + put(j, "packVoltageMin", v.packVoltageMin); + put(j, "packVoltageMinNo", v.packVoltageMinNo); + put(j, "packVoltageMax", v.packVoltageMax); + put(j, "packVoltageMaxNo", v.packVoltageMaxNo); + put(j, "packDeltaMax", v.packDeltaMax); // 0.1mV + put(j, "packDeltaMaxNo", v.packDeltaMaxNo); + put(j, "packDeltaMaxVoltage", v.packDeltaMaxVoltage); + put(j, "cellTempAvg", v.cellTempAvg); // -40℃ + put(j, "cellTempMin", v.cellTempMin); + put(j, "cellTempMinNo", v.cellTempMinNo); + put(j, "cellTempMax", v.cellTempMax); + put(j, "cellTempMaxNo", v.cellTempMaxNo); + put(j, "alarmFlag1", v.alarmFlag[0]); + put(j, "alarmFlag2", v.alarmFlag[1]); + put(j, "alarmFlag3", v.alarmFlag[2]); + put(j, "alarmFlag4", v.alarmFlag[3]); + put(j, "alarmFlag5", v.alarmFlag[4]); + put(j, "alarmFlag6", v.alarmFlag[5]); + put(j, "alarmPosFlag", v.alarmPosFlag); + put(j, "chargeStatus", v.chargeStatus); + put(j, "heartbeat", v.heartbeat); + return j; +} + +// 锂电池包报警信息（0x0004 收）-> JSON +JsonVal batAlarmJson(const BatPackAlarmValue& v) { + JsonVal j(Json::objectValue); + put(j, "packNo", v.packNo); + put(j, "alarmFlag1", v.alarmFlag[0]); + put(j, "alarmFlag2", v.alarmFlag[1]); + put(j, "alarmFlag3", v.alarmFlag[2]); + put(j, "alarmFlag4", v.alarmFlag[3]); + put(j, "alarmFlag5", v.alarmFlag[4]); + put(j, "alarmFlag6", v.alarmFlag[5]); + put(j, "soc", v.soc); // 0.1% + put(j, "relayPosNeg", v.relayPosNeg); + put(j, "voltageLoad", v.voltageLoad); // 0.1V + put(j, "voltagePack", v.voltagePack); // 0.1V + putI(j, "current", v.current); // 0.05A + put(j, "insulationPos", v.insulationPos); + put(j, "insulationNeg", v.insulationNeg); + put(j, "tempMaxNo", v.tempMaxNo); + put(j, "tempMax1", v.tempMax1); + put(j, "tempMin1", v.tempMin1); + put(j, "tempAvg", v.tempAvg); + put(j, "balanceState", v.balanceState); + put(j, "voltMaxNo", v.voltMaxNo); + put(j, "voltMax1", v.voltMax1); // 0.1mV + put(j, "voltMinNo", v.voltMinNo); + put(j, "voltMin1", v.voltMin1); + put(j, "voltAvg", v.voltAvg); + return j; +} + // PM 状态报文（整合后发送给控制主机）-> JSON（关键字段） JsonVal pmStatusJson(const PmStatusValue& v) { JsonVal j(Json::objectValue); @@ -320,8 +413,9 @@ JsonVal linkJson(const LinkManager* lm) { } // namespace -SnapshotBuilder::SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, DbStore* db) - : m_sys(sys), m_fc(fc), m_pm(pm), m_db(db) {} +SnapshotBuilder::SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, + LinkManager* batDyn, LinkManager* batIns, DbStore* db) + : m_sys(sys), m_fc(fc), m_pm(pm), m_batDyn(batDyn), m_batIns(batIns), m_db(db) {} std::string SnapshotBuilder::build() const { JsonVal root(Json::objectValue); @@ -333,10 +427,17 @@ std::string SnapshotBuilder::build() const { root["pmParam"] = pmParamJson(m_sys->pmParamSet()); root["pmFb"] = pmFbJson(m_sys->pmParamFb()); root["pmStatus"] = pmStatusJson(m_sys->pmStatus()); + // 锂电池（0=动力 1=仪表） + root["batDyn"] = batStatusJson(m_sys->batStatus(0)); + root["batIns"] = batStatusJson(m_sys->batStatus(1)); + root["batDynAlarm"] = batAlarmJson(m_sys->batAlarm(0)); + root["batInsAlarm"] = batAlarmJson(m_sys->batAlarm(1)); root["fcStatusCount"] = JsonVal(static_cast(m_sys->fcStatusCount())); root["pmControlCount"] = JsonVal(static_cast(m_sys->pmControlCount())); root["fcControlCount"] = JsonVal(static_cast(m_sys->fcControlCount())); root["pmStatusCount"] = JsonVal(static_cast(m_sys->pmStatusCount())); + root["batDynStatusCount"] = JsonVal(static_cast(m_sys->batStatusCount(0))); + root["batInsStatusCount"] = JsonVal(static_cast(m_sys->batStatusCount(1))); } else { root["fc"] = JsonVal(Json::objectValue); root["pmCmd"] = JsonVal(Json::objectValue); @@ -344,11 +445,17 @@ std::string SnapshotBuilder::build() const { root["pmParam"] = JsonVal(Json::objectValue); root["pmFb"] = JsonVal(Json::objectValue); root["pmStatus"] = JsonVal(Json::objectValue); + root["batDyn"] = JsonVal(Json::objectValue); + root["batIns"] = JsonVal(Json::objectValue); + root["batDynAlarm"] = JsonVal(Json::objectValue); + root["batInsAlarm"] = JsonVal(Json::objectValue); } JsonVal links(Json::objectValue); links["fc"] = linkJson(m_fc); links["pm"] = linkJson(m_pm); + links["batDyn"] = linkJson(m_batDyn); + links["batIns"] = linkJson(m_batIns); root["links"] = links; // 最近原始帧（默认 20 条） diff --git a/src/pCCU/core/SnapshotBuilder.h b/src/pCCU/core/SnapshotBuilder.h index a3f9ab4..208591a 100644 --- a/src/pCCU/core/SnapshotBuilder.h +++ b/src/pCCU/core/SnapshotBuilder.h @@ -18,7 +18,8 @@ class DbStore; class SnapshotBuilder { public: - SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, DbStore* db); + SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, + LinkManager* batDyn, LinkManager* batIns, DbStore* db); // 生成完整快照 JSON std::string build() const; @@ -30,6 +31,8 @@ private: SystemData* m_sys; LinkManager* m_fc; LinkManager* m_pm; + LinkManager* m_batDyn; // 动力锂电池链路 + LinkManager* m_batIns; // 仪表锂电池链路 DbStore* m_db; }; diff --git a/src/pCCU/core/SystemData.h b/src/pCCU/core/SystemData.h index 2c12133..3d259d1 100644 --- a/src/pCCU/core/SystemData.h +++ b/src/pCCU/core/SystemData.h @@ -5,6 +5,7 @@ #include #include "../protocol/FcProtocol.h" #include "../protocol/PmProtocol.h" +#include "../protocol/BatProtocol.h" namespace ccu { @@ -12,6 +13,7 @@ namespace ccu { // SystemData：跨线程共享的最新状态快照。 // // - 接收线程（FC 链路）写 FcStatus 快照 +// - 接收线程（锂电池链路）写 动力/仪表 BatStatus 快照（role: 0=动力 1=仪表） // - CCU 主循环（Iterate）读快照并整合编码为 PM 状态报文发送 // - 网页线程读快照展示 // 通过互斥锁保护读写。 @@ -99,6 +101,38 @@ public: return m_pmParamFb; } + //-------- 锂电池（role: 0=动力 1=仪表，见 BatRole） -------- + + // 更新/获取最新电池组状态（0x0003） + void updateBatStatus(int role, const BatStatusValue& v) { + std::lock_guard lock(m_mutex); + m_batStatus[role] = v; + m_batStatusCount[role]++; + } + BatStatusValue batStatus(int role) const { + std::lock_guard lock(m_mutex); + return m_batStatus[role]; + } + unsigned long batStatusCount(int role) const { + std::lock_guard lock(m_mutex); + return m_batStatusCount[role]; + } + + // 更新/获取最新电池包报警信息（0x0004） + void updateBatAlarm(int role, const BatPackAlarmValue& v) { + std::lock_guard lock(m_mutex); + m_batAlarm[role] = v; + m_batAlarmCount[role]++; + } + BatPackAlarmValue batAlarm(int role) const { + std::lock_guard lock(m_mutex); + return m_batAlarm[role]; + } + unsigned long batAlarmCount(int role) const { + std::lock_guard lock(m_mutex); + return m_batAlarmCount[role]; + } + private: mutable std::mutex m_mutex; FcStatusValue m_fcStatus; @@ -107,10 +141,14 @@ private: FcControlValue m_fcControl; PmStatusValue m_pmStatus; PmParamSetFbValue m_pmParamFb; + BatStatusValue m_batStatus[2]; + BatPackAlarmValue m_batAlarm[2]; unsigned long m_fcStatusCount = 0; unsigned long m_pmControlCount = 0; unsigned long m_fcControlCount = 0; unsigned long m_pmStatusCount = 0; + unsigned long m_batStatusCount[2] = {0, 0}; + unsigned long m_batAlarmCount[2] = {0, 0}; }; } // namespace ccu diff --git a/src/pCCU/fsm/tinyfsm.hpp b/src/pCCU/fsm/tinyfsm.hpp new file mode 100644 index 0000000..5a11f8a --- /dev/null +++ b/src/pCCU/fsm/tinyfsm.hpp @@ -0,0 +1,251 @@ +/* + * TinyFSM - Tiny Finite State Machine Processor + * + * Copyright (c) 2012-2022 Axel Burri + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +/* --------------------------------------------------------------------- + * Version: 0.3.3 + * + * API documentation: see "../doc/50-API.md" + * + * The official TinyFSM website is located at: + * https://digint.ch/tinyfsm/ + * + * Author: + * Axel Burri + * --------------------------------------------------------------------- + */ + +#ifndef TINYFSM_HPP_INCLUDED +#define TINYFSM_HPP_INCLUDED + +#ifndef TINYFSM_NOSTDLIB +#include +#endif + +// #include +// #define DBG(str) do { std::cerr << str << std::endl; } while( false ) +// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__); + +namespace tinyfsm +{ + + // -------------------------------------------------------------------------- + + struct Event { }; + + // -------------------------------------------------------------------------- + +#ifdef TINYFSM_NOSTDLIB + // remove dependency on standard library (silent fail!). + // useful in conjunction with -nostdlib option, e.g. if your compiler + // does not provide a standard library. + // NOTE: this silently disables all static_assert() calls below! + template + struct is_same_fsm { static constexpr bool value = true; }; +#else + // check if both fsm and state class share same fsmtype + template + struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { }; +#endif + + template + struct _state_instance + { + using value_type = S; + using type = _state_instance; + static S value; + }; + + template + typename _state_instance::value_type _state_instance::value; + + // -------------------------------------------------------------------------- + + template + class Fsm + { + public: + + using fsmtype = Fsm; + using state_ptr_t = F *; + + static state_ptr_t current_state_ptr; + + // public, leaving ability to access state instance (e.g. on reset) + template + static constexpr S & state(void) { + static_assert(is_same_fsm::value, "accessing state of different state machine"); + return _state_instance::value; + } + + template + static constexpr bool is_in_state(void) { + static_assert(is_same_fsm::value, "accessing state of different state machine"); + return current_state_ptr == &_state_instance::value; + } + + /// state machine functions + public: + + // explicitely specialized in FSM_INITIAL_STATE macro + static void set_initial_state(); + + static void reset() { }; + + static void enter() { + current_state_ptr->entry(); + } + + static void start() { + set_initial_state(); + enter(); + } + + template + static void dispatch(E const & event) { + current_state_ptr->react(event); + } + + + /// state transition functions + protected: + + template + void transit(void) { + static_assert(is_same_fsm::value, "transit to different state machine"); + current_state_ptr->exit(); + current_state_ptr = &_state_instance::value; + current_state_ptr->entry(); + } + + template + void transit(ActionFunction action_function) { + static_assert(is_same_fsm::value, "transit to different state machine"); + current_state_ptr->exit(); + // NOTE: do not send events in action_function definisions. + action_function(); + current_state_ptr = &_state_instance::value; + current_state_ptr->entry(); + } + + template + void transit(ActionFunction action_function, ConditionFunction condition_function) { + if(condition_function()) { + transit(action_function); + } + } + }; + + template + typename Fsm::state_ptr_t Fsm::current_state_ptr; + + // -------------------------------------------------------------------------- + + template + struct FsmList; + + template<> struct FsmList<> { + static void set_initial_state() { } + static void reset() { } + static void enter() { } + template + static void dispatch(E const &) { } + }; + + template + struct FsmList + { + using fsmtype = Fsm; + + static void set_initial_state() { + fsmtype::set_initial_state(); + FsmList::set_initial_state(); + } + + static void reset() { + F::reset(); + FsmList::reset(); + } + + static void enter() { + fsmtype::enter(); + FsmList::enter(); + } + + static void start() { + set_initial_state(); + enter(); + } + + template + static void dispatch(E const & event) { + fsmtype::template dispatch(event); + FsmList::template dispatch(event); + } + }; + + // -------------------------------------------------------------------------- + + template struct StateList; + template<> struct StateList<> { + static void reset() { } + }; + template + struct StateList + { + static void reset() { + _state_instance::value = S(); + StateList::reset(); + } + }; + + // -------------------------------------------------------------------------- + + template + struct MooreMachine : tinyfsm::Fsm + { + virtual void entry(void) { }; /* entry actions in some states */ + void exit(void) { }; /* no exit actions */ + }; + + template + struct MealyMachine : tinyfsm::Fsm + { + // input actions are modeled in react(): + // - conditional dependent of event type or payload + // - transit<>(ActionFunction) + void entry(void) { }; /* no entry actions */ + void exit(void) { }; /* no exit actions */ + }; + +} /* namespace tinyfsm */ + + +#define FSM_INITIAL_STATE(_FSM, _STATE) \ +namespace tinyfsm { \ + template<> void Fsm< _FSM >::set_initial_state(void) { \ + current_state_ptr = &_state_instance< _STATE >::value; \ + } \ +} + +#endif /* TINYFSM_HPP_INCLUDED */ diff --git a/src/pCCU/pCCU.moos b/src/pCCU/pCCU.moos index afed511..a61aecb 100644 --- a/src/pCCU/pCCU.moos +++ b/src/pCCU/pCCU.moos @@ -2,9 +2,12 @@ // pCCU 配置示例 // // 链路拓扑： -// 燃料电池控制器(FC) 192.168.1.162:7000 +// 燃料电池控制器(FC) 192.168.1.162:7000 // 控制主机(pPowerManger) 192.168.0.140:5001 -// pCCU 本机监听：FC 状态端口 6000、PM 指令端口 7000 +// 动力锂电池 192.168.100.137:7000 +// 仪表锂电池 192.168.100.136:7000 +// pCCU 本机监听：FC 状态端口 6000、PM 指令端口 7000、 +// 动力电池端口 7001、仪表电池端口 7002 //============================================================================ ProcessConfig = pCCU @@ -26,6 +29,19 @@ ProcessConfig = pCCU pm_remote_ip = 192.168.0.140 pm_remote_port = 5001 + //======== 锂电池链路（与动力/仪表锂电池组通信） ======== + // 协议：docs/锂电池协议20230324.docx + // 本机接收电池状态反馈的端口（需与电池侧配置的目的端口一致） + dyn_bat_local_port = 7001 + ins_bat_local_port = 7002 + // 锂电池组地址（发送自检/控制指令目标） + dyn_bat_remote_ip = 192.168.100.137 + dyn_bat_remote_port = 7000 + ins_bat_remote_ip = 192.168.100.136 + ins_bat_remote_port = 7000 + // 电池工况设定：10工房调试 / 30试验实航 / 50科研模式 + bat_work_condition = 10 + //======== 存储与日志 ======== // 数据库路径（SQLite） dbpath = pccu_data.db diff --git a/src/pCCU/protocol/BatProtocol.cpp b/src/pCCU/protocol/BatProtocol.cpp new file mode 100644 index 0000000..cbc885b --- /dev/null +++ b/src/pCCU/protocol/BatProtocol.cpp @@ -0,0 +1,446 @@ +#include "BatProtocol.h" +#include "FieldCodec.h" +#include "Frame.h" +#include "MessageRegistry.h" + +namespace ccu { + +void registerBatMessages(MessageRegistry& reg) { + reg.registerMessage(std::unique_ptr(new BatSelfCheckMessage())); + reg.registerMessage(std::unique_ptr(new BatControlMessage())); + reg.registerMessage(std::unique_ptr(new BatStatusMessage())); + reg.registerMessage(std::unique_ptr(new BatPackAlarmMessage())); +} + +//============================================================================ +// 0x0000 自检指令 +// 数据域 2 字节，偏移 0~1 +//============================================================================ + +namespace { +enum : size_t { + BO_SELFCHECK = 0, // 电池自检 00/01 + BO_SELFCHECK_RST = 1, // 自检复位指令 00/55 +}; +} + +std::vector BatSelfCheckMessage::encode(const void* obj) const { + const BatSelfCheckValue* v = static_cast(obj); + std::vector p(payloadLength(), 0); + FieldCodec::putU8(p, BO_SELFCHECK, v->selfCheck); + FieldCodec::putU8(p, BO_SELFCHECK_RST, v->selfCheckReset); + return Frame::build(id(), p, checksum()); +} + +bool BatSelfCheckMessage::decode(const std::vector& frame, void* obj) const { + if (!validateFrame(frame, id(), checksum(), totalLength())) return false; + BatSelfCheckValue* v = static_cast(obj); + size_t o = FRAME_HEADER_LEN; + v->selfCheck = FieldCodec::getU8(frame, o + BO_SELFCHECK); + v->selfCheckReset = FieldCodec::getU8(frame, o + BO_SELFCHECK_RST); + return true; +} + +//============================================================================ +// 0x0001 设备控制指令 +// 数据域 17 字节，偏移 0~16 +//============================================================================ + +namespace { +enum : size_t { + BC_YEAR = 0, // u16 + BC_MONTH = 2, + BC_DAY = 3, + BC_HOUR = 4, + BC_MINUTE = 5, + BC_SECOND = 6, + BC_MS10 = 7, + BC_WORKCOND = 8, // 工况设定 + BC_BUS_CTR = 9, // 母线接触器 + BC_POS_CTR = 10, // 正极接触器 + BC_DIODE_CTR = 11, // 二极管路接触器 + BC_POWER = 12, // u16 电池组功率 kW + BC_RESV = 14, // u16 预留 + BC_HEARTBEAT = 16, // 通信心跳 +}; +} + +std::vector BatControlMessage::encode(const void* obj) const { + const BatControlValue* v = static_cast(obj); + std::vector p(payloadLength(), 0); + + FieldCodec::putU16(p, BC_YEAR, v->year); + FieldCodec::putU8(p, BC_MONTH, v->month); + FieldCodec::putU8(p, BC_DAY, v->day); + FieldCodec::putU8(p, BC_HOUR, v->hour); + FieldCodec::putU8(p, BC_MINUTE, v->minute); + FieldCodec::putU8(p, BC_SECOND, v->second); + FieldCodec::putU8(p, BC_MS10, v->ms10); + FieldCodec::putU8(p, BC_WORKCOND, v->workCondition); + FieldCodec::putU8(p, BC_BUS_CTR, v->busContactor); + FieldCodec::putU8(p, BC_POS_CTR, v->posContactor); + FieldCodec::putU8(p, BC_DIODE_CTR, v->diodeContactor); + FieldCodec::putU16(p, BC_POWER, v->powerKw); + FieldCodec::putU16(p, BC_RESV, v->reserved); + FieldCodec::putU8(p, BC_HEARTBEAT, v->heartbeat); + + return Frame::build(id(), p, checksum()); +} + +bool BatControlMessage::decode(const std::vector& frame, void* obj) const { + if (!validateFrame(frame, id(), checksum(), totalLength())) return false; + BatControlValue* v = static_cast(obj); + size_t o = FRAME_HEADER_LEN; + + v->year = FieldCodec::getU16(frame, o + BC_YEAR); + v->month = FieldCodec::getU8(frame, o + BC_MONTH); + v->day = FieldCodec::getU8(frame, o + BC_DAY); + v->hour = FieldCodec::getU8(frame, o + BC_HOUR); + v->minute = FieldCodec::getU8(frame, o + BC_MINUTE); + v->second = FieldCodec::getU8(frame, o + BC_SECOND); + v->ms10 = FieldCodec::getU8(frame, o + BC_MS10); + v->workCondition = FieldCodec::getU8(frame, o + BC_WORKCOND); + v->busContactor = FieldCodec::getU8(frame, o + BC_BUS_CTR); + v->posContactor = FieldCodec::getU8(frame, o + BC_POS_CTR); + v->diodeContactor= FieldCodec::getU8(frame, o + BC_DIODE_CTR); + v->powerKw = FieldCodec::getU16(frame, o + BC_POWER); + v->reserved = FieldCodec::getU16(frame, o + BC_RESV); + v->heartbeat = FieldCodec::getU8(frame, o + BC_HEARTBEAT); + return true; +} + +//============================================================================ +// 0x0003 状态反馈——电池组状态 +// 数据域 80 字节，偏移 0~79 +//============================================================================ + +namespace { +enum : size_t { + BS_YEAR = 0, // u16 + BS_MONTH = 2, + BS_DAY = 3, + BS_HOUR = 4, + BS_MINUTE = 5, + BS_SECOND = 6, + BS_MS10 = 7, + BS_WORKCOND = 8, // 工况 + BS_SELFCHECK = 9, // 电池自检状态 + BS_POWERCFG = 10, // 电池功率配置状态 + BS_BUS_CTR = 11, // 电池母线接触器状态 + BS_POS_DIODE = 12, // 正极接触器与二极管回路状态 + BS_EMERGENCY = 13, // 电池紧急状态 + BS_SOC = 14, // u16 0.1% + BS_ENERGY = 16, // u16 0.1kWh + BS_MAX_DIS_PWR = 18, // u16 0.1kW 允许最高放电功率 + BS_MAX_CHG_PWR = 20, // u16 0.1kW 允许充电功率 + BS_CUR_ACC_PWR = 22, // u16 0.1kW 当前接入功率 + BS_ONLINE = 24, // u32 电池包在线信息 + BS_ACCESS = 28, // u32 电池包接入信息 + BS_RELAY_POS = 32, // 总控正极+充电继电器 + BS_RELAY_PRE = 33, // 总控预充+负极继电器 + BS_RELAY_OUT2 = 34, // 第二路输出+预充 + BS_RELAY_CHG = 35, // 在线充电+预充 + BS_V_LOAD = 36, // u16 0.01V + BS_V_PACK = 38, // u16 0.01V + BS_CURRENT = 40, // s16 0.05A + BS_INS_POS = 42, // u16 10kΩ + BS_INS_NEG = 44, // u16 10kΩ + BS_M_TEMP1 = 46, // u8 总控温度1（文档标注删除，保留偏移） + BS_M_TEMP2 = 47, // u8 总控温度2（文档标注删除，保留偏移） + BS_PK_V_MID = 48, // u16 0.1V + BS_PK_V_MIN = 50, // u16 0.1V + BS_PK_V_MIN_NO = 52, + BS_PK_V_MAX = 53, // u16 0.1V + BS_PK_V_MAX_NO = 55, + BS_PK_DELTA = 56, // u16 0.1mV + BS_PK_DELTA_NO = 58, + BS_PK_DELTA_V = 59, // u16 0.1mV + BS_T_AVG = 61, // u8 -40℃ + BS_T_MIN = 62, // u8 -40℃ + BS_T_MIN_NO = 63, + BS_T_MAX = 64, // u8 -40℃ + BS_T_MAX_NO = 65, + BS_ALARM1 = 66, // u8 * 6 报警标识字1~6 + BS_ALARM_POS = 72, // u32 报警位置标识字 + BS_CHARGE_ST = 76, // u8 充放电状态 + BS_RESV = 77, // u16 + BS_HEARTBEAT = 79, +}; +inline void getU8Arr(const std::vector& f, size_t off, uint8_t* dst, size_t n) { + for (size_t i = 0; i < n; ++i) dst[i] = f[off + i]; +} +inline void putU8Arr(std::vector& p, size_t off, const uint8_t* src, size_t n) { + for (size_t i = 0; i < n; ++i) p[off + i] = src[i]; +} +} + +std::vector BatStatusMessage::encode(const void* obj) const { + const BatStatusValue* v = static_cast(obj); + std::vector p(payloadLength(), 0); + + FieldCodec::putU16(p, BS_YEAR, v->year); + FieldCodec::putU8(p, BS_MONTH, v->month); + FieldCodec::putU8(p, BS_DAY, v->day); + FieldCodec::putU8(p, BS_HOUR, v->hour); + FieldCodec::putU8(p, BS_MINUTE, v->minute); + FieldCodec::putU8(p, BS_SECOND, v->second); + FieldCodec::putU8(p, BS_MS10, v->ms10); + FieldCodec::putU8(p, BS_WORKCOND, v->workCondition); + FieldCodec::putU8(p, BS_SELFCHECK, v->selfCheckState); + FieldCodec::putU8(p, BS_POWERCFG, v->powerCfgState); + FieldCodec::putU8(p, BS_BUS_CTR, v->busContactorState); + FieldCodec::putU8(p, BS_POS_DIODE, v->posDiodeState); + FieldCodec::putU8(p, BS_EMERGENCY, v->emergencyState); + FieldCodec::putU16(p, BS_SOC, v->soc); + FieldCodec::putU16(p, BS_ENERGY, v->energy); + FieldCodec::putU16(p, BS_MAX_DIS_PWR, v->maxDischargePower); + FieldCodec::putU16(p, BS_MAX_CHG_PWR, v->maxChargePower); + FieldCodec::putU16(p, BS_CUR_ACC_PWR, v->currentAccessPower); + FieldCodec::putU32(p, BS_ONLINE, v->packOnlineFlag); + FieldCodec::putU32(p, BS_ACCESS, v->packAccessFlag); + FieldCodec::putU8(p, BS_RELAY_POS, v->relayPosCharge); + FieldCodec::putU8(p, BS_RELAY_PRE, v->relayPreNeg); + FieldCodec::putU8(p, BS_RELAY_OUT2, v->relayOut2Pre); + FieldCodec::putU8(p, BS_RELAY_CHG, v->relayChgOnlinePre); + FieldCodec::putU16(p, BS_V_LOAD, v->voltageLoad); + FieldCodec::putU16(p, BS_V_PACK, v->voltagePack); + FieldCodec::putU16(p, BS_CURRENT, static_cast(v->current)); + FieldCodec::putU16(p, BS_INS_POS, v->insulationPos); + FieldCodec::putU16(p, BS_INS_NEG, v->insulationNeg); + FieldCodec::putU8(p, BS_M_TEMP1, v->masterTemp1); + FieldCodec::putU8(p, BS_M_TEMP2, v->masterTemp2); + FieldCodec::putU16(p, BS_PK_V_MID, v->packVoltageMid); + FieldCodec::putU16(p, BS_PK_V_MIN, v->packVoltageMin); + FieldCodec::putU8(p, BS_PK_V_MIN_NO, v->packVoltageMinNo); + FieldCodec::putU16(p, BS_PK_V_MAX, v->packVoltageMax); + FieldCodec::putU8(p, BS_PK_V_MAX_NO, v->packVoltageMaxNo); + FieldCodec::putU16(p, BS_PK_DELTA, v->packDeltaMax); + FieldCodec::putU8(p, BS_PK_DELTA_NO, v->packDeltaMaxNo); + FieldCodec::putU16(p, BS_PK_DELTA_V, v->packDeltaMaxVoltage); + FieldCodec::putU8(p, BS_T_AVG, v->cellTempAvg); + FieldCodec::putU8(p, BS_T_MIN, v->cellTempMin); + FieldCodec::putU8(p, BS_T_MIN_NO, v->cellTempMinNo); + FieldCodec::putU8(p, BS_T_MAX, v->cellTempMax); + FieldCodec::putU8(p, BS_T_MAX_NO, v->cellTempMaxNo); + putU8Arr(p, BS_ALARM1, v->alarmFlag, 6); + FieldCodec::putU32(p, BS_ALARM_POS, v->alarmPosFlag); + FieldCodec::putU8(p, BS_CHARGE_ST, v->chargeStatus); + FieldCodec::putU16(p, BS_RESV, v->reserved); + FieldCodec::putU8(p, BS_HEARTBEAT, v->heartbeat); + + return Frame::build(id(), p, checksum()); +} + +bool BatStatusMessage::decode(const std::vector& frame, void* obj) const { + if (!validateFrame(frame, id(), checksum(), totalLength())) return false; + BatStatusValue* v = static_cast(obj); + size_t o = FRAME_HEADER_LEN; + + v->year = FieldCodec::getU16(frame, o + BS_YEAR); + v->month = FieldCodec::getU8(frame, o + BS_MONTH); + v->day = FieldCodec::getU8(frame, o + BS_DAY); + v->hour = FieldCodec::getU8(frame, o + BS_HOUR); + v->minute = FieldCodec::getU8(frame, o + BS_MINUTE); + v->second = FieldCodec::getU8(frame, o + BS_SECOND); + v->ms10 = FieldCodec::getU8(frame, o + BS_MS10); + v->workCondition = FieldCodec::getU8(frame, o + BS_WORKCOND); + v->selfCheckState = FieldCodec::getU8(frame, o + BS_SELFCHECK); + v->powerCfgState = FieldCodec::getU8(frame, o + BS_POWERCFG); + v->busContactorState = FieldCodec::getU8(frame, o + BS_BUS_CTR); + v->posDiodeState = FieldCodec::getU8(frame, o + BS_POS_DIODE); + v->emergencyState = FieldCodec::getU8(frame, o + BS_EMERGENCY); + v->soc = FieldCodec::getU16(frame, o + BS_SOC); + v->energy = FieldCodec::getU16(frame, o + BS_ENERGY); + v->maxDischargePower = FieldCodec::getU16(frame, o + BS_MAX_DIS_PWR); + v->maxChargePower = FieldCodec::getU16(frame, o + BS_MAX_CHG_PWR); + v->currentAccessPower = FieldCodec::getU16(frame, o + BS_CUR_ACC_PWR); + v->packOnlineFlag = FieldCodec::getU32(frame, o + BS_ONLINE); + v->packAccessFlag = FieldCodec::getU32(frame, o + BS_ACCESS); + v->relayPosCharge = FieldCodec::getU8(frame, o + BS_RELAY_POS); + v->relayPreNeg = FieldCodec::getU8(frame, o + BS_RELAY_PRE); + v->relayOut2Pre = FieldCodec::getU8(frame, o + BS_RELAY_OUT2); + v->relayChgOnlinePre = FieldCodec::getU8(frame, o + BS_RELAY_CHG); + v->voltageLoad = FieldCodec::getU16(frame, o + BS_V_LOAD); + v->voltagePack = FieldCodec::getU16(frame, o + BS_V_PACK); + v->current = static_cast(FieldCodec::getU16(frame, o + BS_CURRENT)); + v->insulationPos = FieldCodec::getU16(frame, o + BS_INS_POS); + v->insulationNeg = FieldCodec::getU16(frame, o + BS_INS_NEG); + v->masterTemp1 = FieldCodec::getU8(frame, o + BS_M_TEMP1); + v->masterTemp2 = FieldCodec::getU8(frame, o + BS_M_TEMP2); + v->packVoltageMid = FieldCodec::getU16(frame, o + BS_PK_V_MID); + v->packVoltageMin = FieldCodec::getU16(frame, o + BS_PK_V_MIN); + v->packVoltageMinNo = FieldCodec::getU8(frame, o + BS_PK_V_MIN_NO); + v->packVoltageMax = FieldCodec::getU16(frame, o + BS_PK_V_MAX); + v->packVoltageMaxNo = FieldCodec::getU8(frame, o + BS_PK_V_MAX_NO); + v->packDeltaMax = FieldCodec::getU16(frame, o + BS_PK_DELTA); + v->packDeltaMaxNo = FieldCodec::getU8(frame, o + BS_PK_DELTA_NO); + v->packDeltaMaxVoltage= FieldCodec::getU16(frame, o + BS_PK_DELTA_V); + v->cellTempAvg = FieldCodec::getU8(frame, o + BS_T_AVG); + v->cellTempMin = FieldCodec::getU8(frame, o + BS_T_MIN); + v->cellTempMinNo = FieldCodec::getU8(frame, o + BS_T_MIN_NO); + v->cellTempMax = FieldCodec::getU8(frame, o + BS_T_MAX); + v->cellTempMaxNo = FieldCodec::getU8(frame, o + BS_T_MAX_NO); + getU8Arr(frame, o + BS_ALARM1, v->alarmFlag, 6); + v->alarmPosFlag = FieldCodec::getU32(frame, o + BS_ALARM_POS); + v->chargeStatus = FieldCodec::getU8(frame, o + BS_CHARGE_ST); + v->reserved = FieldCodec::getU16(frame, o + BS_RESV); + v->heartbeat = FieldCodec::getU8(frame, o + BS_HEARTBEAT); + return true; +} + +//============================================================================ +// 0x0004 状态反馈——电池包报警信息 +// 数据域 68 字节，偏移 0~67 +//============================================================================ + +namespace { +enum : size_t { + BA_YEAR = 0, // u16 + BA_MONTH = 2, + BA_DAY = 3, + BA_HOUR = 4, + BA_MINUTE = 5, + BA_SECOND = 6, + BA_MS10 = 7, + BA_PACKNO = 8, // 电池包号 1~24 + BA_ALARM1 = 9, // u8 * 6 报警标识字1~6 + BA_SOC = 15, // u16 0.1% + BA_RELAY = 17, // 正极+负极继电器状态 + BA_V_LOAD = 18, // u16 0.1V + BA_V_PACK = 20, // u16 0.1V + BA_CURRENT = 22, // s16 0.05A + BA_INS_POS = 24, // u16 10kΩ + BA_INS_NEG = 26, // u16 10kΩ + BA_T_MAX_NO = 28, + BA_T_MAX1 = 29, // u8 -40℃ + BA_T_MAX2 = 30, + BA_T_MAX3 = 31, + BA_T_MAX4 = 32, + BA_T_MIN4 = 33, + BA_T_MIN3 = 34, + BA_T_MIN2 = 35, + BA_T_MIN1 = 36, // u8 -40℃ + BA_T_MIN_NO = 37, + BA_T_AVG = 38, // u8 -40℃ + BA_BALANCE = 39, // 均衡状态 0/1 + BA_V_MAX_NO = 40, + BA_V_MAX1 = 41, // u16 0.1mV + BA_V_MAX2 = 43, + BA_V_MAX3 = 45, + BA_V_MAX4 = 47, + BA_V_MAX5 = 49, + BA_V_MAX6 = 51, + BA_V_MIN6 = 53, + BA_V_MIN5 = 55, + BA_V_MIN4 = 57, + BA_V_MIN3 = 59, + BA_V_MIN2 = 61, + BA_V_MIN1 = 63, // u16 0.1mV + BA_V_MIN_NO = 65, + BA_V_AVG = 66, // u16 +}; +} + +std::vector BatPackAlarmMessage::encode(const void* obj) const { + const BatPackAlarmValue* v = static_cast(obj); + std::vector p(payloadLength(), 0); + + FieldCodec::putU16(p, BA_YEAR, v->year); + FieldCodec::putU8(p, BA_MONTH, v->month); + FieldCodec::putU8(p, BA_DAY, v->day); + FieldCodec::putU8(p, BA_HOUR, v->hour); + FieldCodec::putU8(p, BA_MINUTE, v->minute); + FieldCodec::putU8(p, BA_SECOND, v->second); + FieldCodec::putU8(p, BA_MS10, v->ms10); + FieldCodec::putU8(p, BA_PACKNO, v->packNo); + putU8Arr(p, BA_ALARM1, v->alarmFlag, 6); + FieldCodec::putU16(p, BA_SOC, v->soc); + FieldCodec::putU8(p, BA_RELAY, v->relayPosNeg); + FieldCodec::putU16(p, BA_V_LOAD, v->voltageLoad); + FieldCodec::putU16(p, BA_V_PACK, v->voltagePack); + FieldCodec::putU16(p, BA_CURRENT, static_cast(v->current)); + FieldCodec::putU16(p, BA_INS_POS, v->insulationPos); + FieldCodec::putU16(p, BA_INS_NEG, v->insulationNeg); + FieldCodec::putU8(p, BA_T_MAX_NO, v->tempMaxNo); + FieldCodec::putU8(p, BA_T_MAX1, v->tempMax1); + FieldCodec::putU8(p, BA_T_MAX2, v->tempMax2); + FieldCodec::putU8(p, BA_T_MAX3, v->tempMax3); + FieldCodec::putU8(p, BA_T_MAX4, v->tempMax4); + FieldCodec::putU8(p, BA_T_MIN4, v->tempMin4); + FieldCodec::putU8(p, BA_T_MIN3, v->tempMin3); + FieldCodec::putU8(p, BA_T_MIN2, v->tempMin2); + FieldCodec::putU8(p, BA_T_MIN1, v->tempMin1); + FieldCodec::putU8(p, BA_T_MIN_NO, v->tempMinNo); + FieldCodec::putU8(p, BA_T_AVG, v->tempAvg); + FieldCodec::putU8(p, BA_BALANCE, v->balanceState); + FieldCodec::putU8(p, BA_V_MAX_NO, v->voltMaxNo); + FieldCodec::putU16(p, BA_V_MAX1, v->voltMax1); + FieldCodec::putU16(p, BA_V_MAX2, v->voltMax2); + FieldCodec::putU16(p, BA_V_MAX3, v->voltMax3); + FieldCodec::putU16(p, BA_V_MAX4, v->voltMax4); + FieldCodec::putU16(p, BA_V_MAX5, v->voltMax5); + FieldCodec::putU16(p, BA_V_MAX6, v->voltMax6); + FieldCodec::putU16(p, BA_V_MIN6, v->voltMin6); + FieldCodec::putU16(p, BA_V_MIN5, v->voltMin5); + FieldCodec::putU16(p, BA_V_MIN4, v->voltMin4); + FieldCodec::putU16(p, BA_V_MIN3, v->voltMin3); + FieldCodec::putU16(p, BA_V_MIN2, v->voltMin2); + FieldCodec::putU16(p, BA_V_MIN1, v->voltMin1); + FieldCodec::putU8(p, BA_V_MIN_NO, v->voltMinNo); + FieldCodec::putU16(p, BA_V_AVG, v->voltAvg); + + return Frame::build(id(), p, checksum()); +} + +bool BatPackAlarmMessage::decode(const std::vector& frame, void* obj) const { + if (!validateFrame(frame, id(), checksum(), totalLength())) return false; + BatPackAlarmValue* v = static_cast(obj); + size_t o = FRAME_HEADER_LEN; + + v->year = FieldCodec::getU16(frame, o + BA_YEAR); + v->month = FieldCodec::getU8(frame, o + BA_MONTH); + v->day = FieldCodec::getU8(frame, o + BA_DAY); + v->hour = FieldCodec::getU8(frame, o + BA_HOUR); + v->minute = FieldCodec::getU8(frame, o + BA_MINUTE); + v->second = FieldCodec::getU8(frame, o + BA_SECOND); + v->ms10 = FieldCodec::getU8(frame, o + BA_MS10); + v->packNo = FieldCodec::getU8(frame, o + BA_PACKNO); + getU8Arr(frame, o + BA_ALARM1, v->alarmFlag, 6); + v->soc = FieldCodec::getU16(frame, o + BA_SOC); + v->relayPosNeg = FieldCodec::getU8(frame, o + BA_RELAY); + v->voltageLoad = FieldCodec::getU16(frame, o + BA_V_LOAD); + v->voltagePack = FieldCodec::getU16(frame, o + BA_V_PACK); + v->current = static_cast(FieldCodec::getU16(frame, o + BA_CURRENT)); + v->insulationPos= FieldCodec::getU16(frame, o + BA_INS_POS); + v->insulationNeg= FieldCodec::getU16(frame, o + BA_INS_NEG); + v->tempMaxNo = FieldCodec::getU8(frame, o + BA_T_MAX_NO); + v->tempMax1 = FieldCodec::getU8(frame, o + BA_T_MAX1); + v->tempMax2 = FieldCodec::getU8(frame, o + BA_T_MAX2); + v->tempMax3 = FieldCodec::getU8(frame, o + BA_T_MAX3); + v->tempMax4 = FieldCodec::getU8(frame, o + BA_T_MAX4); + v->tempMin4 = FieldCodec::getU8(frame, o + BA_T_MIN4); + v->tempMin3 = FieldCodec::getU8(frame, o + BA_T_MIN3); + v->tempMin2 = FieldCodec::getU8(frame, o + BA_T_MIN2); + v->tempMin1 = FieldCodec::getU8(frame, o + BA_T_MIN1); + v->tempMinNo = FieldCodec::getU8(frame, o + BA_T_MIN_NO); + v->tempAvg = FieldCodec::getU8(frame, o + BA_T_AVG); + v->balanceState = FieldCodec::getU8(frame, o + BA_BALANCE); + v->voltMaxNo = FieldCodec::getU8(frame, o + BA_V_MAX_NO); + v->voltMax1 = FieldCodec::getU16(frame, o + BA_V_MAX1); + v->voltMax2 = FieldCodec::getU16(frame, o + BA_V_MAX2); + v->voltMax3 = FieldCodec::getU16(frame, o + BA_V_MAX3); + v->voltMax4 = FieldCodec::getU16(frame, o + BA_V_MAX4); + v->voltMax5 = FieldCodec::getU16(frame, o + BA_V_MAX5); + v->voltMax6 = FieldCodec::getU16(frame, o + BA_V_MAX6); + v->voltMin6 = FieldCodec::getU16(frame, o + BA_V_MIN6); + v->voltMin5 = FieldCodec::getU16(frame, o + BA_V_MIN5); + v->voltMin4 = FieldCodec::getU16(frame, o + BA_V_MIN4); + v->voltMin3 = FieldCodec::getU16(frame, o + BA_V_MIN3); + v->voltMin2 = FieldCodec::getU16(frame, o + BA_V_MIN2); + v->voltMin1 = FieldCodec::getU16(frame, o + BA_V_MIN1); + v->voltMinNo = FieldCodec::getU8(frame, o + BA_V_MIN_NO); + v->voltAvg = FieldCodec::getU16(frame, o + BA_V_AVG); + return true; +} + +} // namespace ccu diff --git a/src/pCCU/protocol/BatProtocol.h b/src/pCCU/protocol/BatProtocol.h new file mode 100644 index 0000000..b7bf9ec --- /dev/null +++ b/src/pCCU/protocol/BatProtocol.h @@ -0,0 +1,334 @@ +#ifndef PCCU_BAT_PROTOCOL_H +#define PCCU_BAT_PROTOCOL_H + +#include +#include +#include "Message.h" + +namespace ccu { + +//============================================================================ +// 锂电池协议（信息系统计算机 <-> 动力锂电池组 / 仪表锂电池组） +// 依据：docs/锂电池协议20230324.docx +// +// 网络拓扑（默认值，均可通过 .moos 配置覆盖）： +// 信息系统计算机(pCCU) 本机监听端口可配置 +// 动力锂电池 192.168.100.137:7000 +// 仪表锂电池 192.168.100.136:7000 +// +// 帧格式统一：0x40 0x40 + 域标识符(2B) + 域字节数(2B) + 数据域 + uint32 校验和 +// 校验和为从域起始符到校验和之前所有数据的字节和。 +// +// 四条消息（均带 uint32 校验和）： +// 0x0000 自检指令 （信息系统->锂电池） payload 2B，总长 12B +// 0x0001 设备控制指令 （信息系统->锂电池） payload 17B，总长 27B +// 0x0003 状态反馈-电池组状态（锂电池->信息系统） payload 80B，总长 90B +// 0x0004 状态反馈-电池包报警（锂电池->信息系统） payload 68B，总长 78B +//============================================================================ + +// 锂电池角色：动力 / 仪表（两套设备协议一致，仅网络地址不同） +enum class BatRole : int { + Dyn = 0, // 动力锂电池 + Ins = 1, // 仪表锂电池 +}; +inline const char* batRoleName(BatRole r) { + return (r == BatRole::Dyn) ? "动力锂电池" : "仪表锂电池"; +} + +// 自检指令取值 +enum BatSelfCheckCmd : uint8_t { + BAT_SC_NONE = 0x00, // 无效 + BAT_SC_START = 0x01, // 自检 +}; +enum BatSelfCheckReset : uint8_t { + BAT_SCR_NONE = 0x00, // 无效 + BAT_SCR_RESET = 0x55, // 复位 +}; + +// 工况设定 +enum BatWorkCondition : uint8_t { + BAT_WC_NONE = 0x00, // 无效 + BAT_WC_WORKSHOP = 0x10, // 工房调试 + BAT_WC_SEA_TRIAL = 0x30, // 试验实航 + BAT_WC_RESEARCH = 0x50, // 科研模式 +}; + +// 接触器指令（母线/正极/二极管路通用） +enum BatContactorCmd : uint8_t { + BAT_CTR_NONE = 0x00, // 无效（表示"保持不变"） + BAT_CTR_CLOSE = 0x55, // 接通 + BAT_CTR_OPEN = 0x77, // 断开 +}; + +// 电池自检状态（0x0003 状态反馈） +enum BatSelfCheckState : uint8_t { + BAT_SCST_INVALID = 0x00, // 无效 + BAT_SCST_RUNNING = 0x11, // 自检过程中 + BAT_SCST_OK = 0x22, // 自检完成，状态正常 + BAT_SCST_FAULT = 0x33, // 自检完成，状态异常 +}; + +// 母线接触器状态（0x0003 状态反馈） +enum BatBusContactorState : uint8_t { + BAT_BUSST_INVALID = 0x00, // 无效 + BAT_BUSST_RUNNING = 0x01, // 执行中 + BAT_BUSST_CLOSED = 0x11, // 母线接触器闭合完成 + BAT_BUSST_OPENED = 0x22, // 母线接触器断开完成 + BAT_BUSST_CLOSE_ERR = 0x33, // 闭合故障 + BAT_BUSST_OPEN_ERR = 0x44, // 断开故障 +}; + +//-------------------------------------------------------------------------- +// 0x0000 自检指令（信息系统 -> 锂电池） +// payload 2 字节 +//-------------------------------------------------------------------------- +struct BatSelfCheckValue { + uint8_t selfCheck = 0; // 00H无效 / 01H自检 + uint8_t selfCheckReset = 0; // 00H无效 / 55H复位 +}; + +//-------------------------------------------------------------------------- +// 0x0001 设备控制指令（信息系统 -> 锂电池） +// 控制指令随机下发；同时作为心跳帧周期 1s 下发 +// payload 17 字节 +//-------------------------------------------------------------------------- +struct BatControlValue { + // 系统时间 + uint16_t year = 0; + uint8_t month = 0; + uint8_t day = 0; + uint8_t hour = 0; + uint8_t minute = 0; + uint8_t second = 0; + uint8_t ms10 = 0; // 10毫秒 + // 指令 + uint8_t workCondition = 0; // 工况设定 00/10/30/50 + uint8_t busContactor = 0; // 母线接触器 00/55/77（上下电用，含预充过程） + uint8_t posContactor = 0; // 正极接触器 00/55/77（切换用） + uint8_t diodeContactor = 0; // 二极管路接触器 00/55/77 + uint16_t powerKw = 0; // 电池组功率 0~500 kW + uint16_t reserved = 0; // 预留 + uint8_t heartbeat = 0; // 通信心跳 0~255，每次+1 +}; + +//-------------------------------------------------------------------------- +// 0x0003 状态反馈——电池组状态（锂电池 -> 信息系统） +// 主动上发周期 1s；接到设备控制指令后回复 +// payload 80 字节 +//-------------------------------------------------------------------------- +struct BatStatusValue { + // 系统时间 + uint16_t year = 0; + uint8_t month = 0; + uint8_t day = 0; + uint8_t hour = 0; + uint8_t minute = 0; + uint8_t second = 0; + uint8_t ms10 = 0; + // 状态 + uint8_t workCondition = 0; // 工况 00/10/30/50 + uint8_t selfCheckState = 0; // 电池自检状态 00/11/22/33 + uint8_t powerCfgState = 0; // 电池功率配置状态 00/11/22/33/44 + uint8_t busContactorState = 0;// 电池母线接触器状态 00/01/11/22/33/44 + uint8_t posDiodeState = 0; // 正极接触器(低4位)与二极管回路(高4位)状态 + uint8_t emergencyState = 0; // 电池紧急状态 0x00/0x1A~0x1F/0x3A~0x3F/0x5A~0x5F + // 容量与功率 + uint16_t soc = 0; // SOC，0.1% + uint16_t energy = 0; // 电池电量，0.1kWh + uint16_t maxDischargePower = 0;// 电池允许最高放电功率，0.1kW + uint16_t maxChargePower = 0; // 电池允许充电功率，0.1kW + uint16_t currentAccessPower = 0; // 电池当前接入功率，0.1kW + uint32_t packOnlineFlag = 0; // 电池包在线信息 bit=1 在线 + uint32_t packAccessFlag = 0; // 电池包接入信息 bit=1 接入 + // 继电器状态 + uint8_t relayPosCharge = 0; // 总控正极(高4位)与充电(低4位)继电器状态 + uint8_t relayPreNeg = 0; // 总控预充(高4位)与负极(低4位)继电器状态 + uint8_t relayOut2Pre = 0; // 第二路输出(高4位)与其预充(低4位)继电器状态 + uint8_t relayChgOnlinePre = 0;// 在线充电(高4位)与其预充(低4位)继电器状态 + // 电气量 + uint16_t voltageLoad = 0; // 总控电池电压负载端，0.01V + uint16_t voltagePack = 0; // 总控电池电压电池端，0.01V + int16_t current = 0; // 总控电池放电电流，0.05A（放电为正/充电为负） + uint16_t insulationPos = 0; // 总控电池正端绝缘电阻，10kΩ + uint16_t insulationNeg = 0; // 总控电池负端绝缘电阻，10kΩ + uint8_t masterTemp1 = 0; // 总控温度1（文档标注删除，保留占位偏移） + uint8_t masterTemp2 = 0; // 总控温度2（文档标注删除，保留占位偏移） + // 电池包电压 + uint16_t packVoltageMid = 0; // 电池包中值电压，0.1V + uint16_t packVoltageMin = 0; // 电池包最低电压，0.1V + uint8_t packVoltageMinNo = 0; // 最低电压电池包号 + uint16_t packVoltageMax = 0; // 电池包最高电压，0.1V + uint8_t packVoltageMaxNo = 0; // 最高电压电池包号 + uint16_t packDeltaMax = 0; // 单个电池包最大压差，0.1mV + uint8_t packDeltaMaxNo = 0; // 最大压差电池包号 + uint16_t packDeltaMaxVoltage = 0; // 最大压差电池包最高电压，0.1mV + // 温度（偏移量 -40℃） + uint8_t cellTempAvg = 0; // 电池单体均值温度，-40℃ + uint8_t cellTempMin = 0; // 电池单体最低温度，-40℃ + uint8_t cellTempMinNo = 0; // 最低温度电池包号 + uint8_t cellTempMax = 0; // 电池单体最高温度，-40℃ + uint8_t cellTempMaxNo = 0; // 最高温度电池包号 + // 报警 + uint8_t alarmFlag[6] = {0}; // 电池报警标识字1~6 + uint32_t alarmPosFlag = 0; // 电池报警位置标识字 + // 其它 + uint8_t chargeStatus = 0; // 电池充放电状态 00无效/10充电中/20功率输出中 + uint16_t reserved = 0; // 预留 + uint8_t heartbeat = 0; // 通信心跳 0~255，每次+1 +}; + +//-------------------------------------------------------------------------- +// 0x0004 状态反馈——电池包报警信息（锂电池 -> 信息系统） +// 自检完成后和报警状态更改后主动上发，最多 1s 一次 +// payload 68 字节 +//-------------------------------------------------------------------------- +struct BatPackAlarmValue { + // 系统时间 + uint16_t year = 0; + uint8_t month = 0; + uint8_t day = 0; + uint8_t hour = 0; + uint8_t minute = 0; + uint8_t second = 0; + uint8_t ms10 = 0; + uint8_t packNo = 0; // 电池包号 1~24 + // 报警 + uint8_t alarmFlag[6] = {0}; // 电池报警标识字1~6 + // 状态 + uint16_t soc = 0; // 电池包SOC，0.1% + uint8_t relayPosNeg = 0; // 电池包正极(高4位)与负极(低4位)继电器状态 + // 电气量 + uint16_t voltageLoad = 0; // 电池包电压负载端，0.1V + uint16_t voltagePack = 0; // 电池包电压电池端，0.1V + int16_t current = 0; // 电池包放电电流，0.05A（放电为正/充电为负） + uint16_t insulationPos = 0; // 电池包正端绝缘电阻，10kΩ + uint16_t insulationNeg = 0; // 电池包负端绝缘电阻，10kΩ + // 温度（偏移量 -40℃） + uint8_t tempMaxNo = 0; // 电池单体最高温度号 + uint8_t tempMax1 = 0; // 电池单体最高温度1，-40℃ + uint8_t tempMax2 = 0; // 电池单体高温2 + uint8_t tempMax3 = 0; // 电池单体高温3 + uint8_t tempMax4 = 0; // 电池单体高温4 + uint8_t tempMin4 = 0; // 电池单体低温4 + uint8_t tempMin3 = 0; // 电池单体低温3 + uint8_t tempMin2 = 0; // 电池单体低温2 + uint8_t tempMin1 = 0; // 电池单体最低温度1，-40℃ + uint8_t tempMinNo = 0; // 电池单体最低温度号 + uint8_t tempAvg = 0; // 电池单体平均温度，-40℃ + // 均衡 + uint8_t balanceState = 0; // 电池单体均衡状态 0无/1有 + // 单体电压（0.1mV） + uint8_t voltMaxNo = 0; // 电池单体最高电压号 + uint16_t voltMax1 = 0; // 电池单体最高电压1 + uint16_t voltMax2 = 0; // 电池单体高电压2 + uint16_t voltMax3 = 0; // 电池单体高电压3 + uint16_t voltMax4 = 0; // 电池单体高电压4 + uint16_t voltMax5 = 0; // 电池单体高电压5 + uint16_t voltMax6 = 0; // 电池单体高电压6 + uint16_t voltMin6 = 0; // 电池单体低电压6 + uint16_t voltMin5 = 0; // 电池单体低电压5 + uint16_t voltMin4 = 0; // 电池单体低电压4 + uint16_t voltMin3 = 0; // 电池单体低电压3 + uint16_t voltMin2 = 0; // 电池单体低电压2 + uint16_t voltMin1 = 0; // 电池单体最低电压1 + uint8_t voltMinNo = 0; // 电池单体最低电压号 + uint16_t voltAvg = 0; // 电池单体平均电压 +}; + +// 状态反馈便捷解析：正极接触器部分（低4位） +inline uint8_t batPosStateOf(uint8_t posDiodeState) { return posDiodeState & 0x0F; } +// 状态反馈便捷解析：二极管回路部分（高4位） +inline uint8_t batDiodeStateOf(uint8_t posDiodeState) { return posDiodeState >> 4; } + +// 正极接触器状态值（低4位）：X1执行中 X2闭合完成 X3断开完成 X4闭合故障 X5断开故障 +enum BatPosContactorState : uint8_t { + BAT_POSST_RUNNING = 0x1, + BAT_POSST_CLOSED = 0x2, + BAT_POSST_OPENED = 0x3, + BAT_POSST_CLOSE_ERR = 0x4, + BAT_POSST_OPEN_ERR = 0x5, +}; +// 二极管回路状态值（高4位）：1X执行中 2X闭合完成 3X断开完成 4X闭合故障 5X断开故障 6X负载端无电压 +enum BatDiodeState : uint8_t { + BAT_DIODST_RUNNING = 0x1, + BAT_DIODST_CLOSED = 0x2, + BAT_DIODST_OPENED = 0x3, + BAT_DIODST_CLOSE_ERR = 0x4, + BAT_DIODST_OPEN_ERR = 0x5, + BAT_DIODST_NO_LOAD_V = 0x6, // 负载端无电压故障 +}; + +//-------------------------------------------------------------------------- +// 消息类 +//-------------------------------------------------------------------------- + +class BatSelfCheckMessage : public Message { +public: + uint16_t id() const override { return 0x0000; } + const char* name() const override { return "bat_self_check"; } + const ChecksumPolicy& checksum() const override { return m_checksum; } + size_t payloadLength() const override { return 2; } + std::vector encode(const void* obj) const override; + bool decode(const std::vector& frame, void* obj) const override; + std::vector encode(const BatSelfCheckValue& v) const { return encode(&v); } + bool decode(const std::vector& frame, BatSelfCheckValue& v) const { + return decode(frame, static_cast(&v)); + } +private: + ChecksumPolicy m_checksum{ChecksumType::Sum32}; +}; + +class BatControlMessage : public Message { +public: + uint16_t id() const override { return 0x0001; } + const char* name() const override { return "bat_control"; } + const ChecksumPolicy& checksum() const override { return m_checksum; } + size_t payloadLength() const override { return 17; } + std::vector encode(const void* obj) const override; + bool decode(const std::vector& frame, void* obj) const override; + std::vector encode(const BatControlValue& v) const { return encode(&v); } + bool decode(const std::vector& frame, BatControlValue& v) const { + return decode(frame, static_cast(&v)); + } +private: + ChecksumPolicy m_checksum{ChecksumType::Sum32}; +}; + +class BatStatusMessage : public Message { +public: + uint16_t id() const override { return 0x0003; } + const char* name() const override { return "bat_status"; } + const ChecksumPolicy& checksum() const override { return m_checksum; } + size_t payloadLength() const override { return 80; } + std::vector encode(const void* obj) const override; + bool decode(const std::vector& frame, void* obj) const override; + std::vector encode(const BatStatusValue& v) const { return encode(&v); } + bool decode(const std::vector& frame, BatStatusValue& v) const { + return decode(frame, static_cast(&v)); + } +private: + ChecksumPolicy m_checksum{ChecksumType::Sum32}; +}; + +class BatPackAlarmMessage : public Message { +public: + uint16_t id() const override { return 0x0004; } + const char* name() const override { return "bat_pack_alarm"; } + const ChecksumPolicy& checksum() const override { return m_checksum; } + size_t payloadLength() const override { return 68; } + std::vector encode(const void* obj) const override; + bool decode(const std::vector& frame, void* obj) const override; + std::vector encode(const BatPackAlarmValue& v) const { return encode(&v); } + bool decode(const std::vector& frame, BatPackAlarmValue& v) const { + return decode(frame, static_cast(&v)); + } +private: + ChecksumPolicy m_checksum{ChecksumType::Sum32}; +}; + +// 注册锂电池消息到给定注册表 +void registerBatMessages(class MessageRegistry& reg); + +} // namespace ccu + +#endif // PCCU_BAT_PROTOCOL_H diff --git a/src/pCCU/web/pages/index.h b/src/pCCU/web/pages/index.h index 3068343..ddbc242 100644 --- a/src/pCCU/web/pages/index.h +++ b/src/pCCU/web/pages/index.h @@ -74,6 +74,8 @@ th{color:var(--dim);font-weight:500;} + +
发送 @@ -91,7 +93,7 @@ th{color:var(--dim);font-weight:500;} const $ = id => document.getElementById(id); const pagesEl = $('pages'); const statusEl = $('status'); -const TABS = ['fcStatus','pmCmd','pmParam','fcCmd','pmStatus','pmFb','links','raw']; +const TABS = ['fcStatus','pmCmd','pmParam','batDyn','batIns','fcCmd','pmStatus','pmFb','links','raw']; let activeTab = 'fcStatus'; function dot(ok){ return ok ? 'dot-ok' : (ok === undefined ? 'dot-warn' : 'dot-bad'); } @@ -126,6 +128,16 @@ function statusText(s){ return m[s] || ('未知('+hex(s)+')'); } function flameText(f){ return {0:'无效',1:'火焰报警',2:'探测器故障'}[f] || ('未知('+hex(f)+')'); } + +//------------------ 锂电池(0x0003/0x0004) 状态码解析 ------------------ +function batWcText(w){ return {0x00:'无效',0x10:'工房调试',0x30:'试验实航',0x50:'科研模式'}[w] || ('未知('+hex(w)+')'); } +function batScText(s){ return {0x00:'无效',0x11:'自检过程中',0x22:'自检完成正常',0x33:'自检完成异常'}[s] || ('未知('+hex(s)+')'); } +function batPwrCfgText(s){ return {0x00:'无效',0x11:'功率计算中',0x22:'满足功率要求',0x33:'不满足功率要求',0x44:'满足要求但无法执行'}[s] || ('未知('+hex(s)+')'); } +function batBusText(s){ return {0x00:'无效',0x01:'执行中',0x11:'闭合完成',0x22:'断开完成',0x33:'闭合故障',0x44:'断开故障'}[s] || ('未知('+hex(s)+')'); } +function batNibText(n){ return {0:'无效',1:'执行中',2:'闭合完成',3:'断开完成',4:'闭合故障',5:'断开故障',6:'负载端无电压'}[n] || ('未知('+hex(n)+')'); } +function batChargeText(s){ return {0x00:'无效',0x10:'电池充电中',0x20:'电池功率输出中'}[s] || ('未知('+hex(s)+')'); } +function batAlarmHex(f){ return f===0 ? ''+hex(f)+' 无' + : ''+hex(f)+''; } // 带解析的值：hex 码 + 括号解析 function parsed(v, text){ return hex(v)+' ('+text+')'; } // 故障码高亮：0 显示绿色正常，非 0 显示红色 @@ -291,10 +303,16 @@ function linkCard(s){ '收:'+l.fc.rx+' 发:'+l.fc.tx+' 误:'+l.fc.err); h+=row('PM 链路', '收:'+l.pm.rx+' 发:'+l.pm.tx+' 误:'+l.pm.err); + h+=row('动力锂电池链路', + '收:'+l.batDyn.rx+' 发:'+l.batDyn.tx+' 误:'+l.batDyn.err); + h+=row('仪表锂电池链路', + '收:'+l.batIns.rx+' 发:'+l.batIns.tx+' 误:'+l.batIns.err); h+=row('FC 状态接收计数', s.fcStatusCount); h+=row('PM 指令接收计数', s.pmControlCount); h+=row('FC 控制转发计数', s.fcControlCount); h+=row('PM 状态发送计数', s.pmStatusCount); + h+=row('动力电池状态接收计数', s.batDynStatusCount); + h+=row('仪表电池状态接收计数', s.batInsStatusCount); return card('链路状态', h); } @@ -359,6 +377,89 @@ function pmFbCard(d){ return card('设定结果', h); } +//------------------ 锂电池状态(0x0003) / 电池包报警(0x0004) 卡片 ------------------ +function batRunCard(d){ + if(!d) return ''; + let h=''; + h+=row('工况', parsed(d.workCondition, batWcText(d.workCondition))); + h+=row('电池自检状态', parsed(d.selfCheckState, batScText(d.selfCheckState))); + h+=row('功率配置状态', parsed(d.powerCfgState, batPwrCfgText(d.powerCfgState))); + h+=row('充放电状态', parsed(d.chargeStatus, batChargeText(d.chargeStatus))); + h+=row('电池紧急状态', hex(d.emergencyState)); + h+=row('SOC', (d.soc*0.1).toFixed(1)+' %'); + h+=row('电池电量', (d.energy*0.1).toFixed(1)+' kWh'); + h+=row('允许最高放电功率', (d.maxDischargePower*0.1).toFixed(1)+' kW'); + h+=row('允许充电功率', (d.maxChargePower*0.1).toFixed(1)+' kW'); + h+=row('当前接入功率', (d.currentAccessPower*0.1).toFixed(1)+' kW'); + h+=row('电池包在线标志', hex32(d.packOnlineFlag)); + h+=row('电池包接入标志', hex32(d.packAccessFlag)); + h+=row('通信心跳', d.heartbeat); + return card('运行状态', h); +} + +function batElecCard(d){ + if(!d) return ''; + let h=''; + h+=row('母线接触器状态', parsed(d.busContactorState, batBusText(d.busContactorState))); + h+=row('正极接触器', batNibText(d.posDiodeState & 0x0F)); + h+=row('二极管回路', batNibText((d.posDiodeState>>4) & 0x0F)); + h+=row('正极+充电继电器', hex(d.relayPosCharge)); + h+=row('预充+负极继电器', hex(d.relayPreNeg)); + h+=row('负载端电压', (d.voltageLoad*0.01).toFixed(2)+' V'); + h+=row('电池端电压', (d.voltagePack*0.01).toFixed(2)+' V'); + h+=row('放电电流', (d.current*0.05).toFixed(2)+' A'); + h+=row('正端绝缘电阻', d.insulationPos+'0 kΩ'); + h+=row('负端绝缘电阻', d.insulationNeg+'0 kΩ'); + return card('接触器与电气量', h); +} + +function batPackCard(d){ + if(!d) return ''; + let h=''; + h+=row('中值电压', (d.packVoltageMid*0.1).toFixed(1)+' V'); + h+=row('最低电压', (d.packVoltageMin*0.1).toFixed(1)+' V (包号'+d.packVoltageMinNo+')'); + h+=row('最高电压', (d.packVoltageMax*0.1).toFixed(1)+' V (包号'+d.packVoltageMaxNo+')'); + h+=row('单包最大压差', (d.packDeltaMax*0.1).toFixed(1)+' mV (包号'+d.packDeltaMaxNo+')'); + h+=row('单体均值温度', (d.cellTempAvg-40)+' ℃'); + h+=row('单体最低温度', (d.cellTempMin-40)+' ℃ (包号'+d.cellTempMinNo+')'); + h+=row('单体最高温度', (d.cellTempMax-40)+' ℃ (包号'+d.cellTempMaxNo+')'); + return card('电池包电压温度', h); +} + +function batAlarmWordCard(d){ + if(!d) return ''; + let h=''; + h+=row('报警标识字1', batAlarmHex(d.alarmFlag1)); + h+=row('报警标识字2', batAlarmHex(d.alarmFlag2)); + h+=row('报警标识字3', batAlarmHex(d.alarmFlag3)); + h+=row('报警标识字4', batAlarmHex(d.alarmFlag4)); + h+=row('报警标识字5', batAlarmHex(d.alarmFlag5)); + h+=row('报警标识字6', batAlarmHex(d.alarmFlag6)); + h+=row('报警位置标识字', hex32(d.alarmPosFlag)); + return card('电池组报警', h); +} + +function batPackAlarmCard(d){ + if(!d) return ''; + let h=''; + h+=row('电池包号', d.packNo); + h+=row('报警标识字1', batAlarmHex(d.alarmFlag1)); + h+=row('报警标识字2', batAlarmHex(d.alarmFlag2)); + h+=row('SOC', (d.soc*0.1).toFixed(1)+' %'); + h+=row('正极+负极继电器', hex(d.relayPosNeg)); + h+=row('负载端电压', (d.voltageLoad*0.1).toFixed(1)+' V'); + h+=row('电池端电压', (d.voltagePack*0.1).toFixed(1)+' V'); + h+=row('放电电流', (d.current*0.05).toFixed(2)+' A'); + h+=row('单体最高温度', (d.tempMax1-40)+' ℃ (号'+d.tempMaxNo+')'); + h+=row('单体最低温度', (d.tempMin1-40)+' ℃ (号'+d.tempMinNo+')'); + h+=row('单体平均温度', (d.tempAvg-40)+' ℃'); + h+=row('均衡状态', d.balanceState===1?'有均衡':'无'); + h+=row('单体最高电压', (d.voltMax1*0.1).toFixed(1)+' mV (号'+d.voltMaxNo+')'); + h+=row('单体最低电压', (d.voltMin1*0.1).toFixed(1)+' mV (号'+d.voltMinNo+')'); + h+=row('单体平均电压', (d.voltAvg*0.1).toFixed(1)+' mV'); + return card('电池包报警信息', h); +} + function pmStatusCard(d){ if(!d) return ''; let h=''; @@ -450,6 +551,13 @@ function render(snap){ +tankCard(snap.fc)+cabinCard(snap.fc)+'
', pmCmd: pageHeader(0x0001,'PM操控指令','PM→CCU')+'
'+cmdCard(snap.pmCmd)+'
', pmParam: pageHeader(0x0002,'PM参数设定','PM→CCU')+'
'+pmParamCard(snap.pmParam)+'
', + // 0x0003/0x0004 锂电池状态反馈（锂电池→CCU）：动力 / 仪表 + batDyn: pageHeader(0x0003,'动力锂电池状态','动力电池→CCU')+'
'+ + batRunCard(snap.batDyn)+batElecCard(snap.batDyn)+batPackCard(snap.batDyn)+ + batAlarmWordCard(snap.batDyn)+batPackAlarmCard(snap.batDynAlarm)+'
', + batIns: pageHeader(0x0003,'仪表锂电池状态','仪表电池→CCU')+'
'+ + batRunCard(snap.batIns)+batElecCard(snap.batIns)+batPackCard(snap.batIns)+ + batAlarmWordCard(snap.batIns)+batPackAlarmCard(snap.batInsAlarm)+'
', fcCmd: pageHeader(0x0001,'FC控制指令','CCU→FC')+'
'+fcCmdCard(snap.fcCmd)+'
', // 0x0004 PM 状态报文（CCU→PM）：含锂电池/应急电池数据 pmStatus: pageHeader(0x0004,'PM状态报文','CCU→PM')+'
'+ diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index bf4f14c..9810d4b 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -137,6 +137,7 @@ add_executable(pccuTest ${CCU_DIR}/protocol/MessageRegistry.cpp ${CCU_DIR}/protocol/FcProtocol.cpp ${CCU_DIR}/protocol/PmProtocol.cpp + ${CCU_DIR}/protocol/BatProtocol.cpp ${CCU_DIR}/comm/UdpEndpoint.cpp ${CCU_DIR}/comm/LinkManager.cpp ${CCU_DIR}/store/DbStore.cpp diff --git a/test/pccu/pccuTest.cpp b/test/pccu/pccuTest.cpp index e6e474f..60517dd 100644 --- a/test/pccu/pccuTest.cpp +++ b/test/pccu/pccuTest.cpp @@ -15,9 +15,11 @@ #include "../../src/pCCU/protocol/MessageRegistry.h" #include "../../src/pCCU/protocol/FcProtocol.h" #include "../../src/pCCU/protocol/PmProtocol.h" +#include "../../src/pCCU/protocol/BatProtocol.h" #include "../../src/pCCU/comm/LinkManager.h" #include "../../src/pCCU/comm/FcLinkManager.h" #include "../../src/pCCU/comm/PmLinkManager.h" +#include "../../src/pCCU/comm/BatLinkManager.h" #include "../../src/pCCU/store/DbStore.h" using namespace ccu; @@ -287,6 +289,247 @@ static void testDbStore() { std::remove(path.c_str()); } +//-------------------------------------------------------------------------- +// 9. 锂电池帧长度必须与协议文档一致（docs/锂电池协议20230324.docx） +static void testBatFrameLengths() { + BatSelfCheckMessage bsc; + BatControlMessage bcm; + BatStatusMessage bsm; + BatPackAlarmMessage bam; + + CHECK(bsc.totalLength() == 12); // 自检指令：6+2+4 + CHECK(bcm.totalLength() == 27); // 设备控制指令：6+17+4 + CHECK(bsm.totalLength() == 90); // 电池组状态：6+80+4 + CHECK(bam.totalLength() == 78); // 电池包报警：6+68+4 +} + +//-------------------------------------------------------------------------- +// 10. 锂电池自检/控制指令编解码往返 +static void testBatControlRoundTrip() { + // 自检指令 + BatSelfCheckValue sc; + sc.selfCheck = BAT_SC_START; + sc.selfCheckReset = BAT_SCR_RESET; + BatSelfCheckMessage scMsg; + std::vector scFrame = scMsg.encode(sc); + CHECK(scFrame.size() == 12); + CHECK(scFrame[0] == 0x40 && scFrame[1] == 0x40); + CHECK(scFrame[2] == 0x00 && scFrame[3] == 0x00); // id 0x0000 小端 + CHECK(scFrame[6] == 0x01 && scFrame[7] == 0x55); + BatSelfCheckValue scOut; + CHECK(scMsg.decode(scFrame, static_cast(&scOut))); + CHECK(scOut.selfCheck == BAT_SC_START && scOut.selfCheckReset == BAT_SCR_RESET); + + // 设备控制指令 + BatControlValue v; + v.year = 2026; v.month = 8; v.day = 30; v.hour = 11; v.minute = 20; v.second = 33; + v.ms10 = 4; + v.workCondition = BAT_WC_SEA_TRIAL; + v.busContactor = BAT_CTR_CLOSE; + v.posContactor = BAT_CTR_OPEN; + v.diodeContactor = BAT_CTR_CLOSE; + v.powerKw = 350; + v.reserved = 0x1234; + v.heartbeat = 66; + + BatControlMessage msg; + std::vector frame = msg.encode(v); + CHECK(frame.size() == 27); + CHECK(frame[2] == 0x01 && frame[3] == 0x00); // id 0x0001 小端 + CHECK(frame[6 + 8] == BAT_WC_SEA_TRIAL); // 工况 + CHECK(frame[6 + 9] == BAT_CTR_CLOSE); // 母线接触器 + CHECK(frame[6 + 10] == BAT_CTR_OPEN); // 正极接触器 + CHECK(frame[6 + 11] == BAT_CTR_CLOSE); // 二极管接触器 + CHECK(frame[6 + 12] == 0x5E && frame[6 + 13] == 0x01); // 350 = 0x015E 小端 + CHECK(frame[6 + 14] == 0x34 && frame[6 + 15] == 0x12); // 预留 0x1234 小端 + CHECK(frame[6 + 16] == 66); // 心跳 + + BatControlValue out; + CHECK(msg.decode(frame, static_cast(&out))); + CHECK(out.year == 2026 && out.month == 8 && out.day == 30); + CHECK(out.hour == 11 && out.minute == 20 && out.second == 33 && out.ms10 == 4); + CHECK(out.workCondition == BAT_WC_SEA_TRIAL); + CHECK(out.busContactor == BAT_CTR_CLOSE); + CHECK(out.posContactor == BAT_CTR_OPEN); + CHECK(out.diodeContactor == BAT_CTR_CLOSE); + CHECK(out.powerKw == 350); + CHECK(out.reserved == 0x1234); + CHECK(out.heartbeat == 66); +} + +//-------------------------------------------------------------------------- +// 11. 锂电池电池组状态(0x0003)编解码往返（关键字段抽查） +static void testBatStatusRoundTrip() { + BatStatusValue v; + v.year = 2026; v.month = 3; v.day = 24; v.hour = 10; v.minute = 0; v.second = 1; + v.ms10 = 9; + v.workCondition = BAT_WC_WORKSHOP; + v.selfCheckState = BAT_SCST_OK; + v.powerCfgState = 0x22; + v.busContactorState = BAT_BUSST_CLOSED; + v.posDiodeState = 0x32; // 二极管闭合完成(3?) 高4位=3 断开完成; 低4位=2 正极闭合完成 + v.emergencyState = 0x1C; + v.soc = 855; // 85.5% + v.energy = 1234; // 123.4 kWh + v.maxDischargePower = 5000; // 500.0 kW + v.maxChargePower = 2000; + v.currentAccessPower = 1500; // 150.0 kW + v.packOnlineFlag = 0x00FFFFFF; + v.packAccessFlag = 0x000000FF; + v.relayPosCharge = 0x12; + v.relayPreNeg = 0x11; + v.voltageLoad = 5400; // 54.00 V + v.voltagePack = 5500; + v.current = -200; // -10 A（充电） + v.insulationPos = 50; // 500 kΩ + v.insulationNeg = 60; + v.masterTemp1 = 1; v.masterTemp2 = 2; + v.packVoltageMid = 540; // 54.0 V + v.packVoltageMin = 535; + v.packVoltageMinNo = 3; + v.packVoltageMax = 545; + v.packVoltageMaxNo = 7; + v.packDeltaMax = 200; // 20.0 mV + v.packDeltaMaxNo = 5; + v.packDeltaMaxVoltage = 5450; + v.cellTempAvg = 65; // 25 ℃ + v.cellTempMin = 55; + v.cellTempMinNo = 2; + v.cellTempMax = 70; + v.cellTempMaxNo = 4; + v.alarmFlag[0] = 0x42; v.alarmFlag[5] = 0xC1; + v.alarmPosFlag = 0x00FF00AA; + v.chargeStatus = 0x20; + v.reserved = 0x5A5A; + v.heartbeat = 88; + + BatStatusMessage msg; + std::vector frame = msg.encode(v); + CHECK(frame.size() == 90); + CHECK(frame[2] == 0x03 && frame[3] == 0x00); // id 0x0003 + CHECK(frame[4] == 0x5A && frame[5] == 0x00); // 域字节数=整包长度 90=0x005A + CHECK(frame[6 + 9] == BAT_SCST_OK); // 自检状态 offset9 + CHECK(frame[6 + 11] == BAT_BUSST_CLOSED); // 母线接触器状态 offset11 + CHECK(frame[6 + 12] == 0x32); // 正极/二极管 offset12 + CHECK(frame[6 + 14] == 0x57 && frame[6 + 15] == 0x03); // SOC 855=0x0357 小端 + CHECK(frame[6 + 40] == 0x38 && frame[6 + 41] == 0xFF); // current -200=0xFF38 小端 + CHECK(frame[6 + 79] == 88); // 心跳 offset79 + + BatStatusValue out; + CHECK(msg.decode(frame, static_cast(&out))); + CHECK(out.year == 2026 && out.month == 3 && out.day == 24); + CHECK(out.selfCheckState == BAT_SCST_OK); + CHECK(out.powerCfgState == 0x22); + CHECK(out.busContactorState == BAT_BUSST_CLOSED); + CHECK(out.posDiodeState == 0x32); + CHECK(batPosStateOf(out.posDiodeState) == BAT_POSST_CLOSED); + CHECK(out.emergencyState == 0x1C); + CHECK(out.soc == 855 && out.energy == 1234); + CHECK(out.maxDischargePower == 5000 && out.maxChargePower == 2000); + CHECK(out.currentAccessPower == 1500); + CHECK(out.packOnlineFlag == 0x00FFFFFF && out.packAccessFlag == 0x000000FF); + CHECK(out.relayPosCharge == 0x12 && out.relayPreNeg == 0x11); + CHECK(out.voltageLoad == 5400 && out.voltagePack == 5500); + CHECK(out.current == -200); + CHECK(out.insulationPos == 50 && out.insulationNeg == 60); + CHECK(out.packVoltageMid == 540 && out.packVoltageMin == 535 && out.packVoltageMinNo == 3); + CHECK(out.packVoltageMax == 545 && out.packVoltageMaxNo == 7); + CHECK(out.packDeltaMax == 200 && out.packDeltaMaxNo == 5 && out.packDeltaMaxVoltage == 5450); + CHECK(out.cellTempAvg == 65 && out.cellTempMax == 70 && out.cellTempMaxNo == 4); + CHECK(out.alarmFlag[0] == 0x42 && out.alarmFlag[5] == 0xC1); + CHECK(out.alarmPosFlag == 0x00FF00AA); + CHECK(out.chargeStatus == 0x20 && out.reserved == 0x5A5A); + CHECK(out.heartbeat == 88); +} + +//-------------------------------------------------------------------------- +// 12. 锂电池电池包报警(0x0004)编解码往返 +static void testBatPackAlarmRoundTrip() { + BatPackAlarmValue v; + v.year = 2026; v.month = 3; v.day = 24; v.hour = 9; v.minute = 1; v.second = 2; + v.ms10 = 5; + v.packNo = 12; + v.alarmFlag[0] = 0x45; v.alarmFlag[3] = 0x82; + v.soc = 700; // 70.0% + v.relayPosNeg = 0x12; // 正极接通 + 负极断开 + v.voltageLoad = 530; // 53.0 V + v.voltagePack = 528; + v.current = 400; // 20 A（放电） + v.insulationPos = 100; + v.insulationNeg = 110; + v.tempMaxNo = 6; v.tempMax1 = 75; + v.tempMin1 = 50; + v.tempAvg = 62; + v.balanceState = 1; + v.voltMaxNo = 9; v.voltMax1 = 41; // 4.1 mV*10 => 0.1mV 精度 + v.voltMin1 = 33; + v.voltMinNo = 11; + v.voltAvg = 38; + + BatPackAlarmMessage msg; + std::vector frame = msg.encode(v); + CHECK(frame.size() == 78); + CHECK(frame[2] == 0x04 && frame[3] == 0x00); // id 0x0004 + CHECK(frame[6 + 8] == 12); // 电池包号 + CHECK(frame[6 + 9] == 0x45); // 报警标识字1 + CHECK(frame[6 + 17] == 0x12); // 正极/负极继电器 + CHECK(frame[6 + 66] == 0x26 && frame[6 + 67] == 0x00); // 平均电压 38=0x0026 小端 + + BatPackAlarmValue out; + CHECK(msg.decode(frame, static_cast(&out))); + CHECK(out.packNo == 12); + CHECK(out.alarmFlag[0] == 0x45 && out.alarmFlag[3] == 0x82); + CHECK(out.soc == 700); + CHECK(out.relayPosNeg == 0x12); + CHECK(out.voltageLoad == 530 && out.voltagePack == 528); + CHECK(out.current == 400); + CHECK(out.insulationPos == 100 && out.insulationNeg == 110); + CHECK(out.tempMaxNo == 6 && out.tempMax1 == 75); + CHECK(out.tempMin1 == 50 && out.tempAvg == 62); + CHECK(out.balanceState == 1); + CHECK(out.voltMaxNo == 9 && out.voltMax1 == 41); + CHECK(out.voltMin1 == 33 && out.voltMinNo == 11); + CHECK(out.voltAvg == 38); +} + +//-------------------------------------------------------------------------- +// 13. 锂电池链路分发与注册表隔离 +static void testBatLinkDispatch() { + MessageRegistry batReg; + registerBatMessages(batReg); + CHECK(batReg.size() == 4); + CHECK(batReg.find(0x0000) != nullptr); + CHECK(batReg.find(0x0001) != nullptr); + CHECK(batReg.find(0x0003) != nullptr); + CHECK(batReg.find(0x0004) != nullptr); + + // 锂电池链路收帧：0x0003 状态解码 + BatStatusValue v; + v.soc = 999; v.heartbeat = 21; + BatStatusMessage bsm; + std::vector frame = bsm.encode(v); + + BatLinkManager blm(BatRole::Dyn, 0, "192.168.100.137", 7000); + CHECK(blm.linkName() == "bat_dyn"); + + bool got = false; + blm.setOnMessage([&](Message* m, const std::vector& f) { + if (m && m->id() == 0x0003) { + BatStatusValue out; + if (m->decode(f, static_cast(&out))) { + got = (out.soc == 999 && out.heartbeat == 21); + } + } + }); + CHECK(blm.handleIncoming(frame)); + CHECK(got); + + // 校验失败帧拒收 + std::vector bad = frame; + bad[10] ^= 0xFF; + CHECK(!blm.handleIncoming(bad)); +} + //-------------------------------------------------------------------------- int main() { testFrameLengths(); @@ -297,6 +540,11 @@ int main() { testChecksum(); testLinkDispatch(); testDbStore(); + testBatFrameLengths(); + testBatControlRoundTrip(); + testBatStatusRoundTrip(); + testBatPackAlarmRoundTrip(); + testBatLinkDispatch(); std::printf("\n==== pccuTest: %d passed, %d failed ====\n", g_pass, g_fail); return g_fail == 0 ? 0 : 1; diff --git a/test/pccu/pccu_integration_test.py b/test/pccu/pccu_integration_test.py index b6010a7..f0f926c 100644 --- a/test/pccu/pccu_integration_test.py +++ b/test/pccu/pccu_integration_test.py @@ -4,15 +4,21 @@ 拓扑： 测试脚本(FC模拟) --16000--> pCCU(fc_local) [FC状态 0x0002] 测试脚本(PM模拟) --16002--> pCCU(pm_local) [PM操控 0x0001, PM参数设定 0x0002] + 测试脚本(电池模拟) --17001/17002--> pCCU [电池组状态 0x0003] pCCU --16001--> 测试脚本 [FC控制 0x0001 转发] pCCU --16003--> 测试脚本 [PM状态 0x0004, PM参数反馈 0x0003] + pCCU --17003/17004--> 测试脚本 [电池控制指令 0x0001 / 自检指令 0x0000] 校验： 1. FC 状态收到并整合，pCCU 周期发送 PM 状态(0x0004, 248B)到 16003 2. PM 操控(0x0001)转发为 FC 控制(0x0001, 24B)到 16001 3. PM 参数设定(0x0002)触发参数反馈(0x0003, 12B)到 16003 - 4. SQLite 记录了收/发原始帧 - 5. Web 页面可访问 + 4. PM 操控中锂电池启停指令映射为电池控制指令(0x0001, 27B)： + 动力 0x20 关闭 -> 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55 + 5. pCCU 周期(1s)向动力/仪表锂电池下发心跳控制指令 + 6. 电池组状态(0x0003)收到后落库 SQLite（link=bat_dyn/bat_ins） + 7. SQLite 记录了收/发原始帧 + 8. Web 页面可访问 """ import socket import struct @@ -29,6 +35,10 @@ FC_STATUS_PORT = 16000 FC_CTRL_RECV_PORT = 16001 PM_CTRL_PORT = 16002 PM_STATUS_RECV_PORT = 16003 +DYN_BAT_PORT = 17001 # pCCU 监听动力电池状态 +INS_BAT_PORT = 17002 # pCCU 监听仪表电池状态 +DYN_BAT_RECV_PORT = 17003 # 测试监听（pCCU 发往"动力电池"的目标端口） +INS_BAT_RECV_PORT = 17004 # 测试监听（pCCU 发往"仪表电池"的目标端口） WEB_PORT = 18081 DB_PATH = "/tmp/pccu_it_test.db" MOOSDB_EXE = "/usr/local/bin/MOOSDB" @@ -94,6 +104,26 @@ def pm_paramset_frame(): return frame(0x0002, bytes(p)) +def bat_status_frame(): + """电池组状态 0x0003：payload 80B，带 uint32 校验和""" + p = bytearray(80) + struct.pack_into(" 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55 + dyn_ctl = [d for d in dyn_bat_results if len(d) == 27 and d[2] == 0x01] + ins_ctl = [d for d in ins_bat_results if len(d) == 27 and d[2] == 0x01] + print(f"[动力电池控制指令] 收到 {len(dyn_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)") + if dyn_ctl: + bus = dyn_ctl[-1][6 + 9] # 最后一帧：PM 指令生效后的期望状态 + print(f" -> 母线接触器=0x{bus:02X} (期望0x77 关闭)") + ok = ok and (bus == 0x77) + else: + ok = False + print(f"[仪表电池控制指令] 收到 {len(ins_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)") + if ins_ctl: + bus = ins_ctl[-1][6 + 9] + print(f" -> 母线接触器=0x{bus:02X} (期望0x55 接通)") + ok = ok and (bus == 0x55) + else: + ok = False + + # 校验 5：数据库有记录（含锂电池链路收发） time.sleep(1.0) db_count = -1 + bat_dyn_rx = -1 + bat_tx = -1 if os.path.exists(DB_PATH): import sqlite3 conn = sqlite3.connect(DB_PATH) db_count = conn.execute("SELECT COUNT(*) FROM comm_log").fetchone()[0] + # 电池组状态接收（link=bat_dyn, 方向=收, msg_id=3） + bat_dyn_rx = conn.execute( + "SELECT COUNT(*) FROM comm_log WHERE link='bat_dyn' AND direction=0 AND msg_id=3" + ).fetchone()[0] + # 电池控制指令发送（direction=1, msg_id=1, bat 链路） + bat_tx = conn.execute( + "SELECT COUNT(*) FROM comm_log WHERE link IN ('bat_dyn','bat_ins') AND direction=1 AND msg_id=1" + ).fetchone()[0] conn.close() - print(f"[数据库] comm_log 记录数 = {db_count}") + print(f"[数据库] comm_log 记录数 = {db_count} (期望>=6)") + print(f"[数据库] 动力电池状态接收记录 = {bat_dyn_rx} (期望>=1), 电池控制发送记录 = {bat_tx} (期望>=2)") ok = ok and (db_count >= 6) # 3条FC状态 + 1条PM操控 + 1条PM参数 + 周期PM状态(至少1) + ok = ok and (bat_dyn_rx >= 1) and (bat_tx >= 2) - # 校验 5：Web 页面 + # 校验 6：Web 页面 web_ok = False try: resp = urllib.request.urlopen(f"http://127.0.0.1:{WEB_PORT}/", timeout=3) diff --git a/test/pccu/pccu_it.moos b/test/pccu/pccu_it.moos index 2e4d92d..bb7c2b4 100644 --- a/test/pccu/pccu_it.moos +++ b/test/pccu/pccu_it.moos @@ -16,6 +16,14 @@ ProcessConfig = pCCU pm_remote_ip = 127.0.0.1 pm_remote_port = 16003 // 控制主机（测试监听此端口收状态报文） + // 锂电池链路（测试端口） + dyn_bat_local_port = 17001 // 监听动力电池状态 + dyn_bat_remote_ip = 127.0.0.1 + dyn_bat_remote_port = 17003 // 动力电池（测试监听此端口收控制/心跳指令） + ins_bat_local_port = 17002 // 监听仪表电池状态 + ins_bat_remote_ip = 127.0.0.1 + ins_bat_remote_port = 17004 // 仪表电池（测试监听此端口收控制/心跳指令） + dbpath = /tmp/pccu_it_test.db logpath = /tmp/pccu_it_test.log diff --git a/test/pccu/pccu_ws_check.py b/test/pccu/pccu_ws_check.py index 3aa753e..9c6e829 100644 --- a/test/pccu/pccu_ws_check.py +++ b/test/pccu/pccu_ws_check.py @@ -82,11 +82,15 @@ def main(): print("FAIL: 快照非合法JSON:", text[:200]) return 1 ok = True - for key in ("fc", "pmCmd", "links", "fcStatusCount", "pmControlCount", "logs"): + for key in ("fc", "pmCmd", "links", "fcStatusCount", "pmControlCount", "logs", + "batDyn", "batIns", "batDynAlarm", "batInsAlarm", + "batDynStatusCount", "batInsStatusCount"): ok = ok and key in data + ok = ok and ("batDyn" in data.get("links", {})) and ("batIns" in data.get("links", {})) print(f"PASS: 快照 JSON 有效, 分组keys={sorted(data.keys())}") print(f" fc.fc_status={data['fc']['fc_status']}, fc.fc_mode={data['fc']['fc_mode']}, " f"heartbeat={data['fc']['heartbeat']}") + print(f" batDyn.soc={data['batDyn'].get('soc')}, batIns.soc={data['batIns'].get('soc')}") print(f" links={json.dumps(data['links'], ensure_ascii=False)}") print(f" logs条数={len(data['logs'])}, fcStatusCount={data['fcStatusCount']}") ws.s.close()