zjk/H100PowerManger
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

pCCU 锂电池通信切换为 CAN 总线（BMS 协议，经 pCanBridge 透传）
build-test-deploy / ci (push) Failing after 1h9m57s
Details

Browse Source 
协议层：
- 新增 protocol/CanBms.{h,cpp}：按 docs/BMS_协议字段定义.xlsx 解码
  0x10010000（总电压/SOC/故障码/状态位）、0x10010005（最大电流限制/
  总电流/最高单体电压）、0x10010006（总电压校验）。
  缩放用除法保证与十进制字面量严格一致；总电流按 2 字节 s16 实现
  （xlsx 标注 3 字节与其自身示例/实车帧矛盾，已在代码注释说明）。
- 删除 UDP 锂电池协议：protocol/BatProtocol.{h,cpp}、
  comm/BatLinkManager.h（动力/仪表双链路、自检/接触器/功率指令）。

pCCU 主体：
- CCU 订阅 pCanBridge 发布的 CAN_0x* 二进制消息并解码 BMS 报文；
  SystemData 双电池槽位改为单一 BmsStatusValue + CAN 帧计数；
  PM 电池启停/功率指令改为告警忽略（BMS CAN 协议未定义控制报文）。
- 修复两个本地联调发现的阻断性 bug：
  1) MOOS 通配订阅必须用三参数 Register("CAN_0x*","*",0)，
     单参数形式不做通配匹配；
  2) 变量名前缀匹配偏移（compare 少比 1 字符 / sscanf +5 指向 'x'），
     改为 rfind 前缀判断 + +6 偏移。
- PowerCoordinator/CoordFsm 剥离电池接触器/切换时序（依赖已删除的
  UDP 指令），保留 FC 联动与协调策略占位（CoordSwitchingState 改为
  通用的 CoordBusyState）。

网页：
- 动力/仪表锂电池两个标签页合并为"锂电池BMS(CAN)"：总电压/总电流/
  SOC/最大电流限制/最高单体电压/校验帧/故障码高亮/在线状态，
  附报文来源说明；链路状态页改为 CAN 链路行（pCanBridge）。

配置与测试：
- pCCU.moos / missions/h100.moos 移除电池 UDP 配置；
- pccuTest：删除旧电池编解码用例，新增 testCanBmsDecode
  （向量取自实车抓包：533.8V/20.1%/49/3.752V/-25.0A）103/103 通过；
- 集成测试改为纯 FC/PM 流程，本地实测 PASSED（含 Web 页面校验）。
This commit is contained in:
zjk
2026-08-31 21:42:26 +08:00
parent ee8819c610
commit 88bed850ee
23 changed files with 424 additions and 2115 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/pCCU/CCU.cpp
+73 -106
View File
@@ -2,7 +2,9 @@
#include "MBUtils.h"
#include "../pPowerManger/logc/loguru.hpp"
#include "protocol/Frame.h"
#include "protocol/CanBms.h"
#include <chrono>
#include <cstdio>
using namespace ccu;
using namespace std;
@@ -17,9 +19,7 @@ CCU::~CCU() {
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_db) { m_db->close(); delete m_db; m_db = nullptr; }
if (m_snap) { delete m_snap; m_snap = nullptr; }
if (m_sysData) { delete m_sysData; m_sysData = nullptr; }
}
@@ -49,13 +49,6 @@ 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());
@@ -106,38 +99,20 @@ bool CCU::OnStartUp() {
m_pmLink->setOnMessage([this](Message* msg, const std::vector<uint8_t>& frame) {
handlePmMessage(msg, frame);
});
m_pmLink->setOnRawFrame([](int dir, const std::vector<uint8_t>&, bool) {
m_pmLink->setOnRawFrame([](int, const std::vector<uint8_t>&, bool) {
});
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<uint8_t>& frame) {
handleBatMessage(BatRole::Dyn, msg, frame);
});
m_dynBatLink->setOnRawFrame([](int, const std::vector<uint8_t>&, bool) {});
if (!m_dynBatLink->start())
LOG_F(ERROR, "Dyn battery link start failed");
// 锂电池：CAN 总线（BMS 协议），数据经 pCanBridge 以 CAN_0x* 消息透传，
// 在 OnNewMail 中订阅解码（见 registerVariables/handleCanMessage）。
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<uint8_t>& frame) {
handleBatMessage(BatRole::Ins, msg, frame);
});
m_insBatLink->setOnRawFrame([](int, const std::vector<uint8_t>&, 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）
// 电源协调器（FC 联动 + 协调算法占位）
m_coord = new PowerCoordinator();
m_coord->setup(m_sysData, m_fcLink, m_pmLink, m_dynBatLink, m_insBatLink);
m_coord->setWorkCondition(static_cast<uint8_t>(m_batWorkCondition));
m_coord->setup(m_sysData, m_fcLink, m_pmLink);
// 快照构建器（链路就绪后创建）
m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink,
m_dynBatLink, m_insBatLink, m_db);
m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink, m_db);
// 网页
if (m_webEnable) {
@@ -154,11 +129,9 @@ bool CCU::OnStartUp() {
}
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",
"battery=BMS/CAN via pCanBridge(CAN_0x*)",
m_fcLocalPort, m_fcHost.c_str(), m_fcPort,
m_pmLocalPort, m_pmHost.c_str(), m_pmPort,
m_dynBatLocalPort, m_dynBatHost.c_str(), m_dynBatPort,
m_insBatLocalPort, m_insBatHost.c_str(), m_insBatPort);
m_pmLocalPort, m_pmHost.c_str(), m_pmPort);
return true;
}
@@ -175,11 +148,13 @@ bool CCU::OnConnectToServer() {
void CCU::registerVariables() {
AppCastingMOOSApp::RegisterVariables();
// pCCU 数据交换主要走 UDP；MOOSDB 仅登记运行状态变量
// 订阅 pCanBridge 透传的全部 CAN 帧（变量名 CAN_0x%08X，二进制数据域）。
// 注意：MOOS 通配订阅必须用三参数重载（变量模式 + 来源模式），
// 单参数 Register("CAN_0x*") 不会做通配匹配。
Register("CAN_0x*", "*", 0);
// 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);
}
//---------------------------------------------------------
@@ -190,11 +165,57 @@ bool CCU::OnNewMail(MOOSMSG_LIST &NewMail) {
MOOSMSG_LIST::iterator p;
for (p = NewMail.begin(); p != NewMail.end(); p++) {
CMOOSMsg &msg = *p;
// 预留：未来如需通过 MOOSDB 下发指令可在此处理
// pCanBridge 透传的 CAN 帧（变量名前缀 CAN_0x）
if (msg.m_sKey.rfind("CAN_0x", 0) == 0) {
handleCanMessage(msg);
continue;
}
}
return true;
}
//---------------------------------------------------------
// handleCanMessage：解码 pCanBridge 透传的 CAN 帧
//
// 消息格式（pCanBridge 约定）：
// m_sKey = "CAN_0x%08X"（CAN ID，扩展帧）
// m_sVal = 二进制数据域（dlc 字节）
// m_dfVal2 = 原始帧信息字节（bit7 FF / bit6 RTR / bit3~0 DLC）
void CCU::handleCanMessage(CMOOSMsg& msg) {
if (!m_sysData) return;
// 从变量名解析 CAN ID（跳过前缀 "CAN_0x" 共 6 字符）
uint32_t canId = 0;
if (std::sscanf(msg.m_sKey.c_str() + 6, "%x", &canId) != 1) return;
m_sysData->incCanFrameCount();
// 远程帧无数据域，直接跳过
if (msg.IsBinary() && msg.GetBinaryDataSize() > 0) {
unsigned int n = msg.GetBinaryDataSize();
unsigned char* d = msg.GetBinaryData();
if (!d) return;
// 合并语义：取当前快照 -> 解码部分更新 -> 写回
BmsStatusValue v = m_sysData->bmsStatus();
if (decodeCanBmsFrame(canId, d, static_cast<int>(n), v)) {
v.valid = true;
v.lastRxTime = MOOSTime(false);
m_sysData->updateBmsStatus(v);
// 节流日志：1s 一条，便于联调观察
double now = MOOSTime();
if (now - m_lastBmsLog >= 1.0) {
m_lastBmsLog = now;
LOG_F(INFO, "[BMS/CAN] u=%.1fV i=%.1fA soc=%.1f%% fault=%d status=%d cellMax=%.3fV",
v.totalVoltage, v.totalCurrent, v.soc,
v.faultCode, v.statusBits, v.maxCellVoltage);
}
}
}
}
//---------------------------------------------------------
// Iterate：周期任务（AppTick 次/秒）
@@ -209,7 +230,7 @@ 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
// 电源协调器：协调算法占位
if (m_coord)
m_coord->tick(now);
@@ -279,14 +300,11 @@ void CCU::handlePmMessage(Message* msg, const std::vector<uint8_t>& frame) {
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);
// 锂电池启停/功率指令：BMS CAN 协议未定义控制报文，暂不支持
if (c.insBatCmd != 0 || c.dynBatCmd != 0 || c.dynBatPower != 0) {
LOG_F(WARNING, "[PM] battery cmd ignored (insBat=0x%02X dynBat=0x%02X dynPwr=%u): "
"BMS CAN 协议未定义控制报文",
c.insBatCmd, c.dynBatCmd, c.dynBatPower);
}
} else {
LOG_F(ERROR, "[PM] control decode failed");
@@ -316,43 +334,6 @@ void CCU::handlePmMessage(Message* msg, const std::vector<uint8_t>& 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<uint8_t>& 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<void*>(&v))) {
m_sysData->updateBatStatus(static_cast<int>(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<void*>(&v))) {
m_sysData->updateBatAlarm(static_cast<int>(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
@@ -489,29 +470,15 @@ 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 << "锂电池: BMS/CAN (经 pCanBridge CAN_0x* 订阅)\n";
m_msgs << "CAN 帧接收计数:" << m_sysData->canFrameCount() << "\n";
m_msgs << "BMS 报文接收计数:" << m_sysData->bmsStatusCount() << "\n";
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";
}
return true;
}
}