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
@@ -161,3 +161,23 @@ target_link_libraries(pccuTest
    pthread
    dl
 )
+
+################################################pmotorTest（pMotor 单元测试）####
+# pMotor 推进电机 CAN 协议编解码单元测试（独立可执行，无 gtest 依赖）
+set(MOTOR_DIR ${CMAKE_SOURCE_DIR}/src/pMotor)
+
+add_executable(pmotorTest
+    pmotor/pmotorTest.cpp
+    ${MOTOR_DIR}/protocol/MotorCan.cpp
+)
+target_include_directories(pmotorTest PRIVATE
+    ${MOTOR_DIR}
+)
+set_target_properties(pmotorTest PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+)
+target_link_libraries(pmotorTest
+    m
+    pthread
+)
@@ -0,0 +1,255 @@
+//============================================================================
+// pmotorTest：pMotor 推进电机 CAN 协议编解码单元测试
+// 无第三方测试库，独立可执行。参照 test/pccu/pccuTest.cpp 的轻量风格。
+//
+// 协议依据：docs/推进电机通信协议20260321.docx
+//============================================================================
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include "../../src/pMotor/protocol/MotorCan.h"
+
+using namespace motor;
+
+static int g_fail = 0;
+static int g_pass = 0;
+
+#define CHECK(cond) do { \
+    if (cond) { ++g_pass; } \
+    else { ++g_fail; std::printf("FAIL %s:%d  %s\n", __FILE__, __LINE__, #cond); } \
+} while (0)
+
+#define CHECK_STREQ(a, b) do { \
+    if (std::string(a) == std::string(b)) { ++g_pass; } \
+    else { ++g_fail; std::printf("FAIL %s:%d  \"%s\" != \"%s\"\n", __FILE__, __LINE__, std::string(a).c_str(), std::string(b).c_str()); } \
+} while (0)
+
+//--------------------------------------------------------------------------
+// 1. 指令帧编码（对照文档示例）
+
+static void testCmdEncode() {
+    uint8_t d[8];
+
+    // 文档示例：启动并给定 1000 转速 -> 01 00 E8 03 00 00 00 00
+    buildMotorCmdData(true, false, 1000, d);
+    uint8_t expect1[] = {0x01, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00};
+    CHECK(std::memcmp(d, expect1, 8) == 0);
+
+    // 文档示例：停机 -> 00 00 00 00 00 00 00 00
+    buildMotorCmdData(false, false, 0, d);
+    uint8_t expect0[] = {0, 0, 0, 0, 0, 0, 0, 0};
+    CHECK(std::memcmp(d, expect0, 8) == 0);
+
+    // 文档示例：复位 -> 02 00 00 00 00 00 00 00
+    buildMotorCmdData(false, true, 0, d);
+    uint8_t expect2[] = {0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+    CHECK(std::memcmp(d, expect2, 8) == 0);
+
+    // 使能+复位 同时有效 -> bit0+bit1 = 0x03
+    buildMotorCmdData(true, true, 0, d);
+    CHECK(d[0] == 0x03);
+
+    // 负转速 s16 Intel：-100 = 0xFF9C -> byte2=0x9C byte3=0xFF
+    buildMotorCmdData(true, false, -100, d);
+    CHECK(d[0] == 0x01);
+    CHECK(d[2] == 0x9C && d[3] == 0xFF);
+
+    // 边界转速：32767 / -32768
+    buildMotorCmdData(true, false, 32767, d);
+    CHECK(d[2] == 0xFF && d[3] == 0x7F);
+    buildMotorCmdData(true, false, -32768, d);
+    CHECK(d[2] == 0x00 && d[3] == 0x80);
+
+    // 支路通信状态位（bit2/bit3）恒 0（pMotor 不反馈通信状态）
+    buildMotorCmdData(true, false, 1, d);
+    CHECK((d[0] & 0x0C) == 0);
+}
+
+//--------------------------------------------------------------------------
+// 2. CAN ID 识别
+
+static void testCanId() {
+    // 12 条电机 ID 全部命中
+    const uint32_t ids[] = {
+        MOTOR_CAN_CMD, MOTOR_CAN_CMD_RED,
+        MOTOR_CAN_LIMIT, MOTOR_CAN_LIMIT_RED,
+        MOTOR_CAN_FAULT1, MOTOR_CAN_FAULT1_RED,
+        MOTOR_CAN_FAULT2, MOTOR_CAN_FAULT2_RED,
+        MOTOR_CAN_STATE3, MOTOR_CAN_STATE3_RED,
+        MOTOR_CAN_STATE4, MOTOR_CAN_STATE4_RED,
+    };
+    for (size_t i = 0; i < sizeof(ids) / sizeof(ids[0]); ++i)
+        CHECK(isCanMotorId(ids[i]));
+
+    // 冗余 CAN 与主 CAN 仅末字节差 1
+    CHECK(MOTOR_CAN_CMD_RED == MOTOR_CAN_CMD + 1);
+    CHECK(MOTOR_CAN_FAULT1_RED == MOTOR_CAN_FAULT1 + 1);
+    CHECK(MOTOR_CAN_FAULT2_RED == MOTOR_CAN_FAULT2 + 1);
+    CHECK(MOTOR_CAN_STATE3_RED == MOTOR_CAN_STATE3 + 1);
+    CHECK(MOTOR_CAN_STATE4_RED == MOTOR_CAN_STATE4 + 1);
+
+    // 其他协议报文不命中（BCU 电池 / 配电）
+    CHECK(!isCanMotorId(0x10010000));   // BCU 概要
+    CHECK(!isCanMotorId(0x103681FF));   // BCU 继电器控制
+    CHECK(!isCanMotorId(0x1401A501));   // 配电控制指令
+    CHECK(!isCanMotorId(0x18EF2012));   // 电机协议未定义的 ID
+}
+
+//--------------------------------------------------------------------------
+// 3. 状态帧3 解码（0x18EF1220：反馈转速/母线电压）
+
+static void testState3Decode() {
+    MotorState st;
+    uint8_t d[8] = {0xE8, 0x03, 0xF4, 0x01, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d, 8, st));
+    CHECK(st.state3Valid);
+    CHECK(st.feedbackSpeed == 1000);   // 0x03E8 Intel
+    CHECK(st.busVoltage == 500);       // 0x01F4 Intel
+
+    // 负转速
+    uint8_t d2[8] = {0x9C, 0xFF, 0, 0, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d2, 8, st));
+    CHECK(st.feedbackSpeed == -100);
+
+    // 冗余 CAN 同样可解码
+    MotorState st2;
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE3_RED, d, 8, st2));
+    CHECK(st2.feedbackSpeed == 1000 && st2.busVoltage == 500);
+
+    // 非法 dlc
+    MotorState st3;
+    CHECK(!decodeMotorFrame(MOTOR_CAN_STATE3, d, 4, st3));
+    CHECK(!decodeMotorFrame(MOTOR_CAN_STATE3, nullptr, 8, st3));
+}
+
+//--------------------------------------------------------------------------
+// 4. 状态帧4 解码（0x18EF1320：温度）
+
+static void testState4Decode() {
+    MotorState st;
+    uint8_t d[8] = {26, 44, 62, 79, 90, 107, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE4, d, 8, st));
+    CHECK(st.state4Valid);
+    CHECK(st.tempA == 26 && st.tempB == 44 && st.tempC == 62);
+    CHECK(st.tempInv == 79 && st.tempFilter == 90 && st.tempAir == 107);
+
+    // 冗余 CAN
+    MotorState st2;
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE4_RED, d, 8, st2));
+    CHECK(st2.tempA == 26);
+}
+
+//--------------------------------------------------------------------------
+// 5. 故障帧解码（0x18EF1020 支路一 / 0x18EF1120 支路二）
+
+static void testFaultDecode() {
+    MotorState st;
+
+    // 支路一：word0 置 bit8(超速) + bit9(紧急停机) -> byte0|byte1<<8 = 0x0300；
+    // word3 置 bit8(遥控CAN通信中断报警) -> 0x0100
+    uint8_t d1[8] = {0x00, 0x03, 0, 0, 0, 0, 0x00, 0x01};
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d1, 8, st));
+    CHECK(st.branch1.valid);
+    CHECK(st.branch1.word[0] == 0x0300);
+    CHECK(st.branch1.word[3] == 0x0100);
+    CHECK(st.branch1.faults.size() == 2);
+    CHECK_STREQ(st.branch1.faults[0], "超速故障");
+    CHECK_STREQ(st.branch1.faults[1], "紧急停机故障");
+    CHECK(st.branch1.alarms.size() == 1);
+    CHECK_STREQ(st.branch1.alarms[0], "遥控CAN通信中断报警");
+
+    // 支路一 word0 bit7 = 筒内空气过温故障
+    uint8_t d2[8] = {0x80, 0x00, 0, 0, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d2, 8, st));
+    CHECK(st.branch1.faults.size() == 1);
+    CHECK_STREQ(st.branch1.faults[0], "筒内空气过温故障");
+
+    // 支路二：同 bit7 为预留，不应产生故障描述
+    uint8_t d3[8] = {0x80, 0x00, 0, 0, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2, d3, 8, st));
+    CHECK(st.branch2.valid);
+    CHECK(st.branch2.faults.empty());
+    CHECK(st.branch2.alarms.empty());
+
+    // 支路二 word1：bit0(逆变A1相驱动1上管) + word2 bit3(母线电压过压)
+    uint8_t d4[8] = {0, 0, 0x01, 0x00, 0x08, 0x00, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2, d4, 8, st));
+    CHECK(st.branch2.word[1] == 0x0001);
+    CHECK(st.branch2.word[2] == 0x0008);
+    CHECK(st.branch2.faults.size() == 2);
+    CHECK_STREQ(st.branch2.faults[0], "逆变A1相驱动1(上管)故障");
+    CHECK_STREQ(st.branch2.faults[1], "母线电压过压故障");
+
+    // 冗余 CAN 同样可解码且归入对应支路
+    MotorState st2;
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1_RED, d1, 8, st2));
+    CHECK(st2.branch1.valid && !st2.branch2.valid);
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2_RED, d4, 8, st2));
+    CHECK(st2.branch2.valid && st2.branch2.faults.size() == 2);
+}
+
+//--------------------------------------------------------------------------
+// 6. 故障描述查表
+
+static void testFaultTable() {
+    std::vector<std::string> out;
+
+    // word1 bit12/13/14/15
+    CHECK(motorFaultTexts(1, 1, (1u << 12) | (1u << 13) | (1u << 14) | (1u << 15), out) == 4);
+    CHECK_STREQ(out[0], "硬件总故障");
+    CHECK_STREQ(out[1], "驱动总故障");
+    CHECK_STREQ(out[2], "采样总故障");
+    CHECK_STREQ(out[3], "24V欠压故障");
+
+    // word3 全位 16 条
+    CHECK(motorFaultTexts(1, 3, 0xFFFF, out) == 16);
+    CHECK_STREQ(out[0], "直流母线1电压偏高报警");
+    CHECK_STREQ(out[15], "协调光纤报警");
+
+    // 无置位
+    CHECK(motorFaultTexts(1, 0, 0, out) == 0);
+
+    // 非法参数
+    CHECK(motorFaultTexts(0, 0, 1, out) == 0);
+    CHECK(motorFaultTexts(3, 0, 1, out) == 0);
+    CHECK(motorFaultTexts(1, 9, 1, out) == 0);
+}
+
+//--------------------------------------------------------------------------
+// 7. 部分更新合并语义（故障帧重复上报，故障清除后描述随之清除）
+
+static void testPartialUpdate() {
+    MotorState st;
+    uint8_t d1[8] = {0x01, 0x00, 0, 0, 0, 0, 0, 0};  // 支路一 CPLD自检故障 (bit0)
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d1, 8, st));
+    CHECK(st.branch1.faults.size() == 1);
+    CHECK_STREQ(st.branch1.faults[0], "CPLD自检故障标志");
+
+    // 复位后故障字清零 -> 描述清空
+    uint8_t d2[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d2, 8, st));
+    CHECK(st.branch1.faults.empty());
+
+    // 状态帧不影响支路有效标志
+    uint8_t d3[8] = {1, 0, 0, 0, 0, 0, 0, 0};
+    CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d3, 8, st));
+    CHECK(st.feedbackSpeed == 1);
+    CHECK(st.branch1.valid);   // 仍为 true（部分更新语义）
+}
+
+int main() {
+    testCmdEncode();
+    testCanId();
+    testState3Decode();
+    testState4Decode();
+    testFaultDecode();
+    testFaultTable();
+    testPartialUpdate();
+
+    std::printf("\n==== pmotorTest: %d passed, %d failed ====\n", g_pass, g_fail);
+    return g_fail ? 1 : 0;
+}