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873a1a9b09
build-test-deploy / ci (push) Failing after 32m37s
- 协议模块(protocol/MotorCan)：12 条 CAN ID、指令帧 0x18EF2010 编码、 状态帧(转速/母线电压/温度)与支路一/二故障报警帧解码，故障位按协议 逐位映射中文描述（docs/推进电机通信协议20260321.docx） - 主程序(MOOS 应用)：订阅 pCanBridge 透传 CAN_0x* 解码电机状态； 500ms 周期下发指令帧（CAN_TX_0x18EF2010，m_sSrcAux=CAN1）， 可选 red_channel 冗余下发 0x18EF2011；复位位保持 reset_hold_sec - 网页(18081)：按协议指令帧字段独立下发（使能命令 Byte0 bit0 / 复位命令 Byte0 bit1 / 期望转速 Byte2/3，无联动按钮）； WebSocket 1Hz 推送转速/电压/温度/故障告警/链路统计 - 配置接入：missions/h100.moos 增加 pMotor 配置块（can_channel=CAN1） - 测试：pmotorTest 92 项（指令帧字节级对照协议示例、解码/故障表） - 部署：scripts/build-board.sh 增加 pMotor 产物拷贝 + pMotor.service； .gitignore 补 bin/pMotor、bin/pmotorTest - 联调验证：MOOSDB+pCanBridge+假CANET 全链路，下行帧 01 00 E8 03 与协议文档示例一致，复位位 3s 保持行为正确
256 lines
9.3 KiB
C++
256 lines
9.3 KiB
C++
//============================================================================
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// pmotorTest：pMotor 推进电机 CAN 协议编解码单元测试
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// 无第三方测试库，独立可执行。参照 test/pccu/pccuTest.cpp 的轻量风格。
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//
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// 协议依据：docs/推进电机通信协议20260321.docx
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//============================================================================
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <string>
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#include <vector>
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#include "../../src/pMotor/protocol/MotorCan.h"
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using namespace motor;
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static int g_fail = 0;
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static int g_pass = 0;
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#define CHECK(cond) do { \
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if (cond) { ++g_pass; } \
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else { ++g_fail; std::printf("FAIL %s:%d %s\n", __FILE__, __LINE__, #cond); } \
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} while (0)
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#define CHECK_STREQ(a, b) do { \
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if (std::string(a) == std::string(b)) { ++g_pass; } \
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else { ++g_fail; std::printf("FAIL %s:%d \"%s\" != \"%s\"\n", __FILE__, __LINE__, std::string(a).c_str(), std::string(b).c_str()); } \
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} while (0)
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//--------------------------------------------------------------------------
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// 1. 指令帧编码（对照文档示例）
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static void testCmdEncode() {
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uint8_t d[8];
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// 文档示例：启动并给定 1000 转速 -> 01 00 E8 03 00 00 00 00
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buildMotorCmdData(true, false, 1000, d);
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uint8_t expect1[] = {0x01, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00};
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CHECK(std::memcmp(d, expect1, 8) == 0);
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// 文档示例：停机 -> 00 00 00 00 00 00 00 00
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buildMotorCmdData(false, false, 0, d);
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uint8_t expect0[] = {0, 0, 0, 0, 0, 0, 0, 0};
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CHECK(std::memcmp(d, expect0, 8) == 0);
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// 文档示例：复位 -> 02 00 00 00 00 00 00 00
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buildMotorCmdData(false, true, 0, d);
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uint8_t expect2[] = {0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
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CHECK(std::memcmp(d, expect2, 8) == 0);
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// 使能+复位 同时有效 -> bit0+bit1 = 0x03
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buildMotorCmdData(true, true, 0, d);
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CHECK(d[0] == 0x03);
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// 负转速 s16 Intel：-100 = 0xFF9C -> byte2=0x9C byte3=0xFF
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buildMotorCmdData(true, false, -100, d);
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CHECK(d[0] == 0x01);
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CHECK(d[2] == 0x9C && d[3] == 0xFF);
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// 边界转速：32767 / -32768
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buildMotorCmdData(true, false, 32767, d);
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CHECK(d[2] == 0xFF && d[3] == 0x7F);
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buildMotorCmdData(true, false, -32768, d);
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CHECK(d[2] == 0x00 && d[3] == 0x80);
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// 支路通信状态位（bit2/bit3）恒 0（pMotor 不反馈通信状态）
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buildMotorCmdData(true, false, 1, d);
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CHECK((d[0] & 0x0C) == 0);
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}
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//--------------------------------------------------------------------------
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// 2. CAN ID 识别
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static void testCanId() {
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// 12 条电机 ID 全部命中
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const uint32_t ids[] = {
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MOTOR_CAN_CMD, MOTOR_CAN_CMD_RED,
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MOTOR_CAN_LIMIT, MOTOR_CAN_LIMIT_RED,
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MOTOR_CAN_FAULT1, MOTOR_CAN_FAULT1_RED,
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MOTOR_CAN_FAULT2, MOTOR_CAN_FAULT2_RED,
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MOTOR_CAN_STATE3, MOTOR_CAN_STATE3_RED,
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MOTOR_CAN_STATE4, MOTOR_CAN_STATE4_RED,
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};
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for (size_t i = 0; i < sizeof(ids) / sizeof(ids[0]); ++i)
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CHECK(isCanMotorId(ids[i]));
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// 冗余 CAN 与主 CAN 仅末字节差 1
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CHECK(MOTOR_CAN_CMD_RED == MOTOR_CAN_CMD + 1);
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CHECK(MOTOR_CAN_FAULT1_RED == MOTOR_CAN_FAULT1 + 1);
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CHECK(MOTOR_CAN_FAULT2_RED == MOTOR_CAN_FAULT2 + 1);
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CHECK(MOTOR_CAN_STATE3_RED == MOTOR_CAN_STATE3 + 1);
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CHECK(MOTOR_CAN_STATE4_RED == MOTOR_CAN_STATE4 + 1);
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// 其他协议报文不命中（BCU 电池 / 配电）
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CHECK(!isCanMotorId(0x10010000)); // BCU 概要
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CHECK(!isCanMotorId(0x103681FF)); // BCU 继电器控制
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CHECK(!isCanMotorId(0x1401A501)); // 配电控制指令
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CHECK(!isCanMotorId(0x18EF2012)); // 电机协议未定义的 ID
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}
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//--------------------------------------------------------------------------
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// 3. 状态帧3 解码（0x18EF1220：反馈转速/母线电压）
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static void testState3Decode() {
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MotorState st;
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uint8_t d[8] = {0xE8, 0x03, 0xF4, 0x01, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d, 8, st));
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CHECK(st.state3Valid);
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CHECK(st.feedbackSpeed == 1000); // 0x03E8 Intel
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CHECK(st.busVoltage == 500); // 0x01F4 Intel
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// 负转速
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uint8_t d2[8] = {0x9C, 0xFF, 0, 0, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d2, 8, st));
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CHECK(st.feedbackSpeed == -100);
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// 冗余 CAN 同样可解码
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MotorState st2;
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE3_RED, d, 8, st2));
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CHECK(st2.feedbackSpeed == 1000 && st2.busVoltage == 500);
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// 非法 dlc
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MotorState st3;
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CHECK(!decodeMotorFrame(MOTOR_CAN_STATE3, d, 4, st3));
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CHECK(!decodeMotorFrame(MOTOR_CAN_STATE3, nullptr, 8, st3));
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}
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//--------------------------------------------------------------------------
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// 4. 状态帧4 解码（0x18EF1320：温度）
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static void testState4Decode() {
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MotorState st;
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uint8_t d[8] = {26, 44, 62, 79, 90, 107, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE4, d, 8, st));
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CHECK(st.state4Valid);
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CHECK(st.tempA == 26 && st.tempB == 44 && st.tempC == 62);
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CHECK(st.tempInv == 79 && st.tempFilter == 90 && st.tempAir == 107);
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// 冗余 CAN
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MotorState st2;
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE4_RED, d, 8, st2));
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CHECK(st2.tempA == 26);
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}
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//--------------------------------------------------------------------------
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// 5. 故障帧解码（0x18EF1020 支路一 / 0x18EF1120 支路二）
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static void testFaultDecode() {
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MotorState st;
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// 支路一：word0 置 bit8(超速) + bit9(紧急停机) -> byte0|byte1<<8 = 0x0300；
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// word3 置 bit8(遥控CAN通信中断报警) -> 0x0100
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uint8_t d1[8] = {0x00, 0x03, 0, 0, 0, 0, 0x00, 0x01};
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d1, 8, st));
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CHECK(st.branch1.valid);
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CHECK(st.branch1.word[0] == 0x0300);
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CHECK(st.branch1.word[3] == 0x0100);
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CHECK(st.branch1.faults.size() == 2);
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CHECK_STREQ(st.branch1.faults[0], "超速故障");
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CHECK_STREQ(st.branch1.faults[1], "紧急停机故障");
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CHECK(st.branch1.alarms.size() == 1);
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CHECK_STREQ(st.branch1.alarms[0], "遥控CAN通信中断报警");
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// 支路一 word0 bit7 = 筒内空气过温故障
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uint8_t d2[8] = {0x80, 0x00, 0, 0, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d2, 8, st));
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CHECK(st.branch1.faults.size() == 1);
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CHECK_STREQ(st.branch1.faults[0], "筒内空气过温故障");
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// 支路二：同 bit7 为预留，不应产生故障描述
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uint8_t d3[8] = {0x80, 0x00, 0, 0, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2, d3, 8, st));
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CHECK(st.branch2.valid);
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CHECK(st.branch2.faults.empty());
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CHECK(st.branch2.alarms.empty());
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// 支路二 word1：bit0(逆变A1相驱动1上管) + word2 bit3(母线电压过压)
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uint8_t d4[8] = {0, 0, 0x01, 0x00, 0x08, 0x00, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2, d4, 8, st));
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CHECK(st.branch2.word[1] == 0x0001);
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CHECK(st.branch2.word[2] == 0x0008);
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CHECK(st.branch2.faults.size() == 2);
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CHECK_STREQ(st.branch2.faults[0], "逆变A1相驱动1(上管)故障");
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CHECK_STREQ(st.branch2.faults[1], "母线电压过压故障");
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// 冗余 CAN 同样可解码且归入对应支路
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MotorState st2;
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1_RED, d1, 8, st2));
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CHECK(st2.branch1.valid && !st2.branch2.valid);
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT2_RED, d4, 8, st2));
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CHECK(st2.branch2.valid && st2.branch2.faults.size() == 2);
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}
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//--------------------------------------------------------------------------
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// 6. 故障描述查表
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static void testFaultTable() {
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std::vector<std::string> out;
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// word1 bit12/13/14/15
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CHECK(motorFaultTexts(1, 1, (1u << 12) | (1u << 13) | (1u << 14) | (1u << 15), out) == 4);
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CHECK_STREQ(out[0], "硬件总故障");
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CHECK_STREQ(out[1], "驱动总故障");
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CHECK_STREQ(out[2], "采样总故障");
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CHECK_STREQ(out[3], "24V欠压故障");
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// word3 全位 16 条
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CHECK(motorFaultTexts(1, 3, 0xFFFF, out) == 16);
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CHECK_STREQ(out[0], "直流母线1电压偏高报警");
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CHECK_STREQ(out[15], "协调光纤报警");
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// 无置位
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CHECK(motorFaultTexts(1, 0, 0, out) == 0);
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// 非法参数
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CHECK(motorFaultTexts(0, 0, 1, out) == 0);
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CHECK(motorFaultTexts(3, 0, 1, out) == 0);
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CHECK(motorFaultTexts(1, 9, 1, out) == 0);
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}
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//--------------------------------------------------------------------------
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// 7. 部分更新合并语义（故障帧重复上报，故障清除后描述随之清除）
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static void testPartialUpdate() {
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MotorState st;
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uint8_t d1[8] = {0x01, 0x00, 0, 0, 0, 0, 0, 0}; // 支路一 CPLD自检故障 (bit0)
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d1, 8, st));
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CHECK(st.branch1.faults.size() == 1);
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CHECK_STREQ(st.branch1.faults[0], "CPLD自检故障标志");
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// 复位后故障字清零 -> 描述清空
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uint8_t d2[8] = {0, 0, 0, 0, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_FAULT1, d2, 8, st));
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CHECK(st.branch1.faults.empty());
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// 状态帧不影响支路有效标志
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uint8_t d3[8] = {1, 0, 0, 0, 0, 0, 0, 0};
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CHECK(decodeMotorFrame(MOTOR_CAN_STATE3, d3, 8, st));
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CHECK(st.feedbackSpeed == 1);
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CHECK(st.branch1.valid); // 仍为 true（部分更新语义）
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}
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int main() {
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testCmdEncode();
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testCanId();
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testState3Decode();
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testState4Decode();
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testFaultDecode();
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testFaultTable();
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testPartialUpdate();
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std::printf("\n==== pmotorTest: %d passed, %d failed ====\n", g_pass, g_fail);
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return g_fail ? 1 : 0;
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}
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