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