zjk
b547772709
新应用 src/pCanBridge（独立 MOOS App，单通道）： - CanEndpoint：TCP Client 连接 CANET/USBCAN-8E-U 工作端口 （目标 IP/端口可配置，默认 192.168.0.222:4001=CAN0）， 接收线程流式缓冲按 13 字节切帧，过滤无效 DLC(>8)， 断线自动重连（非阻塞 connect+超时 / SO_RCVTIMEO 读超时）。 - 帧协议（CANET-8E-U 手册 8.1）：byte0=帧信息(bit7 FF/bit6 RTR/ bit3~0 DLC)，byte1~4=ID 大端，byte5~12=数据。 - MOOS 映射：变量名 CAN_0x%08X=CAN ID（不缩减），m_sVal=二进制 data（逐帧透传不限流），m_sSrcAux=通道名(can_channel_name)， m_dfVal2=原始帧信息字节（用于区分标准/扩展、数据/远程帧）。 - CanDbStore：每帧落库 SQLite（can_frame 表：time/channel/ frame_info/can_id/dlc/hex，含 time、can_id 索引），参考 pCCU DbStore：预处理语句 + WAL + synchronous=NORMAL，路径由 dbpath 配置；复用 pPowerManger 的 sqlite3 amalgamation。 - AppCast 输出连接状态/收帧/发布/落库统计。 配套： - missions/h100.moos 新增 pCanBridge 配置块（板卡 dbpath 指向 data 目录）。 - build-board.sh / deploy.sh 支持 pCanBridge：产物部署 + pCanBridge.service 安装，服务列表加入第 5 个服务。 - .gitignore 忽略 bin/pCanBridge 与本机默认数据库。 已验证（板卡 192.168.0.223 实测）：服务 active，连接设备正常， ~60 帧/s 透传，落库 9000+ 行 integrity ok、无丢帧。
262 lines
11 KiB
Bash
Executable File
262 lines
11 KiB
Bash
Executable File
#!/bin/bash
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#=======================================================================
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# FILE: scripts/build-board.sh
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# DESC: 把源码同步到目标板卡 (RK3588 / Ubuntu 22.04)，在板卡原生编译
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# （aarch64 直编，比本地 QEMU 模拟快约 10 倍），并把产物部署到
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# /root/work/h100/bin/，可选重启 systemd 服务。
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#
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# 用法:
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# ./scripts/build-board.sh # 同步+编译+部署（不重启）
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# ./scripts/build-board.sh --start # 编译后重启全部服务（含 pCanBridge）
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# ./scripts/build-board.sh --clean # 板卡上重新 cmake 再编译
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# ./scripts/build-board.sh --jobs 4 # 指定并行度（默认板卡 nproc）
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#
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# 参数:
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# --host <ip> 目标主机（默认 192.168.0.223）
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# --user <user> 登录用户（默认 root）
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# --board-src <dir> 板卡源码目录（默认 /root/work/h100/src）
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# --board-bin <dir> 板卡部署目录（默认 /root/work/h100/bin）
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# --jobs <n> 编译并行度（默认板卡 nproc）
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# --start 编译部署后重启服务
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# --clean 先重新 cmake（配置变更时用）
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# --ccu-host <ip> 覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
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# --ccu-port <n> 覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
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# -h, --help 显示帮助
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#
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# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
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# 源码已能本地编译（本脚本只负责同步+板卡编译）。
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#
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# !!!! 板卡网络配置（2026-08-26 联调定型，勿随意修改） !!!!
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#
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# 板卡与 FC 的组网为"单网卡 + /23 掩码"方案（依据《超滑FC和复合管控器
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# 通讯协议-0821》1.1.1：CCU 192.168.0.140/23 <-> FC 192.168.1.162）：
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#
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# enP3p49s0 192.168.0.223/23 (255.255.254.0) <- 唯一业务网口，接交换机
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# /23 使 192.168.0.x 与 192.168.1.x 同子网直达，
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# FC(192.168.1.162) 无需网关即可互通。
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# NM 配置档案: "有线连接 1"（静态 manual，已持久化）
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# enP4p65s0 已弃用（旧双网卡方案的 FC 专口，物理链路已断）
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# 回环 lo pPowerManger(5001) <-> pCCU(7000) 同机 UDP 互通
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#
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# 关联端口:
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# FC 状态: FC:7000 -> 板卡:6000 (pCCU 监听)
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# FC 控制: 板卡:6000 -> FC:7000 (pCCU 发送)
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# PM 指令: pPowerManger:5001 -> pCCU:7000 (127.0.0.1，
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# 见 missions/h100.moos ccuhost/ccuport，默认值在 PowerManger.h CCUHOST)
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# PM 状态: pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
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#
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# 排障提示:
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# - 若收不到 FC 状态，先在板卡上 `ethtool enP3p49s0` 看 Link detected，
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# 再 `ping 192.168.1.162`；ping 不通通常是物理链路/交换机问题，
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# 不要改回 /24 掩码或启用 enP4p65s0 来"修"网络。
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# - 改 IP/掩码须用 `nmcli con mod "有线连接 1" ...` 持久化，
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# 并保持掩码 /23。
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#=======================================================================
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set -uo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
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HOST="192.168.0.223"
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USER="root"
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BOARD_SRC="/root/work/h100/src"
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BOARD_BIN="/root/work/h100/bin"
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JOBS=""
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DO_START=0
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DO_CLEAN=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
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info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
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warn() { printf '\033[1;33m[build-board]\033[0m %s\n' "$*"; }
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err() { printf '\033[1;31m[build-board]\033[0m %s\n' "$*"; }
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usage() {
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sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
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exit 0
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}
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#-------------------------------------------------------------------
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# 参数解析
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#-------------------------------------------------------------------
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while [ $# -gt 0 ]; do
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case "$1" in
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--host) [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
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--user) [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
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--board-src) [ $# -ge 2 ] || { err "--board-src 需要参数"; exit 1; }; BOARD_SRC="$2"; shift 2 ;;
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--board-bin) [ $# -ge 2 ] || { err "--board-bin 需要参数"; exit 1; }; BOARD_BIN="$2"; shift 2 ;;
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--jobs) [ $# -ge 2 ] || { err "--jobs 需要参数"; exit 1; }; JOBS="$2"; shift 2 ;;
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--start) DO_START=1; shift ;;
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--clean) DO_CLEAN=1; shift ;;
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--ccu-host) [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
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--ccu-port) [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
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-h|--help) usage ;;
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*) err "未知参数: $1（见 --help）"; exit 1 ;;
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esac
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done
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SSH_TARGET="${USER}@${HOST}"
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SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
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case "${CCU_PORT}" in
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""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
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esac
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#-------------------------------------------------------------------
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# 1. 前置检查
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#-------------------------------------------------------------------
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if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
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err "无法免密 SSH 到 ${SSH_TARGET}"
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err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
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exit 1
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fi
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ok "SSH 连接正常: ${SSH_TARGET}"
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#-------------------------------------------------------------------
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# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
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# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
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#-------------------------------------------------------------------
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upsert_moos_param() {
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local f="$1" key="$2" val="$3"
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if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
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sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
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else
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awk -v kv=" ${key} = ${val}" \
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'!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
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"${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
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fi
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}
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#-------------------------------------------------------------------
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# 2. 同步源码到板卡（排除构建产物 / git / 数据）
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#-------------------------------------------------------------------
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info "同步源码到板卡 ${BOARD_SRC} ..."
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rsync -az --delete \
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--exclude='build/' \
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--exclude='build-arm64/' \
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--exclude='build-native/' \
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--exclude='build-nosa-test/' \
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--exclude='bin/' \
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--exclude='.git/' \
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--exclude='.cache/' \
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--exclude='.kilo/' \
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--exclude='.vscode/' \
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--exclude='docs/' \
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--exclude='reports/' \
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--exclude='*.log' \
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--exclude='*.db' \
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--exclude='CMakeCache.txt' \
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"${PROJECT_ROOT}/" "${SSH_TARGET}:${BOARD_SRC}/" || { err "rsync 源码失败"; exit 1; }
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ok "源码已同步"
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if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
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info "同步 mission h100.moos ..."
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local_mission="${PROJECT_ROOT}/missions/h100.moos"
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tmp_moos=""
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if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
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tmp_moos="$(mktemp)"
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cp "${local_mission}" "${tmp_moos}"
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[ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
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[ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
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local_mission="${tmp_moos}"
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info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
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fi
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rsync -az "${local_mission}" \
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"${SSH_TARGET}:/root/work/h100/missions/h100.moos" || { err "rsync mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; exit 1; }
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[ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
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ok "mission 已同步"
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fi
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#-------------------------------------------------------------------
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# 3. 板卡原生编译
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#-------------------------------------------------------------------
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if [ "${DO_CLEAN}" = "1" ]; then
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info "重新 cmake（--clean）..."
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${SSH} "${SSH_TARGET}" "rm -rf ${BOARD_SRC}/build-native && mkdir -p ${BOARD_SRC}/build-native && \
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cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
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|| { err "cmake 失败"; exit 1; }
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ok "cmake 完成"
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else
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${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_SRC}/build-native"
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# 若首次未配置过则先 cmake
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if ! ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_SRC}/build-native/Makefile ]"; then
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info "首次编译，先 cmake ..."
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${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
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|| { err "cmake 失败"; exit 1; }
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ok "cmake 完成"
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fi
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fi
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if [ -z "${JOBS}" ]; then
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JOBS="$(${SSH} "${SSH_TARGET}" nproc)"
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fi
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info "板卡编译 (make -j${JOBS}) ..."
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if ! ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && make -j${JOBS}"; then
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err "板卡编译失败（见上方输出）"
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exit 1
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fi
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ok "板卡编译完成"
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#-------------------------------------------------------------------
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# 4. 部署产物到板卡运行目录
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#-------------------------------------------------------------------
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info "部署产物到 ${BOARD_BIN}/ ..."
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${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
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cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
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cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
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cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
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cp -f ${BOARD_SRC}/bin/pCanBridge ${BOARD_BIN}/pCanBridge && \
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chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU ${BOARD_BIN}/pCanBridge" \
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|| { err "部署产物失败"; exit 1; }
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ok "产物已部署"
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#-------------------------------------------------------------------
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# 4.5 安装/刷新 pCanBridge systemd unit（幂等，其它 4 个 unit 已装）
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#-------------------------------------------------------------------
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info "安装 pCanBridge.service ..."
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${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pCanBridge.service" <<EOF
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[Unit]
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Description=pCanBridge for H100 Power Manager
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After=moosdb.service
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Requires=moosdb.service
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[Service]
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Type=simple
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WorkingDirectory=${BOARD_BIN}
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ExecStart=${BOARD_BIN}/pCanBridge --alias=pCanBridge /root/work/h100/missions/h100.moos
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Restart=on-failure
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RestartSec=5
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[Install]
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WantedBy=multi-user.target
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EOF
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${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pCanBridge 2>/dev/null || true"
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ok "pCanBridge.service 已安装"
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echo ""
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ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
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${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"
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#-------------------------------------------------------------------
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# 5. 可选重启服务
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#-------------------------------------------------------------------
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if [ "${DO_START}" = "1" ]; then
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info "重启服务 ..."
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${SSH} "${SSH_TARGET}" "systemctl restart ${SERVICES[*]}" \
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|| { err "重启服务失败"; exit 1; }
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sleep 3
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ok "服务状态: $(${SSH} "${SSH_TARGET}" "systemctl is-active ${SERVICES[*]}")"
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else
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echo ""
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info "未重启服务。需要重启请加 --start 或手动:"
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echo " systemctl restart ${SERVICES[*]}"
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fi
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echo ""
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ok "完成。"
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