zjk
88bed850ee
build-test-deploy / ci (push) Failing after 1h9m57s
协议层：
- 新增 protocol/CanBms.{h,cpp}：按 docs/BMS_协议字段定义.xlsx 解码
0x10010000（总电压/SOC/故障码/状态位）、0x10010005（最大电流限制/
总电流/最高单体电压）、0x10010006（总电压校验）。
缩放用除法保证与十进制字面量严格一致；总电流按 2 字节 s16 实现
（xlsx 标注 3 字节与其自身示例/实车帧矛盾，已在代码注释说明）。
- 删除 UDP 锂电池协议：protocol/BatProtocol.{h,cpp}、
comm/BatLinkManager.h（动力/仪表双链路、自检/接触器/功率指令）。
pCCU 主体：
- CCU 订阅 pCanBridge 发布的 CAN_0x* 二进制消息并解码 BMS 报文；
SystemData 双电池槽位改为单一 BmsStatusValue + CAN 帧计数；
PM 电池启停/功率指令改为告警忽略（BMS CAN 协议未定义控制报文）。
- 修复两个本地联调发现的阻断性 bug：
1) MOOS 通配订阅必须用三参数 Register("CAN_0x*","*",0)，
单参数形式不做通配匹配；
2) 变量名前缀匹配偏移（compare 少比 1 字符 / sscanf +5 指向 'x'），
改为 rfind 前缀判断 + +6 偏移。
- PowerCoordinator/CoordFsm 剥离电池接触器/切换时序（依赖已删除的
UDP 指令），保留 FC 联动与协调策略占位（CoordSwitchingState 改为
通用的 CoordBusyState）。
网页：
- 动力/仪表锂电池两个标签页合并为"锂电池BMS(CAN)"：总电压/总电流/
SOC/最大电流限制/最高单体电压/校验帧/故障码高亮/在线状态，
附报文来源说明；链路状态页改为 CAN 链路行（pCanBridge）。
配置与测试：
- pCCU.moos / missions/h100.moos 移除电池 UDP 配置；
- pccuTest：删除旧电池编解码用例，新增 testCanBmsDecode
（向量取自实车抓包：533.8V/20.1%/49/3.752V/-25.0A）103/103 通过；
- 集成测试改为纯 FC/PM 流程，本地实测 PASSED（含 Web 页面校验）。
249 lines
9.3 KiB
Python
249 lines
9.3 KiB
Python
#!/usr/bin/env python3
|
||
"""pCCU 集成测试：验证真实 UDP 链路上的完整数据流。
|
||
|
||
拓扑：
|
||
测试脚本(FC模拟) --16000--> pCCU(fc_local) [FC状态 0x0002]
|
||
测试脚本(PM模拟) --16002--> pCCU(pm_local) [PM操控 0x0001, PM参数设定 0x0002]
|
||
pCCU --16001--> 测试脚本 [FC控制 0x0001 转发]
|
||
pCCU --16003--> 测试脚本 [PM状态 0x0004, PM参数反馈 0x0003]
|
||
|
||
锂电池已切换为 CAN 总线（BMS 协议，经 pCanBridge 透传 CAN_0x* 消息），
|
||
不在本脚本 UDP 拓扑内：BMS 解码由 pccuTest 单元测试覆盖
|
||
（testCanBmsDecode，向量取自实车抓包）。
|
||
|
||
校验：
|
||
1. FC 状态收到并整合，pCCU 周期发送 PM 状态(0x0004, 248B)到 16003
|
||
2. PM 操控(0x0001)转发为 FC 控制(0x0001, 24B)到 16001
|
||
3. PM 参数设定(0x0002)触发参数反馈(0x0003, 12B)到 16003
|
||
4. SQLite 记录了收/发原始帧
|
||
5. Web 页面可访问
|
||
"""
|
||
import socket
|
||
import struct
|
||
import threading
|
||
import time
|
||
import subprocess
|
||
import os
|
||
import signal
|
||
import sys
|
||
import urllib.request
|
||
|
||
# ---- 配置 ----
|
||
FC_STATUS_PORT = 16000
|
||
FC_CTRL_RECV_PORT = 16001
|
||
PM_CTRL_PORT = 16002
|
||
PM_STATUS_RECV_PORT = 16003
|
||
WEB_PORT = 18081
|
||
DB_PATH = "/tmp/pccu_it_test.db"
|
||
MOOSDB_EXE = "/usr/local/bin/MOOSDB"
|
||
PCCU_EXE = "/home/zjk/project/H100PowerManger/bin/pCCU"
|
||
MISSION = os.path.join(os.path.dirname(os.path.abspath(__file__)), "pccu_it.moos")
|
||
|
||
# 帧头
|
||
START = bytes([0x40, 0x40])
|
||
|
||
|
||
def frame(msg_id, payload, checksum=True):
|
||
total = 6 + len(payload) + (4 if checksum else 0)
|
||
hdr = START + struct.pack("<HH", msg_id, total)
|
||
body = hdr + payload
|
||
if checksum:
|
||
cks = sum(body) & 0xFFFFFFFF
|
||
return body + struct.pack("<I", cks)
|
||
return body
|
||
|
||
|
||
def fc_status_frame():
|
||
# payload 144B，仅填关键字段，其余为0
|
||
p = bytearray(144)
|
||
p[0] = 2 # 运行模式 自动
|
||
p[1] = 6 # 运行状态 运行
|
||
struct.pack_into("<H", p, 2, 0x0102) # 一级故障码
|
||
struct.pack_into("<H", p, 10, 1234) # 累积发电时间
|
||
p[12] = 0 # 故障等级
|
||
struct.pack_into("<H", p, 14, 2000) # 系统发电功率 0.01kW
|
||
p[16] = 80 # 储氢
|
||
p[17] = 70 # 液氧
|
||
struct.pack_into("<H", p, 24, 350) # 钯膜温度
|
||
struct.pack_into("<H", p, 68, 2500) # 舱室温度1
|
||
struct.pack_into("<H", p, 140, 4321) # 剩余发电量 MWh (字节147,148)
|
||
p[142] = 5 # 心跳
|
||
p[143] = 0x01 # 应急指令
|
||
return frame(0x0002, bytes(p), checksum=False)
|
||
|
||
|
||
def pm_control_frame():
|
||
p = bytearray(35)
|
||
struct.pack_into("<H", p, 0, 2026)
|
||
p[2], p[3], p[4], p[5], p[6], p[7] = 8, 26, 10, 30, 0, 0
|
||
p[8] = 2 # 模式 自动
|
||
p[9] = 2 # 操控 启动
|
||
p[10] = 120 # 输出功率 0.1kW
|
||
struct.pack_into("<h", p, 11, 123) # 纵倾姿态数据1 12.3°
|
||
struct.pack_into("<h", p, 13, -45) # 横倾姿态数据1 -4.5°
|
||
p[15] = 0x03 # 应急允许
|
||
struct.pack_into("<H", p, 16, 150) # 潜深
|
||
p[21] = 0x10 # 仪表锂电启动
|
||
p[22] = 0x20 # 动力锂电关闭
|
||
struct.pack_into("<H", p, 23, 300) # 动力电池功率
|
||
p[25] = 7 # 心跳
|
||
p[26] = 0xAA # 主机状态
|
||
return frame(0x0001, bytes(p))
|
||
|
||
|
||
def pm_paramset_frame():
|
||
p = bytearray(18)
|
||
p[0], p[1], p[2] = 75, 85, 93
|
||
p[5], p[6], p[7] = 75, 85, 93
|
||
return frame(0x0002, bytes(p))
|
||
|
||
|
||
def recv_loop(sock, label, results, msg_ids, timeout):
|
||
"""持续接收指定 msg_id 的帧，记录到 results"""
|
||
sock.settimeout(timeout)
|
||
end = time.time() + timeout
|
||
while time.time() < end:
|
||
try:
|
||
data, addr = sock.recvfrom(2048)
|
||
except socket.timeout:
|
||
break
|
||
except OSError:
|
||
break
|
||
if len(data) < 6:
|
||
continue
|
||
mid = struct.unpack_from("<H", data, 2)[0]
|
||
if mid in msg_ids:
|
||
results.append(data)
|
||
|
||
|
||
def main():
|
||
# 清理
|
||
for f in (DB_PATH, DB_PATH + "-wal", DB_PATH + "-shm", "/tmp/pccu_it_test.log"):
|
||
if os.path.exists(f):
|
||
os.remove(f)
|
||
|
||
procs = []
|
||
try:
|
||
# 1. 启动 MOOSDB
|
||
moosdb = subprocess.Popen([MOOSDB_EXE, "--moos", "--port", "9000"],
|
||
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
||
procs.append(moosdb)
|
||
time.sleep(1.0)
|
||
|
||
# 2. 启动 pCCU
|
||
pccu = subprocess.Popen([PCCU_EXE, MISSION],
|
||
stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
|
||
procs.append(pccu)
|
||
time.sleep(2.0)
|
||
if pccu.poll() is not None:
|
||
print("FAIL: pCCU exited early, code", pccu.returncode)
|
||
return 1
|
||
|
||
# 3. 启动接收监听（FC 控制转发 16001，PM 状态 16003）
|
||
fc_ctl_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||
fc_ctl_recv.bind(("127.0.0.1", FC_CTRL_RECV_PORT))
|
||
pm_status_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||
pm_status_recv.bind(("127.0.0.1", PM_STATUS_RECV_PORT))
|
||
|
||
fc_ctl_results, pm_status_results = [], []
|
||
t1 = threading.Thread(target=recv_loop,
|
||
args=(fc_ctl_recv, "fc-ctl", fc_ctl_results, {0x0001}, 12))
|
||
t2 = threading.Thread(target=recv_loop,
|
||
args=(pm_status_recv, "pm-status", pm_status_results, {0x0004, 0x0003}, 12))
|
||
t1.start(); t2.start()
|
||
|
||
# 4. 发送 FC 状态（周期模拟）
|
||
fc_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||
for _ in range(3):
|
||
fc_send.sendto(fc_status_frame(), ("127.0.0.1", FC_STATUS_PORT))
|
||
time.sleep(0.5)
|
||
|
||
# 5. 发送 PM 操控指令 + 参数设定
|
||
pm_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||
pm_send.sendto(pm_control_frame(), ("127.0.0.1", PM_CTRL_PORT))
|
||
time.sleep(0.5)
|
||
pm_send.sendto(pm_paramset_frame(), ("127.0.0.1", PM_CTRL_PORT))
|
||
|
||
t1.join(); t2.join()
|
||
|
||
ok = True
|
||
|
||
# 校验 1：PM 状态报文（248B）周期发送
|
||
pm_status = [d for d in pm_status_results if len(d) == 248]
|
||
print(f"[PM 状态报文] 收到 {len(pm_status)} 帧 (期望>=1, 每帧248B)")
|
||
if len(pm_status) >= 1:
|
||
d = pm_status[0]
|
||
total = struct.unpack_from("<H", d, 4)[0]
|
||
mode = d[6]; status = d[7]
|
||
print(f" -> length={total}, mode={mode}, status={status}, size={len(d)}")
|
||
ok = ok and (total == 248) and (mode == 2) and (status == 6)
|
||
else:
|
||
ok = False
|
||
|
||
# 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）
|
||
fc_ctl = [d for d in fc_ctl_results if len(d) == 24]
|
||
print(f"[FC 控制转发] 收到 {len(fc_ctl)} 帧 (期望>=1, 每帧24B)")
|
||
if fc_ctl:
|
||
d = fc_ctl[0]
|
||
cmd = d[7]; power = d[8]; hb = d[23]
|
||
pitch = struct.unpack_from("<h", d, 9)[0] # 字节10,11
|
||
roll = struct.unpack_from("<h", d, 13)[0] # 字节14,15
|
||
resv1 = struct.unpack_from("<H", d, 11)[0] # 字节12,13 预留
|
||
resv2 = struct.unpack_from("<H", d, 15)[0] # 字节16,17 预留
|
||
print(f" -> cmd={cmd}, outputPower={power}, pitch={pitch}, roll={roll}, "
|
||
f"resv1={resv1}, resv2={resv2}, heartbeat={hb}")
|
||
ok = ok and (cmd == 2) and (power == 120) and (hb == 7)
|
||
ok = ok and (pitch == 123) and (roll == -45)
|
||
ok = ok and (resv1 == 0) and (resv2 == 0)
|
||
else:
|
||
ok = False
|
||
|
||
# 校验 3：PM 参数反馈（12B）
|
||
fb = [d for d in pm_status_results if len(d) == 12]
|
||
print(f"[PM 参数反馈] 收到 {len(fb)} 帧 (期望>=1, 每帧12B)")
|
||
if fb:
|
||
flag = fb[0][6]
|
||
print(f" -> flag=0x{flag:02X}")
|
||
ok = ok and (flag == 0x10)
|
||
else:
|
||
ok = False
|
||
|
||
# 校验 4：数据库有记录（FC/PM 链路收发）
|
||
time.sleep(1.0)
|
||
db_count = -1
|
||
if os.path.exists(DB_PATH):
|
||
import sqlite3
|
||
conn = sqlite3.connect(DB_PATH)
|
||
db_count = conn.execute("SELECT COUNT(*) FROM comm_log").fetchone()[0]
|
||
conn.close()
|
||
print(f"[数据库] comm_log 记录数 = {db_count} (期望>=6)")
|
||
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)
|
||
web_ok = False
|
||
try:
|
||
resp = urllib.request.urlopen(f"http://127.0.0.1:{WEB_PORT}/", timeout=3)
|
||
html = resp.read().decode()
|
||
web_ok = ("pCCU" in html)
|
||
print(f"[Web] 页面可访问, 长度={len(html)}")
|
||
except Exception as e:
|
||
print(f"[Web] 访问失败: {e}")
|
||
ok = ok and web_ok
|
||
|
||
print("\n==== 集成测试 " + ("PASSED" if ok else "FAILED") + " ====")
|
||
return 0 if ok else 1
|
||
|
||
finally:
|
||
for p in reversed(procs):
|
||
try:
|
||
p.terminate()
|
||
except Exception:
|
||
pass
|
||
time.sleep(0.5)
|
||
for p in procs:
|
||
try:
|
||
p.kill()
|
||
except Exception:
|
||
pass
|
||
|
||
|
||
if __name__ == "__main__":
|
||
sys.exit(main()) |