修复：跨线程数据竞争 + 协议字段越界 + UDP 发送失败吞错
- 并发安全：PowerManger 新增 m_stateMutex，保护 m_pmCurrentState / m_currentDisBreakerState / m_CcuColCmd / faultCode，并封装 addFaultCode/clearFaultCodes/getFaultCodes 访问器 - SystemData 新增跨线程读访问器（getDynVoltageLink/getPowerBusStatus/ getDcdcStatus/getDeviceCommonStatus 等）及配电故障码集合加锁访问 - upmsg buildMsg / httpserver pushSystemData / LowerCommManager 均改为 持锁快照，避免 listen 线程与 comm 线程撕裂读写 - 修复析构顺序：先删 httpServer 再删其他对象，避免 use-after-free - 修复 ccuState reserved2 越界读（协议预留 2 字节，结构体仅声明 1）， 修正 coutMsg 中 SOC 门限/功率限制字段打印 - udpComm::sendDisSysCmd 不再吞掉异常，返回 sendMsg 实际结果并记录 ERROR， 新增 SendDisSysCmdFailsWithoutSocket 单测 - 新增 fullFeeder 全类型 UDP 集成仿真器与 fetch-data/clean-data 脚本， .gitignore 补充 SQLite 运行期文件与 fullFeeder 二进制
This commit is contained in:
@@ -80,17 +80,23 @@ void LowerCommManager::setCommLogger(ICommLogger* logger)
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if (m_udpComm) m_udpComm->setCommLogger(logger);
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}
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void LowerCommManager::processPeriodicTasks() {
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sendCcuCommand(m_pm->m_CcuColCmd);
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m_pm->m_db->insertData(m_pm->m_CcuColCmd);
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ccuColCmd cmd;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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cmd = m_pm->m_CcuColCmd;
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}
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sendCcuCommand(cmd);
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m_pm->m_db->insertData(cmd);
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//延时5ms
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usleep(5000);
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if(m_pm->m_systemData->device_common_status.dis_hv_c1.isTimeout )
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auto devStatus = m_pm->m_systemData->getDeviceCommonStatus();
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if(devStatus.dis_hv_c1.isTimeout )
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{
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disHighVolBusCmd clr1{};
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m_udpComm->sendDisSysCmd(clr1);
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MOOSPause(200);
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}
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if(m_pm->m_systemData->device_common_status.dis_lv_c1.isTimeout )
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if(devStatus.dis_lv_c1.isTimeout )
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{
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disHighBVolBusCmd clr3{};
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m_udpComm->sendDisSysCmd(clr3);
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@@ -195,10 +201,14 @@ bool LowerCommManager::updatePoweSystemStates(){
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double time;
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if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState))
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{
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m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
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m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
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ccuState local = m_CcuCurrentState.data;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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m_pm->m_pmCurrentState.ccustate = local;
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}
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m_pm->m_db->insertData(local); //写入数据库
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msg_CcuStateFbMsg_Update_time = time;
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m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
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m_pm->m_systemData->updateSystemData(local);
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{
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std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
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m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
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@@ -219,29 +229,29 @@ bool LowerCommManager::updatePoweSystemStates(){
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double time;
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if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState))
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{
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// m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
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m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
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m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
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disHighVolBusState local = m_disHighVolBusCurrentState.data;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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m_pm->m_pmCurrentState.bus1State = local;
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disBus1Breaker pdis1{};
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pdis1.fuelCellCircuitBreaker = (local.fuelCellCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.powerLithiumBatteryCircuitBreaker = (local.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.propulsionMotorCircuitBreaker = (local.propulsionMotorCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.dcDc5ModuleCircuitBreaker = (local.dcDc5ModuleCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.bowHighVoltageDistributionBoxCircuitBreaker = (local.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.sternFTDevice45CircuitBreaker = (local.sternFTDevice45CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.sternRudderSwitch1CircuitBreaker = (local.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.sternRudderSwitch2CircuitBreaker = (local.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.fbReservedCircuitBreaker = (local.fbReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.tyzReservedCircuitBreaker = (local.tyzReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.reservedCircuitBreaker = (local.reservedCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis1.paceholder = 0;
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m_pm->m_currentDisBreakerState.bus1Breaker = pdis1;
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}
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m_pm->m_db->insertData(local); //写入数据库
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msg_disHighVolBusFbMsg_Update_time = time;
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disBus1Breaker* pdis1=new disBus1Breaker;
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(m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
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pdis1 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
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delete pdis1;
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m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
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m_pm->m_systemData->updateSystemData(local);
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{
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std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
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m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
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@@ -253,22 +263,23 @@ bool LowerCommManager::updatePoweSystemStates(){
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double time;
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if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState))
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{
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m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
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m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
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disHighAVolBusState local = m_disHighAVolBusCurrentState.data;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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m_pm->m_pmCurrentState.bus2State = local;
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disBus2Breaker pdis2{};
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pdis2.bowFTDevice123CircuitBreaker = (local.bowFTDevice123CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.actuatorCircuitBreaker = (local.actuatorCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.mastSteeringGearControlBoxCircuitBreaker = (local.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.xczCircuitBreaker = (local.xczCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.bowRudderControlBoxCircuitBreaker = (local.bowRudderControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.openWaterCoverStartCylinderCircuitBreaker = (local.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis2.paceholder = 0;
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m_pm->m_currentDisBreakerState.bus2Breaker = pdis2;
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}
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m_pm->m_db->insertData(local); //写入数据库
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msg_disHighAVolBusFbMsg_Update_time = time;
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disBus2Breaker* pdis2=new disBus2Breaker;
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(m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
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pdis2 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
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delete pdis2;
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m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
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m_pm->m_systemData->updateSystemData(local);
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{
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std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
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m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
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@@ -281,22 +292,24 @@ bool LowerCommManager::updatePoweSystemStates(){
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double time;
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if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState))
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{
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m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
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m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
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disLowMainBusState local = m_disHighBVolBusCurrentState.data;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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m_pm->m_pmCurrentState.bus3State = local;
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disBus3Breaker pdis3{};
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pdis3.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis3.bowLowVoltageDistributionBoxCircuitBreaker = (local.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis3.unit4InstrumentDC48VCircuitBreaker = (local.unit4InstrumentDC48VCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis3.dcC1DCDistributionPanelCircuitBreaker = (local.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis3.reservedCircuitBreaker1 = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
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pdis3.reservedCircuitBreaker2 = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
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pdis3.emergencyLithiumBatteryGroup2CircuitBreaker = (local.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis3.paceholder = 0;
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m_pm->m_currentDisBreakerState.bus3Breaker = pdis3;
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}
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m_pm->m_db->insertData(local); //写入数据库
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msg_disHighBVolBusFbMsg_Update_time = time;
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disBus3Breaker* pdis3=new disBus3Breaker;
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(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
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(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
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(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
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pdis3->paceholder = 0;
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m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
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delete pdis3;
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m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
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m_pm->m_systemData->updateSystemData(local);
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{
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std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
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m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
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@@ -308,23 +321,25 @@ bool LowerCommManager::updatePoweSystemStates(){
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double time;
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if(m_udpComm->popMsgFormQueue(time,m_disLowBusState))
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{
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m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
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m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
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disLowBusState local = m_disLowBusState.data;
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{
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std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
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m_pm->m_pmCurrentState.bus4State = local;
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disBus4Breaker pdis4{};
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pdis4.unit1CircuitBreaker = (local.unit1CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.unit2CircuitBreaker = (local.unit2CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.unit3CircuitBreaker = (local.unit3CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.unit5CircuitBreaker = (local.unit5CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.bowPZDeviceCircuitBreaker = (local.bowPZDeviceCircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.reservedCircuitBreaker1 = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
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pdis4.reservedCircuitBreaker2 = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
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pdis4.emergencyLithiumBatteryGroup1CircuitBreaker = (local.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON) ? 1 : 0;
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pdis4.paceholder = 0;
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m_pm->m_currentDisBreakerState.bus4Breaker = pdis4;
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}
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m_pm->m_db->insertData(local); //写入数据库
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msg_disLowBusFbMsg_Update_time = time;
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disBus4Breaker* pdis4=new disBus4Breaker;
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(m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
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(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
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(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
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pdis4 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
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delete pdis4;
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m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
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m_pm->m_systemData->updateSystemData(local);
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{
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std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
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m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
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@@ -476,7 +491,7 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
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os << "甲醇浓度1 (ch3oh_concentration1): " << p.data.ch3oh_concentration1 * 0.01 << "% LEL\n";
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os << "甲醇浓度2 (ch3oh_concentration2): " << p.data.ch3oh_concentration2 * 0.01 << "% LEL\n";
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for (int i = 0; i < 10; ++i)
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for (int i = 0; i < 2; ++i)
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os << "保留字段 reserved1[" << i << "]: 0x" << std::hex << p.data.reserved1[i] << "\n";
|
||||
|
||||
os << "仪表舱 氧气浓度 (cabin_ox_concentration): " << p.data.cabin_ox_concentration * 0.1 << "%\n";
|
||||
@@ -531,12 +546,18 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
|
||||
os << "仪表紧急状态 (ins_emergency_status): 0x" << std::hex << static_cast<int>(p.data.ins_emergency_status) << "\n";
|
||||
os << "动力紧急状态 (dyn_emergency_status): 0x" << static_cast<int>(p.data.dyn_emergency_status) << "\n";
|
||||
|
||||
for (int i = 0; i < 2; ++i)
|
||||
for (int i = 0; i < 1; ++i)
|
||||
os << "保留字段 reserved2[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.reserved2[i]) << "\n";
|
||||
for (int i = 0; i < 6; ++i)
|
||||
os << "SOC门限值 ins_soc_threshold" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold1) << "\n";
|
||||
for (int i = 0; i < 4; ++i)
|
||||
os << "功率限制 ins_power_limit" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_power_limit1) << "\n";
|
||||
os << "SOC门限值 ins_soc_threshold1: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold1) << "\n";
|
||||
os << "SOC门限值 ins_soc_threshold2: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold2) << "\n";
|
||||
os << "SOC门限值 ins_soc_threshold3: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold3) << "\n";
|
||||
os << "SOC门限值 dyn_soc_threshold1: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold1) << "\n";
|
||||
os << "SOC门限值 dyn_soc_threshold2: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold2) << "\n";
|
||||
os << "SOC门限值 dyn_soc_threshold3: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold3) << "\n";
|
||||
os << "功率限制 ins_power_limit1: 0x" << std::hex << static_cast<int>(p.data.ins_power_limit1) << "\n";
|
||||
os << "功率限制 ins_power_limit2: 0x" << std::hex << static_cast<int>(p.data.ins_power_limit2) << "\n";
|
||||
os << "功率限制 dyn_power_limit1: 0x" << std::hex << static_cast<int>(p.data.dyn_power_limit1) << "\n";
|
||||
os << "功率限制 dyn_power_limit2: 0x" << std::hex << static_cast<int>(p.data.dyn_power_limit2) << "\n";
|
||||
|
||||
os << "设备在线状态1 (device_online_flag1): 0x" << std::hex << p.data.device_online_flag1 << "\n";
|
||||
os << "设备在线状态2 (device_online_flag2): 0x" << p.data.device_online_flag2 << "\n";
|
||||
@@ -666,11 +687,11 @@ bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt)
|
||||
m_udpComm->sendDisSysCmd(cmd);
|
||||
|
||||
// ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
|
||||
ok = m_pm->m_systemData->m_dcdcStatus.workingStatus;
|
||||
ok = m_pm->m_systemData->getDcdcStatus().workingStatus;
|
||||
|
||||
MOOSPause(100);
|
||||
while ( !ok ) {
|
||||
if( m_pm->m_systemData->m_dcdcStatus.workingStatus )
|
||||
if( m_pm->m_systemData->getDcdcStatus().workingStatus )
|
||||
{
|
||||
ok = true;
|
||||
break;
|
||||
@@ -718,11 +739,11 @@ bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt)
|
||||
m_udpComm->sendDisSysCmd(cmd);
|
||||
|
||||
// ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
|
||||
ok = m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running;
|
||||
ok = m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running;
|
||||
|
||||
MOOSPause(100);
|
||||
while ( !ok ) {
|
||||
if( (m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running) )
|
||||
if( (m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running) )
|
||||
{
|
||||
ok = true;
|
||||
break;
|
||||
@@ -942,7 +963,12 @@ bool LowerCommManager::operateBreakerGeneric(
|
||||
m_udpComm->sendDisSysCmd(cmd);
|
||||
MOOSPause(100);
|
||||
while ( !ok ) {
|
||||
if( readState() == getBreakerOption(opt) )
|
||||
StateT cur;
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
|
||||
cur = readState();
|
||||
}
|
||||
if( cur == getBreakerOption(opt) )
|
||||
{
|
||||
ok = true;
|
||||
break;
|
||||
|
||||
Reference in New Issue
Block a user