新增 pCanBridge：USBCAN-8E-U CAN->MOOSDB 透传桥 + SQLite 落库

新应用 src/pCanBridge（独立 MOOS App，单通道）：
- CanEndpoint：TCP Client 连接 CANET/USBCAN-8E-U 工作端口
  （目标 IP/端口可配置，默认 192.168.0.222:4001=CAN0），
  接收线程流式缓冲按 13 字节切帧，过滤无效 DLC(>8)，
  断线自动重连（非阻塞 connect+超时 / SO_RCVTIMEO 读超时）。
- 帧协议（CANET-8E-U 手册 8.1）：byte0=帧信息(bit7 FF/bit6 RTR/
  bit3~0 DLC)，byte1~4=ID 大端，byte5~12=数据。
- MOOS 映射：变量名 CAN_0x%08X=CAN ID（不缩减），m_sVal=二进制
  data（逐帧透传不限流），m_sSrcAux=通道名(can_channel_name)，
  m_dfVal2=原始帧信息字节（用于区分标准/扩展、数据/远程帧）。
- CanDbStore：每帧落库 SQLite（can_frame 表：time/channel/
  frame_info/can_id/dlc/hex，含 time、can_id 索引），参考 pCCU
  DbStore：预处理语句 + WAL + synchronous=NORMAL，路径由 dbpath
  配置；复用 pPowerManger 的 sqlite3 amalgamation。
- AppCast 输出连接状态/收帧/发布/落库统计。

配套：
- missions/h100.moos 新增 pCanBridge 配置块（板卡 dbpath 指向
  data 目录）。
- build-board.sh / deploy.sh 支持 pCanBridge：产物部署 +
  pCanBridge.service 安装，服务列表加入第 5 个服务。
- .gitignore 忽略 bin/pCanBridge 与本机默认数据库。

已验证（板卡 192.168.0.223 实测）：服务 active，连接设备正常，
~60 帧/s 透传，落库 9000+ 行 integrity ok、无丢帧。

scripts/build-board.sh

@@ -7,7 +7,7 @@
 #
 # 用法:
 #   ./scripts/build-board.sh                       # 同步+编译+部署（不重启）
-#   ./scripts/build-board.sh --start               # 编译后重启 3 个服务
+#   ./scripts/build-board.sh --start               # 编译后重启全部服务（含 pCanBridge）
 #   ./scripts/build-board.sh --clean               # 板卡上重新 cmake 再编译
 #   ./scripts/build-board.sh --jobs 4              # 指定并行度（默认板卡 nproc）
 #
@@ -68,7 +68,7 @@ DO_CLEAN=0
 CCU_HOST=""
 CCU_PORT=""
 
-SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
 
 info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
 ok()   { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
@@ -210,10 +210,34 @@ ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
     cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
     cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
     cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
-    chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU" \
+    cp -f ${BOARD_SRC}/bin/pCanBridge ${BOARD_BIN}/pCanBridge && \
+    chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU ${BOARD_BIN}/pCanBridge" \
     || { err "部署产物失败"; exit 1; }
 ok "产物已部署"
 
+#-------------------------------------------------------------------
+# 4.5 安装/刷新 pCanBridge systemd unit（幂等，其它 4 个 unit 已装）
+#-------------------------------------------------------------------
+info "安装 pCanBridge.service ..."
+${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pCanBridge.service" <<EOF
+[Unit]
+Description=pCanBridge for H100 Power Manager
+After=moosdb.service
+Requires=moosdb.service
+
+[Service]
+Type=simple
+WorkingDirectory=${BOARD_BIN}
+ExecStart=${BOARD_BIN}/pCanBridge --alias=pCanBridge /root/work/h100/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pCanBridge 2>/dev/null || true"
+ok "pCanBridge.service 已安装"
+
 echo ""
 ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
 ${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"

scripts/deploy.sh

@@ -1,10 +1,10 @@
 #!/bin/bash
 #=======================================================================
 # FILE:  scripts/deploy.sh
-# DESC:  部署 pPowerManger / pPowerMangerHost / pCCU（aarch64 二进制 +
-#        mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用四个独立
-#        systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）
-#        管理。只安装服务 + daemon-reload，默认不启动、不自启。
+# DESC:  部署 pPowerManger / pPowerMangerHost / pCCU / pCanBridge（aarch64 二进制 +
+#        mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用五个独立
+#        systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU /
+#        pCanBridge）管理。只安装服务 + daemon-reload，默认不启动、不自启。
 #
 # 用法:
 #   ./scripts/deploy.sh setup-ssh         一次性：生成 ed25519 key + ssh-copy-id
@@ -28,7 +28,8 @@
 #   /root/work/h100/missions/   板卡 mission h100.moos
 #   /root/work/h100/data/       数据库存储目录 (power_data.db 等)
 #   /etc/systemd/system/        moosdb.service / pPowerManger.service /
-#                               pPowerMangerHost.service / pCCU.service
+#                               pPowerMangerHost.service / pCCU.service /
+#                               pCanBridge.service
 #=======================================================================
 set -uo pipefail
 
@@ -42,7 +43,7 @@ DO_START=0
 CCU_HOST=""
 CCU_PORT=""
 
-SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
 
 info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
 ok()   { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
@@ -101,7 +102,7 @@ cmd_setup_ssh() {
 #-------------------------------------------------------------------
 check_local() {
     local missing=0
-    for b in pPowerManger pPowerMangerHost pCCU; do
+    for b in pPowerManger pPowerMangerHost pCCU pCanBridge; do
         if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
             err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
         elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
@@ -204,6 +205,7 @@ cmd_deploy() {
     ${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
               "${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
               "${PROJECT_ROOT}/bin/arm64/pCCU" \
+              "${PROJECT_ROOT}/bin/arm64/pCanBridge" \
               "${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
 
     info "推送 mission h100.moos ..."
@@ -221,7 +223,7 @@ cmd_deploy() {
               "${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
     [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
 
-    ${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU"
+    ${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU ${BOARD_DIR}/bin/pCanBridge"
     ok "二进制与 mission 已推送"
 
     # 2. 生成并安装 4 个 systemd unit
@@ -248,7 +250,7 @@ cmd_deploy() {
     else
         echo ""
         info "部署完成。手动启动（或加 --start）:"
-        echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU"
+        echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU pCanBridge"
         echo "    浏览器: http://${HOST}:18080 (上位机模拟)"
         echo "            http://${HOST}:8090  (pPowerManger)"
         echo "            http://${HOST}:8080  (pCCU)"
@@ -259,9 +261,9 @@ cmd_deploy() {
 # 命令: start / status / stop
 #-------------------------------------------------------------------
 cmd_start() {
-    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU) ..."
+    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU / pCanBridge) ..."
     ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
-        systemctl start pPowerManger pPowerMangerHost pCCU" || { err "启动失败"; return 1; }
+        systemctl start pPowerManger pPowerMangerHost pCCU pCanBridge" || { err "启动失败"; return 1; }
     ok "服务已启动"
     cmd_status
 }
@@ -271,7 +273,7 @@ cmd_status() {
 }
 
 cmd_stop() {
-    ${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger pCCU moosdb" && \
+    ${SSH} "${SSH_TARGET}" "systemctl stop pCanBridge pPowerMangerHost pPowerManger pCCU moosdb" && \
         ok "服务已停止" || err "停止服务失败"
 }