pCCU 锂电池页新增 BCU 断路器控制（0x10XX81FF 经 pCanBridge 下行 CAN 总线）

- CanBms: bcuCtrlCanId(0x10XX81FF) + buildBcuRelayCtrlData(02 00 总正 总负 FF*4)
- SystemData: BcuCtrlCmd 下行队列(Web线程入队->Iterate/MOOS线程出队Notify) + 下发统计
- CCU: /api/bcu_ctrl(addr/action 或 pos/neg, 校验地址01h~36h) + Iterate 经 MOOS CAN_TX_0x* 下发
- pCanBridge 变双向透传: 订阅 CAN_TX_0x*，CanEndpoint::sendFrame(13字节CANET帧,TCP写,互斥保护)
- 网页: 每BCU节点断路器闭合/断开按钮(confirm确认) + 下发统计卡片
- 测试: pccuTest 控制帧编码用例(183项)；集成测试新增假CANET服务器验证完整下行链路(闭合/断开/非法地址)

src/pCCU/CCU.cpp

@@ -5,6 +5,7 @@
 #include "protocol/CanBms.h"
 #include <chrono>
 #include <cstdio>
+#include <cstdlib>
 
 using namespace ccu;
 using namespace std;
@@ -277,6 +278,9 @@ bool CCU::Iterate() {
         m_lastStatusTx = now;
     }
 
+    // BCU 断路器控制指令下发（网页 -> 队列 -> MOOS CAN_TX_*）
+    sendPendingBcuCtrl();
+
     // 电源协调器：协调算法占位
     if (m_coord)
         m_coord->tick(now);
@@ -503,16 +507,95 @@ std::string CCU::buildSnapshot() {
 }
 
 //---------------------------------------------------------
-// handleApi：/api/logs
+// handleApi：/api/logs、/api/bcu_ctrl
 
 std::string CCU::handleApi(const std::string& uri, const std::string& query) {
     if (uri == "/api/logs") {
         if (m_snap) return m_snap->buildLogs(50);
         return "[]";
     }
+    if (uri == "/api/bcu_ctrl") {
+        return handleBcuCtrlApi(query);
+    }
     return "";
 }
 
+//---------------------------------------------------------
+// handleBcuCtrlApi：BCU 断路器控制指令下发
+//
+// GET /api/bcu_ctrl?addr=5&action=1        action: 1 闭合 / 0 断开（总正+总负）
+// GET /api/bcu_ctrl?addr=5&pos=1&neg=0     也可单独指定总正/总负
+// Web 线程不可直接 Notify，指令入队后由 Iterate（MOOS 线程）下发。
+
+std::string CCU::handleBcuCtrlApi(const std::string& query) {
+    if (!m_sysData) return "{\"ok\":false,\"error\":\"not ready\"}";
+
+    // 简易 query 解析（k=v&k=v）
+    auto getParam = [&query](const char* key, int& out) -> bool {
+        std::string k = std::string(key) + "=";
+        size_t p = query.find(k);
+        if (p == std::string::npos) return false;
+        size_t e = query.find('&', p);
+        std::string v = query.substr(p + k.size(),
+                                     (e == std::string::npos) ? std::string::npos
+                                                              : e - p - k.size());
+        out = atoi(v.c_str());
+        return true;
+    };
+
+    int addr = 0, action = -1, pos = -1, neg = -1;
+    getParam("addr", addr);
+    getParam("action", action);
+    getParam("pos", pos);
+    getParam("neg", neg);
+
+    if (addr < kBcuAddrMin || addr > kBcuAddrMax)
+        return "{\"ok\":false,\"error\":\"bad addr\"}";
+    if (pos < 0) pos = action;    // 未单独指定时跟随 action
+    if (neg < 0) neg = action;
+    if (action < 0 && (pos < 0 || neg < 0))
+        return "{\"ok\":false,\"error\":\"missing action\"}";
+    if (action > 1 || pos > 1 || neg > 1)
+        return "{\"ok\":false,\"error\":\"bad value\"}";
+
+    BcuCtrlCmd c;
+    c.addr = static_cast<uint8_t>(addr);
+    c.pos  = static_cast<uint8_t>(pos);
+    c.neg  = static_cast<uint8_t>(neg);
+    if (!m_sysData->pushBcuCtrlCmd(c))
+        return "{\"ok\":false,\"error\":\"queue full\"}";
+
+    LOG_F(INFO, "[BCU/CAN] 断路器指令入队: 节点%d 总正=%d 总负=%d", addr, pos, neg);
+    char buf[96];
+    std::snprintf(buf, sizeof(buf),
+                  "{\"ok\":true,\"addr\":%d,\"pos\":%d,\"neg\":%d}", addr, pos, neg);
+    return buf;
+}
+
+//---------------------------------------------------------
+// sendPendingBcuCtrl：出队控制指令，编码 0x10XX81FF 经 MOOS 下发
+// 链路：MOOS CAN_TX_0x* -> pCanBridge 订阅 -> CanEndpoint(TCP) -> USBCAN
+
+void CCU::sendPendingBcuCtrl() {
+    if (!m_sysData) return;
+    BcuCtrlCmd c;
+    while (m_sysData->popBcuCtrlCmd(c)) {
+        uint8_t data[8];
+        buildBcuRelayCtrlData(c.pos, c.neg, data);
+        uint32_t canId = bcuCtrlCanId(c.addr);
+
+        char key[32];
+        std::snprintf(key, sizeof(key), "CAN_TX_0x%08X", canId);
+        // 二进制构造同 pCanBridge 上行发布（MOOS_BINARY_STRING）
+        CMOOSMsg msg(MOOS_NOTIFY, key,
+                     static_cast<unsigned int>(sizeof(data)), data);
+        bool ok = m_Comms.Post(msg);
+        m_sysData->noteBcuCtrlSent(c, ok);
+        LOG_F(INFO, "[BCU/CAN] 断路器指令 0x%08X 节点%d 总正=%d 总负=%d %s",
+              canId, c.addr, c.pos, c.neg, ok ? "已投递MOOS" : "投递失败");
+    }
+}
+
 //---------------------------------------------------------
 // buildReport
 
@@ -551,6 +634,11 @@ bool CCU::buildReport() {
         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";
+        const BcuCtrlStat& bc = m_sysData->bcuCtrlStat();
+        m_msgs << "断路器指令下发:" << bc.sentCount << " 成功 / " << bc.errCount
+               << " 失败 (最近: 节点" << static_cast<int>(bc.last.addr)
+               << " 总正=" << static_cast<int>(bc.last.pos)
+               << " 总负=" << static_cast<int>(bc.last.neg) << ")\n";
     }
     if (m_db) {
         m_msgs << "数据库记录数:" << m_db->count() << "\n";