2026-08-27 调试完成版本
- FC 控制指令域修正：payload 14→18 字节，纵倾/横倾姿态拆分为数据1/数据2 - WebServer 广播改为待发队列模式，修复 mongoose 跨线程调用问题 - build-board.sh 增加板卡组网说明(/23 掩码方案)、pCCU 服务部署与 mission 同步 - 同步 0824 协议文档更新
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+38
-2
@@ -23,6 +23,31 @@
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#
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# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
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# 源码已能本地编译（本脚本只负责同步+板卡编译）。
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#
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# !!!! 板卡网络配置（2026-08-26 联调定型，勿随意修改） !!!!
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#
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# 板卡与 FC 的组网为"单网卡 + /23 掩码"方案（依据《超滑FC和复合管控器
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# 通讯协议-0821》1.1.1：CCU 192.168.0.140/23 <-> FC 192.168.1.162）：
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#
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# enP3p49s0 192.168.0.223/23 (255.255.254.0) <- 唯一业务网口，接交换机
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# /23 使 192.168.0.x 与 192.168.1.x 同子网直达，
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# FC(192.168.1.162) 无需网关即可互通。
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# NM 配置档案: "有线连接 1"（静态 manual，已持久化）
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# enP4p65s0 已弃用（旧双网卡方案的 FC 专口，物理链路已断）
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# 回环 lo pPowerManger(5001) <-> pCCU(7000) 同机 UDP 互通
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#
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# 关联端口:
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# FC 状态: FC:7000 -> 板卡:6000 (pCCU 监听)
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# FC 控制: 板卡:6000 -> FC:7000 (pCCU 发送)
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# PM 指令: pPowerManger:5001 -> pCCU:7000 (127.0.0.1，见 PowerManger.h CCUHOST)
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# PM 状态: pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
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#
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# 排障提示:
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# - 若收不到 FC 状态，先在板卡上 `ethtool enP3p49s0` 看 Link detected，
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# 再 `ping 192.168.1.162`；ping 不通通常是物理链路/交换机问题，
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# 不要改回 /24 掩码或启用 enP4p65s0 来"修"网络。
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# - 改 IP/掩码须用 `nmcli con mod "有线连接 1" ...` 持久化，
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# 并保持掩码 /23。
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#=======================================================================
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set -uo pipefail
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@@ -38,7 +63,7 @@ JOBS=""
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DO_START=0
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DO_CLEAN=0
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SERVICES=(moosdb pPowerManger pPowerMangerHost)
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
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info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
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@@ -92,6 +117,9 @@ rsync -az --delete \
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--exclude='bin/' \
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--exclude='.git/' \
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--exclude='.cache/' \
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--exclude='.kilo/' \
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--exclude='.vscode/' \
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--exclude='docs/' \
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--exclude='reports/' \
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--exclude='*.log' \
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--exclude='*.db' \
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@@ -99,6 +127,13 @@ rsync -az --delete \
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"${PROJECT_ROOT}/" "${SSH_TARGET}:${BOARD_SRC}/" || { err "rsync 源码失败"; exit 1; }
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ok "源码已同步"
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if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
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info "同步 mission h100.moos ..."
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rsync -az "${PROJECT_ROOT}/missions/h100.moos" \
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"${SSH_TARGET}:/root/work/h100/missions/" || { err "rsync mission 失败"; exit 1; }
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ok "mission 已同步"
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fi
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#-------------------------------------------------------------------
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# 3. 板卡原生编译
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#-------------------------------------------------------------------
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@@ -137,7 +172,8 @@ info "部署产物到 ${BOARD_BIN}/ ..."
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${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
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cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
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cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
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chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost" \
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cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
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chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU" \
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|| { err "部署产物失败"; exit 1; }
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ok "产物已部署"
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+5
-3
@@ -218,13 +218,15 @@ void CCU::handlePmMessage(Message* msg, const std::vector<uint8_t>& frame) {
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LOG_F(INFO, "[PM] control: mode=%d cmd=%d power=%d",
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c.mode, c.cmd, c.outputPower);
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// 映射并转发到 FC
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// 映射并转发到 FC（1.1.1：姿态为双通道 int16，PM 单通道填数据1）
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FcControlValue f;
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f.mode = c.mode;
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f.cmd = c.cmd;
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f.outputPower = c.outputPower;
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f.pitch = c.pitch;
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f.roll = c.roll;
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f.pitch1 = c.pitch;
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f.pitch2 = 0;
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f.roll1 = c.roll;
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f.roll2 = 0;
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f.emergencyAllow = c.emergencyAllow;
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f.depth = c.depth;
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f.supplyCmd = c.supplyCmd;
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@@ -172,8 +172,10 @@ JsonVal fcControlJson(const FcControlValue& v) {
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put(j, "mode", v.mode);
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put(j, "cmd", v.cmd);
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put(j, "outputPower", v.outputPower);
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j["pitch"] = JsonVal(static_cast<int>(v.pitch)); // 有符号 int16，×0.1°
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j["roll"] = JsonVal(static_cast<int>(v.roll));
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j["pitch1"] = JsonVal(static_cast<int>(v.pitch1)); // 有符号 int16，×0.1°
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j["pitch2"] = JsonVal(static_cast<int>(v.pitch2));
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j["roll1"] = JsonVal(static_cast<int>(v.roll1));
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j["roll2"] = JsonVal(static_cast<int>(v.roll2));
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put(j, "emergencyAllow", v.emergencyAllow);
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put(j, "depth", v.depth);
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put(j, "supplyCmd", v.supplyCmd);
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@@ -12,24 +12,45 @@ void registerFcMessages(MessageRegistry& reg) {
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//============================================================================
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// 0x0001 控制指令域编解码
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// 数据域 14 字节，偏移 0~13（对应文档字节 7~20）
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// 数据域 18 字节（字节7~24），偏移 0~17；整包 24 字节
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//============================================================================
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namespace {
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// 数据域内偏移（相对数据域起点，offset = 文档字节号 - 7）
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enum : size_t {
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CO_MODE = 0, // 模式设定 (字节7)
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CO_CMD = 1, // 操控指令 (字节8)
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CO_OUT_POWER = 2, // 输出功率指令 (字节9)
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CO_PITCH1 = 3, // 纵倾姿态数据1 int16 (字节10,11)
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CO_PITCH2 = 5, // 纵倾姿态数据2 int16 (字节12,13)
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CO_ROLL1 = 7, // 横倾姿态数据1 int16 (字节14,15)
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CO_ROLL2 = 9, // 横倾姿态数据2 int16 (字节16,17)
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CO_EMER_ALLOW = 11, // 应急允许 (字节18)
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CO_DEPTH = 12, // 潜深深度 u16 (字节19,20)
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CO_SUPPLY_CMD = 14, // 补给/排放指令 (字节21)
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CO_RESERVED5 = 15, // 预留指令5 (字节22)
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CO_RESERVED6 = 16, // 预留指令6 (字节23)
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CO_HEARTBEAT = 17, // 通信心跳 (字节24)
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};
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} // namespace
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std::vector<uint8_t> FcControlMessage::encode(const void* obj) const {
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const FcControlValue* v = static_cast<const FcControlValue*>(obj);
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std::vector<uint8_t> payload(payloadLength(), 0);
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FieldCodec::putU8(payload, 0, v->mode);
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FieldCodec::putU8(payload, 1, v->cmd);
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FieldCodec::putU8(payload, 2, v->outputPower);
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FieldCodec::putU16(payload, 3, static_cast<uint16_t>(v->pitch)); // 数据1=低位 / 数据2=高位
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FieldCodec::putU16(payload, 5, static_cast<uint16_t>(v->roll));
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FieldCodec::putU8(payload, 7, v->emergencyAllow);
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FieldCodec::putU16(payload, 8, v->depth);
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FieldCodec::putU8(payload, 10, v->supplyCmd);
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FieldCodec::putU8(payload, 11, v->reservedCmd5);
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FieldCodec::putU8(payload, 12, v->reservedCmd6);
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FieldCodec::putU8(payload, 13, v->heartbeat);
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FieldCodec::putU8(payload, CO_MODE, v->mode);
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FieldCodec::putU8(payload, CO_CMD, v->cmd);
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FieldCodec::putU8(payload, CO_OUT_POWER, v->outputPower);
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FieldCodec::putU16(payload, CO_PITCH1, static_cast<uint16_t>(v->pitch1));
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FieldCodec::putU16(payload, CO_PITCH2, static_cast<uint16_t>(v->pitch2));
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FieldCodec::putU16(payload, CO_ROLL1, static_cast<uint16_t>(v->roll1));
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FieldCodec::putU16(payload, CO_ROLL2, static_cast<uint16_t>(v->roll2));
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FieldCodec::putU8(payload, CO_EMER_ALLOW, v->emergencyAllow);
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FieldCodec::putU16(payload, CO_DEPTH, v->depth);
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FieldCodec::putU8(payload, CO_SUPPLY_CMD, v->supplyCmd);
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FieldCodec::putU8(payload, CO_RESERVED5, v->reservedCmd5);
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FieldCodec::putU8(payload, CO_RESERVED6, v->reservedCmd6);
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FieldCodec::putU8(payload, CO_HEARTBEAT, v->heartbeat);
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return Frame::build(id(), payload, checksum());
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}
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@@ -39,17 +60,19 @@ bool FcControlMessage::decode(const std::vector<uint8_t>& frame, void* obj) cons
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FcControlValue* v = static_cast<FcControlValue*>(obj);
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size_t o = FRAME_HEADER_LEN; // 数据域起点
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v->mode = FieldCodec::getU8(frame, o + 0);
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v->cmd = FieldCodec::getU8(frame, o + 1);
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v->outputPower = FieldCodec::getU8(frame, o + 2);
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v->pitch = static_cast<int16_t>(FieldCodec::getU16(frame, o + 3));
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v->roll = static_cast<int16_t>(FieldCodec::getU16(frame, o + 5));
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v->emergencyAllow = FieldCodec::getU8(frame, o + 7);
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v->depth = FieldCodec::getU16(frame, o + 8);
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v->supplyCmd = FieldCodec::getU8(frame, o + 10);
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v->reservedCmd5 = FieldCodec::getU8(frame, o + 11);
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v->reservedCmd6 = FieldCodec::getU8(frame, o + 12);
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v->heartbeat = FieldCodec::getU8(frame, o + 13);
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v->mode = FieldCodec::getU8(frame, o + CO_MODE);
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v->cmd = FieldCodec::getU8(frame, o + CO_CMD);
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v->outputPower = FieldCodec::getU8(frame, o + CO_OUT_POWER);
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v->pitch1 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_PITCH1));
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v->pitch2 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_PITCH2));
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v->roll1 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_ROLL1));
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v->roll2 = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_ROLL2));
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v->emergencyAllow = FieldCodec::getU8(frame, o + CO_EMER_ALLOW);
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v->depth = FieldCodec::getU16(frame, o + CO_DEPTH);
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v->supplyCmd = FieldCodec::getU8(frame, o + CO_SUPPLY_CMD);
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v->reservedCmd5 = FieldCodec::getU8(frame, o + CO_RESERVED5);
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v->reservedCmd6 = FieldCodec::getU8(frame, o + CO_RESERVED6);
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v->heartbeat = FieldCodec::getU8(frame, o + CO_HEARTBEAT);
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return true;
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}
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@@ -28,14 +28,16 @@ struct FcControlValue {
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uint8_t mode = 0; // 模式设定 00~03
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uint8_t cmd = 0; // 操控指令 00~0B
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uint8_t outputPower = 0; // 输出功率指令 0~250，分辨率0.1kW
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int16_t pitch = 0; // 纵倾姿态（数据1=低8位 / 数据2=高8位，int16），分辨率0.1°
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int16_t roll = 0; // 横倾姿态（数据1=低8位 / 数据2=高8位，int16），分辨率0.1°
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uint8_t emergencyAllow = 0; // 应急允许：Bit0 允许降载 / Bit1 允许排气
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uint16_t depth = 0; // 潜深深度，单位 m
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uint8_t supplyCmd = 0; // 补给/排放指令 00~0B
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uint8_t reservedCmd5 = 0; // 预留指令5
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uint8_t reservedCmd6 = 0; // 预留指令6
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uint8_t heartbeat = 0; // 通信心跳，每次+1
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int16_t pitch1 = 0; // 纵倾姿态数据1 int16，分辨率0.1°（字节10,11）
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int16_t pitch2 = 0; // 纵倾姿态数据2 int16，分辨率0.1°（字节12,13）
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int16_t roll1 = 0; // 横倾姿态数据1 int16，分辨率0.1°（字节14,15）
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int16_t roll2 = 0; // 横倾姿态数据2 int16，分辨率0.1°（字节16,17）
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uint8_t emergencyAllow = 0; // 应急允许：Bit0 允许降载 / Bit1 允许排气（字节18）
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uint16_t depth = 0; // 潜深深度，单位 m（字节19,20）
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uint8_t supplyCmd = 0; // 补给/排放指令 00~0B（字节21）
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uint8_t reservedCmd5 = 0; // 预留指令5（字节22）
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uint8_t reservedCmd6 = 0; // 预留指令6（字节23）
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uint8_t heartbeat = 0; // 通信心跳，每次+1（字节24）
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};
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//--------------------------------------------------------------------------
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@@ -132,7 +134,8 @@ public:
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uint16_t id() const override { return 0x0001; }
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const char* name() const override { return "fc_control"; }
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const ChecksumPolicy& checksum() const override { return m_checksum; }
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size_t payloadLength() const override { return 14; }
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// 1.1.1 控制指令域：数据域 18 字节（字节7~24），整包 24 字节（域字节数 0x0018）
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size_t payloadLength() const override { return 18; }
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std::vector<uint8_t> encode(const void* obj) const override;
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bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
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@@ -12,7 +12,9 @@ bool Message::validateFrame(const std::vector<uint8_t>& frame,
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FrameHeader h;
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if (!Frame::parseHeader(frame, h)) return false;
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if (h.id != expectId) return false;
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if (h.length != expectTotalLen) return false;
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// 协议规定域字节数=整个包长度；联调发现 FC 设备该字段填 120 而非 150，
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// 与文档不符但不影响数据域布局，若实际包体足够容纳数据域则放行
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if (h.length != expectTotalLen && frame.size() < expectTotalLen) return false;
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// 校验和（长度不足由 verify 内部判断）
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if (!policy.verify(frame)) return false;
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@@ -43,16 +43,14 @@ void WebServer::handleEvent(struct mg_connection* c, int ev, void* ev_data) {
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mg_http_reply(c, 404, "Content-Type: text/plain\r\n", "Not Found\n");
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} else if (ev == MG_EV_WS_OPEN) {
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std::lock_guard<std::mutex> lock(m_wsMutex);
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// Web 线程内：先构建欢迎快照（可能涉及 DB 查询，勿持锁），再登记连接
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std::string welcome;
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if (m_onOpen) welcome = m_onOpen();
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m_wsConnections.push_back(c);
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if (m_onOpen) {
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std::string welcome = m_onOpen();
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if (!welcome.empty()) {
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mg_ws_send(c, welcome.c_str(), welcome.size(), WEBSOCKET_OP_TEXT);
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}
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}
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} else if (ev == MG_EV_CLOSE || ev == MG_EV_ERROR) {
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std::lock_guard<std::mutex> lock(m_wsMutex);
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for (auto it = m_wsConnections.begin(); it != m_wsConnections.end(); ++it) {
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if (*it == c) {
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m_wsConnections.erase(it);
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@@ -103,7 +101,7 @@ void WebServer::stop() {
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m_running = false;
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if (m_thread.joinable()) m_thread.join();
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std::lock_guard<std::mutex> lock(m_wsMutex);
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// Web 线程已退出，此处触碰连接列表安全
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for (auto c : m_wsConnections) {
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mg_ws_send(c, "", 0, WEBSOCKET_OP_CLOSE);
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}
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@@ -118,15 +116,29 @@ bool WebServer::serverThreadCB(void* pParam) {
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bool WebServer::serverThreadFunc() {
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while (m_running) {
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mg_mgr_poll(&m_mgr, 200);
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// 仅在本线程（poll 间隙）发送，避免跨线程操作 mongoose 连接
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flushPending();
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}
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return true;
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}
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void WebServer::broadcast(const std::string& text) {
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std::lock_guard<std::mutex> lock(m_wsMutex);
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void WebServer::flushPending() {
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std::string text;
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{
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std::lock_guard<std::mutex> lock(m_pendingMutex);
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text = std::move(m_pending);
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m_pending.clear();
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}
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if (text.empty()) return;
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for (auto c : m_wsConnections) {
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mg_ws_send(c, text.c_str(), text.size(), WEBSOCKET_OP_TEXT);
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}
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}
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|
||||
void WebServer::broadcast(const std::string& text) {
|
||||
// 只投递到队列，实际发送在 Web 线程 flushPending() 中完成
|
||||
std::lock_guard<std::mutex> lock(m_pendingMutex);
|
||||
m_pending = text;
|
||||
}
|
||||
|
||||
} // namespace ccu
|
||||
@@ -32,6 +32,8 @@ public:
|
||||
bool isRunning() const { return m_running; }
|
||||
|
||||
// 向所有 WebSocket 客户端广播文本
|
||||
// 线程安全：mongoose 非线程安全，本接口只把文本放入待发队列，
|
||||
// 由 Web 线程在 mg_mgr_poll 返回后统一发送（禁止跨线程直接 mg_ws_send）
|
||||
void broadcast(const std::string& text);
|
||||
|
||||
// 新客户端连接时调用，返回初始快照
|
||||
@@ -44,14 +46,17 @@ private:
|
||||
static bool serverThreadCB(void* pParam);
|
||||
bool serverThreadFunc();
|
||||
void handleEvent(struct mg_connection* c, int ev, void* ev_data);
|
||||
// Web 线程内：把待发队列中的快照推给所有 WS 客户端（仅本线程触碰连接列表）
|
||||
void flushPending();
|
||||
|
||||
struct mg_mgr m_mgr;
|
||||
int m_port = 0;
|
||||
std::atomic<bool> m_running{false};
|
||||
std::thread m_thread;
|
||||
|
||||
std::mutex m_wsMutex;
|
||||
std::vector<mg_connection*> m_wsConnections;
|
||||
std::mutex m_pendingMutex; // 保护 m_pending
|
||||
std::string m_pending; // 最新待广播快照（新快照覆盖旧快照）
|
||||
std::vector<mg_connection*> m_wsConnections; // 仅 Web 线程访问
|
||||
std::function<std::string()> m_onOpen;
|
||||
std::function<std::string(const std::string&, const std::string&)> m_apiHandler;
|
||||
};
|
||||
|
||||
@@ -172,6 +172,9 @@ function hydroCard(d){
|
||||
h+=row('电动阀开度', (d.electric_valve_open*0.1).toFixed(1)+'%');
|
||||
h+=row('甲醇累计使用量', (d.methanol_total_use*0.1).toFixed(1)+' kg');
|
||||
h+=row('甲醇溶液进料量', d.methanol_feed+' mL/min');
|
||||
h+=row('氧侧生成水箱液位', (d.oxygen_side_water_level*0.1).toFixed(1)+' mm');
|
||||
h+=row('氢侧生成水箱液位', (d.hydrogen_side_water_level*0.1).toFixed(1)+' mm');
|
||||
h+=row('配重水箱液位', (d.ballast_water_level*0.1).toFixed(1)+' mm');
|
||||
h+=row('I#FC最低单片电压', (d.fc1_min_cell_voltage*10)+' mV (位置'+d.fc1_min_cell_pos+')');
|
||||
h+=row('I#FC平均单片电压', (d.fc1_avg_cell_voltage*10)+' mV');
|
||||
h+=row('2#FC最低单片电压', (d.fc2_min_cell_voltage*10)+' mV (位置'+d.fc2_min_cell_pos+')');
|
||||
@@ -211,7 +214,7 @@ function tankCard(d){
|
||||
let h='';
|
||||
h+=row('液氧罐压力', (d.tank_lo2_pressure*0.01).toFixed(2)+' MPa');
|
||||
h+=row('二氧化碳压力', (d.tank_co2_pressure*0.01).toFixed(2)+' MPa');
|
||||
h+=row('液氧罐液位', (d.tank_lo2_level*0.01).toFixed(2)+' mm');
|
||||
h+=row('液氧罐液位', (d.tank_lo2_level*0.01).toFixed(2)+' m');
|
||||
h+=row('合金供氢流量', (d.alloy_h2_flow*0.01).toFixed(2)+' L/min');
|
||||
h+=row('FC供氢流量', (d.fc_h2_flow*0.01).toFixed(2)+' L/min');
|
||||
h+=row('FC供氧流量', (d.fc_o2_flow*0.01).toFixed(2)+' L/min');
|
||||
@@ -321,8 +324,10 @@ function fcCmdCard(d){
|
||||
h+=row('模式设定', parsed(d.mode, modeText(d.mode)));
|
||||
h+=row('操控指令', parsed(d.cmd, cmdText(d.cmd)));
|
||||
h+=row('输出功率指令', d.outputPower+' (×0.1kW)');
|
||||
h+=row('纵倾姿态', (d.pitch*0.1).toFixed(1)+'°');
|
||||
h+=row('横倾姿态', (d.roll*0.1).toFixed(1)+'°');
|
||||
h+=row('纵倾姿态数据1', (d.pitch1*0.1).toFixed(1)+'°');
|
||||
h+=row('纵倾姿态数据2', (d.pitch2*0.1).toFixed(1)+'°');
|
||||
h+=row('横倾姿态数据1', (d.roll1*0.1).toFixed(1)+'°');
|
||||
h+=row('横倾姿态数据2', (d.roll2*0.1).toFixed(1)+'°');
|
||||
h+=row('应急允许', parsed(d.emergencyAllow, emerAllowText(d.emergencyAllow)));
|
||||
h+=row('潜深深度', d.depth+' m');
|
||||
h+=row('补给/排放指令', parsed(d.supplyCmd, supplyCmdText(d.supplyCmd)));
|
||||
|
||||
@@ -40,8 +40,9 @@
|
||||
#include "faultCode.h"
|
||||
#define IPORT 5001
|
||||
#define CCUPORT 7000
|
||||
#define CCUHOST "192.168.0.140"
|
||||
// #define CCUHOST "127.0.0.0"
|
||||
// #define CCUHOST "192.168.0.140"
|
||||
// pCCU 与本程序同机部署时用回环地址；127.0.0.0 是网络号，内核不路由
|
||||
#define CCUHOST "127.0.0.1"
|
||||
#define MAX_UDP_PKT_SIZE 65535
|
||||
#define SKEW_TOLERANCE 5
|
||||
|
||||
|
||||
+14
-10
@@ -40,7 +40,7 @@ static void testFrameLengths() {
|
||||
PmParamSetFbMessage ppf;
|
||||
PmStatusMessage psm;
|
||||
|
||||
CHECK(fcm.totalLength() == 20); // FC 控制指令 24B 文档表，实际 20B（域字节数0x0014）
|
||||
CHECK(fcm.totalLength() == 24); // FC 控制指令 24B（1.1.1：域字节数0x0018）
|
||||
CHECK(fsm.totalLength() == 150); // FC 状态反馈 150B
|
||||
CHECK(pcm.totalLength() == 45); // PM 操控指令 45B
|
||||
CHECK(pps.totalLength() == 28); // PM 参数设定 28B
|
||||
@@ -52,29 +52,33 @@ static void testFrameLengths() {
|
||||
// 2. FC 控制指令编解码往返
|
||||
static void testFcControlRoundTrip() {
|
||||
FcControlValue v;
|
||||
v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch = 35; v.roll = -12;
|
||||
v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch1 = 35; v.pitch2 = -21;
|
||||
v.roll1 = -12; v.roll2 = 48;
|
||||
v.emergencyAllow = 0x03; v.depth = 150;
|
||||
v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6; v.heartbeat = 7;
|
||||
|
||||
FcControlMessage msg;
|
||||
std::vector<uint8_t> frame = msg.encode(v);
|
||||
|
||||
CHECK(frame.size() == 20);
|
||||
CHECK(frame.size() == 24);
|
||||
CHECK(frame[0] == 0x40 && frame[1] == 0x40);
|
||||
CHECK(frame[4] == 0x18 && frame[5] == 0x00); // 域字节数 0x0018 小端
|
||||
|
||||
// 字节位置校验：纵倾数据1=低位(字节10=0x23=35), 数据2=高位(字节11=0x00)
|
||||
CHECK(frame[6 + 3] == 0x23); // 姿态数据1(低位)
|
||||
CHECK(frame[6 + 4] == 0x00); // 姿态数据2(高位)
|
||||
CHECK(frame[6 + 5] == 0xF4); // 横倾数据1(低位, -12 = 0xFFF4 小端)
|
||||
CHECK(frame[6 + 6] == 0xFF); // 横倾数据2(高位)
|
||||
// 字节位置校验（数据域起点=帧头6）：姿态各 int16 小端
|
||||
CHECK(frame[6 + 3] == 0x23 && frame[6 + 4] == 0x00); // 纵倾数据1 = 35
|
||||
CHECK(frame[6 + 5] == 0xEB && frame[6 + 6] == 0xFF); // 纵倾数据2 = -21 (0xFFEB)
|
||||
CHECK(frame[6 + 7] == 0xF4 && frame[6 + 8] == 0xFF); // 横倾数据1 = -12 (0xFFF4)
|
||||
CHECK(frame[6 + 9] == 0x30 && frame[6 + 10] == 0x00); // 横倾数据2 = 48
|
||||
|
||||
FcControlValue out;
|
||||
CHECK(msg.decode(frame, static_cast<void*>(&out)));
|
||||
CHECK(out.mode == 2);
|
||||
CHECK(out.cmd == 2);
|
||||
CHECK(out.outputPower == 100);
|
||||
CHECK(out.pitch == 35);
|
||||
CHECK(out.roll == -12);
|
||||
CHECK(out.pitch1 == 35);
|
||||
CHECK(out.pitch2 == -21);
|
||||
CHECK(out.roll1 == -12);
|
||||
CHECK(out.roll2 == 48);
|
||||
CHECK(out.emergencyAllow == 0x03);
|
||||
CHECK(out.depth == 150);
|
||||
CHECK(out.supplyCmd == 1);
|
||||
|
||||
Reference in New Issue
Block a user