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）。
352 lines
14 KiB
C++
352 lines
14 KiB
C++
//============================================================================
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// pccuTest：pCCU 协议编解码 / 校验和 / 帧长度 / 链路分发 / 数据库 单元测试
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// 无第三方测试库，独立可执行。参照 test/until/testSqlitdb.cpp 的轻量风格。
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//============================================================================
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#include <cstdio>
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#include <cstdlib>
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#include <string>
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#include <vector>
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#include <iostream>
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#include "../../src/pCCU/protocol/FieldCodec.h"
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#include "../../src/pCCU/protocol/Frame.h"
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#include "../../src/pCCU/protocol/ChecksumPolicy.h"
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#include "../../src/pCCU/protocol/MessageRegistry.h"
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#include "../../src/pCCU/protocol/FcProtocol.h"
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#include "../../src/pCCU/protocol/PmProtocol.h"
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#include "../../src/pCCU/protocol/CanBms.h"
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#include "../../src/pCCU/comm/LinkManager.h"
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#include "../../src/pCCU/comm/FcLinkManager.h"
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#include "../../src/pCCU/comm/PmLinkManager.h"
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#include "../../src/pCCU/store/DbStore.h"
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using namespace ccu;
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static int g_fail = 0;
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static int g_pass = 0;
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#define CHECK(cond) do { \
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if (cond) { ++g_pass; } \
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else { ++g_fail; std::printf("FAIL %s:%d %s\n", __FILE__, __LINE__, #cond); } \
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} while (0)
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//--------------------------------------------------------------------------
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// 1. 帧长度必须与协议文档一致
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static void testFrameLengths() {
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FcControlMessage fcm;
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FcStatusMessage fsm;
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PmControlMessage pcm;
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PmParamSetMessage pps;
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PmParamSetFbMessage ppf;
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PmStatusMessage psm;
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CHECK(fcm.totalLength() == 24); // FC 控制指令 24B（1.1.1：域字节数0x0018）
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CHECK(fsm.totalLength() == 150); // FC 状态反馈 150B
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CHECK(pcm.totalLength() == 45); // PM 操控指令 45B
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CHECK(pps.totalLength() == 28); // PM 参数设定 28B
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CHECK(ppf.totalLength() == 12); // PM 参数反馈 12B
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CHECK(psm.totalLength() == 248); // PM 状态报文 248B
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}
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//--------------------------------------------------------------------------
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// 2. FC 控制指令编解码往返
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static void testFcControlRoundTrip() {
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FcControlValue v;
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v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch1 = 35;
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v.roll1 = -12;
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v.emergencyAllow = 0x03; v.depth = 150;
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v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6; v.heartbeat = 7;
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FcControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 24);
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CHECK(frame[0] == 0x40 && frame[1] == 0x40);
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CHECK(frame[4] == 0x18 && frame[5] == 0x00); // 域字节数 0x0018 小端
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// 字节位置校验（数据域起点=帧头6）：姿态数据1 int16 小端，数据2字节预留恒0
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CHECK(frame[6 + 3] == 0x23 && frame[6 + 4] == 0x00); // 纵倾数据1 = 35
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CHECK(frame[6 + 5] == 0x00 && frame[6 + 6] == 0x00); // 预留（0827协议，原纵倾数据2）
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CHECK(frame[6 + 7] == 0xF4 && frame[6 + 8] == 0xFF); // 横倾数据1 = -12 (0xFFF4)
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CHECK(frame[6 + 9] == 0x00 && frame[6 + 10] == 0x00); // 预留（0827协议，原横倾数据2）
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FcControlValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.mode == 2);
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CHECK(out.cmd == 2);
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CHECK(out.outputPower == 100);
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CHECK(out.pitch1 == 35);
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CHECK(out.roll1 == -12);
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CHECK(out.emergencyAllow == 0x03);
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CHECK(out.depth == 150);
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CHECK(out.supplyCmd == 1);
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CHECK(out.reservedCmd5 == 5 && out.reservedCmd6 == 6);
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CHECK(out.heartbeat == 7);
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}
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//--------------------------------------------------------------------------
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// 3. FC 状态编解码往返（关键字段抽查）
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static void testFcStatusRoundTrip() {
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FcStatusValue v;
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v.fc_mode = 2; v.fc_status = 6; v.fc_fault_level = 0;
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v.fault_level_1 = 0x0102; v.fault_level_2 = 0x0304;
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v.fault_level_3 = 0x0506; v.fault_level_4 = 0x0708;
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v.total_generation_time = 12345;
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v.generation_power = 23456;
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v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
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v.palladium_temp = 350; v.buffer_tank_pressure = 200;
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v.dcdc1_in_voltage = 12; v.dcdc_out_current = 33;
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v.methanol_total_use = 100;
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v.cabin_temp1 = 25; v.h2_concentration1 = 500;
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v.heartbeat = 9; v.emergency_cmd = 0x01;
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v.reserved[0] = 0xAAAA; v.remaining_generation = 0xBBBB;
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FcStatusMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 150);
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// 字节位置校验（对照 0821 docx）：发电功率在字节21-22(offset 14)，心跳在字节149(offset 142)
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CHECK(frame[6 + 12] == 0); // 故障等级 offset12
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CHECK(frame[6 + 14] == 0xA0 && frame[6 + 15] == 0x5B); // 发电功率 23456 -> 0x5BA0 小端
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CHECK(frame[6 + 142] == 9); // 心跳 offset142
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CHECK(frame[6 + 143] == 0x01);// 应急指令 offset143
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FcStatusValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.fc_mode == 2 && out.fc_status == 6);
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CHECK(out.fault_level_1 == 0x0102 && out.fault_level_4 == 0x0708);
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CHECK(out.total_generation_time == 12345);
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CHECK(out.generation_power == 23456);
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CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
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CHECK(out.palladium_temp == 350);
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CHECK(out.dcdc1_in_voltage == 12 && out.dcdc_out_current == 33);
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CHECK(out.methanol_total_use == 100);
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CHECK(out.cabin_temp1 == 25 && out.h2_concentration1 == 500);
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CHECK(out.heartbeat == 9 && out.emergency_cmd == 0x01);
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CHECK(out.reserved[0] == 0xAAAA && out.remaining_generation == 0xBBBB);
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}
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//--------------------------------------------------------------------------
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// 4. PM 操控指令编解码往返
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static void testPmControlRoundTrip() {
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PmControlValue v;
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v.year = 2026; v.month = 8; v.day = 26; v.hour = 17; v.minute = 30; v.second = 5;
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v.millisecond10 = 3;
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v.mode = 2; v.cmd = 2; v.outputPower = 120;
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v.pitch = 35; v.roll = -12;
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v.emergencyAllow = 0x03; v.depth = 200;
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v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6;
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v.insBatCmd = 0x10; v.dynBatCmd = 0x20; v.dynBatPower = 300;
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v.heartbeat = 11; v.hostState = 0xAA;
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v.reserved1 = 0x11223344; v.reserved2 = 0x55667788;
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PmControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 45);
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PmControlValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.year == 2026 && out.month == 8 && out.day == 26);
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CHECK(out.hour == 17 && out.minute == 30 && out.second == 5);
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CHECK(out.millisecond10 == 3);
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CHECK(out.mode == 2 && out.cmd == 2 && out.outputPower == 120);
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CHECK(out.pitch == 35 && out.roll == -12);
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CHECK(out.depth == 200);
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CHECK(out.insBatCmd == 0x10 && out.dynBatCmd == 0x20 && out.dynBatPower == 300);
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CHECK(out.heartbeat == 11 && out.hostState == 0xAA);
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CHECK(out.reserved1 == 0x11223344 && out.reserved2 == 0x55667788);
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}
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//--------------------------------------------------------------------------
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// 5. PM 状态报文编解码往返（抽查关键字段，覆盖各分组）
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static void testPmStatusRoundTrip() {
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PmStatusValue v;
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v.fc_mode = 2; v.fc_status = 6;
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v.fault_level_1 = 1; v.fault_level_2 = 2; v.fault_level_3 = 3; v.fault_level_4 = 4;
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v.total_generation_time = 500; v.fc_fault_level = 0;
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v.output_power_limit = 30000; v.generation_power = 100;
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v.hydrogen_capacity = 80; v.liquid_oxygen_capacity = 70;
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v.main_pipe_pressure = 500; v.aux_pipe_pressure = 400;
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v.dcdc_out_voltage = 240; v.dcdc_out_current = 100;
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v.cabin_temp1 = 2500; v.cabin_temp2 = 2400;
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v.h2_concentration1 = 300; v.o2_concentration1 = 200;
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v.emergency_battery1_voltage = 24; v.emergency_battery2_voltage = 26;
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v.ins_soc = 60; v.dyn_soc = 55;
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v.ins_voltage_link = 4800; v.dyn_voltage_link = 4900;
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v.ins_current = 120; v.dyn_current = 130;
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v.device_online_flag1 = 0x0F; v.device_online_flag2 = 0x07;
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v.heartbeat = 42; v.emergency_cmd = 0x01;
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v.dyn_alarm_flag[0] = 0xAA; v.ins_alarm_flag[5] = 0x55;
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PmStatusMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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CHECK(frame.size() == 248);
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PmStatusValue out;
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CHECK(msg.decode(frame, static_cast<void*>(&out)));
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CHECK(out.fc_mode == 2 && out.fc_status == 6);
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CHECK(out.fault_level_1 == 1 && out.fault_level_4 == 4);
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CHECK(out.total_generation_time == 500 && out.fc_fault_level == 0);
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CHECK(out.output_power_limit == 30000 && out.generation_power == 100);
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CHECK(out.hydrogen_capacity == 80 && out.liquid_oxygen_capacity == 70);
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CHECK(out.main_pipe_pressure == 500 && out.aux_pipe_pressure == 400);
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CHECK(out.dcdc_out_voltage == 240 && out.dcdc_out_current == 100);
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CHECK(out.cabin_temp1 == 2500 && out.h2_concentration1 == 300);
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CHECK(out.emergency_battery1_voltage == 24 && out.emergency_battery2_voltage == 26);
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CHECK(out.ins_soc == 60 && out.dyn_soc == 55);
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CHECK(out.ins_voltage_link == 4800 && out.dyn_voltage_link == 4900);
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CHECK(out.device_online_flag1 == 0x0F && out.device_online_flag2 == 0x07);
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CHECK(out.heartbeat == 42 && out.emergency_cmd == 0x01);
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CHECK(out.dyn_alarm_flag[0] == 0xAA && out.ins_alarm_flag[5] == 0x55);
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}
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//--------------------------------------------------------------------------
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// 6. PM 校验和：正确帧通过，篡改字节校验失败
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static void testChecksum() {
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PmControlValue v;
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v.mode = 2; v.cmd = 3; v.heartbeat = 1;
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PmControlMessage msg;
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std::vector<uint8_t> frame = msg.encode(v);
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PmControlValue tmp;
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CHECK(msg.decode(frame, static_cast<void*>(&tmp))); // 校验通过
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// 篡改数据域中间字节
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std::vector<uint8_t> bad = frame;
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bad[10] ^= 0xFF; // 数据域某字节
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CHECK(!msg.decode(bad, static_cast<void*>(&tmp)));
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// 篡改帧头长度
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std::vector<uint8_t> badLen = frame;
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badLen[4] = 0x01; // length 低字节改小 -> 0x012D != 45
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CHECK(!msg.decode(badLen, static_cast<void*>(&tmp)));
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}
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//--------------------------------------------------------------------------
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// 7. 链路分发：FC 链路收到状态帧 -> 回调解码
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static void testLinkDispatch() {
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// 注册表按链路隔离：FC 与 PM 共用 0x0001/0x0002 不应冲突
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MessageRegistry fcReg;
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registerFcMessages(fcReg);
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MessageRegistry pmReg;
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registerPmMessages(pmReg);
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CHECK(fcReg.size() == 2);
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CHECK(pmReg.size() == 4);
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CHECK(fcReg.find(0x0001)->id() == 0x0001);
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CHECK(pmReg.find(0x0001)->id() == 0x0001); // id 重叠但隔离
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// 用 LinkManager 的 handleIncoming 模拟收帧
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FcStatusValue fv;
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fv.fc_status = 6; fv.heartbeat = 8;
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FcStatusMessage fsMsg;
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std::vector<uint8_t> frame = fsMsg.encode(fv);
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LinkManager lm("test_fc", 0);
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registerFcMessages(lm.registry());
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bool got = false;
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lm.setOnMessage([&](Message* m, const std::vector<uint8_t>& f) {
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if (m && m->id() == 0x0002) {
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FcStatusValue out;
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if (m->decode(f, static_cast<void*>(&out))) {
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got = (out.fc_status == 6 && out.heartbeat == 8);
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}
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}
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});
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CHECK(lm.handleIncoming(frame));
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CHECK(got);
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}
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//--------------------------------------------------------------------------
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// 8. 数据库落库与查询
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static void testDbStore() {
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std::string path = "test_pccu.db";
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std::remove(path.c_str());
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{
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DbStore db(path);
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CHECK(db.open());
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std::vector<uint8_t> frame = {0x40,0x40,0x01,0x00,0x14,0x00, 1,2,3,4,5,6,7,8,9,10,11,12,13,14};
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db.onRawFrame(0, 0x0001, "fc", frame, true);
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db.onRawFrame(1, 0x0004, "pm", frame, false);
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CHECK(db.count() == 2);
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auto rows = db.queryRecent("", -1, 0, 10);
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CHECK(rows.size() == 2);
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CHECK(rows[0].msgId == 0x0004 || rows[0].msgId == 0x0001);
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CHECK(rows[0].checksumOk == 0); // 最近一条是 pm 的 false
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auto fcRows = db.queryRecent("fc", 0, 0, 10);
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CHECK(fcRows.size() == 1);
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CHECK(fcRows[0].msgId == 0x0001 && fcRows[0].direction == 0);
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db.close();
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}
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std::remove(path.c_str());
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}
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//--------------------------------------------------------------------------
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// 9. CAN BMS 报文解码（docs/BMS_协议字段定义.xlsx，测试向量为实车抓包数据）
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static void testCanBmsDecode() {
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BmsStatusValue v;
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// 0x10010000：14 da 17 70 00 c9 31 01（实车抓包）
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// 总电压 0x14DA=5338 -> 533.8V；SOC 0x00C9=201 -> 20.1%
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// 故障码 0x31=49；状态位 0x01
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const uint8_t d0[8] = {0x14,0xDA,0x17,0x70,0x00,0xC9,0x31,0x01};
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CHECK(decodeCanBmsFrame(0x10010000, d0, 8, v));
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CHECK(v.totalVoltage == 533.8);
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CHECK(v.soc == 20.1);
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CHECK(v.faultCode == 0x31);
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CHECK(v.statusBits == 0x01);
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// 文档示例帧：14 d9 => 533.7V
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const uint8_t d0doc[8] = {0x14,0xD9,0x17,0x70,0x00,0xC9,0x31,0x01};
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CHECK(decodeCanBmsFrame(0x10010000, d0doc, 8, v));
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CHECK(v.totalVoltage == 533.7);
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// 0x10010005：07 d0 00 00 0e a8 00 00
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// 最大电流限制 0x07D0=2000 -> 200.0A；总电流 00 00 00 -> 0.0A
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// 最高单体电压 0x0EA8=3752 -> 3.752V
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const uint8_t d5[8] = {0x07,0xD0,0x00,0x00,0x0E,0xA8,0x00,0x00};
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CHECK(decodeCanBmsFrame(0x10010005, d5, 8, v));
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CHECK(v.maxCurrentLimit == 200.0);
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CHECK(v.totalCurrent == 0.0);
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CHECK(v.maxCellVoltage == 3.752);
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// 总电流负数：s16 补码 FF 06 = -250 -> -25.0A（xlsx 负数示例）
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const uint8_t d5n[8] = {0x07,0xD0,0xFF,0x06,0x0E,0xA8,0x00,0x00};
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CHECK(decodeCanBmsFrame(0x10010005, d5n, 8, v));
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||
CHECK(v.totalCurrent == -25.0);
|
||
|
||
// 0x10010006：07 d0 07 d0 14 da 00 00 -> 总电压校验 0x14DA=533.8V
|
||
const uint8_t d6[8] = {0x07,0xD0,0x07,0xD0,0x14,0xDA,0x00,0x00};
|
||
CHECK(decodeCanBmsFrame(0x10010006, d6, 8, v));
|
||
CHECK(v.totalVoltageChk == 533.8);
|
||
|
||
// 非 BMS 报文 ID 不命中
|
||
const uint8_t dx[8] = {0,0,0,0,0,0,0,0};
|
||
CHECK(!decodeCanBmsFrame(0x10010035, dx, 8, v));
|
||
CHECK(!decodeCanBmsFrame(0x10010000, nullptr, 0, v));
|
||
CHECK(isCanBmsId(0x10010000) && isCanBmsId(0x10010005) && isCanBmsId(0x10010006));
|
||
CHECK(!isCanBmsId(0x10010001));
|
||
}
|
||
|
||
//--------------------------------------------------------------------------
|
||
int main() {
|
||
testFrameLengths();
|
||
testFcControlRoundTrip();
|
||
testFcStatusRoundTrip();
|
||
testPmControlRoundTrip();
|
||
testPmStatusRoundTrip();
|
||
testChecksum();
|
||
testLinkDispatch();
|
||
testDbStore();
|
||
testCanBmsDecode();
|
||
|
||
std::printf("\n==== pccuTest: %d passed, %d failed ====\n", g_pass, g_fail);
|
||
return g_fail == 0 ? 0 : 1;
|
||
} |