Files
H100PowerManger/test/CMakeLists.txt
T
zjk 7e4d08808a pCCU新增锂电池通信/协调操作 + 电源协调状态机骨架(惰性)
锂电池通信(docs/锂电池协议20230324.docx):
- 协议层 BatProtocol:自检0x0000(2B)/设备控制0x0001(17B)/电池组状态0x0003(80B)/
  电池包报警0x0004(68B),uint32字节和校验、小端
- 链路层 BatLinkManager:动力/仪表锂电池独立UDP链路,本机监听与远端IP端口
  均由.moos配置(dyn_bat_*/ins_bat_*/bat_work_condition)
- SystemData/SnapshotBuilder/网页:电池数据按动力/仪表归类展示(运行状态/接触器
  电气量/电池包电压温度/报警),收发帧落库SQLite,网页新增电池标签页

操作->指令下发(PowerCoordinator):
- 操作接口:自检/上下电(母线接触器55H接通77H断开,含预充)/功率设定(0~500kW)/
  电池切换(低压->高压6步、高压->低压5步,按协议时序)
- 步骤引擎:每电池独立步骤队列,下发->状态反馈确认->超时兜底;周期1s心跳控制帧
- PM操控指令insBatCmd/dynBatCmd/dynBatPower自动映射为电池操作

电源协调状态机骨架(CoordFsm, TinyFSM):
- 事件Tick/PmControl/StepDone + 状态Normal/Switching/Fault,react均为TODO占位
- 当前未接线(无start/dispatch调用,运行行为与接入前一致),CoordFsm.hpp头部附接线指南

测试与部署:
- pccuTest新增电池协议编解码/帧长/链路分发用例(175项通过);集成测试覆盖电池
  心跳、启停映射(0x10->0x55/0x20->0x77)、状态落库;同步pccu_it.moos与ws_check
- h100.moos与pCCU.moos增加锂电池链路配置;归档锂电池协议文档
2026-08-30 14:40:27 +08:00

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4.4 KiB
CMake
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cmake_minimum_required(VERSION 3.10)
project(H100PowerMangerTests)
# 设置 C++ 标准
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# 需要 GoogleTest(由 CI Dockerfile 或本地安装,提供 GTestConfig/库)
find_package(GTest REQUIRED)
################################################SQLiteTest(保留原有)#######
# 添加 SQLite 测试可执行文件(不使用第三方测试库)
add_executable(SQLiteTest
until/testSqlitdb.cpp
${CMAKE_SOURCE_DIR}/src/pPowerManger/sqlit3/SQLite.cpp
${CMAKE_SOURCE_DIR}/src/pPowerManger/sqlit3/sqlite3.c
${CMAKE_SOURCE_DIR}/src/pPowerManger/logc/loguru.cpp
)
# 包含目录
target_include_directories(SQLiteTest PRIVATE
${CMAKE_SOURCE_DIR}/src/pPowerManger
${CMAKE_SOURCE_DIR}/src/pPowerManger/sqlit3
)
# 链接库文件
target_link_libraries(SQLiteTest
pthread
dl
)
################################################PowerMangerTests(gtest)####
# 综合单元测试:Driver / SystemData / FaultMap / Upmsg / UdpComm /
# PmSysvariable / SQLite 读回。仅链接现有 src 源码,不改动生产代码。
set(PM_SRC_DIR ${CMAKE_SOURCE_DIR}/src/pPowerManger)
set(PM_TEST_SOURCES
until/DriverTest.cpp
until/SystemDataTest.cpp
until/FaultMapTest.cpp
until/UpmsgTest.cpp
until/UdpCommTest.cpp
until/PmSysvariableTest.cpp
until/SqliteTest.cpp
)
add_executable(PowerMangerTests ${PM_TEST_SOURCES}
${PM_SRC_DIR}/driver.cpp
${PM_SRC_DIR}/udpcomm/udpComm.cpp
${PM_SRC_DIR}/upmsg/upmsg_definitions.cpp
${PM_SRC_DIR}/sqlit3/SQLite.cpp
${PM_SRC_DIR}/sqlit3/sqlite3.c
${PM_SRC_DIR}/logc/loguru.cpp
)
target_include_directories(PowerMangerTests PRIVATE
${PM_SRC_DIR}
${PM_SRC_DIR}/sqlit3
${PM_SRC_DIR}/upmsg
${PM_SRC_DIR}/udpcomm
${PM_SRC_DIR}/logc
)
# gtest 需要 C++14+
set_target_properties(PowerMangerTests PROPERTIES
CXX_STANDARD 14
CXX_STANDARD_REQUIRED ON
)
# 兼容两种 gtest 安装方式:镜像安装(提供 GTest::gtest_main) 或 apt(仅 GTest_LIBRARIES)
if(TARGET GTest::gtest_main)
set(GTEST_LIBS GTest::gtest_main GTest::gtest)
else()
set(GTEST_LIBS ${GTest_LIBRARIES})
target_include_directories(PowerMangerTests PRIVATE ${GTest_INCLUDE_DIRS})
endif()
target_link_libraries(PowerMangerTests
${GTEST_LIBS}
${MOOS_LIBRARIES}
mbutil
jsoncpp
m
pthread
dl
)
################################################udpFeeder(集成测试用)#######
# 集成测试辅助:向 pPowerManger 发送真实 CCU 状态反馈 UDP 消息(字节级一致)
add_executable(udpFeeder
integration/udp_feeder.cpp
${PM_SRC_DIR}/udpcomm/udpComm.cpp
${PM_SRC_DIR}/logc/loguru.cpp
)
target_include_directories(udpFeeder PRIVATE
${PM_SRC_DIR}
${PM_SRC_DIR}/udpcomm
${PM_SRC_DIR}/logc
)
set_target_properties(udpFeeder PROPERTIES
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
)
target_link_libraries(udpFeeder
${MOOS_LIBRARIES}
mbutil
m
pthread
dl
)
################################################fullFeeder(集成测试用)#######
# 全类型 UDP 仿真器:CCU 状态 + 4 路配电反馈(自包含,仅依赖协议结构体头文件)
add_executable(fullFeeder
integration/full_feeder.cpp
)
target_include_directories(fullFeeder PRIVATE
${PM_SRC_DIR}
${PM_SRC_DIR}/udpcomm
)
set_target_properties(fullFeeder PROPERTIES
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
)
target_link_libraries(fullFeeder
pthread
)
################################################pccuTest(pCCU 单元测试)#####
# pCCU 协议编解码 / 校验和 / 链路分发 / 数据库 单元测试
set(CCU_DIR ${CMAKE_SOURCE_DIR}/src/pCCU)
add_executable(pccuTest
pccu/pccuTest.cpp
${CCU_DIR}/protocol/Frame.cpp
${CCU_DIR}/protocol/Message.cpp
${CCU_DIR}/protocol/MessageRegistry.cpp
${CCU_DIR}/protocol/FcProtocol.cpp
${CCU_DIR}/protocol/PmProtocol.cpp
${CCU_DIR}/protocol/BatProtocol.cpp
${CCU_DIR}/comm/UdpEndpoint.cpp
${CCU_DIR}/comm/LinkManager.cpp
${CCU_DIR}/store/DbStore.cpp
${PM_SRC_DIR}/sqlit3/sqlite3.c
${PM_SRC_DIR}/logc/loguru.cpp
)
target_include_directories(pccuTest PRIVATE
${CCU_DIR}
${PM_SRC_DIR}
${PM_SRC_DIR}/sqlit3
${PM_SRC_DIR}/logc
)
set_target_properties(pccuTest PROPERTIES
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
)
target_link_libraries(pccuTest
${MOOS_LIBRARIES}
m
pthread
dl
)