zjk
873a1a9b09
build-test-deploy / ci (push) Failing after 32m37s
- 协议模块(protocol/MotorCan)：12 条 CAN ID、指令帧 0x18EF2010 编码、 状态帧(转速/母线电压/温度)与支路一/二故障报警帧解码，故障位按协议 逐位映射中文描述（docs/推进电机通信协议20260321.docx） - 主程序(MOOS 应用)：订阅 pCanBridge 透传 CAN_0x* 解码电机状态； 500ms 周期下发指令帧（CAN_TX_0x18EF2010，m_sSrcAux=CAN1）， 可选 red_channel 冗余下发 0x18EF2011；复位位保持 reset_hold_sec - 网页(18081)：按协议指令帧字段独立下发（使能命令 Byte0 bit0 / 复位命令 Byte0 bit1 / 期望转速 Byte2/3，无联动按钮）； WebSocket 1Hz 推送转速/电压/温度/故障告警/链路统计 - 配置接入：missions/h100.moos 增加 pMotor 配置块（can_channel=CAN1） - 测试：pmotorTest 92 项（指令帧字节级对照协议示例、解码/故障表） - 部署：scripts/build-board.sh 增加 pMotor 产物拷贝 + pMotor.service； .gitignore 补 bin/pMotor、bin/pmotorTest - 联调验证：MOOSDB+pCanBridge+假CANET 全链路，下行帧 01 00 E8 03 与协议文档示例一致，复位位 3s 保持行为正确
104 lines
5.8 KiB
C++
104 lines
5.8 KiB
C++
/****************************************************************/
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/* NAME: Motor_Info */
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/* FILE: Motor_Info.cpp */
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/****************************************************************/
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#include <cstdlib>
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#include <iostream>
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#include "Motor_Info.h"
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#include "ColorParse.h"
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#include "ReleaseInfo.h"
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using namespace std;
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void showSynopsis() {
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blk("SYNOPSIS: ");
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blk("------------------------------------ ");
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blk(" The pMotor application is the propulsion motor operation ");
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blk(" program. It talks to the motor controller over CAN (via ");
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blk(" pCanBridge pass-through, default channel CAN1): ");
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blk(" subscribes motor state/fault frames (CAN_0x*), sends the ");
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blk(" 500ms periodic command frame 0x18EF2010 (enable/reset/speed) ");
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blk(" via MOOS CAN_TX_0x*, and provides a web page for control ");
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blk(" and monitoring. Protocol: ");
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blk(" docs/推进电机通信协议20260321.docx. ");
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blk(" ");
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}
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void showHelpAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("Usage: pMotor file.moos [OPTIONS] ");
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blu("=============================================================== ");
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blk(" ");
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showSynopsis();
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blk(" ");
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blk("Options: ");
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mag(" --alias","=<ProcessName> ");
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blk(" Launch pMotor with the given process name ");
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blk(" rather than pMotor. ");
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mag(" --example, -e ");
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blk(" Display example MOOS configuration block. ");
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mag(" --help, -h ");
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blk(" Display this help message. ");
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mag(" --interface, -i ");
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blk(" Display MOOS publications and subscriptions. ");
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mag(" --version,-v ");
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blk(" Display the release version of pMotor. ");
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blk(" ");
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blk("Note: If argv[2] does not otherwise match a known option, ");
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blk(" then it will be interpreted as a run alias. This is ");
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blk(" to support pAntler launching conventions. ");
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blk(" ");
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exit(0);
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}
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void showExampleConfigAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("pMotor Example MOOS Configuration ");
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blu("=============================================================== ");
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blk(" ");
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blk("ProcessConfig = pMotor ");
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blk("{ ");
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blk(" AppTick = 4 ");
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blk(" CommsTick = 4 ");
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blk(" ");
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blk(" can_channel = CAN1 // 电机 CAN 通道（pCanBridge 配置名） ");
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blk(" red_channel = // 冗余 CAN 通道（空=不发冗余帧） ");
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blk(" cmd_period_ms = 500 // 指令帧周期（协议 500ms） ");
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blk(" reset_hold_sec= 5 // 复位位保持时长（秒） ");
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blk(" web_port = 18081 // 网页端口(避开8080/8090/18080) ");
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blk(" web_enable = true // 是否启用网页 ");
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blk(" logpath = pMotor.log // 日志路径 ");
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blk("} ");
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blk(" ");
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exit(0);
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}
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void showInterfaceAndExit() {
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blk(" ");
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blu("=============================================================== ");
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blu("pMotor INTERFACE ");
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blu("=============================================================== ");
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blk(" ");
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showSynopsis();
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blk(" ");
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blk("SUBSCRIPTIONS: ");
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blk("------------------------------------ ");
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blk(" CAN_0x* = pCanBridge 透传的 CAN 帧（电机状态/故障） ");
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blk(" ");
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blk("PUBLICATIONS: ");
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blk("------------------------------------ ");
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blk(" CAN_TX_0x18EF2010 = 主控指令帧（二进制 8 字节数据域， ");
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blk(" m_sSrcAux=CAN1，经 pCanBridge 下行） ");
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blk(" CAN_TX_0x18EF2011 = 指令帧冗余（配置 red_channel 时发送） ");
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blk(" ");
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exit(0);
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}
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void showReleaseInfoAndExit() {
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showReleaseInfo("pMotor", "gpl");
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exit(0);
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}
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