重构了与DB的交互逻辑,以及与任务\上位机指令的消息,使用新的loguru库进行日志管理

src/pPowerManger/UpperCommManager.cpp

@@ -1,12 +1,16 @@
 #include "UpperCommManager.h"
 #include "PowerManger.h"
 #include "driver.h"
+#include "PowerManagerFsm.hpp"
 
 UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}
 
 bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
     if(key == DB_TO_PM_MSCMD) {
         m_pm->m_msCmd = getMasterControlCmd(key, strJson);
+        cout << "m_msCmd: " << endl;
+        MasterCommandEvent event;
+        PowerManagerFsm::dispatch(event);
         return true;
     }
     else if(key == DB_TO_PM_EQUIPMENTCMD) {
@@ -21,6 +25,10 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
         m_pm->m_depth = getDeepth(key, strJson);
         return true;
     }
+    else if(key == DB_TO_PM_MISSION) {
+        m_pm->m_missionState = getMission(key, strJson);
+        return true;
+    }
     std::cout << "Unknown key: " << key << std::endl;
     return false;
 }
@@ -89,6 +97,42 @@ const int UpperCommManager::getDeepth(const std::string& key, const std::string&
     return deepth;
 }
 
+MissionState UpperCommManager::getMission(const std::string& key, const std::string& msg) {
+    MissionState mission;
+    Json::Value root;
+    Json::CharReaderBuilder builder;
+    JSONCPP_STRING errs;
+    
+    // 解析JSON字符串
+    std::istringstream stream(msg);
+    if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+        std::cerr << "JSON解析失败: " << errs << std::endl;
+        LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+        return mission;
+    }
+    
+    // 提取taskType_str
+    if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
+        mission.type = TaskType::fromString(root["taskType_str"].asString());
+        LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
+    }
+
+    // 提取balanceEnabled_bool
+    if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
+        mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
+        LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
+    }
+    
+    // 提取bowRudderUnfold_bool
+    if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
+        mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
+        LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
+    }
+
+    
+    return mission;
+}
+
 const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
 {
     return m_pm->m_driver.saveDriverTableToJson(&driver);