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/pCanBridge/CanBridge.cpp

@@ -90,25 +90,70 @@ bool CanBridge::OnConnectToServer() {
 }
 
 //---------------------------------------------------------
-// registerVariables：纯发布应用，无需注册订阅变量
+// registerVariables：订阅下行指令（CAN_TX_0x*，pCCU 发布的
+// BCU 断路器控制帧等）。
 
 void CanBridge::registerVariables() {
     AppCastingMOOSApp::RegisterVariables();
+    // 通配订阅必须用三参数重载（变量模式 + 来源模式）
+    Register("CAN_TX_0x*", "*", 0);
 }
 
 //---------------------------------------------------------
-// OnNewMail：当前无订阅指令，预留
+// OnNewMail：下行指令 CAN_TX_0x%08X（二进制数据域）
 
 bool CanBridge::OnNewMail(MOOSMSG_LIST &NewMail) {
     AppCastingMOOSApp::OnNewMail(NewMail);
     MOOSMSG_LIST::iterator p;
     for (p = NewMail.begin(); p != NewMail.end(); p++) {
         CMOOSMsg &msg = *p;
-        (void)msg;
+        if (msg.m_sKey.rfind("CAN_TX_0x", 0) == 0)
+            handleTxMessage(msg);
     }
     return true;
 }
 
+//---------------------------------------------------------
+// handleTxMessage：MOOS 下行消息 -> CANET 13 字节帧 -> USBCAN
+//
+//   m_sKey   = "CAN_TX_0x%08X"（CAN ID）
+//   m_sVal   = 二进制数据域（dlc<=8）
+// 帧信息：id>0x7FF 视为扩展帧(bit7=1)，DLC=数据字节数。
+
+void CanBridge::handleTxMessage(CMOOSMsg& msg) {
+    if (!m_endpoint) return;
+
+    uint32_t id = 0;
+    // "CAN_TX_0x" 前缀长 9 字符（注意不是 8）
+    int sr = std::sscanf(msg.m_sKey.c_str() + 9, "%x", &id);
+    if (sr != 1) {
+        reportRunWarning("CAN_TX bad key: " + msg.m_sKey);
+        return;
+    }
+    if (!msg.IsBinary() || msg.GetBinaryDataSize() <= 0 ||
+        msg.GetBinaryDataSize() > 8) {
+        reportRunWarning("CAN_TX bad data size: " + msg.m_sKey);
+        return;
+    }
+
+    const unsigned char* d = msg.GetBinaryData();
+    if (!d) return;
+    int dlc = static_cast<int>(msg.GetBinaryDataSize());
+    uint8_t frameInfo = static_cast<uint8_t>(((id > 0x7FF) ? 0x80 : 0x00) | dlc);
+
+    if (m_endpoint->sendFrame(frameInfo, id, d, dlc)) {
+        ++m_txCount;
+        char hex[32] = {0};
+        for (int i = 0; i < dlc && i < 8; ++i)
+            std::snprintf(hex + i * 2, 3, "%02X", d[i]);
+        std::cout << "[CAN-TX] 0x" << std::hex << id << std::dec
+                  << " dlc=" << dlc << " data=" << hex << std::endl;
+    } else {
+        reportRunWarning("CAN_TX send failed: " + msg.m_sKey +
+                         (m_endpoint->isConnected() ? "" : " (未连接)"));
+    }
+}
+
 //---------------------------------------------------------
 // Iterate：周期任务
 
@@ -146,7 +191,7 @@ void CanBridge::handleFrame(uint8_t frameInfo, uint32_t id,
 
 bool CanBridge::buildReport() {
     m_msgs << "============================================" << "\n";
-    m_msgs << "pCanBridge CAN->MOOSDB 透传" << "\n";
+    m_msgs << "pCanBridge CAN<->MOOSDB 双向透传" << "\n";
     m_msgs << "============================================" << "\n";
     if (m_endpoint) {
         m_msgs << "目标:        " << m_endpoint->host() << ":"
@@ -154,6 +199,9 @@ bool CanBridge::buildReport() {
         m_msgs << "连接状态:    " << (m_endpoint->isConnected() ? "已连接" : "断开") << "\n";
         m_msgs << "收帧数:      " << m_endpoint->frameCount() << "\n";
         m_msgs << "发布数:      " << m_notifyCount << "\n";
+        m_msgs << "下行帧数:    " << m_endpoint->txCount() << " (错误 "
+               << m_endpoint->txErrorCount() << ")" << "\n";
+        m_msgs << "MOOS下发数:  " << m_txCount << "\n";
         m_msgs << "错误数:      " << m_endpoint->errorCount() << "\n";
         m_msgs << "重连次数:    " << m_endpoint->reconnectCount() << "\n";
         m_msgs << "最近收帧:    " << m_endpoint->lastFrameTime() << "\n";