zjk
7e4d08808a
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
324 lines
14 KiB
Python
324 lines
14 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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测试脚本(电池模拟) --17001/17002--> pCCU [电池组状态 0x0003]
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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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pCCU --17003/17004--> 测试脚本 [电池控制指令 0x0001 / 自检指令 0x0000]
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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. PM 操控中锂电池启停指令映射为电池控制指令(0x0001, 27B)：
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动力 0x20 关闭 -> 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55
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5. pCCU 周期(1s)向动力/仪表锂电池下发心跳控制指令
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6. 电池组状态(0x0003)收到后落库 SQLite（link=bat_dyn/bat_ins）
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7. SQLite 记录了收/发原始帧
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8. 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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DYN_BAT_PORT = 17001 # pCCU 监听动力电池状态
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INS_BAT_PORT = 17002 # pCCU 监听仪表电池状态
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DYN_BAT_RECV_PORT = 17003 # 测试监听（pCCU 发往"动力电池"的目标端口）
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INS_BAT_RECV_PORT = 17004 # 测试监听（pCCU 发往"仪表电池"的目标端口）
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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 bat_status_frame():
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"""电池组状态 0x0003：payload 80B，带 uint32 校验和"""
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p = bytearray(80)
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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, 30, 10, 30, 0, 0
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p[8] = 0x10 # 工况 工房调试
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p[9] = 0x22 # 自检完成，状态正常
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p[10] = 0x22 # 满足功率要求
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p[11] = 0x11 # 母线接触器闭合完成
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p[12] = 0x22 # 二极管闭合完成(高4位) + 正极闭合完成(低4位)
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struct.pack_into("<H", p, 14, 855) # SOC 85.5%
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struct.pack_into("<H", p, 16, 1234) # 电量 123.4 kWh
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struct.pack_into("<H", p, 18, 5000) # 允许最高放电功率 500 kW
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struct.pack_into("<H", p, 22, 1500) # 当前接入功率 150 kW
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struct.pack_into("<H", p, 36, 5400) # 负载端电压 54.00V
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struct.pack_into("<h", p, 40, -200) # 放电电流 -10A（充电）
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p[79] = 33 # 心跳
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return frame(0x0003, 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，电池控制 17003/17004）
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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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dyn_bat_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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dyn_bat_recv.bind(("127.0.0.1", DYN_BAT_RECV_PORT))
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ins_bat_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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ins_bat_recv.bind(("127.0.0.1", INS_BAT_RECV_PORT))
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fc_ctl_results, pm_status_results = [], []
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dyn_bat_results, ins_bat_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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t3 = threading.Thread(target=recv_loop,
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args=(dyn_bat_recv, "bat-dyn", dyn_bat_results, {0x0000, 0x0001}, 12))
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t4 = threading.Thread(target=recv_loop,
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args=(ins_bat_recv, "bat-ins", ins_bat_results, {0x0000, 0x0001}, 12))
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t1.start(); t2.start(); t3.start(); t4.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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# 6. 模拟锂电池上发电池组状态（动力/仪表）
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bat_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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for _ in range(3):
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bat_send.sendto(bat_status_frame(), ("127.0.0.1", DYN_BAT_PORT))
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bat_send.sendto(bat_status_frame(), ("127.0.0.1", INS_BAT_PORT))
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time.sleep(0.5)
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t1.join(); t2.join(); t3.join(); t4.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：锂电池控制指令（27B）。
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# PM 操控映射：动力 0x20 关闭 -> 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55
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dyn_ctl = [d for d in dyn_bat_results if len(d) == 27 and d[2] == 0x01]
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ins_ctl = [d for d in ins_bat_results if len(d) == 27 and d[2] == 0x01]
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print(f"[动力电池控制指令] 收到 {len(dyn_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)")
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if dyn_ctl:
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bus = dyn_ctl[-1][6 + 9] # 最后一帧：PM 指令生效后的期望状态
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print(f" -> 母线接触器=0x{bus:02X} (期望0x77 关闭)")
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ok = ok and (bus == 0x77)
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else:
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ok = False
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print(f"[仪表电池控制指令] 收到 {len(ins_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)")
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if ins_ctl:
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bus = ins_ctl[-1][6 + 9]
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print(f" -> 母线接触器=0x{bus:02X} (期望0x55 接通)")
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ok = ok and (bus == 0x55)
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else:
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ok = False
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# 校验 5：数据库有记录（含锂电池链路收发）
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time.sleep(1.0)
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db_count = -1
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bat_dyn_rx = -1
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bat_tx = -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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# 电池组状态接收（link=bat_dyn, 方向=收, msg_id=3）
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bat_dyn_rx = conn.execute(
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"SELECT COUNT(*) FROM comm_log WHERE link='bat_dyn' AND direction=0 AND msg_id=3"
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).fetchone()[0]
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# 电池控制指令发送（direction=1, msg_id=1, bat 链路）
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bat_tx = conn.execute(
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"SELECT COUNT(*) FROM comm_log WHERE link IN ('bat_dyn','bat_ins') AND direction=1 AND msg_id=1"
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).fetchone()[0]
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conn.close()
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print(f"[数据库] comm_log 记录数 = {db_count} (期望>=6)")
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print(f"[数据库] 动力电池状态接收记录 = {bat_dyn_rx} (期望>=1), 电池控制发送记录 = {bat_tx} (期望>=2)")
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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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ok = ok and (bat_dyn_rx >= 1) and (bat_tx >= 2)
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# 校验 6：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
|
||
|
||
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()) |