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增加了配电控制器操作代码

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This commit is contained in:
zjk
2025-02-17 21:57:45 +08:00
parent 59202d20aa
commit 1aa46629a7
14 changed files with 1356 additions and 456 deletions
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data/msg/uPower_currentState_st.json
+34 -34
View File
@@ -1,47 +1,47 @@
{ {
"HVABFTDev123Cur_uint16": 12373, "HVABFTDev123Cur_uint16": 0,
"HVABactCur_uint16": 0, "HVABactCur_uint16": 0,
"HVABbowRudCur_uint16": 48628, "HVABbowRudCur_uint16": 0,
"HVABbusBCur_uint16": 58368, "HVABbusBCur_uint16": 0,
"HVABbusBVol_uint16": 127, "HVABbusBVol_uint16": 0,
"HVABmastSteGeaCur_uint16": 0, "HVABmastSteGeaCur_uint16": 0,
"HVABopenWaterCur_uint16": 15788, "HVABopenWaterCur_uint16": 0,
"HVABxczCur_uint16": 62464, "HVABxczCur_uint16": 1,
"HVBBCCUCur_uint16": 0, "HVBBCCUCur_uint16": 0,
"HVBBFCSSecurSysCur_uint16": 0, "HVBBFCSSecurSysCur_uint16": 0,
"HVBBbatInsCur_uint16": 48768, "HVBBbatInsCur_uint16": 0,
"HVBBbowLowVolDisBoxCur_uint16": 62844, "HVBBbowLowVolDisBoxCur_uint16": 0,
"HVBBdcC1InsCur_uint16": 64539, "HVBBdcC1InsCur_uint16": 0,
"HVBBemer2BusVol_uint16": 9472, "HVBBemer2BusVol_uint16": 0,
"HVBBemerBatCur_uint16": 51712, "HVBBemerBatCur_uint16": 0,
"HVBBinsBusVol_uint16": 29696, "HVBBinsBusVol_uint16": 0,
"HVBBplcCur_uint16": 0, "HVBBplcCur_uint16": 0,
"HVBBreservedCur1_uint16": 127, "HVBBreservedCur1_uint16": 0,
"HVBBreservedCur2_uint16": 127, "HVBBreservedCur2_uint16": 0,
"HVBBunit4Cur_uint16": 15788, "HVBBunit4Cur_uint16": 0,
"HVBFTDev45Cur_uint16": 32573, "HVBFTDev45Cur_uint16": 0,
"HVBbatGroupCur_uint16": 32970, "HVBbatGroupCur_uint16": 0,
"HVBbowHVolDisBoxCur_uint16": 44222, "HVBbowHVolDisBoxCur_uint16": 0,
"HVBbusACur_uint16": 0, "HVBbusACur_uint16": 0,
"HVBbusAVol_uint16": 7157, "HVBbusAVol_uint16": 0,
"HVBdcDc5Cur_uint16": 0, "HVBdcDc5Cur_uint16": 0,
"HVBfbCur_uint16": 31908, "HVBfbCur_uint16": 0,
"HVBmotorCur_uint16": 32764, "HVBmotorCur_uint16": 0,
"HVBpowerBusCur_uint16": 31796, "HVBpowerBusCur_uint16": 0,
"HVBpowerBusVol_uint16": 32573, "HVBpowerBusVol_uint16": 0,
"HVBreservedCur1_uint16": 0, "HVBreservedCur1_uint16": 0,
"HVBreservedCur2_uint16": 0, "HVBreservedCur2_uint16": 0,
"HVBreservedCur3_uint16": 44222, "HVBreservedCur3_uint16": 0,
"HVBsternRud1Cur_uint16": 3590, "HVBsternRud1Cur_uint16": 0,
"HVBsternRud2Cur_uint16": 0, "HVBsternRud2Cur_uint16": 0,
"HVBtyzCur_uint16": 0, "HVBtyzCur_uint16": 0,
"LVBBbowPZDevCur_uint16": 127, "LVBBbowPZDevCur_uint16": 0,
"LVBBemerBatCur_uint16": 29696, "LVBBemerBatCur_uint16": 0,
"LVBBemerBusVol_uint16": 62844, "LVBBemerBusVol_uint16": 0,
"LVBBinsBusCur_uint16": 15788, "LVBBinsBusCur_uint16": 0,
"LVBBunit1Cur_uint16": 127, "LVBBunit1Cur_uint16": 0,
"LVBBunit2Cur_uint16": 30720, "LVBBunit2Cur_uint16": 0,
"LVBBunit3Cur_uint16": 62844, "LVBBunit3Cur_uint16": 0,
"LVBBunit5Cur_uint16": 64539, "LVBBunit5Cur_uint16": 0,
"LVBinsBusVol_uint16": 49434 "LVBinsBusVol_uint16": 0
} }
data/msg/uPower_disSysState_st.json
+3 -3
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@@ -1,8 +1,8 @@
{ {
"HVolABusBreaker_unit16": 0, "HVolABusBreaker_unit16": 0,
"HVolBBusBreaker_unit16": 0, "HVolBBusBreaker_unit16": 79,
"HVolBusBreaker_uint16": 0, "HVolBusBreaker_uint16": 32,
"LVolBusBreaker_uint16": 0, "LVolBusBreaker_uint16": 159,
"faultCode_array": "faultCode_array":
[ [
0 0
data/msg/uPower_fcsState_st.json
+28 -28
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@@ -1,30 +1,30 @@
{ {
"backpressure1_fp32": -0.2467193603515625, "backpressure1_fp32": 2.0723892223585928e-36,
"backpressure2_fp32": 1.1685231712219644e-38, "backpressure2_fp32": 4.5823861081885843e-41,
"ch4oConcent1_fp32": 1.8108811898653892e-39, "ch4oConcent1_fp32": 2.0653300860562609e-36,
"ch4oConcent2_fp32": 0.0, "ch4oConcent2_fp32": 4.5823861081885843e-41,
"ch4o_fp32": 1.1685231712219644e-38, "ch4o_fp32": 4.5823861081885843e-41,
"excTemp_fp32": 1.1685231712219644e-38, "excTemp_fp32": 4.5823861081885843e-41,
"faultCode1_uint16": 59856, "faultCode1_uint16": 12207,
"faultCode2_uint16": 44221, "faultCode2_uint16": 48388,
"faultCode3_uint16": 32573, "faultCode3_uint16": 127,
"fcuCurIns_fp32": 8.3046377128711946e+19, "fcuCurIns_fp32": 0.0,
"fcuCurPower_fp32": 1.1685231712219644e-38, "fcuCurPower_fp32": 0.0,
"fcuCur_fp32": -0.2467193603515625, "fcuCur_fp32": 1.3331306974422932e-36,
"fcuFaultLeve_uint8": 245, "fcuFaultLeve_uint8": 0,
"fcuOutIns_fp32": 6.7262326287591219e-44, "fcuOutIns_fp32": 4.5916346780531281e-41,
"fcuOutPower_fp32": -1.1348810210013775e-34, "fcuOutPower_fp32": 1.0758022868002197e+20,
"fcuState_uint8": 123, "fcuState_uint8": 0,
"fcuVolIns_fp32": 7.3381652328374862e+19, "fcuVolIns_fp32": 1.0758019349564988e+20,
"fcuVolPower_fp32": 1.1685231712219644e-38, "fcuVolPower_fp32": 0.0,
"fcuVol_fp32": 1.1685231712219644e-38, "fcuVol_fp32": 0.0,
"flameDet_uint8": 0, "flameDet_uint8": 96,
"h2Concent1_fp32": -3.1907161748557105e+32, "h2Concent1_fp32": 0.0,
"h2Concent2_fp32": 1.1753546413653943e-38, "h2Concent2_fp32": 0.0,
"o2Concent1_fp32": -0.2515411376953125, "o2Concent1_fp32": 1.3337242202094549e-36,
"o2Concent2_fp32": 1.1685231712219644e-38, "o2Concent2_fp32": 4.5823861081885843e-41,
"o2Level_fp32": 1.1685231712219644e-38, "o2Level_fp32": 4.5823861081885843e-41,
"o2_fp32": -0.1107940673828125, "o2_fp32": 2.6989008422895977e-42,
"powLimit_fp32": 1.1753546413653943e-38, "powLimit_fp32": 4.5916346780531281e-41,
"powerGen_fp32": 2.1756349367871582e+21 "powerGen_fp32": 2.0725797092666392e-36
} }
data/msg/uPower_liBatState_st.json
+28 -28
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@@ -1,38 +1,38 @@
{ {
"fcuCurToInsLimit1_uint8": 0, "fcuCurToInsLimit1_uint8": 0,
"fcuCurToinsLimit2_uint8": 0, "fcuCurToinsLimit2_uint8": 0,
"insBatCurElect_uint16": 32573, "insBatCurElect_uint16": 127,
"insBatLimit_uint16": 62950, "insBatLimit_uint16": 48,
"insBatSoc_uint8": 0, "insBatSoc_uint8": 0,
"insBatTotalElect_uint16": 28728, "insBatTotalElect_uint16": 57470,
"insChargeState_uint8": 80, "insChargeState_uint8": 144,
"insCurSocHold1_uint8": 0, "insCurSocHold1_uint8": 0,
"insCurSocHold2_uint8": 0, "insCurSocHold2_uint8": 0,
"insCurSocHold3_uint8": 0, "insCurSocHold3_uint8": 0,
"insCurrent_uint16": 0, "insCurrent_uint16": 46080,
"insLinkVol_uint16": 44098, "insLinkVol_uint16": 48387,
"insNegRelayState_uint8": 0, "insNegRelayState_uint8": 218,
"insNegRes_uint16": 7157, "insNegRes_uint16": 65376,
"insPackVol_uint16": 32573, "insPackVol_uint16": 127,
"insPosRelayState_uint8": 0, "insPosRelayState_uint8": 0,
"insPosRes_uint16": 31732, "insPosRes_uint16": 47775,
"insfaultCode_uint8": 94, "insfaultCode_uint8": 19,
"powBatCurElect_uint16": 0, "powBatCurElect_uint16": 4096,
"powBatSoc_uint8": 0, "powBatSoc_uint8": 152,
"powBatTotalElect_uint16": 44098, "powBatTotalElect_uint16": 48387,
"powChargeState_uint8": 122, "powChargeState_uint8": 224,
"powCurSocHold1_uint8": 0, "powCurSocHold1_uint8": 164,
"powCurSocHold2_uint8": 164, "powCurSocHold2_uint8": 76,
"powCurSocHold3_uint8": 124, "powCurSocHold3_uint8": 48,
"powCurToInsLimit1_uint8": 190, "powCurToInsLimit1_uint8": 4,
"powCurToinsLimit2_uint8": 172, "powCurToinsLimit2_uint8": 189,
"powCur_uint16": 32970, "powCur_uint16": 12368,
"powLinkVol_uint16": 32764, "powLinkVol_uint16": 127,
"powNegRelayState_uint8": 22, "powNegRelayState_uint8": 135,
"powNegRes_uint16": 32573, "powNegRes_uint16": 127,
"powPosRelayState_uint8": 243, "powPosRelayState_uint8": 22,
"powPosRes_uint16": 44222, "powPosRes_uint16": 48388,
"powerBatLimit_uint16": 0, "powerBatLimit_uint16": 0,
"powerPackVol_uint16": 0, "powerPackVol_uint16": 51712,
"powfaultCode_uint8": 9 "powfaultCode_uint8": 0
} }
src/pPowerManger/CMakeLists.txt
+10
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@@ -56,7 +56,17 @@ SET(FSMLIB_SRC
SET(DRIVER_SRC SET(DRIVER_SRC
driver.cpp) driver.cpp)
SET(POWERMANGE_SRC
PowerManger.cpp
PowerManger_Info.cpp
udpComm.cpp
fsm.cpp
SQLiteDB.cpp
driver.cpp)
ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC}) ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC}) ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC}) ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
ADD_LIBRARY(Driver STATIC ${DRIVER_SRC}) ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
src/pPowerManger/PowerManger.cpp
+315 -229
View File
@@ -41,6 +41,9 @@ PowerManger::PowerManger()
m_faultNum = 0; m_faultNum = 0;
faultCode.push_back(0); faultCode.push_back(0);
//初始化断路器状态
initTargetDisBreakerState();
//初始化数据库 //初始化数据库
string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db"; string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
m_db = new SQLiteDB(dbPath); m_db = new SQLiteDB(dbPath);
@@ -49,9 +52,11 @@ PowerManger::PowerManger()
//注册状态机 //注册状态机
m_fsm.RegisterState("Init", 1, m_Inite_s1); m_fsm.RegisterState("Init", 1, m_Inite_s1);
m_fsm.RegisterState("Stady", 2, m_Standby_s2);
m_fsm.RegisterState("Fault", 99, m_Fault_s99); m_fsm.RegisterState("Fault", 99, m_Fault_s99);
m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1); m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1);
m_fsm.RegisterHandleFunction(&m_Standby_s2, handleStandby_s2);
m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99); m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99);
// 初始化状态机 // 初始化状态机
@@ -117,11 +122,12 @@ bool PowerManger::Iterate()
updatePmState(); updatePmState();
updateTime(); updateTime();
//2. 运行状态机 //2. 运行状态机
// m_fsm.run(m_pmState,this);
if (FSM_RUN_IS_OK) if (FSM_RUN_IS_OK)
m_FsmThread.Start(); m_FsmThread.Start();
else else
m_FsmThread.Stop(); m_FsmThread.Stop();
//进行配电系统操作
disSysOption();
//3. 输出报告 //3. 输出报告
buildPowerSysReport(); buildPowerSysReport();
//4. 打印错误信息 //4. 打印错误信息
@@ -175,7 +181,7 @@ bool PowerManger::OnStartUp()
} }
registerVariables(); registerVariables();
//绑定UDP端口 //启动UDP监听线程
if(m_pCcuUdpComm = setUdpScoket(IPORT)) if(m_pCcuUdpComm = setUdpScoket(IPORT))
{ {
cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl; cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
@@ -324,6 +330,303 @@ bool PowerManger::IsSkewed(double dfTimeNow, double * pdfSkew)
return (dfSkew > SKEW_TOLERANCE) ? true : false; return (dfSkew > SKEW_TOLERANCE) ? true : false;
} }
void PowerManger::disSysOption()
{
//1.更新断路器的状态
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;
m_currentDisBreakerState.bus1Breaker = *pdis1;
m_currentDisBreakerState.bus2Breaker = *pdis2;
m_currentDisBreakerState.bus3Breaker = *pdis3;
m_currentDisBreakerState.bus4Breaker = *pdis4;
delete pdis1;
delete pdis2;
delete pdis3;
delete pdis4;
//2.根据目标状态进行断路器操作
//a. 高压母线的断路器
disHighVolBusCmd a;
a.fuelCellCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker);
a.propulsionMotorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker);
a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
a.tyzReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker);
a.sternFTDevice45CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker);
a.sternRudderSwitch1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker);
a.sternRudderSwitch2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker);
a.reservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker);
a.fbReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker);
m_udpComm.sendDisSysCmd(a);
//b. 高压汇流排A断路器
disHighAVolBusCmd b;
b.bowFTDevice123CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker);
b.actuatorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker);
b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
b.xczCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker);
b.bowRudderControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker);
b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
m_udpComm.sendDisSysCmd(b);
//c. 高压汇流排B断路器
disHighBVolBusCmd c;
c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
c.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1);
c.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2);
c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
m_udpComm.sendDisSysCmd(c);
//d. 闭合低压汇流排断路器
disLowBusCmd d;
d.unit1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker);
d.unit2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker);
d.unit3CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker);
d.unit5CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker);
d.bowPZDeviceCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker);
d.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1);
d.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2);
d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
m_udpComm.sendDisSysCmd(d);
}
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;
}
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);
}
//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. 初始化配电系统为待机状态
pm->initTargetDisBreakerState();
pm->m_pmState = pm->m_Standby_s2;
return 0;
}
int PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
{
PowerManger* pm = (PowerManger*)pData;
while (true)
{
string desp = "待机状态";
pm->printState(fsm,desp);
MOOSPause(1000);
}
}
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;
// }
void PowerManger::initTargetDisBreakerState()
{
m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0;
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) string PowerManger::getTypeName(const string typeName)
{ {
// 映射类型名称到指定的字符串 // 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() bool PowerManger::buildPowerSysReport()
{ {
//TODO： 构建能源系统报告 //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; lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
//5.构建配电系统状态报告 //5.构建配电系统状态报告
disBus1Breaker* pdis1=new disBus1Breaker; 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; 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; 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; 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; *pdis1 = m_currentDisBreakerState.bus1Breaker;
dis["HVolABusBreaker_unit16"] = *(unsigned short*) pdis2; *pdis2 = m_currentDisBreakerState.bus2Breaker;
dis["HVolBBusBreaker_unit16"] = *(unsigned short*) pdis3; *pdis3 = m_currentDisBreakerState.bus3Breaker;
dis["LVolBusBreaker_uint16"] = *(unsigned short*) pdis3; *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 //TODO: 构建配电系统故障码
Json::Value faultCodeDis_array; Json::Value faultCodeDis_array;
for(auto val : faultCode) for(auto val : faultCode)
@@ -788,180 +1051,3 @@ bool PowerManger::buildPowerSysReport()
return true; 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;
// }
src/pPowerManger/PowerManger.h
+18 -7
View File
@@ -74,11 +74,10 @@ class PowerManger : public AppCastingMOOSApp
//通信相关 //通信相关
XPCUdpSocket* setUdpScoket(long lPort); XPCUdpSocket* setUdpScoket(long lPort);
bool disSystemOperation(disBreaker optBreaker, disBreakerOpt);
bool buildPowerSysReport(); bool buildPowerSysReport();
protected: // app variables protected: // app variables
//系统状态 //系统运行状态
unsigned char workCondition; unsigned char workCondition;
unsigned char currentMod; unsigned char currentMod;
unsigned char powerState; unsigned char powerState;
@@ -86,16 +85,25 @@ class PowerManger : public AppCastingMOOSApp
vector<unsigned int> faultCode; vector<unsigned int> faultCode;
unsigned int soc; unsigned int soc;
unsigned int sustainableTime; unsigned int sustainableTime;
pmState m_pmCurrentState;
bool m_connected; bool m_connected;
// 当前传输状态 pmState m_pmCurrentState; //能源系统的当前状态
//配电系统状态
disSysBreakerList m_currentDisBreakerState;
disSysBreakerList m_targetDisBreakerState;
// 配电和CCU的反馈状态
msg_CcuStateFbMsg m_CcuCurrentState; msg_CcuStateFbMsg m_CcuCurrentState;
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState; msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState; msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState; msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
msg_disLowBusFbMsg m_disLowBusState; msg_disLowBusFbMsg m_disLowBusState;
private: // Configuration variables //操作函数
void disSysOption();
char getBreakerOption(char cmd);
void initTargetDisBreakerState();
private:
udpComm m_udpComm; udpComm m_udpComm;
XPCUdpSocket *m_pCcuUdpComm; XPCUdpSocket *m_pCcuUdpComm;
CMOOSThread m_ListenThread; CMOOSThread m_ListenThread;
@@ -114,7 +122,6 @@ class PowerManger : public AppCastingMOOSApp
private: // private: //
bool inline saveStringToJsonFile(const string &strJson, const string &strFileName); bool inline saveStringToJsonFile(const string &strJson, const string &strFileName);
public: //状态实现 public: //状态实现
void printState(FSM_State st, string desp); void printState(FSM_State st, string desp);
bool FSM_RUN_IS_OK = true; bool FSM_RUN_IS_OK = true;
@@ -133,6 +140,10 @@ class PowerManger : public AppCastingMOOSApp
FSM_State m_Inite_s1; FSM_State m_Inite_s1;
static int handleInite_s1(FSM_State &fsm, void* pData); static int handleInite_s1(FSM_State &fsm, void* pData);
//待机状态
FSM_State m_Standby_s2;
static int handleStandby_s2(FSM_State &fsm, void* pData);
//故障处理 //故障处理
FSM_State m_Fault_s99; FSM_State m_Fault_s99;
static int handleFault_s99(FSM_State &fsm, void* pData); static int handleFault_s99(FSM_State &fsm, void* pData);
src/pPowerManger/ccuUdpMsg.h
+7 -58
View File
@@ -8,8 +8,11 @@
#define DIS_MSG_HEAD1 0x40 #define DIS_MSG_HEAD1 0x40
#define DIS_MSG_HEAD2 0x40 #define DIS_MSG_HEAD2 0x40
#define CCU_STATE_FB_ID 0x0051 #define CCU_CMD_ID 0x0050
#define CCU_SET_PARM_ID 0x0051
#define CCU_STATE_FB_ID 0x0041
#define CCU_SET_PARM_FB_ID 0x0040 #define CCU_SET_PARM_FB_ID 0x0040
#define DIS_HVBUS_FB_ID 0x0005 #define DIS_HVBUS_FB_ID 0x0005
#define DIS_HVBUSA_FB_ID 0x0006 #define DIS_HVBUSA_FB_ID 0x0006
#define DIS_HVBUSB_FB_ID 0x0007 #define DIS_HVBUSB_FB_ID 0x0007
@@ -47,36 +50,18 @@ typedef struct {
typedef struct { typedef struct {
m_header header; m_header header;
m_date date; m_date date;
unsigned char workCondition; ccuColCmd cmd;
unsigned char fcuCmd;
unsigned char fcuPowerEfficiency;
unsigned char fcuInsEfficiency;
unsigned char insBatCmd;
unsigned char powerBatCmd;
unsigned char powerBatEfficiency;
unsigned char heartbeat;
unsigned char masterState;
Checksum checkCode; Checksum checkCode;
} msg_CcuColCmdMsg; } msg_CcuColCmdMsg;
// 复合管控器参数设定指令 // 复合管控器参数设定指令
typedef struct { typedef struct {
m_header header; m_header header;
unsigned char insSocHold1; ccuSetParmCmd cmd;
unsigned char insSocHold2;
unsigned char insSocHold3;
unsigned char fcuToInsLimit1;
unsigned char fcuToinsLimit2;
unsigned char powerSocHold1;
unsigned char powerSocHold2;
unsigned char powerSocHold3;
unsigned char fcuToPowerLimit1;
unsigned char fcuToPowerLimit2;
Checksum checkCode; Checksum checkCode;
} msg_CcuSetParmMsg; } msg_CcuSetParmMsg;
// 配电指令 // 配电指令
typedef struct typedef struct
{ {
m_header header; m_header header;
@@ -104,43 +89,7 @@ typedef struct
disLowBusCmd data; disLowBusCmd data;
cChecksum checkCode; cChecksum checkCode;
}msg_disLVBCmd; }msg_disLVBCmd;
// typedef struct {
// m_header header;
// unsigned char dcb1;
// unsigned char dcb2;
// unsigned char dcb3;
// unsigned char dcb4;
// unsigned char dcb5;
// unsigned char sw1;
// unsigned char sw2;
// unsigned char qf1;
// unsigned char qf2;
// unsigned char qf3;
// unsigned char qf4;
// unsigned char qf5;
// unsigned char qf6;
// unsigned char qf7;
// unsigned char qf8;
// unsigned char qf9;
// unsigned char qf10;
// unsigned char qf11;
// unsigned char qf12;
// unsigned char qf13;
// unsigned char qf14;
// unsigned char qf15;
// unsigned char qf16;
// unsigned char qf17;
// unsigned char qf18;
// unsigned char qf19;
// unsigned char qf20;
// unsigned char qf21;
// unsigned char qf22;
// unsigned char qf23;
// unsigned char qf24;
// unsigned char qf25;
// unsigned char qf26;
// Checksum checkCode;
// } msg_disSysCmdMsg;
// 复合管控参数设定反馈指令 // 复合管控参数设定反馈指令
typedef struct { typedef struct {
src/pPowerManger/driver.cpp
+710
View File
@@ -2,10 +2,720 @@
Driver::Driver() Driver::Driver()
{ {
currentDriverTable = new DriverTable();
nextDriverTable = new DriverTable();
debug = false;
} }
Driver::~Driver() Driver::~Driver()
{ {
delete currentDriverTable;
delete nextDriverTable;
}
void Driver::setDebug(bool debug)
{
this->debug = debug;
}
int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
{
switch (condition)
{
case STANDBY:
break;
case SHORE_BASED_READY:
/* code */
break;
case WATER_BASED_READY:
/* code */
break;
case CRUISE_MODE:
/* code */
break;
case HIGH_SPEED_MODE:
/* code */
break;
case ASCEND_DESCEND:
/* code */
break;
case BUOYANCY_ADJUST:
/* code */
break;
default:
break;
}
}
void Driver::getSTANDBYTable(DriverTable* driverTable)
{
//打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
//关闭所有负载
driverTable->photoSensor = DRIVER_STANDBY;
driverTable->electSensor = DRIVER_STANDBY;
driverTable->zhfk = DRIVER_STANDBY;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
//关闭所有水声设备
driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
driverTable->DVL = DRIVER_POWER_OFF;
driverTable->forwardSonar = DRIVER_POWER_OFF;
driverTable->zdp = DRIVER_POWER_OFF;
driverTable->usbl = DRIVER_POWER_OFF;
//关闭所有执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
driverTable->sternRudderServo1 = DRIVER_POWER_OFF;
driverTable->sternRudderServo2 = DRIVER_POWER_OFF;
driverTable->sternRudderServo3 = DRIVER_POWER_OFF;
driverTable->sternRudderServo4 = DRIVER_POWER_OFF;
driverTable->thruster = DRIVER_POWER_OFF;
driverTable->bowThrow = DRIVER_POWER_OFF;
driverTable->sternThrow = DRIVER_POWER_OFF;
}
void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 允许启动负载
// 关闭xcz
driverTable->photoSensor = DRIVER_STANDBY;
driverTable->electSensor = DRIVER_STANDBY;
driverTable->zhfk = DRIVER_STANDBY;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_STANDBY;
// 关闭所有水声设备
driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
driverTable->DVL = DRIVER_POWER_OFF;
driverTable->forwardSonar = DRIVER_POWER_OFF;
driverTable->zdp = DRIVER_POWER_OFF;
driverTable->usbl = DRIVER_POWER_OFF;
// 打开必要的执行机构
driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
driverTable->waterInject = DRIVER_FULL_POWER_ON;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 允许启动负载
driverTable->photoSensor = DRIVER_STANDBY;
driverTable->electSensor = DRIVER_STANDBY;
driverTable->zhfk = DRIVER_STANDBY;
driverTable->sideSonar = DRIVER_STANDBY;
driverTable->buoyage = DRIVER_STANDBY;
// 所有水声设备待机
// 打开DVL
driverTable->singleBeamSonar1 = DRIVER_STANDBY;
driverTable->singleBeamSonar2 = DRIVER_STANDBY;
driverTable->singleBeamSonar3 = DRIVER_STANDBY;
driverTable->singleBeamSonar4 = DRIVER_STANDBY;
driverTable->singleBeamSonar5 = DRIVER_STANDBY;
driverTable->singleBeamSonar6 = DRIVER_STANDBY;
driverTable->singleBeamSonar7 = DRIVER_STANDBY;
driverTable->singleBeamSonar8 = DRIVER_STANDBY;
driverTable->DVL = DRIVER_FULL_POWER_ON;
driverTable->forwardSonar = DRIVER_STANDBY;
driverTable->zdp = DRIVER_STANDBY;
driverTable->usbl = DRIVER_STANDBY;
// 打开必要的执行机构
driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
driverTable->waterInject = DRIVER_FULL_POWER_ON;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
void Driver::getCRUISE_MODEable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
void Driver::getHIGH_SPEED_MODEable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构，只打开操纵机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
// 上浮下潜与巡航模式一致
void Driver::getASCEND_DESCENDable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
// 浮标调整与巡航模式一致
void Driver::getBUOYANCY_ADJUSTable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
// 水下侦查
void Driver::getUNDERWATER_RECONable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_STANDBY;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
// 水面探测
void Driver::getSURFACE_RECONable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_STANDBY;
driverTable->electSensor = DRIVER_STANDBY;
driverTable->zhfk = DRIVER_POWER_OFF;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_POWER_OFF;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_POWER_OFF;
driverTable->bowOpen2 = DRIVER_POWER_OFF;
driverTable->bowOpen3 = DRIVER_POWER_OFF;
driverTable->bowOpen4 = DRIVER_POWER_OFF;
driverTable->bowOpen5 = DRIVER_POWER_OFF;
driverTable->bowOpen6 = DRIVER_POWER_OFF;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_POWER_OFF;
driverTable->bowCover2 = DRIVER_POWER_OFF;
driverTable->bowCover3 = DRIVER_POWER_OFF;
driverTable->bowCover4 = DRIVER_POWER_OFF;
driverTable->bowCover5 = DRIVER_POWER_OFF;
driverTable->bowCover6 = DRIVER_POWER_OFF;
driverTable->bowCover7 = DRIVER_POWER_OFF;
driverTable->bowCover8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
void Driver::getDJ_MODEable(DriverTable* driverTable)
{
// 打开所有传感器
driverTable->depth1 = DRIVER_FULL_POWER_ON;
driverTable->depth2 = DRIVER_FULL_POWER_ON;
driverTable->depth3 = DRIVER_FULL_POWER_ON;
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
driverTable->commMast = DRIVER_FULL_POWER_ON;
driverTable->ins = DRIVER_FULL_POWER_ON;
driverTable->ntp = DRIVER_FULL_POWER_ON;
// 所有负载设备关机
driverTable->photoSensor = DRIVER_POWER_OFF;
driverTable->electSensor = DRIVER_POWER_OFF;
driverTable->zhfk = DRIVER_FULL_POWER_ON;
driverTable->sideSonar = DRIVER_POWER_OFF;
driverTable->buoyage = DRIVER_STANDBY;
// 打开必要的执行机构
// 关闭非必要的执行机构
driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
driverTable->thruster = DRIVER_FULL_POWER_ON;
driverTable->bowThrow = DRIVER_FULL_POWER_ON;
driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}
std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
{
Json::Value root;
// 添加所有成员到json
root["depth1"] = driverTable->depth1;
root["depth2"] = driverTable->depth2;
root["depth3"] = driverTable->depth3;
root["overDeep1"] = driverTable->overDeep1;
root["overDeep2"] = driverTable->overDeep2;
root["CTD1"] = driverTable->CTD1;
root["CTD2"] = driverTable->CTD2;
root["soundVeloc"] = driverTable->soundVeloc;
root["commMast"] = driverTable->commMast;
root["ins"] = driverTable->ins;
root["ntp"] = driverTable->ntp;
root["singleBeamSonar1"] = driverTable->singleBeamSonar1;
root["singleBeamSonar2"] = driverTable->singleBeamSonar2;
root["singleBeamSonar3"] = driverTable->singleBeamSonar3;
root["singleBeamSonar4"] = driverTable->singleBeamSonar4;
root["singleBeamSonar5"] = driverTable->singleBeamSonar5;
root["singleBeamSonar6"] = driverTable->singleBeamSonar6;
root["singleBeamSonar7"] = driverTable->singleBeamSonar7;
root["singleBeamSonar8"] = driverTable->singleBeamSonar8;
root["forwardSonar"] = driverTable->forwardSonar;
root["DVL"] = driverTable->DVL;
root["zdp"] = driverTable->zdp;
root["usbl"] = driverTable->usbl;
root["bowOpen1"] = driverTable->bowOpen1;
root["bowOpen2"] = driverTable->bowOpen2;
root["bowOpen3"] = driverTable->bowOpen3;
root["bowOpen4"] = driverTable->bowOpen4;
root["bowOpen5"] = driverTable->bowOpen5;
root["bowOpen6"] = driverTable->bowOpen6;
root["bowRudderDeploy"] = driverTable->bowRudderDeploy;
root["bowRudderServo1"] = driverTable->bowRudderServo1;
root["bowRudderServo2"] = driverTable->bowRudderServo2;
root["bowCover1"] = driverTable->bowCover1;
root["bowCover2"] = driverTable->bowCover2;
root["bowCover3"] = driverTable->bowCover3;
root["bowCover4"] = driverTable->bowCover4;
root["bowCover5"] = driverTable->bowCover5;
root["bowCover6"] = driverTable->bowCover6;
root["bowCover7"] = driverTable->bowCover7;
root["bowCover8"] = driverTable->bowCover8;
root["waterInject"] = driverTable->waterInject;
root["wgDJ"] = driverTable->wgDJ;
root["buoyancyAdjust1"] = driverTable->buoyancyAdjust1;
root["buoyancyAdjust2"] = driverTable->buoyancyAdjust2;
root["buoyancyAdjust3"] = driverTable->buoyancyAdjust3;
root["sternRudderServo1"] = driverTable->sternRudderServo1;
root["sternRudderServo2"] = driverTable->sternRudderServo2;
root["sternRudderServo3"] = driverTable->sternRudderServo3;
root["sternRudderServo4"] = driverTable->sternRudderServo4;
root["thruster"] = driverTable->thruster;
root["bowThrow"] = driverTable->bowThrow;
root["sternThrow"] = driverTable->sternThrow;
root["photoSensor"] = driverTable->photoSensor;
root["electSensor"] = driverTable->electSensor;
root["zhfk"] = driverTable->zhfk;
root["sideSonar"] = driverTable->sideSonar;
root["buoyage"] = driverTable->buoyage;
return root.toStyledString();
}
std::string Driver::getDriverTableJson()
{
return saveDriverTableToJson(currentDriverTable);
} }
src/pPowerManger/driver.h
+119 -1
View File
@@ -1,14 +1,132 @@
#ifndef DRIVER_H #ifndef DRIVER_H
#define DRIVER_H #define DRIVER_H
#include "json/json.h"
#include "iostream"
#define DRIVER_POWER_OFF 0x00
#define DRIVER_FULL_POWER_ON 0x01
#define DRIVER_INSTRUMENT_POWER_ON 0x02
#define DRIVER_MOTIVE_POWER_ON 0x03
#define DRIVER_STANDBY 0x04
struct DriverTable
{
unsigned char depth1;
unsigned char depth2;
unsigned char depth3;
unsigned char overDeep1;
unsigned char overDeep2;
unsigned char CTD1;
unsigned char CTD2;
unsigned char soundVeloc;
unsigned char commMast;
unsigned char ins;
unsigned char ntp;
//水声设备
unsigned char singleBeamSonar1;
unsigned char singleBeamSonar2;
unsigned char singleBeamSonar3;
unsigned char singleBeamSonar4;
unsigned char singleBeamSonar5;
unsigned char singleBeamSonar6;
unsigned char singleBeamSonar7;
unsigned char singleBeamSonar8;
unsigned char forwardSonar;
unsigned char DVL;
unsigned char zdp;
unsigned char usbl;
//执行机构
unsigned char bowOpen1;
unsigned char bowOpen2;
unsigned char bowOpen3;
unsigned char bowOpen4;
unsigned char bowOpen5;
unsigned char bowOpen6;
unsigned char bowRudderDeploy;
unsigned char bowRudderServo1;
unsigned char bowRudderServo2;
unsigned char bowCover1;
unsigned char bowCover2;
unsigned char bowCover3;
unsigned char bowCover4;
unsigned char bowCover5;
unsigned char bowCover6;
unsigned char bowCover7;
unsigned char bowCover8;
unsigned char waterInject;
unsigned char wgDJ;
unsigned char buoyancyAdjust1;
unsigned char buoyancyAdjust2;
unsigned char buoyancyAdjust3;
unsigned char sternRudderServo1;
unsigned char sternRudderServo2;
unsigned char sternRudderServo3;
unsigned char sternRudderServo4;
unsigned char thruster;
unsigned char bowThrow;
unsigned char sternThrow;
//负载
unsigned char photoSensor;
unsigned char electSensor;
unsigned char zhfk;
unsigned char sideSonar;
unsigned char buoyage;
};
enum DriverState
{
POWER_OFF, // 断电
FULL_POWER_ON, // 全电
INSTRUMENT_POWER_ON, // 仪表电上电
MOTIVE_POWER_ON, // 动力电上电
};
enum workCondition
{
STANDBY, // 待机工况
SHORE_BASED_READY, // 岸基备航
WATER_BASED_READY, // 水中备航
CRUISE_MODE, // 巡航模式
HIGH_SPEED_MODE, // 高速模式
ASCEND_DESCEND, // 上浮下潜
BUOYANCY_ADJUST, // 浮调模式
UNDERWATER_RECON, // 水下侦查
SURFACE_RECON, // 水面侦查
DJ_MODE, // DJ模式
DEBUG_MODE // 调试模式
};
class Driver class Driver
{ {
public: public:
Driver(); Driver();
~Driver(); ~Driver();
void setDebug(bool debug);
public:
DriverTable* currentDriverTable;
DriverTable* nextDriverTable;
int getDriverTable(workCondition condition, DriverTable* driverTable);
void getSTANDBYTable(DriverTable* driverTable);
void getSHORE_BASED_READYable(DriverTable* driverTable);
void getWATER_BASED_READYable(DriverTable* driverTable);
void getCRUISE_MODEable(DriverTable* driverTable);
void getHIGH_SPEED_MODEable(DriverTable* driverTable);
void getASCEND_DESCENDable(DriverTable* driverTable);
void getBUOYANCY_ADJUSTable(DriverTable* driverTable);
void getUNDERWATER_RECONable(DriverTable* driverTable);
void getSURFACE_RECONable(DriverTable* driverTable);
void getDJ_MODEable(DriverTable* driverTable);
std::string saveDriverTableToJson(const DriverTable* driverTable);
std::string getDriverTableJson();
private:
bool debug;
}; };
#endif // DRIVER_H #endif // DRIVER_H
src/pPowerManger/pmSysvariable.h
+31 -63
View File
@@ -91,19 +91,30 @@ typedef struct ccuState
float placeholder5; float placeholder5;
} ccuState; } ccuState;
//TODO：增加复合管控的控制指令 typedef struct {
// typedef struct ccuCmd unsigned char insSocHold1;
// { unsigned char insSocHold2;
// unsigned char currentWorkCondition; unsigned char insSocHold3;
// unsigned char fcuState; unsigned char fcuToInsLimit1;
// unsigned char fcuFaultLeve; unsigned char fcuToinsLimit2;
// } ccuCmd; unsigned char powerSocHold1;
typedef struct ccuParamCmd unsigned char powerSocHold2;
{ unsigned char powerSocHold3;
unsigned char insBat1Hold; unsigned char fcuToPowerLimit1;
unsigned char insBat2Hold; unsigned char fcuToPowerLimit2;
unsigned char insBat3Hold; }ccuSetParmCmd;
}ccuParamCmd;
typedef struct {
unsigned char workCondition;
unsigned char fcuCmd;
unsigned char fcuPowerEfficiency;
unsigned char fcuInsEfficiency;
unsigned char insBatCmd;
unsigned char powerBatCmd;
unsigned char powerBatEfficiency;
unsigned char heartbeat;
unsigned char masterState;
}ccuColCmd;
typedef struct disHighVolBusState typedef struct disHighVolBusState
{ {
@@ -263,13 +274,9 @@ typedef struct disLowBusCmd
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker; unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
}disLowBusCmd; }disLowBusCmd;
#pragma pack (0) #pragma pack (0)
//状态结构体定义 //状态结构体定义
typedef struct pmState typedef struct pmState
{ {
ccuState ccustate; ccuState ccustate;
@@ -338,52 +345,13 @@ typedef struct pmState
/* data */ /* data */
} disBus4Breaker; } disBus4Breaker;
typedef struct disSysBreakerList
enum disBreaker{ {
bus1_fuelCellCircuitBreaker, disBus1Breaker bus1Breaker;
bus1_powerLithiumBatteryCircuitBreaker, disBus2Breaker bus2Breaker;
bus1_propulsionMotorCircuitBreaker, disBus3Breaker bus3Breaker;
bus1_lithiumBatteryGroupInstrumentCircuitBreaker, disBus4Breaker bus4Breaker;
bus1_dcDc5ModuleCircuitBreaker, } disSysBreaker;
bus1_bowHighVoltageDistributionBoxCircuitBreaker,
bus1_sternFTDevice45CircuitBreaker,
bus1_sternRudderSwitch1CircuitBreaker,
bus1_sternRudderSwitch2CircuitBreaker,
bus1_fbReservedCircuitBreaker,
bus1_tyzReservedCircuitBreaker,
bus1_reservedCircuitBreaker,
bus2_bowFTDevice123CircuitBreaker,
bus2_actuatorCircuitBreaker,
bus2_mastSteeringGearControlBoxCircuitBreaker,
bus2_xczCircuitBreaker,
bus2_bowRudderControlBoxCircuitBreaker,
bus2_openWaterCoverStartCylinderCircuitBreaker,
bus3_lithiumBatteryGroupInstrumentCircuitBreaker,
bus3_bowLowVoltageDistributionBoxCircuitBreaker,
bus3_unit4InstrumentDC48VCircuitBreaker,
bus3_dcC1DCDistributionPanelCircuitBreaker,
bus3_reservedCircuitBreaker1,
bus3_reservedCircuitBreaker2,
bus3_emergencyLithiumBatteryGroup2CircuitBreaker,
bus4_unit1CircuitBreaker,
bus4_unit2CircuitBreaker,
bus4_unit3CircuitBreaker,
bus4_unit5CircuitBreaker,
bus4_bowPZDeviceCircuitBreaker,
bus4_reservedCircuitBreaker1,
bus4_reservedCircuitBreaker2
};
enum disBreakerOpt{
hold,
turn_off,
turn_on
};
#endif #endif
src/pPowerManger/udpComm.cpp
+49
View File
@@ -469,4 +469,53 @@ bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
} }
delete msg; delete msg;
return true; return true;
}
bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
{
unsigned char* msgBuf;
Checksum cc;
msg_CcuColCmdMsg* msg = new msg_CcuColCmdMsg;
msg->header.id = CCU_CMD_ID;
msg->header.start1 = CCU_UDPMSG_START1;
msg->header.start2 = CCU_UDPMSG_START2;
msg->header.length = sizeof(ccuColCmd);
msg->cmd = cmd;
msgBuf = reinterpret_cast<unsigned char *>(msg);
cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
try
{
sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
}
catch(const std::exception& e)
{
std::cerr << e.what() << '\n';
}
delete msg;
return true;
}
bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
{
unsigned char* msgBuf;
Checksum cc;
msg_CcuSetParmMsg* msg = new msg_CcuSetParmMsg;
msg->header.id = CCU_SET_PARM_ID;
msg->header.start1 = CCU_UDPMSG_START1;
msg->header.start2 = CCU_UDPMSG_START2;
msg->header.length = sizeof(ccuSetParmCmd);
msg->cmd = cmd;
msgBuf = reinterpret_cast<unsigned char *>(msg);
cc = calculateChecksum(msgBuf,sizeof(msg_CcuSetParmMsg));
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
try
{
sendMsg(msgBuf,sizeof(msg_CcuSetParmMsg));
}
catch(const std::exception& e)
{
std::cerr << e.what() << '\n';
}
delete msg;
return true;
} }
src/pPowerManger/udpComm.h
+2 -2
View File
@@ -44,8 +44,8 @@ public:
bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m); bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m);
bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m); bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
bool sendCcuColCmd(const msg_CcuColCmdMsg m); bool sendCcuColCmd(const ccuColCmd cmd);
bool sendCcuSetParmCmd(const msg_CcuSetParmMsg m); bool sendCcuSetParmCmd(const ccuSetParmCmd cmd);
bool sendDisSysCmd(const disHighVolBusCmd cmd); bool sendDisSysCmd(const disHighVolBusCmd cmd);
bool sendDisSysCmd(const disHighAVolBusCmd cmd); bool sendDisSysCmd(const disHighAVolBusCmd cmd);
test/SQLiteDBTest.cpp
+2 -3
View File
@@ -33,10 +33,9 @@ TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
REQUIRE(stateDataForGet.event_id == 1); REQUIRE(stateDataForGet.event_id == 1);
REQUIRE(stateDataForGet.fault_code == 1); REQUIRE(stateDataForGet.fault_code == 1);
REQUIRE(stateDataForGet.note == "test"); REQUIRE(stateDataForGet.note == "test");
//REQUIRE(db.clearPowerData(stateDataForGet) == true); //REQUIRE(db.clearPowerData(stateDataForGet) == true);
} }
} }