zjk
2590282aed
build-test-deploy / ci (push) Successful in 1h13m13s
FC协议(0827 docx)： - 控制指令域：字节12,13/16,17由纵倾/横倾姿态数据2改为预留（编码恒0、解码忽略） - 状态反馈域：字节147,148由预留12改为剩余发电量(MWh)，贯通JSON/网页显示 - PM→CCU链路：姿态字段4xuchar改为2xshort(数据1)，结构体大小与线上布局不变 - 同步更新：CCU转发映射、SnapshotBuilder、pCCU网页、fuelcell网页、SQLite列描述、单测/模拟器 - 修正集成测试遗留断言(20B→24B、心跳d[19]→d[23])并增强预留字节校验 CCU地址可配置： - pPowerManger 支持 moos 配置项 ccuhost/ccuport（默认127.0.0.1:7000） - build-board.sh 增加 --ccu-host/--ccu-port 参数 文档：FC协议文档更新为0827版，清理过期协议docx
247 lines
9.1 KiB
Python
247 lines
9.1 KiB
Python
#!/usr/bin/env python3
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"""pCCU 集成测试：验证真实 UDP 链路上的完整数据流。
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拓扑：
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测试脚本(FC模拟) --16000--> pCCU(fc_local) [FC状态 0x0002]
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测试脚本(PM模拟) --16002--> pCCU(pm_local) [PM操控 0x0001, PM参数设定 0x0002]
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pCCU --16001--> 测试脚本 [FC控制 0x0001 转发]
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pCCU --16003--> 测试脚本 [PM状态 0x0004, PM参数反馈 0x0003]
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校验：
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1. FC 状态收到并整合，pCCU 周期发送 PM 状态(0x0004, 248B)到 16003
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2. PM 操控(0x0001)转发为 FC 控制(0x0001, 24B)到 16001
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3. PM 参数设定(0x0002)触发参数反馈(0x0003, 12B)到 16003
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4. SQLite 记录了收/发原始帧
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5. Web 页面可访问
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"""
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import socket
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import struct
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import threading
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import time
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import subprocess
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import os
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import signal
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import sys
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import urllib.request
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# ---- 配置 ----
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FC_STATUS_PORT = 16000
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FC_CTRL_RECV_PORT = 16001
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PM_CTRL_PORT = 16002
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PM_STATUS_RECV_PORT = 16003
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WEB_PORT = 18081
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DB_PATH = "/tmp/pccu_it_test.db"
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MOOSDB_EXE = "/usr/local/bin/MOOSDB"
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PCCU_EXE = "/home/zjk/project/H100PowerManger/bin/pCCU"
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MISSION = os.path.join(os.path.dirname(os.path.abspath(__file__)), "pccu_it.moos")
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# 帧头
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START = bytes([0x40, 0x40])
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def frame(msg_id, payload, checksum=True):
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total = 6 + len(payload) + (4 if checksum else 0)
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hdr = START + struct.pack("<HH", msg_id, total)
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body = hdr + payload
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if checksum:
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cks = sum(body) & 0xFFFFFFFF
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return body + struct.pack("<I", cks)
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return body
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def fc_status_frame():
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# payload 144B，仅填关键字段，其余为0
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p = bytearray(144)
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p[0] = 2 # 运行模式 自动
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p[1] = 6 # 运行状态 运行
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struct.pack_into("<H", p, 2, 0x0102) # 一级故障码
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struct.pack_into("<H", p, 10, 1234) # 累积发电时间
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p[12] = 0 # 故障等级
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struct.pack_into("<H", p, 14, 2000) # 系统发电功率 0.01kW
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p[16] = 80 # 储氢
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p[17] = 70 # 液氧
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struct.pack_into("<H", p, 24, 350) # 钯膜温度
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struct.pack_into("<H", p, 68, 2500) # 舱室温度1
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struct.pack_into("<H", p, 140, 4321) # 剩余发电量 MWh (字节147,148)
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p[142] = 5 # 心跳
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p[143] = 0x01 # 应急指令
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return frame(0x0002, bytes(p), checksum=False)
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def pm_control_frame():
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p = bytearray(35)
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struct.pack_into("<H", p, 0, 2026)
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p[2], p[3], p[4], p[5], p[6], p[7] = 8, 26, 10, 30, 0, 0
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p[8] = 2 # 模式 自动
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p[9] = 2 # 操控 启动
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p[10] = 120 # 输出功率 0.1kW
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struct.pack_into("<h", p, 11, 123) # 纵倾姿态数据1 12.3°
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struct.pack_into("<h", p, 13, -45) # 横倾姿态数据1 -4.5°
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p[15] = 0x03 # 应急允许
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struct.pack_into("<H", p, 16, 150) # 潜深
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p[21] = 0x10 # 仪表锂电启动
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p[22] = 0x20 # 动力锂电关闭
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struct.pack_into("<H", p, 23, 300) # 动力电池功率
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p[25] = 7 # 心跳
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p[26] = 0xAA # 主机状态
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return frame(0x0001, bytes(p))
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def pm_paramset_frame():
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p = bytearray(18)
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p[0], p[1], p[2] = 75, 85, 93
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p[5], p[6], p[7] = 75, 85, 93
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return frame(0x0002, bytes(p))
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def recv_loop(sock, label, results, msg_ids, timeout):
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"""持续接收指定 msg_id 的帧，记录到 results"""
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sock.settimeout(timeout)
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end = time.time() + timeout
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while time.time() < end:
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try:
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data, addr = sock.recvfrom(2048)
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except socket.timeout:
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break
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except OSError:
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break
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if len(data) < 6:
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continue
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mid = struct.unpack_from("<H", data, 2)[0]
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if mid in msg_ids:
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results.append(data)
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def main():
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# 清理
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for f in (DB_PATH, DB_PATH + "-wal", DB_PATH + "-shm", "/tmp/pccu_it_test.log"):
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if os.path.exists(f):
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os.remove(f)
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procs = []
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try:
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# 1. 启动 MOOSDB
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moosdb = subprocess.Popen([MOOSDB_EXE, "--moos", "--port", "9000"],
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stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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procs.append(moosdb)
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time.sleep(1.0)
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# 2. 启动 pCCU
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pccu = subprocess.Popen([PCCU_EXE, MISSION],
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
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procs.append(pccu)
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time.sleep(2.0)
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if pccu.poll() is not None:
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print("FAIL: pCCU exited early, code", pccu.returncode)
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return 1
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# 3. 启动接收监听（FC 控制转发 16001，PM 状态 16003）
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fc_ctl_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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fc_ctl_recv.bind(("127.0.0.1", FC_CTRL_RECV_PORT))
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pm_status_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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pm_status_recv.bind(("127.0.0.1", PM_STATUS_RECV_PORT))
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fc_ctl_results, pm_status_results = [], []
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t1 = threading.Thread(target=recv_loop,
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args=(fc_ctl_recv, "fc-ctl", fc_ctl_results, {0x0001}, 12))
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t2 = threading.Thread(target=recv_loop,
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args=(pm_status_recv, "pm-status", pm_status_results, {0x0004, 0x0003}, 12))
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t1.start(); t2.start()
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# 4. 发送 FC 状态（周期模拟）
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fc_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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for _ in range(3):
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fc_send.sendto(fc_status_frame(), ("127.0.0.1", FC_STATUS_PORT))
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time.sleep(0.5)
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# 5. 发送 PM 操控指令 + 参数设定
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pm_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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pm_send.sendto(pm_control_frame(), ("127.0.0.1", PM_CTRL_PORT))
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time.sleep(0.5)
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pm_send.sendto(pm_paramset_frame(), ("127.0.0.1", PM_CTRL_PORT))
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t1.join(); t2.join()
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ok = True
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# 校验 1：PM 状态报文（248B）周期发送
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pm_status = [d for d in pm_status_results if len(d) == 248]
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print(f"[PM 状态报文] 收到 {len(pm_status)} 帧 (期望>=1, 每帧248B)")
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if len(pm_status) >= 1:
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d = pm_status[0]
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total = struct.unpack_from("<H", d, 4)[0]
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mode = d[6]; status = d[7]
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print(f" -> length={total}, mode={mode}, status={status}, size={len(d)}")
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ok = ok and (total == 248) and (mode == 2) and (status == 6)
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else:
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ok = False
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# 校验 2：PM 操控转发为 FC 控制（24B，0827协议：姿态数据1转发，数据2字节预留恒0）
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fc_ctl = [d for d in fc_ctl_results if len(d) == 24]
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print(f"[FC 控制转发] 收到 {len(fc_ctl)} 帧 (期望>=1, 每帧24B)")
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if fc_ctl:
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d = fc_ctl[0]
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cmd = d[7]; power = d[8]; hb = d[23]
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pitch = struct.unpack_from("<h", d, 9)[0] # 字节10,11
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roll = struct.unpack_from("<h", d, 13)[0] # 字节14,15
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resv1 = struct.unpack_from("<H", d, 11)[0] # 字节12,13 预留
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resv2 = struct.unpack_from("<H", d, 15)[0] # 字节16,17 预留
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print(f" -> cmd={cmd}, outputPower={power}, pitch={pitch}, roll={roll}, "
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f"resv1={resv1}, resv2={resv2}, heartbeat={hb}")
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ok = ok and (cmd == 2) and (power == 120) and (hb == 7)
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ok = ok and (pitch == 123) and (roll == -45)
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ok = ok and (resv1 == 0) and (resv2 == 0)
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else:
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ok = False
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# 校验 3：PM 参数反馈（12B）
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fb = [d for d in pm_status_results if len(d) == 12]
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print(f"[PM 参数反馈] 收到 {len(fb)} 帧 (期望>=1, 每帧12B)")
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if fb:
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flag = fb[0][6]
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print(f" -> flag=0x{flag:02X}")
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ok = ok and (flag == 0x10)
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else:
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ok = False
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# 校验 4：数据库有记录
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time.sleep(1.0)
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db_count = -1
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if os.path.exists(DB_PATH):
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import sqlite3
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conn = sqlite3.connect(DB_PATH)
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db_count = conn.execute("SELECT COUNT(*) FROM comm_log").fetchone()[0]
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conn.close()
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print(f"[数据库] comm_log 记录数 = {db_count}")
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ok = ok and (db_count >= 6) # 3条FC状态 + 1条PM操控 + 1条PM参数 + 周期PM状态(至少1)
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# 校验 5：Web 页面
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web_ok = False
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try:
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resp = urllib.request.urlopen(f"http://127.0.0.1:{WEB_PORT}/", timeout=3)
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html = resp.read().decode()
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web_ok = ("pCCU" in html)
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print(f"[Web] 页面可访问, 长度={len(html)}")
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except Exception as e:
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print(f"[Web] 访问失败: {e}")
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ok = ok and web_ok
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print("\n==== 集成测试 " + ("PASSED" if ok else "FAILED") + " ====")
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return 0 if ok else 1
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finally:
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for p in reversed(procs):
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try:
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p.terminate()
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except Exception:
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pass
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time.sleep(0.5)
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for p in procs:
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try:
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p.kill()
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except Exception:
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pass
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if __name__ == "__main__":
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sys.exit(main()) |