zjk
5b8f0b1421
- pCCU/CanBms：按《04KT38电池BCU-MBMS通信(CAN)定义》重写解码， BmsStatus 单状态模型改为 BcuNodeStatus 多节点模型（0x10XX00YY， 节点地址 01~36h），支持 0x0000 电压/电流/SOC/告警码、0x0001 单体 电压、0x0002 单体温度、0x0003 继电器、0x0006 绝缘/端口电压、 0x0010 告警位（附录1 中文码表）六类报文 - 平均单体温度偏移修正：协议文档 BYTE5 写"偏移0"有误，实测固件与 最高/最低一致均带 -40℃ 偏移（实车 0x10020002 原始 68/69 减 40 后 为 28/29℃，落在最低28~最高30区间内，按文档直读则超出物理范围） - pCCU/DbStore：新增 bcu_node 解析数据表，锂电池 BMS 报文每帧落一行 节点合成状态（原 comm_log 仅原始帧，BMS/CAN 帧此前不落 pCCU 库）， buildReport 增加 BMS 记录数 - 快照/网页：BCU 按节点分组展示（告警位解析中文含义、数据 age）， PM 状态报文锂电池/应急电池卡片 - pPowerManger：新增 iport 本地输入端口配置（UDP bind 延迟到 OnStartUp 读取配置后执行，保证 iport/ccuhost/ccuport 生效）， 各 mission 文件补充注释 - test：CAN BCU 解码用例按新协议/新偏移更新（实车抓包 + 文档示例值）， 133 项全部通过 - docs：删除旧 BMS 协议（xlsx/20230324docx），归档 04KT38 BCU-MBMS CAN 定义、配电控制器通信协议 20260824、配电系统 CAN 通讯协议 - scripts：新增 sync-board-time.sh，223 板卡(RK3588)时间校正 （本机为基准 + RTT 折半补偿对时，尽力写 RTC，支持 status/--time）
407 lines
17 KiB
C++
407 lines
17 KiB
C++
//============================================================================
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// pccuTest：pCCU 协议编解码 / 校验和 / 帧长度 / 链路分发 / 数据库 单元测试
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// 无第三方测试库，独立可执行。参照 test/until/testSqlitdb.cpp 的轻量风格。
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//============================================================================
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#include <cstdio>
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#include <cstdlib>
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#include <string>
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#include <vector>
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#include <iostream>
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#include "../../src/pCCU/protocol/FieldCodec.h"
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#include "../../src/pCCU/protocol/Frame.h"
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#include "../../src/pCCU/protocol/ChecksumPolicy.h"
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#include "../../src/pCCU/protocol/MessageRegistry.h"
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#include "../../src/pCCU/protocol/FcProtocol.h"
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#include "../../src/pCCU/protocol/PmProtocol.h"
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#include "../../src/pCCU/protocol/CanBms.h"
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#include "../../src/pCCU/comm/LinkManager.h"
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#include "../../src/pCCU/comm/FcLinkManager.h"
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#include "../../src/pCCU/comm/PmLinkManager.h"
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#include "../../src/pCCU/store/DbStore.h"
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using namespace ccu;
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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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//--------------------------------------------------------------------------
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// 1. 帧长度必须与协议文档一致
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static void testFrameLengths() {
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FcControlMessage fcm;
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FcStatusMessage fsm;
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PmControlMessage pcm;
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PmParamSetMessage pps;
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PmParamSetFbMessage ppf;
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PmStatusMessage psm;
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CHECK(fcm.totalLength() == 24); // FC 控制指令 24B（1.1.1：域字节数0x0018）
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CHECK(fsm.totalLength() == 150); // FC 状态反馈 150B
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CHECK(pcm.totalLength() == 45); // PM 操控指令 45B
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CHECK(pps.totalLength() == 28); // PM 参数设定 28B
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CHECK(ppf.totalLength() == 12); // PM 参数反馈 12B
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CHECK(psm.totalLength() == 248); // PM 状态报文 248B
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}
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//--------------------------------------------------------------------------
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// 2. FC 控制指令编解码往返
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static void testFcControlRoundTrip() {
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FcControlValue v;
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v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch1 = 35;
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v.roll1 = -12;
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v.emergencyAllow = 0x03; v.depth = 150;
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v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6; v.heartbeat = 7;
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FcControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 24);
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CHECK(frame[0] == 0x40 && frame[1] == 0x40);
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CHECK(frame[4] == 0x18 && frame[5] == 0x00); // 域字节数 0x0018 小端
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// 字节位置校验（数据域起点=帧头6）：姿态数据1 int16 小端，数据2字节预留恒0
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CHECK(frame[6 + 3] == 0x23 && frame[6 + 4] == 0x00); // 纵倾数据1 = 35
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CHECK(frame[6 + 5] == 0x00 && frame[6 + 6] == 0x00); // 预留（0827协议，原纵倾数据2）
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CHECK(frame[6 + 7] == 0xF4 && frame[6 + 8] == 0xFF); // 横倾数据1 = -12 (0xFFF4)
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CHECK(frame[6 + 9] == 0x00 && frame[6 + 10] == 0x00); // 预留（0827协议，原横倾数据2）
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FcControlValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.mode == 2);
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CHECK(out.cmd == 2);
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CHECK(out.outputPower == 100);
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CHECK(out.pitch1 == 35);
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CHECK(out.roll1 == -12);
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CHECK(out.emergencyAllow == 0x03);
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CHECK(out.depth == 150);
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CHECK(out.supplyCmd == 1);
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CHECK(out.reservedCmd5 == 5 && out.reservedCmd6 == 6);
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CHECK(out.heartbeat == 7);
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}
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//--------------------------------------------------------------------------
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// 3. FC 状态编解码往返（关键字段抽查）
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static void testFcStatusRoundTrip() {
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FcStatusValue v;
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v.fc_mode = 2; v.fc_status = 6; v.fc_fault_level = 0;
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v.fault_level_1 = 0x0102; v.fault_level_2 = 0x0304;
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v.fault_level_3 = 0x0506; v.fault_level_4 = 0x0708;
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v.total_generation_time = 12345;
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v.generation_power = 23456;
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v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
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v.palladium_temp = 350; v.buffer_tank_pressure = 200;
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v.dcdc1_in_voltage = 12; v.dcdc_out_current = 33;
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v.methanol_total_use = 100;
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v.cabin_temp1 = 25; v.h2_concentration1 = 500;
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v.heartbeat = 9; v.emergency_cmd = 0x01;
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v.reserved[0] = 0xAAAA; v.remaining_generation = 0xBBBB;
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FcStatusMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 150);
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// 字节位置校验（对照 0821 docx）：发电功率在字节21-22(offset 14)，心跳在字节149(offset 142)
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CHECK(frame[6 + 12] == 0); // 故障等级 offset12
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CHECK(frame[6 + 14] == 0xA0 && frame[6 + 15] == 0x5B); // 发电功率 23456 -> 0x5BA0 小端
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CHECK(frame[6 + 142] == 9); // 心跳 offset142
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CHECK(frame[6 + 143] == 0x01);// 应急指令 offset143
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FcStatusValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.fc_mode == 2 && out.fc_status == 6);
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CHECK(out.fault_level_1 == 0x0102 && out.fault_level_4 == 0x0708);
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CHECK(out.total_generation_time == 12345);
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CHECK(out.generation_power == 23456);
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CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
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CHECK(out.palladium_temp == 350);
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CHECK(out.dcdc1_in_voltage == 12 && out.dcdc_out_current == 33);
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CHECK(out.methanol_total_use == 100);
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CHECK(out.cabin_temp1 == 25 && out.h2_concentration1 == 500);
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CHECK(out.heartbeat == 9 && out.emergency_cmd == 0x01);
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CHECK(out.reserved[0] == 0xAAAA && out.remaining_generation == 0xBBBB);
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}
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//--------------------------------------------------------------------------
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// 4. PM 操控指令编解码往返
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static void testPmControlRoundTrip() {
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PmControlValue v;
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v.year = 2026; v.month = 8; v.day = 26; v.hour = 17; v.minute = 30; v.second = 5;
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v.millisecond10 = 3;
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v.mode = 2; v.cmd = 2; v.outputPower = 120;
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v.pitch = 35; v.roll = -12;
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v.emergencyAllow = 0x03; v.depth = 200;
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v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6;
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v.insBatCmd = 0x10; v.dynBatCmd = 0x20; v.dynBatPower = 300;
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v.heartbeat = 11; v.hostState = 0xAA;
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v.reserved1 = 0x11223344; v.reserved2 = 0x55667788;
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PmControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 45);
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PmControlValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.year == 2026 && out.month == 8 && out.day == 26);
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CHECK(out.hour == 17 && out.minute == 30 && out.second == 5);
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CHECK(out.millisecond10 == 3);
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CHECK(out.mode == 2 && out.cmd == 2 && out.outputPower == 120);
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CHECK(out.pitch == 35 && out.roll == -12);
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CHECK(out.depth == 200);
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CHECK(out.insBatCmd == 0x10 && out.dynBatCmd == 0x20 && out.dynBatPower == 300);
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CHECK(out.heartbeat == 11 && out.hostState == 0xAA);
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CHECK(out.reserved1 == 0x11223344 && out.reserved2 == 0x55667788);
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}
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//--------------------------------------------------------------------------
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// 5. PM 状态报文编解码往返（抽查关键字段，覆盖各分组）
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static void testPmStatusRoundTrip() {
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PmStatusValue v;
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v.fc_mode = 2; v.fc_status = 6;
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v.fault_level_1 = 1; v.fault_level_2 = 2; v.fault_level_3 = 3; v.fault_level_4 = 4;
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v.total_generation_time = 500; v.fc_fault_level = 0;
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v.output_power_limit = 30000; v.generation_power = 100;
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v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
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v.main_pipe_pressure = 500; v.aux_pipe_pressure = 400;
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v.dcdc_out_voltage = 240; v.dcdc_out_current = 100;
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v.cabin_temp1 = 2500; v.cabin_temp2 = 2400;
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v.h2_concentration1 = 300; v.o2_concentration1 = 200;
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v.emergency_battery1_voltage = 24; v.emergency_battery2_voltage = 26;
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v.ins_soc = 60; v.dyn_soc = 55;
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v.ins_voltage_link = 4800; v.dyn_voltage_link = 4900;
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v.ins_current = 120; v.dyn_current = 130;
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v.device_online_flag1 = 0x0F; v.device_online_flag2 = 0x07;
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v.heartbeat = 42; v.emergency_cmd = 0x01;
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v.dyn_alarm_flag[0] = 0xAA; v.ins_alarm_flag[5] = 0x55;
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PmStatusMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 248);
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PmStatusValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.fc_mode == 2 && out.fc_status == 6);
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CHECK(out.fault_level_1 == 1 && out.fault_level_4 == 4);
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CHECK(out.total_generation_time == 500 && out.fc_fault_level == 0);
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CHECK(out.output_power_limit == 30000 && out.generation_power == 100);
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CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
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CHECK(out.main_pipe_pressure == 500 && out.aux_pipe_pressure == 400);
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CHECK(out.dcdc_out_voltage == 240 && out.dcdc_out_current == 100);
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CHECK(out.cabin_temp1 == 2500 && out.h2_concentration1 == 300);
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CHECK(out.emergency_battery1_voltage == 24 && out.emergency_battery2_voltage == 26);
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CHECK(out.ins_soc == 60 && out.dyn_soc == 55);
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CHECK(out.ins_voltage_link == 4800 && out.dyn_voltage_link == 4900);
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CHECK(out.device_online_flag1 == 0x0F && out.device_online_flag2 == 0x07);
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CHECK(out.heartbeat == 42 && out.emergency_cmd == 0x01);
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CHECK(out.dyn_alarm_flag[0] == 0xAA && out.ins_alarm_flag[5] == 0x55);
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}
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//--------------------------------------------------------------------------
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// 6. PM 校验和：正确帧通过，篡改字节校验失败
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static void testChecksum() {
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PmControlValue v;
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v.mode = 2; v.cmd = 3; v.heartbeat = 1;
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PmControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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PmControlValue tmp;
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CHECK(msg.decode(frame, static_cast<void*>(&tmp))); // 校验通过
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// 篡改数据域中间字节
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std::vector<uint8_t> bad = frame;
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bad[10] ^= 0xFF; // 数据域某字节
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CHECK(!msg.decode(bad, static_cast<void*>(&tmp)));
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// 篡改帧头长度
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std::vector<uint8_t> badLen = frame;
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badLen[4] = 0x01; // length 低字节改小 -> 0x012D != 45
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CHECK(!msg.decode(badLen, static_cast<void*>(&tmp)));
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}
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//--------------------------------------------------------------------------
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// 7. 链路分发：FC 链路收到状态帧 -> 回调解码
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static void testLinkDispatch() {
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// 注册表按链路隔离：FC 与 PM 共用 0x0001/0x0002 不应冲突
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MessageRegistry fcReg;
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registerFcMessages(fcReg);
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MessageRegistry pmReg;
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registerPmMessages(pmReg);
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CHECK(fcReg.size() == 2);
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CHECK(pmReg.size() == 4);
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CHECK(fcReg.find(0x0001)->id() == 0x0001);
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CHECK(pmReg.find(0x0001)->id() == 0x0001); // id 重叠但隔离
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// 用 LinkManager 的 handleIncoming 模拟收帧
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FcStatusValue fv;
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fv.fc_status = 6; fv.heartbeat = 8;
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FcStatusMessage fsMsg;
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std::vector<uint8_t> frame = fsMsg.encode(fv);
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LinkManager lm("test_fc", 0);
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registerFcMessages(lm.registry());
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bool got = false;
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lm.setOnMessage([&](Message* m, const std::vector<uint8_t>& f) {
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if (m && m->id() == 0x0002) {
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FcStatusValue out;
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if (m->decode(f, static_cast<void*>(&out))) {
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got = (out.fc_status == 6 && out.heartbeat == 8);
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}
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}
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});
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CHECK(lm.handleIncoming(frame));
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CHECK(got);
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}
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//--------------------------------------------------------------------------
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// 8. 数据库落库与查询
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static void testDbStore() {
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std::string path = "test_pccu.db";
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std::remove(path.c_str());
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{
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DbStore db(path);
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CHECK(db.open());
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std::vector<uint8_t> frame = {0x40,0x40,0x01,0x00,0x14,0x00, 1,2,3,4,5,6,7,8,9,10,11,12,13,14};
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db.onRawFrame(0, 0x0001, "fc", frame, true);
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db.onRawFrame(1, 0x0004, "pm", frame, false);
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CHECK(db.count() == 2);
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auto rows = db.queryRecent("", -1, 0, 10);
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CHECK(rows.size() == 2);
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CHECK(rows[0].msgId == 0x0004 || rows[0].msgId == 0x0001);
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CHECK(rows[0].checksumOk == 0); // 最近一条是 pm 的 false
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auto fcRows = db.queryRecent("fc", 0, 0, 10);
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CHECK(fcRows.size() == 1);
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CHECK(fcRows[0].msgId == 0x0001 && fcRows[0].direction == 0);
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db.close();
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}
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std::remove(path.c_str());
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}
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//--------------------------------------------------------------------------
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// 9. CAN BCU 报文解码（docs/04KT38电池BCU-MBMS通信(CAN)定义.docx，
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// 测试向量为实车抓包数据与协议文档示例值）
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static void testCanBmsDecode() {
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uint8_t addr = 0;
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// 0x10010000（节点01，实车抓包）：14 da 17 70 00 c9 31 01
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// 累加电压 0x14DA=5338 -> 533.8V；回路电流 0x1770=6000 -> 600.0-600=0.0A
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// SOC 0x00C9=201 -> 20.1%；告警码 0x31；自检状态 0x01
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BcuNodeStatus n1;
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const uint8_t d0[8] = {0x14,0xDA,0x17,0x70,0x00,0xC9,0x31,0x01};
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CHECK(decodeCanBcuFrame(0x10010000, d0, 8, addr, n1));
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CHECK(addr == 1);
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CHECK(n1.totalVoltage == 533.8);
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CHECK(n1.current == 0.0);
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CHECK(n1.soc == 20.1);
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CHECK(n1.alarmCode == 0x31);
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CHECK(n1.selfCheck == 0x01);
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// 回路电流：充电 -25A -> raw 0x1676=5750 -> 575.0-600=-25.0A
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const uint8_t d0n[8] = {0x14,0xDA,0x16,0x76,0x00,0xC9,0x31,0x00};
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decodeCanBcuFrame(0x10010000, d0n, 8, addr, n1);
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CHECK(n1.current == -25.0);
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// 0x10010001（节点01）单体电压：0e a8 05 0e a0 03 0e a4
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// 最高 0x0EA8=3752 -> 3.752V (#5)；最低 0x0EA0=3744 -> 3.744V (#3)
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// 平均 0x0EA4=3748 -> 3.748V；部分更新，概要字段保留
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const uint8_t dv[8] = {0x0E,0xA8,0x05,0x0E,0xA0,0x03,0x0E,0xA4};
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CHECK(decodeCanBcuFrame(0x10010001, dv, 8, addr, n1));
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CHECK(n1.maxCellVoltage == 3.752);
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CHECK(n1.maxCellVoltageNo == 5);
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CHECK(n1.minCellVoltage == 3.744);
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CHECK(n1.minCellVoltageNo == 3);
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CHECK(n1.avgCellVoltage == 3.748);
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CHECK(n1.totalVoltage == 533.8); // 同节点部分更新，前一帧字段不被清除
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CHECK(n1.rxMask == ((1u << BCU_FUNC_BASE) | (1u << BCU_FUNC_CELL_V)));
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// 0x10010002（节点01）单体温度：3c 01 2d 02 33
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// 最高 0x3C=60-40=20℃ (#1)；最低 0x2D=45-40=5℃ (#2)；平均 0x33=51-40=11℃
|
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// （实测固件平均温度与最高/最低一致均带 -40℃ 偏移，协议文档"偏移0"有误：
|
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// 实车 0x10020002 原始 68/69 减 40 后为 28/29℃，落在最低28~最高30区间内）
|
||
const uint8_t dt[8] = {0x3C,0x01,0x2D,0x02,0x33,0x00,0x00,0x00};
|
||
CHECK(decodeCanBcuFrame(0x10010002, dt, 8, addr, n1));
|
||
CHECK(n1.maxCellTemp == 20.0);
|
||
CHECK(n1.maxCellTempNo == 1);
|
||
CHECK(n1.minCellTemp == 5.0);
|
||
CHECK(n1.minCellTempNo == 2);
|
||
CHECK(n1.avgCellTemp == 11.0);
|
||
|
||
// 0x10010003（节点01）继电器：01 01 -> 正/负极均闭合
|
||
const uint8_t dr[8] = {0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00};
|
||
CHECK(decodeCanBcuFrame(0x10010003, dr, 8, addr, n1));
|
||
CHECK(n1.posRelay == 1 && n1.negRelay == 1);
|
||
|
||
// 0x10010006（节点01，实车抓包）：07 d0 07 d0 14 da 00 00
|
||
// 正/负极绝缘 2000kΩ；端口电压 0x14DA -> 533.8V；外侧电压 0.0V
|
||
const uint8_t di[8] = {0x07,0xD0,0x07,0xD0,0x14,0xDA,0x00,0x00};
|
||
CHECK(decodeCanBcuFrame(0x10010006, di, 8, addr, n1));
|
||
CHECK(n1.posInsulationKohm == 2000.0);
|
||
CHECK(n1.negInsulationKohm == 2000.0);
|
||
CHECK(n1.portVoltage == 533.8);
|
||
CHECK(n1.posRelayOuterVoltage == 0.0);
|
||
|
||
// 0x10010010（节点01）告警位：byte0=0x01 -> BCU绝缘2级；byte1=0x04 -> 烟雾报警1级
|
||
const uint8_t da[8] = {0x01,0x04,0x00,0x00,0x00,0x00,0x00,0x00};
|
||
CHECK(decodeCanBcuFrame(0x10010010, da, 8, addr, n1));
|
||
CHECK(n1.alarmBits[0] == 0x01 && n1.alarmBits[1] == 0x04);
|
||
const char* texts[8] = {nullptr};
|
||
int cnt = bcuAlarmTexts(n1, texts, 8);
|
||
CHECK(cnt == 2);
|
||
CHECK(cnt > 0 && std::string(texts[0]) == "BCU绝缘2级");
|
||
CHECK(cnt > 1 && std::string(texts[1]) == "BCU烟雾报警1级");
|
||
// 无告警
|
||
const uint8_t dz[8] = {0,0,0,0,0,0,0,0};
|
||
decodeCanBcuFrame(0x10010010, dz, 8, addr, n1);
|
||
CHECK(bcuAlarmTexts(n1, texts, 8) == 0);
|
||
|
||
// 节点分离：0x10020000（节点02）解析到独立状态
|
||
BcuNodeStatus n2;
|
||
const uint8_t d02[8] = {0x0D,0x40,0x17,0x70,0x01,0x2C,0x00,0x00};
|
||
CHECK(decodeCanBcuFrame(0x10020000, d02, 8, addr, n2));
|
||
CHECK(addr == 2);
|
||
CHECK(n2.totalVoltage == 339.2);
|
||
CHECK(n2.soc == 30.0);
|
||
CHECK(n1.alarmCode == 0x31); // 节点01 快照不受节点02 帧影响
|
||
|
||
// 非 BCU 报文 / 预留功能码 / 地址越界 / 下发指令 均不命中
|
||
const uint8_t dx[8] = {0,0,0,0,0,0,0,0};
|
||
CHECK(!decodeCanBcuFrame(0x10010035, dx, 8, addr, n1)); // 未定义功能码
|
||
CHECK(!decodeCanBcuFrame(0x10010004, dx, 8, addr, n1)); // Reserve
|
||
CHECK(!decodeCanBcuFrame(0x10010005, dx, 8, addr, n1)); // Reserve
|
||
CHECK(!decodeCanBcuFrame(0x10370000, dx, 8, addr, n1)); // 地址 0x37 越界
|
||
CHECK(!decodeCanBcuFrame(0x10000000, dx, 8, addr, n1)); // 地址 0 非法
|
||
CHECK(!decodeCanBcuFrame(0x100181FF, dx, 8, addr, n1)); // MBMS 下发指令
|
||
CHECK(!decodeCanBcuFrame(0x10010000, nullptr, 0, addr, n1));
|
||
CHECK(isCanBcuId(0x10010000) && isCanBcuId(0x10010001) &&
|
||
isCanBcuId(0x10010002) && isCanBcuId(0x10010003) &&
|
||
isCanBcuId(0x10010006) && isCanBcuId(0x10010010));
|
||
CHECK(!isCanBcuId(0x10010004) && !isCanBcuId(0x10010005) &&
|
||
!isCanBcuId(0x100181FF) && !isCanBcuId(0x10370000));
|
||
}
|
||
|
||
//--------------------------------------------------------------------------
|
||
int main() {
|
||
testFrameLengths();
|
||
testFcControlRoundTrip();
|
||
testFcStatusRoundTrip();
|
||
testPmControlRoundTrip();
|
||
testPmStatusRoundTrip();
|
||
testChecksum();
|
||
testLinkDispatch();
|
||
testDbStore();
|
||
testCanBmsDecode();
|
||
|
||
std::printf("\n==== pccuTest: %d passed, %d failed ====\n", g_pass, g_fail);
|
||
return g_fail == 0 ? 0 : 1;
|
||
} |