构建：修复 GTest 链接失败——显式指定 Linux GTest 配置，避免从 PATH 探测到 Windows Anaconda 的 .lib

2026-08-18 19:45:50 +08:00
parent a6da5e3ae9
commit f3dd9e2c5a
20 changed files with 4629 additions and 6 deletions
@@ -0,0 +1,720 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<title>pPowerManger 上位机模拟</title>
+<style>
+  :root {
+    --bg: #0f172a;
+    --panel: #1e293b;
+    --border: #334155;
+    --fg: #e2e8f0;
+    --acc: #38bdf8;
+    --ok: #22c55e;
+    --warn: #f59e0b;
+    --err: #ef4444;
+  }
+
+  * { box-sizing: border-box; }
+
+  body {
+    margin: 0;
+    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "PingFang SC", "Microsoft YaHei", sans-serif;
+    background: var(--bg);
+    color: var(--fg);
+  }
+
+  header {
+    display: flex;
+    align-items: center;
+    gap: 12px;
+    padding: 12px 20px;
+    background: var(--panel);
+    border-bottom: 1px solid var(--border);
+  }
+
+  header h1 { font-size: 16px; margin: 0; }
+
+  .dot {
+    width: 10px;
+    height: 10px;
+    border-radius: 50%;
+    background: var(--err);
+  }
+  .dot.on { background: var(--ok); }
+
+  main {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 16px;
+    padding: 16px;
+    max-width: 1500px;
+    margin: 0 auto;
+  }
+
+  @media (max-width: 900px) {
+    main { grid-template-columns: 1fr; }
+  }
+
+  section {
+    background: var(--panel);
+    border: 1px solid var(--border);
+    border-radius: 10px;
+    padding: 14px;
+  }
+  section.wide {
+    margin: 0 16px 16px;
+    max-width: 1468px;
+  }
+
+  section h2 {
+    font-size: 14px;
+    margin: 0 0 10px;
+    color: var(--acc);
+  }
+
+  .row {
+    display: flex;
+    gap: 8px;
+    flex-wrap: wrap;
+    align-items: center;
+    margin-bottom: 8px;
+  }
+
+  label {
+    font-size: 12px;
+    color: #94a3b8;
+  }
+
+  select, input, textarea, button {
+    background: #0b1220;
+    color: var(--fg);
+    border: 1px solid var(--border);
+    border-radius: 6px;
+    padding: 6px 8px;
+    font-size: 13px;
+  }
+
+  textarea {
+    font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+    width: 100%;
+    min-height: 90px;
+    resize: vertical;
+  }
+
+  button {
+    cursor: pointer;
+    background: #0ea5e9;
+    border-color: #0ea5e9;
+    color: #fff;
+  }
+  button:hover { filter: brightness(1.1); }
+  button.sec {
+    background: #334155;
+    border-color: #475569;
+  }
+
+  .chip {
+    display: inline-block;
+    padding: 3px 8px;
+    margin: 2px;
+    border-radius: 999px;
+    border: 1px solid var(--border);
+    cursor: pointer;
+    font-size: 12px;
+  }
+  .chip:hover { border-color: var(--acc); }
+
+  .var-item {
+    border: 1px solid var(--border);
+    border-radius: 8px;
+    margin-bottom: 8px;
+    overflow: hidden;
+  }
+  .var-item summary {
+    cursor: pointer;
+    padding: 8px 10px;
+    font-size: 13px;
+    background: #16202f;
+    user-select: none;
+  }
+  .var-item pre {
+    margin: 0;
+    padding: 10px;
+    font-size: 12px;
+    overflow-x: auto;
+    background: #0b1220;
+    color: #a5f3fc;
+    white-space: pre-wrap;
+    word-break: break-all;
+  }
+
+  .muted {
+    color: #64748b;
+    font-size: 12px;
+  }
+
+  #log {
+    font-size: 12px;
+    color: #94a3b8;
+    max-height: 180px;
+    overflow-y: auto;
+  }
+  #log .send { color: var(--acc); }
+  #log .err { color: var(--err); }
+
+  #chart {
+    width: 100%;
+    height: 280px;
+    display: block;
+    background: #0b1220;
+    border: 1px solid var(--border);
+    border-radius: 8px;
+  }
+
+  .serie {
+    display: inline-flex;
+    align-items: center;
+    gap: 6px;
+    padding: 3px 8px;
+    margin: 2px;
+    border-radius: 999px;
+    border: 1px solid var(--border);
+    font-size: 12px;
+    background: #0b1220;
+  }
+  .serie .swatch {
+    width: 10px;
+    height: 10px;
+    border-radius: 2px;
+    display: inline-block;
+  }
+  .serie .rm {
+    cursor: pointer;
+    color: #94a3b8;
+    font-weight: bold;
+  }
+  .serie .rm:hover { color: var(--err); }
+</style>
+</head>
+<body>
+<header>
+  <span class="dot" id="wsDot"></span>
+  <h1>pPowerManger 上位机模拟 (Web UI)</h1>
+  <span class="muted" id="wsState">连接中…</span>
+</header>
+<main>
+  <section>
+    <h2>指令下发</h2>
+    <div class="row">
+      <label>命令类型</label>
+      <select id="cmdType"></select>
+    </div>
+    <div class="row">
+      <label>MOOS 变量</label>
+      <input id="cmdKey" style="flex:1" />
+    </div>
+    <div class="row">
+      <label>JSON 载荷</label>
+    </div>
+    <textarea id="cmdValue"></textarea>
+    <div class="row" style="margin-top:8px">
+      <button id="btnSend">发送</button>
+      <button id="btnReset" class="sec">重置模板</button>
+    </div>
+
+    <h2>快捷指令</h2>
+    <div id="quick"></div>
+
+    <h2>通用 MOOS 通知</h2>
+    <div class="row">
+      <input id="rawKey" placeholder="变量名" style="flex:1" />
+      <input id="rawValue" placeholder="JSON 字符串" style="flex:2" />
+      <button id="btnRawSend">Notify</button>
+    </div>
+  </section>
+
+  <section>
+    <h2>反馈监控（pPowerManger 发往上位机的全部消息）</h2>
+    <div class="muted" id="monitorMeta"></div>
+    <div id="monitor"></div>
+  </section>
+</main>
+
+<section class="wide">
+  <h2>连续数据曲线</h2>
+  <div class="row">
+    <label>选择字段</label>
+    <select id="fieldSel" style="flex:1"></select>
+    <button id="btnAddSeries">添加曲线</button>
+    <button id="btnClearSeries" class="sec">清空全部</button>
+  </div>
+  <div id="seriesBox" style="margin-bottom:8px"></div>
+  <canvas id="chart"></canvas>
+</section>
+
+<section class="wide">
+  <h2>操作日志</h2>
+  <div id="log"></div>
+</section>
+
+<script>
+// ---- 数据定义 ----
+const WORK_CONDITIONS = [
+  [0, "切换中"],
+  [1, "待机"],
+  [2, "岸基备航"],
+  [3, "水中备航"],
+  [4, "遥控"],
+  [5, "巡航"],
+  [6, "高速"],
+  [7, "上浮下潜"],
+  [8, "浮调"],
+  [9, "水下侦查"],
+  [10, "水面侦查"],
+  [11, "DJ"],
+  [12, "调试"]
+];
+
+const MODES = [
+  [0, "正常"],
+  [1, "测试"],
+  [2, "调试"]
+];
+
+const POWER_CMDS = [
+  [0, "断电"],
+  [1, "上电"],
+  [2, "保持"]
+];
+
+const TASKS = [
+  ["throwLoad", "抛载"],
+  ["floatUp", "运动上浮"],
+  ["recycle", "回收"],
+  ["hover", "悬停"],
+  ["satComm", "上浮通信"],
+  ["satCalibrate", "上浮校准"],
+  ["tour", "游曳"],
+  ["sail", "航行"],
+  ["emerSatComm", "紧急上浮通信"],
+  ["emerSail", "紧急航行"]
+];
+
+const DEVICES = [
+  [0, "singleBeamSonar1"],
+  [1, "singleBeamSonar2"],
+  [2, "singleBeamSonar3"],
+  [3, "singleBeamSonar4"],
+  [4, "singleBeamSonar5"],
+  [5, "singleBeamSonar6"],
+  [6, "singleBeamSonar7"],
+  [7, "singleBeamSonar8"],
+  [8, "forwardSonar"],
+  [9, "bowCover1"],
+  [10, "bowCover2"],
+  [11, "bowCover3"],
+  [12, "bowCover4"],
+  [13, "bowCover5"],
+  [14, "bowCover6"],
+  [15, "bowRudderDeploy"],
+  [16, "bowRudderServo1"],
+  [17, "bowRudderServo2"],
+  [18, "depth1"],
+  [19, "depth2"],
+  [20, "depth3"],
+  [21, "overDeep1"],
+  [22, "overDeep2"],
+  [23, "ctd1"],
+  [24, "ctd2"],
+  [25, "soundVeloc"],
+  [26, "waterInject"],
+  [27, "bowWaterInet1"],
+  [28, "bowWaterInet2"],
+  [29, "bowWaterInet3"],
+  [30, "bowWaterInet4"],
+  [31, "bowWaterInet5"],
+  [32, "bowWaterInet6"],
+  [33, "bowWaterInet7"],
+  [34, "bowWaterInet8"],
+  [35, "sideSonar"],
+  [36, "lowFreqSonar"],
+  [37, "launchControler"],
+  [38, "photoSensor"],
+  [39, "electSensor"],
+  [40, "commMast"],
+  [41, "mastLiftingServo"],
+  [42, "USBL"],
+  [43, "DVL"],
+  [44, "buoyancyAdjust1"],
+  [45, "buoyancyAdjust2"],
+  [46, "buoyancyAdjust3"],
+  [47, "buoyancyAdjust4"],
+  [48, "buoyancyAdjust5"],
+  [49, "sternRudderServo1"],
+  [50, "sternRudderServo2"],
+  [51, "sternRudderServo3"],
+  [52, "sternRudderServo4"],
+  [53, "thruster"],
+  [54, "bowThrow"],
+  [55, "sternThrow"],
+  [56, "buoyage"],
+  [57, "ins"],
+  [58, "ntp"],
+  [59, "inputWaterSensor1"],
+  [60, "inputWaterSensor2"],
+  [61, "inputWaterSensor3"]
+];
+
+const DEV_CMDS = [
+  [0, "断电(OFF)"],
+  [1, "上电(ON)"],
+  [2, "仪表上电"],
+  [3, "动力上电"],
+  [4, "仪表断电"],
+  [5, "动力断电"]
+];
+
+const COMMANDS = {
+  setOpCondition: {
+    key: "uExternComm_setOpCondition_cmd",
+    tpl: { state_uint8: 1 },
+    label: "设置工况"
+  },
+  setOpMode: {
+    key: "uExternComm_setOpMode_cmd",
+    tpl: { state_uint8: 0 },
+    label: "设置模式"
+  },
+  setPowerSystem: {
+    key: "uExternComm_setPowerSystem_cmd",
+    tpl: { powerCmd_uint8: 1 },
+    label: "电源系统"
+  },
+  masterControl: {
+    key: "uPower_sysState_cmd",
+    tpl: { powerCMD: 0, modCMD: 0, workCMD: 0 },
+    label: "主控指令"
+  },
+  setDeviceSwitch: {
+    key: "uExternComm_setDeviceSwitch_cmd",
+    tpl: { id_uint8: 0, cmd_uint8: 1 },
+    label: "设备开关"
+  },
+  taskStart: {
+    key: "uPlan_taskStart_st",
+    tpl: { taskType_str: "sail", balanceEnabled_bool: true, bowRudderUnfold_bool: true },
+    label: "任务启动"
+  },
+  planStop: {
+    key: "uPlan_planStop_st",
+    tpl: { op_int32: 1 },
+    label: "任务停止"
+  },
+  depth: {
+    key: "uDevice_depth_st",
+    tpl: { value_array_int32: [0, 0, 0] },
+    label: "深度"
+  },
+  equState: {
+    key: "uPower_equState_cmd",
+    tpl: {},
+    label: "设备指令(DriverTable)"
+  },
+  secdistState: {
+    key: "uDevice_secdistState_st",
+    tpl: {},
+    label: "次级配电状态"
+  }
+};
+
+// ---- 曲线相关 ----
+const COLORS = [
+  "#38bdf8", "#22c55e", "#f59e0b", "#ef4444", "#a78bfa",
+  "#f472b6", "#34d399", "#fbbf24", "#fb923c", "#e879f9"
+];
+const MAX_POINTS = 300;
+
+let history = {};         // path -> { color, points: [[t, v], ...] }
+let allFields = new Set();
+let nextColor = 0;
+let ws = null;
+let currentCmd = "setOpCondition";
+
+// ---- 工具函数 ----
+function el(id) {
+  return document.getElementById(id);
+}
+
+function log(msg, cls) {
+  const d = document.createElement("div");
+  if (cls) d.className = cls;
+  d.textContent = msg;
+  el("log").appendChild(d);
+  el("log").scrollTop = el("log").scrollHeight;
+}
+
+// ---- 通信 ----
+function connect() {
+  const proto = location.protocol === "https:" ? "wss://" : "ws://";
+  ws = new WebSocket(proto + location.host + "/ws");
+  ws.onopen = () => {
+    el("wsDot").classList.add("on");
+    el("wsState").textContent = "已连接";
+  };
+  ws.onclose = () => {
+    el("wsDot").classList.remove("on");
+    el("wsState").textContent = "已断开，重连中…";
+    setTimeout(connect, 1000);
+  };
+  ws.onerror = () => ws.close();
+  ws.onmessage = (e) => {
+    try {
+      const snap = JSON.parse(e.data);
+      onSnapshot(snap);
+    } catch (err) {
+      log("解析反馈失败: " + err, "err");
+    }
+  };
+}
+
+function sendMsg(obj) {
+  if (!ws || ws.readyState !== WebSocket.OPEN) {
+    log("未连接", "err");
+    return;
+  }
+  ws.send(JSON.stringify(obj));
+  log("发送 -> " + obj.key + " : " + JSON.stringify(obj.value), "send");
+}
+
+// ---- 指令下发 ----
+function applyTemplate(cmdType) {
+  const c = COMMANDS[cmdType];
+  el("cmdKey").value = c.key;
+  el("cmdValue").value = JSON.stringify(c.tpl, null, 2);
+}
+
+function sendCurrent() {
+  let v;
+  try {
+    v = JSON.parse(el("cmdValue").value);
+  } catch (e) {
+    log("JSON 非法: " + e.message, "err");
+    return;
+  }
+  sendMsg({ key: el("cmdKey").value, value: v });
+}
+
+function buildQuick(){
+  const box = el("quick");
+  let html = "";
+
+  html += '<div class="muted">工况 (setOpCondition)</div><div>';
+  WORK_CONDITIONS.forEach(([v,n]) => { html += `<span class="chip" data-act="cond" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">模式 (setOpMode)</div><div>';
+  MODES.forEach(([v,n]) => { html += `<span class="chip" data-act="mode" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">电源 (setPowerSystem)</div><div>';
+  POWER_CMDS.forEach(([v,n]) => { html += `<span class="chip" data-act="power" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">任务启动 (taskStart)</div><div>';
+  TASKS.forEach(([v,n]) => { html += `<span class="chip" data-act="task" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">设备开关 (setDeviceSwitch)</div>';
+  html += '<div class="row"><select id="devSel">' + DEVICES.map(([v,n])=>`<option value="${v}">${n}</option>`).join("") + "</select>" +
+          '<select id="devCmd">' + DEV_CMDS.map(([v,n])=>`<option value="${v}">${n}</option>`).join("") + "</select>" +
+          '<button id="btnDev">执行</button></div>';
+
+  box.innerHTML = html;
+
+  box.querySelectorAll(".chip").forEach(ch => {
+    ch.onclick = () => {
+      const act = ch.dataset.act, v = ch.dataset.v;
+      if(act === "cond") sendMsg({ key: COMMANDS.setOpCondition.key, value: {state_uint8: Number(v)} });
+      else if(act === "mode") sendMsg({ key: COMMANDS.setOpMode.key, value: {state_uint8: Number(v)} });
+      else if(act === "power") sendMsg({ key: COMMANDS.setPowerSystem.key, value: {powerCmd_uint8: Number(v)} });
+      else if(act === "task") sendMsg({ key: COMMANDS.taskStart.key, value: {taskType_str: v, balanceEnabled_bool: true, bowRudderUnfold_bool: true} });
+    };
+  });
+
+  el("btnDev").onclick = () => {
+    sendMsg({ key: COMMANDS.setDeviceSwitch.key, value: { id_uint8: Number(el("devSel").value), cmd_uint8: Number(el("devCmd").value) } });
+  };
+}
+
+function escapeHtml(s){ return s.replace(/[&<>]/g, c => ({"&":"&amp;","<":"&lt;",">":"&gt;"}[c])); }
+
+function renderMonitor(snap){
+  const keys = Object.keys(snap).sort();
+  el("monitorMeta").textContent = "收到 " + keys.length + " 个反馈变量 · " + new Date().toLocaleTimeString();
+  const box = el("monitor");
+  box.innerHTML = "";
+  keys.forEach(k => {
+    const raw = snap[k];
+    let pretty = raw;
+    try { pretty = JSON.stringify(JSON.parse(raw), null, 2); } catch(e){}
+    const d = document.createElement("details");
+    d.className = "var-item";
+    d.innerHTML = `<summary>${k}</summary><pre>${escapeHtml(pretty)}</pre>`;
+    box.appendChild(d);
+  });
+}
+
+// ---- 连续数据曲线 ----
+function collectNumbers(node, prefix, out){
+  if (Array.isArray(node)) return;
+  if (typeof node === "number") { out[prefix] = node; return; }
+  if (node && typeof node === "object") {
+    for (const k in node) collectNumbers(node[k], prefix + "." + k, out);
+  }
+}
+
+function onSnapshot(snap){
+  renderMonitor(snap);
+
+  const now = Date.now();
+  const nums = {};
+  for (const key in snap) {
+    let obj; try { obj = JSON.parse(snap[key]); } catch(e){ continue; }
+    collectNumbers(obj, key, nums);
+  }
+  for (const p in nums) allFields.add(p);
+
+  for (const p in history) {
+    if (p in nums) {
+      history[p].points.push([now, nums[p]]);
+      if (history[p].points.length > MAX_POINTS) history[p].points.shift();
+    }
+  }
+
+  refreshFieldOptions();
+  drawChart();
+}
+
+function refreshFieldOptions(){
+  const sel = el("fieldSel");
+  const prev = sel.value;
+  const arr = Array.from(allFields).sort();
+  sel.innerHTML = arr.map(p => `<option value="${p}">${p}</option>`).join("");
+  if (prev && arr.indexOf(prev) >= 0) sel.value = prev;
+}
+
+function addSeries(path){
+  if (!path || history[path]) return;
+  history[path] = { color: COLORS[nextColor % COLORS.length], points: [] };
+  nextColor++;
+  renderSeriesBox();
+  drawChart();
+}
+
+function removeSeries(path){
+  delete history[path];
+  renderSeriesBox();
+  drawChart();
+}
+
+function renderSeriesBox(){
+  const box = el("seriesBox");
+  const paths = Object.keys(history);
+  if (!paths.length) { box.innerHTML = '<span class="muted">未添加曲线</span>'; return; }
+  box.innerHTML = paths.map(p =>
+    `<span class="serie"><span class="swatch" style="background:${history[p].color}"></span>${p}` +
+    `<span class="rm" data-path="${p}">×</span></span>`
+  ).join("");
+  box.querySelectorAll(".rm").forEach(x => { x.onclick = () => removeSeries(x.dataset.path); });
+}
+
+function fmt(v){ return Math.abs(v) >= 1000 ? v.toFixed(0) : (Math.abs(v) >= 10 ? v.toFixed(1) : v.toFixed(2)); }
+function fmtTime(t){ const d = new Date(t); return d.toLocaleTimeString(); }
+
+function drawChart(){
+  const canvas = el("chart");
+  const dpr = window.devicePixelRatio || 1;
+  const w = canvas.clientWidth || 1000;
+  const h = canvas.clientHeight || 280;
+  canvas.width = Math.floor(w * dpr);
+  canvas.height = Math.floor(h * dpr);
+  const ctx = canvas.getContext("2d");
+  ctx.setTransform(dpr,0,0,dpr,0,0);
+  ctx.fillStyle = "#0b1220"; ctx.fillRect(0,0,w,h);
+
+  const series = Object.keys(history).filter(k => history[k].points.length >= 1);
+  if (!series.length){
+    ctx.fillStyle = "#64748b"; ctx.font = "13px sans-serif"; ctx.textAlign = "center";
+    ctx.fillText("添加曲线后显示连续数据趋势", w/2, h/2);
+    return;
+  }
+
+  let minT=Infinity, maxT=-Infinity, minV=Infinity, maxV=-Infinity;
+  series.forEach(k => history[k].points.forEach(([t,v])=>{
+    if(t<minT)minT=t; if(t>maxT)maxT=t; if(v<minV)minV=v; if(v>maxV)maxV=v;
+  }));
+  if(minV === maxV){ minV -= 1; maxV += 1; }
+  if(minT === maxT){ minT -= 500; maxT += 500; }
+
+  const pad = {l:52,r:12,t:12,b:26};
+  const pw = w - pad.l - pad.r, ph = h - pad.t - pad.b;
+  const X = t => pad.l + (t-minT)/(maxT-minT)*pw;
+  const Y = v => pad.t + (1-(v-minV)/(maxV-minV))*ph;
+
+  ctx.strokeStyle = "#1e293b"; ctx.fillStyle = "#94a3b8"; ctx.font = "10px sans-serif";
+  for(let i=0;i<=4;i++){
+    const val = minV + (maxV-minV)*i/4, yy = Y(val);
+    ctx.textAlign = "right"; ctx.fillText(fmt(val), pad.l-6, yy+3);
+    ctx.beginPath(); ctx.moveTo(pad.l, yy); ctx.lineTo(w-pad.r, yy); ctx.stroke();
+  }
+  for(let i=0;i<=4;i++){
+    const tt = minT + (maxT-minT)*i/4, xx = X(tt);
+    ctx.textAlign = "center"; ctx.fillText(fmtTime(tt), xx, h-pad.b+14);
+    ctx.beginPath(); ctx.moveTo(xx, pad.t); ctx.lineTo(xx, h-pad.b); ctx.stroke();
+  }
+
+  series.forEach(k => {
+    const {color, points} = history[k];
+    ctx.strokeStyle = color; ctx.lineWidth = 1.5; ctx.beginPath();
+    points.forEach(([t,v],i)=>{ const xx=X(t), yy=Y(v); if(i)ctx.lineTo(xx,yy); else ctx.moveTo(xx,yy); });
+    ctx.stroke();
+  });
+}
+
+// 初始化
+function init(){
+  const sel = el("cmdType");
+  Object.keys(COMMANDS).forEach(k => {
+    const o = document.createElement("option");
+    o.value = k; o.textContent = COMMANDS[k].label;
+    sel.appendChild(o);
+  });
+  sel.value = currentCmd;
+  applyTemplate(currentCmd);
+  sel.onchange = () => { currentCmd = sel.value; applyTemplate(currentCmd); };
+
+  el("btnSend").onclick = sendCurrent;
+  el("btnReset").onclick = () => applyTemplate(currentCmd);
+  el("btnRawSend").onclick = () => {
+    const k = el("rawKey").value.trim();
+    const v = el("rawValue").value.trim();
+    if(!k){ log("变量名为空", "err"); return; }
+    sendMsg({ key: k, value: v });
+  };
+
+  el("btnAddSeries").onclick = () => addSeries(el("fieldSel").value);
+  el("btnClearSeries").onclick = () => { history = {}; nextColor = 0; renderSeriesBox(); drawChart(); };
+
+  window.addEventListener("resize", drawChart);
+
+  buildQuick();
+  renderSeriesBox();
+  drawChart();
+  connect();
+}
+init();
+</script>
+</body>
+</html>