新增 pMotor 推进电机操作程序：经 pCanBridge(CAN1) 与电机控制器交互

- 协议模块(protocol/MotorCan)：12 条 CAN ID、指令帧 0x18EF2010 编码、状态帧(转速/母线电压/温度)与支路一/二故障报警帧解码，故障位按协议逐位映射中文描述（docs/推进电机通信协议20260321.docx） - 主程序(MOOS 应用)：订阅 pCanBridge 透传 CAN_0x* 解码电机状态； 500ms 周期下发指令帧（CAN_TX_0x18EF2010，m_sSrcAux=CAN1），可选 red_channel 冗余下发 0x18EF2011；复位位保持 reset_hold_sec - 网页(18081)：按协议指令帧字段独立下发（使能命令 Byte0 bit0 / 复位命令 Byte0 bit1 / 期望转速 Byte2/3，无联动按钮）； WebSocket 1Hz 推送转速/电压/温度/故障告警/链路统计 - 配置接入：missions/h100.moos 增加 pMotor 配置块（can_channel=CAN1） - 测试：pmotorTest 92 项（指令帧字节级对照协议示例、解码/故障表） - 部署：scripts/build-board.sh 增加 pMotor 产物拷贝 + pMotor.service； .gitignore 补 bin/pMotor、bin/pmotorTest - 联调验证：MOOSDB+pCanBridge+假CANET 全链路，下行帧 01 00 E8 03 与协议文档示例一致，复位位 3s 保持行为正确
2026-09-02 10:50:28 +08:00
parent 67e732045a
commit 873a1a9b09
20 changed files with 2007 additions and 10 deletions
@@ -0,0 +1,103 @@
+/****************************************************************/
+/*   NAME:  Motor_Info                                          */
+/*   FILE:  Motor_Info.cpp                                      */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "Motor_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+void showSynopsis() {
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  The pMotor application is the propulsion motor operation     ");
+  blk("  program. It talks to the motor controller over CAN (via      ");
+  blk("  pCanBridge pass-through, default channel CAN1):              ");
+  blk("  subscribes motor state/fault frames (CAN_0x*), sends the     ");
+  blk("  500ms periodic command frame 0x18EF2010 (enable/reset/speed) ");
+  blk("  via MOOS CAN_TX_0x*, and provides a web page for control     ");
+  blk("  and monitoring. Protocol:                                    ");
+  blk("  docs/推进电机通信协议20260321.docx.                    ");
+  blk("                                                                ");
+}
+
+void showHelpAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: pMotor file.moos [OPTIONS]                          ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch pMotor with the given process name          ");
+  blk("      rather than pMotor.                                  ");
+  mag("  --example, -e                                                 ");
+  blk("      Display example MOOS configuration block.                 ");
+  mag("  --help, -h                                                    ");
+  blk("      Display this help message.                                ");
+  mag("  --interface, -i                                               ");
+  blk("      Display MOOS publications and subscriptions.              ");
+  mag("  --version,-v                                                  ");
+  blk("      Display the release version of pMotor.             ");
+  blk("                                                                ");
+  blk("Note: If argv[2] does not otherwise match a known option,       ");
+  blk("      then it will be interpreted as a run alias. This is       ");
+  blk("      to support pAntler launching conventions.                 ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showExampleConfigAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pMotor Example MOOS Configuration                          ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = pMotor                                   ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("                                                                ");
+  blk("  can_channel   = CAN1   // 电机 CAN 通道（pCanBridge 配置名）  ");
+  blk("  red_channel   =        // 冗余 CAN 通道（空=不发冗余帧）       ");
+  blk("  cmd_period_ms = 500    // 指令帧周期（协议 500ms）            ");
+  blk("  reset_hold_sec= 5      // 复位位保持时长（秒）                 ");
+  blk("  web_port      = 18081  // 网页端口(避开8080/8090/18080)        ");
+  blk("  web_enable    = true   // 是否启用网页                        ");
+  blk("  logpath       = pMotor.log // 日志路径                        ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showInterfaceAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pMotor INTERFACE                                        ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  CAN_0x*            = pCanBridge 透传的 CAN 帧（电机状态/故障） ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  CAN_TX_0x18EF2010  = 主控指令帧（二进制 8 字节数据域，         ");
+  blk("                        m_sSrcAux=CAN1，经 pCanBridge 下行）     ");
+  blk("  CAN_TX_0x18EF2011  = 指令帧冗余（配置 red_channel 时发送）     ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showReleaseInfoAndExit() {
+  showReleaseInfo("pMotor", "gpl");
+  exit(0);
+}