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。
291 lines
11 KiB
Bash
Executable File
291 lines
11 KiB
Bash
Executable File
#!/bin/bash
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#=======================================================================
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# FILE: scripts/deploy.sh
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# DESC: 部署 pPowerManger / pPowerMangerHost / pCCU / pCanBridge（aarch64 二进制 +
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# mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用五个独立
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# systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU /
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# pCanBridge）管理。只安装服务 + daemon-reload，默认不启动、不自启。
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#
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# 用法:
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# ./scripts/deploy.sh setup-ssh 一次性：生成 ed25519 key + ssh-copy-id
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# ./scripts/deploy.sh 默认：推送二进制 + mission + 装 4 个
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# systemd 服务 + daemon-reload（不启动）
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# ./scripts/deploy.sh --start 部署后按依赖顺序启动服务
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# ./scripts/deploy.sh status 板卡 4 个服务状态
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# ./scripts/deploy.sh stop 停止 4 个服务
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# ./scripts/deploy.sh help 显示帮助
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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-dir <dir> 板卡部署根目录（默认 /root/work/h100）
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# --start 部署后立即启动服务
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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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#
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# 板卡布局:
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# /root/work/h100/bin/ aarch64 二进制
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# /root/work/h100/missions/ 板卡 mission h100.moos
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# /root/work/h100/data/ 数据库存储目录 (power_data.db 等)
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# /etc/systemd/system/ moosdb.service / pPowerManger.service /
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# pPowerMangerHost.service / pCCU.service /
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# pCanBridge.service
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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 "${SCRIPT_DIR}")"
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HOST="192.168.0.223"
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USER="root"
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BOARD_DIR="/root/work/h100"
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DO_START=0
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CCU_HOST=""
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CCU_PORT=""
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SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
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info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
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ok() { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
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warn() { printf '\033[1;33m[deploy]\033[0m %s\n' "$*"; }
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err() { printf '\033[1;31m[deploy]\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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ACTION=""
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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-dir)[ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
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--start) DO_START=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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setup-ssh|status|stop|help|-h|--help) ACTION="$1"; shift ;;
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"") shift ;;
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*) err "未知参数: $1（见 help）"; exit 1 ;;
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esac
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done
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[ -n "${ACTION}" ] || ACTION="deploy"
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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: ${CCU_PORT}"; exit 1; } ;;
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esac
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SSH_TARGET="${USER}@${HOST}"
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SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
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SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
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#-------------------------------------------------------------------
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# 命令: setup-ssh
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#-------------------------------------------------------------------
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cmd_setup_ssh() {
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local key="$HOME/.ssh/id_ed25519"
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if [ ! -f "${key}" ]; then
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info "未发现 SSH key，生成 ed25519 key ..."
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mkdir -p "$HOME/.ssh" && chmod 700 "$HOME/.ssh"
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ssh-keygen -t ed25519 -N '' -f "${key}"
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fi
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info "上传公钥到 ${SSH_TARGET}（会提示输入密码，仅此一次）..."
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ssh-copy-id -o ConnectTimeout=5 "${SSH_TARGET}"
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ok "免密 SSH 已配置。验证: ssh ${SSH_TARGET}"
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}
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#-------------------------------------------------------------------
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# 前置检查
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#-------------------------------------------------------------------
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check_local() {
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local missing=0
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for b in pPowerManger pPowerMangerHost pCCU pCanBridge; do
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if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
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err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
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elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
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err "bin/arm64/${b} 不是 aarch64 二进制"; missing=1
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fi
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done
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if [ ! -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
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err "缺少板卡 mission: missions/h100.moos"; missing=1
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fi
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[ "${missing}" -eq 0 ] || return 1
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ok "本地产物校验通过 (aarch64 + mission)"
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}
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check_ssh() {
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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 "请先执行: ./scripts/deploy.sh setup-ssh"
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return 1
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fi
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ok "SSH 连接正常: ${SSH_TARGET}"
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}
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#-------------------------------------------------------------------
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# 生成 systemd unit（含板卡绝对路径）
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#-------------------------------------------------------------------
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gen_moosdb_unit() {
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# MOOSDB 路径在板卡探测；探测失败给出提示
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local moosdb_bin
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moosdb_bin="$(${SSH} "${SSH_TARGET}" 'command -v MOOSDB || true' 2>/dev/null)"
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if [ -z "${moosdb_bin}" ]; then
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moosdb_bin="$(command -v MOOSDB || true)"
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warn "板卡未在 PATH 找到 MOOSDB，回退本机路径 ${moosdb_bin:-"(未找到)"}"
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[ -n "${moosdb_bin}" ] || { err "MOOSDB 路径未知，无法生成 moosdb.service"; return 1; }
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fi
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ok "MOOSDB 路径: ${moosdb_bin}" >&2
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cat <<EOF
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[Unit]
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Description=MOOSDB for H100 Power Manager
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After=network.target
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[Service]
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Type=simple
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ExecStart=${moosdb_bin} --moos_no_colour ${BOARD_DIR}/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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}
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gen_app_unit() {
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local app="$1" deps=""
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[ "${app}" = "moosdb" ] || deps="After=moosdb.service\nRequires=moosdb.service"
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cat <<EOF
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[Unit]
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Description=${app} for H100 Power Manager
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$(printf '%b' "${deps}")
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[Service]
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Type=simple
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WorkingDirectory=${BOARD_DIR}/bin
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ExecStart=${BOARD_DIR}/bin/${app} --alias=${app} ${BOARD_DIR}/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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}
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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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# 命令: deploy
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#-------------------------------------------------------------------
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cmd_deploy() {
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check_local || return 1
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check_ssh || return 1
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# 1. 推送二进制 + mission
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info "创建板卡目录 ${BOARD_DIR}/{bin,missions,data} ..."
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${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_DIR}/bin ${BOARD_DIR}/missions ${BOARD_DIR}/data" || { err "创建目录失败"; return 1; }
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info "推送 aarch64 二进制 ..."
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${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
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"${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
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"${PROJECT_ROOT}/bin/arm64/pCCU" \
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"${PROJECT_ROOT}/bin/arm64/pCanBridge" \
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"${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
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info "推送 mission h100.moos ..."
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local mission_src="${PROJECT_ROOT}/missions/h100.moos"
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local mission_push="${mission_src}" tmp_moos=""
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if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
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tmp_moos="$(mktemp)"
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cp "${mission_src}" "${tmp_moos}"
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[ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
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[ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
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mission_push="${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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${SCP} -q "${mission_push}" \
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"${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
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[ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
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${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU ${BOARD_DIR}/bin/pCanBridge"
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ok "二进制与 mission 已推送"
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# 2. 生成并安装 4 个 systemd unit
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local unit
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for s in "${SERVICES[@]}"; do
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info "生成 ${s}.service ..."
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if [ "${s}" = "moosdb" ]; then
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unit="$(gen_moosdb_unit)" || return 1
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else
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unit="$(gen_app_unit "${s}")"
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fi
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printf '%s\n' "${unit}" | ${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/${s}.service"
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ok "${s}.service 已安装"
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done
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# 3. daemon-reload（不 enable，不自启）
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info "systemctl daemon-reload ..."
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${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed ${SERVICES[*]} 2>/dev/null || true"
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ok "服务已安装但未启用自启（systemctl is-enabled 应输出 disabled）"
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# 4. 可选启动
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if [ "${DO_START}" = "1" ]; then
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cmd_start
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else
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echo ""
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info "部署完成。手动启动（或加 --start）:"
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echo " systemctl start moosdb pPowerManger pPowerMangerHost pCCU pCanBridge"
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echo " 浏览器: http://${HOST}:18080 (上位机模拟)"
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echo " http://${HOST}:8090 (pPowerManger)"
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echo " http://${HOST}:8080 (pCCU)"
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fi
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}
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#-------------------------------------------------------------------
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# 命令: start / status / stop
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#-------------------------------------------------------------------
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cmd_start() {
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info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU / pCanBridge) ..."
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${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
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systemctl start pPowerManger pPowerMangerHost pCCU pCanBridge" || { err "启动失败"; return 1; }
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ok "服务已启动"
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cmd_status
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}
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cmd_status() {
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${SSH} "${SSH_TARGET}" "systemctl --no-pager status ${SERVICES[*]}" || true
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}
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cmd_stop() {
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${SSH} "${SSH_TARGET}" "systemctl stop pCanBridge pPowerMangerHost pPowerManger pCCU moosdb" && \
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ok "服务已停止" || err "停止服务失败"
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}
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#-------------------------------------------------------------------
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# 命令入口
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#-------------------------------------------------------------------
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case "${ACTION}" in
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deploy) cmd_deploy ;;
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setup-ssh) cmd_setup_ssh ;;
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status) cmd_status ;;
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stop) cmd_stop ;;
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help|-h|--help) usage ;;
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*) usage ;;
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esac
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