增加了配电控制器操作代码
This commit is contained in:
+315
-229
@@ -41,6 +41,9 @@ PowerManger::PowerManger()
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m_faultNum = 0;
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faultCode.push_back(0);
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//初始化断路器状态
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initTargetDisBreakerState();
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//初始化数据库
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string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
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m_db = new SQLiteDB(dbPath);
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@@ -49,9 +52,11 @@ PowerManger::PowerManger()
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//注册状态机
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m_fsm.RegisterState("Init", 1, m_Inite_s1);
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m_fsm.RegisterState("Stady", 2, m_Standby_s2);
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m_fsm.RegisterState("Fault", 99, m_Fault_s99);
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m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1);
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m_fsm.RegisterHandleFunction(&m_Standby_s2, handleStandby_s2);
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m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99);
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// 初始化状态机
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@@ -117,11 +122,12 @@ bool PowerManger::Iterate()
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updatePmState();
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updateTime();
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//2. 运行状态机
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// m_fsm.run(m_pmState,this);
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if (FSM_RUN_IS_OK)
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m_FsmThread.Start();
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else
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m_FsmThread.Stop();
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//进行配电系统操作
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disSysOption();
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//3. 输出报告
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buildPowerSysReport();
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//4. 打印错误信息
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@@ -175,7 +181,7 @@ bool PowerManger::OnStartUp()
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}
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registerVariables();
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//绑定UDP端口
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//启动UDP监听线程
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if(m_pCcuUdpComm = setUdpScoket(IPORT))
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{
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cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
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@@ -324,6 +330,303 @@ bool PowerManger::IsSkewed(double dfTimeNow, double * pdfSkew)
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return (dfSkew > SKEW_TOLERANCE) ? true : false;
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}
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void PowerManger::disSysOption()
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{
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//1.更新断路器的状态
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disBus1Breaker* pdis1=new disBus1Breaker;
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(m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
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(m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
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(m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
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(m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
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(m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
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pdis1 -> paceholder = 0;
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disBus2Breaker* pdis2=new disBus2Breaker;
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(m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
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(m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
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(m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
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(m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
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(m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
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(m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
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pdis2 -> paceholder = 0;
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disBus3Breaker* pdis3=new disBus3Breaker;
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(m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
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(m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
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(m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
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(m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
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(m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
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(m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
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pdis3->paceholder = 0;
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disBus4Breaker* pdis4=new disBus4Breaker;
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(m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
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(m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
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(m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
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(m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
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(m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
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(m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
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(m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
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(m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
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pdis4 -> paceholder = 0;
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m_currentDisBreakerState.bus1Breaker = *pdis1;
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m_currentDisBreakerState.bus2Breaker = *pdis2;
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m_currentDisBreakerState.bus3Breaker = *pdis3;
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m_currentDisBreakerState.bus4Breaker = *pdis4;
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delete pdis1;
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delete pdis2;
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delete pdis3;
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delete pdis4;
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//2.根据目标状态进行断路器操作
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//a. 高压母线的断路器
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disHighVolBusCmd a;
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a.fuelCellCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker);
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a.propulsionMotorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker);
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a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
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a.tyzReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker);
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a.sternFTDevice45CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker);
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a.sternRudderSwitch1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker);
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a.sternRudderSwitch2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker);
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a.reservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker);
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a.fbReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker);
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m_udpComm.sendDisSysCmd(a);
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//b. 高压汇流排A断路器
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disHighAVolBusCmd b;
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b.bowFTDevice123CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker);
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b.actuatorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker);
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b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
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b.xczCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker);
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b.bowRudderControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker);
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b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
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m_udpComm.sendDisSysCmd(b);
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//c. 高压汇流排B断路器
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disHighBVolBusCmd c;
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c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
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c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
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c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
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c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
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c.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1);
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c.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2);
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c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
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m_udpComm.sendDisSysCmd(c);
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//d. 闭合低压汇流排断路器
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disLowBusCmd d;
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d.unit1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker);
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d.unit2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker);
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d.unit3CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker);
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d.unit5CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker);
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d.bowPZDeviceCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker);
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d.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1);
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d.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2);
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d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
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m_udpComm.sendDisSysCmd(d);
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}
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bool PowerManger::saveStringToJsonFile(const string &strJson, const string &filePath)
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{
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std::ofstream file(filePath, std::ios::trunc);
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if (file.is_open()) {
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file << strJson;
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file.close();
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// std::cout << "字符串已成功保存到文件中。" << std::endl;
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return true;
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} else {
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std::cerr << "无法打开文件！" << std::endl;
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return false;
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}
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}
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bool PowerManger::writeDataToDB()
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{
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m_stateData.state_id = m_pmState.id;
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m_stateData.state_name = m_pmState.name;
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m_stateData.event = m_pmEvent;
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m_stateData.event_id = 1;
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m_stateData.fault_code = m_faultNum;
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m_stateData.note = "No fault";
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if(!m_db->insertStateData(m_stateData))
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return false;
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return true;
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}
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void PowerManger::printState(FSM_State st, string desp){
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cout << MOOS::ConsoleColours::Yellow() << "STATE " << st.id << " [" << st.name << "] " << MOOS::ConsoleColours::reset();
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cout << MOOS::ConsoleColours::Blue() << " -> " << MOOS::ConsoleColours::reset();
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// 检查desp是否有“故障”
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if (desp.find("故障") != string::npos) {
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cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
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return;
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}
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cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
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}
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int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
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{
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cout << fsm.name << endl;
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PowerManger* pm = (PowerManger*)pData;
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//1. 检查复合管控器连接 如果10S则进入故障状态
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double StartTime = pm->GetAppStartTime();
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while (!pm->m_connected)
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{
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MOOSPause(1000);
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pm->updateTime();
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double dft = abs(pm->m_current_time - StartTime);
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if(dft > 10)
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{
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pm->m_pmState = pm->m_Fault_s99;
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pm->m_faultNum = 1; // 通信超时
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break;
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}
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string desp = "等待复合管控消息 : " + to_string(10-dft);
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pm->printState(fsm,desp);
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}
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//2. 检查复合管控器是否上报故障 如果故障则进入故障状态
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bool ok = true;
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if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
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pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
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pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
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pm->m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
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pm->m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
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pm->m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
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pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
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{
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ok = false;
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}
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if(!ok)
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{
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pm->m_pmState = pm->m_Fault_s99;
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}
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//3. 初始化配电系统为待机状态
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pm->initTargetDisBreakerState();
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pm->m_pmState = pm->m_Standby_s2;
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return 0;
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}
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int PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
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{
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PowerManger* pm = (PowerManger*)pData;
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while (true)
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{
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string desp = "待机状态";
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pm->printState(fsm,desp);
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MOOSPause(1000);
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}
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}
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int PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
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{
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// cout << fsm.name << endl;
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PowerManger* pm = (PowerManger*)pData;
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switch (pm->m_faultNum)
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{
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case 1:
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pm->printState(fsm,"通信故障");
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pm->m_pmEvent = "复合管控连接超时";
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break;
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default:
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break;
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}
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pm->printState(fsm,"故障");
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return 0;
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}
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// int PowerManger::handleState1(FSM_State &fsm,void* pData)
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// {
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// cout << fsm.name << endl;
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// PowerManger* pm = (PowerManger*)pData;
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// fsm = pm->m_fsm.getState("PM_STATE2");
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// // pm->m_pmEvent = "a";
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// return 0;
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// }
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// int PowerManger::handleState2(FSM_State &fsm,void* pData)
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// {
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// cout << fsm.name << endl;
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// PowerManger* pm = (PowerManger*)pData;
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// fsm = pm->m_fsm.getState("PM_STATE3");
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// // pm->m_pmEvent = "b";
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// return 0;
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// }
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// int PowerManger::handleState3(FSM_State &fsm,void* pData)
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// {
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// cout << fsm.name << endl;
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// PowerManger* pm = (PowerManger*)pData;
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// fsm = pm->m_fsm.getState("PM_STATE");
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// // pm->m_pmEvent = "c";
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// return 0;
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// }
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void PowerManger::initTargetDisBreakerState()
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{
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m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
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m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
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m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0;
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m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 0; //仪表锂电池默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker = 0;
|
||||
|
||||
m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker = 0;
|
||||
//锂电池默认接入
|
||||
m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1 = 0;
|
||||
m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2 = 0;
|
||||
m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker = 1;
|
||||
|
||||
m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1 = 0;
|
||||
m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2 = 0;
|
||||
m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker = 1; //紧急锂电池默认接入
|
||||
|
||||
}
|
||||
|
||||
char PowerManger::getBreakerOption(char cmd)
|
||||
{
|
||||
if(cmd ==1)
|
||||
return 0x55;
|
||||
else if(cmd ==0)
|
||||
return 0xAA;
|
||||
else
|
||||
return 0x00;
|
||||
}
|
||||
|
||||
string PowerManger::getTypeName(const string typeName)
|
||||
{
|
||||
// 映射类型名称到指定的字符串
|
||||
@@ -357,6 +660,7 @@ string PowerManger::getTypeName(const string typeName)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool PowerManger::buildPowerSysReport()
|
||||
{
|
||||
//TODO： 构建能源系统报告
|
||||
@@ -591,62 +895,21 @@ bool PowerManger::buildPowerSysReport()
|
||||
lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
|
||||
|
||||
//5.构建配电系统状态报告
|
||||
|
||||
disBus1Breaker* pdis1=new disBus1Breaker;
|
||||
(m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
|
||||
pdis1 -> paceholder = 0;
|
||||
|
||||
disBus2Breaker* pdis2=new disBus2Breaker;
|
||||
(m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
|
||||
pdis2 -> paceholder = 0;
|
||||
|
||||
disBus3Breaker* pdis3=new disBus3Breaker;
|
||||
(m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
|
||||
(m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
|
||||
(m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
|
||||
pdis3->paceholder = 0;
|
||||
|
||||
disBus4Breaker* pdis4=new disBus4Breaker;
|
||||
(m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
|
||||
(m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
|
||||
(m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
|
||||
(m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
|
||||
pdis4 -> paceholder = 0;
|
||||
|
||||
dis["HVolBusBreaker_uint16"] = *(unsigned short*) pdis1;
|
||||
dis["HVolABusBreaker_unit16"] = *(unsigned short*) pdis2;
|
||||
dis["HVolBBusBreaker_unit16"] = *(unsigned short*) pdis3;
|
||||
dis["LVolBusBreaker_uint16"] = *(unsigned short*) pdis3;
|
||||
*pdis1 = m_currentDisBreakerState.bus1Breaker;
|
||||
*pdis2 = m_currentDisBreakerState.bus2Breaker;
|
||||
*pdis3 = m_currentDisBreakerState.bus3Breaker;
|
||||
*pdis4 = m_currentDisBreakerState.bus4Breaker;
|
||||
|
||||
dis["HVolBusBreaker_uint16"] = *(unsigned short*)pdis1;
|
||||
dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
|
||||
dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
|
||||
dis["LVolBusBreaker_uint16"] = *(unsigned short*)pdis4;
|
||||
|
||||
delete pdis1;
|
||||
delete pdis2;
|
||||
delete pdis3;
|
||||
delete pdis4;
|
||||
|
||||
//TODO: 构建配电系统故障码
|
||||
Json::Value faultCodeDis_array;
|
||||
for(auto val : faultCode)
|
||||
@@ -788,180 +1051,3 @@ bool PowerManger::buildPowerSysReport()
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PowerManger::saveStringToJsonFile(const string &strJson, const string &filePath)
|
||||
{
|
||||
std::ofstream file(filePath, std::ios::trunc);
|
||||
if (file.is_open()) {
|
||||
file << strJson;
|
||||
file.close();
|
||||
// std::cout << "字符串已成功保存到文件中。" << std::endl;
|
||||
return true;
|
||||
} else {
|
||||
std::cerr << "无法打开文件！" << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool PowerManger::writeDataToDB()
|
||||
{
|
||||
m_stateData.state_id = m_pmState.id;
|
||||
m_stateData.state_name = m_pmState.name;
|
||||
m_stateData.event = m_pmEvent;
|
||||
m_stateData.event_id = 1;
|
||||
m_stateData.fault_code = m_faultNum;
|
||||
m_stateData.note = "No fault";
|
||||
if(!m_db->insertStateData(m_stateData))
|
||||
return false;
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
//TODO:配电系统操作函数
|
||||
bool PowerManger::disSystemOperation(disBreaker optBreaker, disBreakerOpt)
|
||||
{
|
||||
|
||||
return true;
|
||||
}
|
||||
void PowerManger::printState(FSM_State st, string desp){
|
||||
cout << MOOS::ConsoleColours::Yellow() << "STATE " << st.id << " [" << st.name << "] " << MOOS::ConsoleColours::reset();
|
||||
cout << MOOS::ConsoleColours::Blue() << " -> " << MOOS::ConsoleColours::reset();
|
||||
// 检查desp是否有“故障”
|
||||
if (desp.find("故障") != string::npos) {
|
||||
cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
|
||||
return;
|
||||
}
|
||||
cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
|
||||
}
|
||||
|
||||
int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
|
||||
{
|
||||
cout << fsm.name << endl;
|
||||
PowerManger* pm = (PowerManger*)pData;
|
||||
//1. 检查复合管控器连接 如果10S则进入故障状态
|
||||
double StartTime = pm->GetAppStartTime();
|
||||
while (!pm->m_connected)
|
||||
{
|
||||
MOOSPause(1000);
|
||||
pm->updateTime();
|
||||
double dft = abs(pm->m_current_time - StartTime);
|
||||
if(dft > 10)
|
||||
{
|
||||
pm->m_pmState = pm->m_Fault_s99;
|
||||
pm->m_faultNum = 1; // 通信超时
|
||||
break;
|
||||
}
|
||||
string desp = "等待复合管控消息 : " + to_string(10-dft);
|
||||
pm->printState(fsm,desp);
|
||||
usleep(1000000);
|
||||
}
|
||||
//2. 检查复合管控器是否上报故障 如果故障则进入故障状态
|
||||
bool ok = true;
|
||||
if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
|
||||
pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
|
||||
{
|
||||
ok = false;
|
||||
}
|
||||
if(!ok)
|
||||
{
|
||||
pm->m_pmState = pm->m_Fault_s99;
|
||||
}
|
||||
//3. 检查当前配电装置状态
|
||||
//a. 断开高压母线的主要断路器
|
||||
//TODO 配置当前配电装置状态
|
||||
disHighVolBusCmd a;
|
||||
a.fuelCellCircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.propulsionMotorCircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.bowHighVoltageDistributionBoxCircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.tyzReservedCircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.sternFTDevice45CircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.sternRudderSwitch1CircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.sternRudderSwitch2CircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.reservedCircuitBreaker = DIS_BREAKER_OFF;
|
||||
a.fbReservedCircuitBreaker = DIS_BREAKER_OFF;
|
||||
pm->m_udpComm.sendDisSysCmd(a);
|
||||
//b. 断开艏部高压设备的主要断路器
|
||||
disHighAVolBusCmd b;
|
||||
b.bowFTDevice123CircuitBreaker = DIS_BREAKER_OFF;
|
||||
b.actuatorCircuitBreaker = DIS_BREAKER_OFF;
|
||||
b.mastSteeringGearControlBoxCircuitBreaker = DIS_BREAKER_OFF;
|
||||
b.xczCircuitBreaker = DIS_BREAKER_OFF;
|
||||
b.bowRudderControlBoxCircuitBreaker = DIS_BREAKER_OFF;
|
||||
b.openWaterCoverStartCylinderCircuitBreaker = DIS_BREAKER_OFF;
|
||||
pm->m_udpComm.sendDisSysCmd(b);
|
||||
//c. 闭合低压母线的断路器
|
||||
disHighBVolBusCmd c;
|
||||
c.lithiumBatteryGroupInstrumentCircuitBreaker = DIS_BREAKER_ON;
|
||||
c.bowLowVoltageDistributionBoxCircuitBreaker = DIS_BREAKER_ON;
|
||||
c.unit4InstrumentDC48VCircuitBreaker = DIS_BREAKER_ON;
|
||||
c.dcC1DCDistributionPanelCircuitBreaker = DIS_BREAKER_ON;
|
||||
c.reservedCircuitBreaker1 = DIS_BREAKER_ON;
|
||||
c.reservedCircuitBreaker2 = DIS_BREAKER_ON;
|
||||
c.emergencyLithiumBatteryGroup2CircuitBreaker = DIS_BREAKER_ON;
|
||||
pm->m_udpComm.sendDisSysCmd(c);
|
||||
//d. 闭合低压汇流排断路器
|
||||
disLowBusCmd d;
|
||||
d.unit1CircuitBreaker = DIS_BREAKER_ON;
|
||||
d.unit2CircuitBreaker = DIS_BREAKER_ON;
|
||||
d.unit3CircuitBreaker = DIS_BREAKER_ON;
|
||||
d.unit5CircuitBreaker = DIS_BREAKER_ON;
|
||||
d.bowPZDeviceCircuitBreaker = DIS_BREAKER_ON;
|
||||
d.reservedCircuitBreaker1 = DIS_BREAKER_ON;
|
||||
d.reservedCircuitBreaker2 = DIS_BREAKER_ON;
|
||||
d.emergencyLithiumBatteryGroup1CircuitBreaker = DIS_BREAKER_ON;
|
||||
pm->m_udpComm.sendDisSysCmd(d);
|
||||
MOOSPause(1000);
|
||||
// pm->workCondition = "";
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
|
||||
{
|
||||
// cout << fsm.name << endl;
|
||||
PowerManger* pm = (PowerManger*)pData;
|
||||
switch (pm->m_faultNum)
|
||||
{
|
||||
case 1:
|
||||
pm->printState(fsm,"通信故障");
|
||||
pm->m_pmEvent = "复合管控连接超时";
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
pm->printState(fsm,"故障");
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// int PowerManger::handleState1(FSM_State &fsm,void* pData)
|
||||
// {
|
||||
// cout << fsm.name << endl;
|
||||
// PowerManger* pm = (PowerManger*)pData;
|
||||
// fsm = pm->m_fsm.getState("PM_STATE2");
|
||||
// // pm->m_pmEvent = "a";
|
||||
// return 0;
|
||||
// }
|
||||
// int PowerManger::handleState2(FSM_State &fsm,void* pData)
|
||||
// {
|
||||
// cout << fsm.name << endl;
|
||||
// PowerManger* pm = (PowerManger*)pData;
|
||||
// fsm = pm->m_fsm.getState("PM_STATE3");
|
||||
// // pm->m_pmEvent = "b";
|
||||
// return 0;
|
||||
// }
|
||||
// int PowerManger::handleState3(FSM_State &fsm,void* pData)
|
||||
// {
|
||||
// cout << fsm.name << endl;
|
||||
// PowerManger* pm = (PowerManger*)pData;
|
||||
// fsm = pm->m_fsm.getState("PM_STATE");
|
||||
// // pm->m_pmEvent = "c";
|
||||
// return 0;
|
||||
// }
|
||||
Reference in New Issue
Block a user