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zjk
2025-07-12 15:39:28 +08:00
parent 4116397f3e
commit 2ef5fd92ac
32 changed files with 3601 additions and 458 deletions
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bin/templates/index.html
+66
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@@ -129,6 +129,72 @@
<pre id="ccu-state">正在加载...</pre>
</div>
<div class="panel dcdc-state-panel">
<h2>DC/DC模块状态</h2>
<div class="state-info">
<div class="state-row">
<span class="state-label"><i class="fas fa-thermometer-half"></i> DC/DC模块过温关机：</span>
<span class="state-value" id="dcdc-over-temp">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-bolt"></i> 输出过流：</span>
<span class="state-value" id="dcdc-over-current">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-bolt"></i> 输出过压：</span>
<span class="state-value" id="dcdc-over-voltage">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-bolt"></i> 输出欠压：</span>
<span class="state-value" id="dcdc-under-voltage">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-plug"></i> 输入过压：</span>
<span class="state-value" id="dcdc-input-over-voltage">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-plug"></i> 输入欠压：</span>
<span class="state-value" id="dcdc-input-under-voltage">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-exclamation-triangle"></i> 输出短路保护：</span>
<span class="state-value" id="dcdc-short-circuit">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-bug"></i> 内部故障：</span>
<span class="state-value" id="dcdc-internal-fault">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-wifi"></i> 通讯故障报警：</span>
<span class="state-value" id="dcdc-comm-fault">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-power-off"></i> 工作状态：</span>
<span class="state-value" id="dcdc-working-status">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-tint"></i> 冷却泵1故障：</span>
<span class="state-value" id="dcdc-pump1-fault">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-tint"></i> 冷却泵2故障：</span>
<span class="state-value" id="dcdc-pump2-fault">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-tint"></i> 冷却水泄露：</span>
<span class="state-value" id="dcdc-water-leak">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-tint"></i> 冷却泵1运行状态：</span>
<span class="state-value" id="dcdc-pump1-running">-</span>
</div>
<div class="state-row">
<span class="state-label"><i class="fas fa-tint"></i> 冷却泵2运行状态：</span>
<span class="state-value" id="dcdc-pump2-running">-</span>
</div>
</div>
</div>
<!-- 消息详情弹窗 -->
<div class="message-detail-overlay" id="message-detail-overlay" style="display: none;"></div>
<div class="message-detail-modal" id="message-detail-modal" style="display: none;">
src/pPMtest/PMtest.cpp
+2 -2
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@@ -186,10 +186,10 @@ bool PMtest::Iterate()
{
//发送DB_TO_PM_MISSION消息
std::cout << "发送uExternComm_setPowerSystem_cmd消息" << std::endl;
string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uPlan_planStop_cmd.json";
string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uPlan_planStop_st.json";
string content;
if(readJsonFromFile(filename, content)) {
Notify("uPlan_planStop_cmd", content);
Notify("uPlan_planStop_st", content);
}
}
src/pPMtest/PMtest.h
+1 -1
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@@ -30,7 +30,7 @@ using namespace std;
//决策消息
#define DB_TO_PM_DEEPTH "uDevice_depth_st"
#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
//外部通信消息
#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
src/pPowerManger/PowerManger.cpp
+1
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@@ -46,6 +46,7 @@ PowerManger::PowerManger()
m_MSDriverCmd = {};
m_subDisSysCmd = {};
m_subDisSysState = {};
m_subDisSysFault = {};
//初始化控制指令
initControlCmd();
src/pPowerManger/PowerManger.h
+2
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@@ -89,6 +89,7 @@ class PowerManger : public AppCastingMOOSApp
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
DriverTable m_currentDriverState;
DriverTable m_subDisSysState;
DriverTable m_subDisSysFault;
int m_depth;
MissionState m_missionState;
//===========================STATE=========================================
@@ -97,6 +98,7 @@ class PowerManger : public AppCastingMOOSApp
unsigned char powerState;
unsigned char faultLevel;
vector<unsigned int> faultCode;
unsigned int soc;
unsigned int sustainableTime;
unsigned int m_faultNum;
src/pPowerManger/UpperCommManager.cpp
+10 -8
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@@ -24,6 +24,7 @@ UpperCommManager::UpperCommManager(PowerManger* pm) :
m_msCmd(),
m_driver() {
}
DriverTable uDevice_secdistStateMsg::fault_state = {0};
bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
if (key == m_sysStateMsg.key)
@@ -63,8 +64,7 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
m_secdistStateMsg_fb_debug = std::make_pair(key, strJson);
#endif
m_secdistStateMsg.parseMsg(strJson, m_pm->m_subDisSysState);
//debug 接受到次级配电状态，自动更新到设备状态
//TODO:自动更新到设备状态
//TODO:自动更新到设备状态 调试
//m_pm->m_subDisSysState = m_pm->m_deviceState;
return true;
}
@@ -107,6 +107,7 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
m_pm->m_msCmd.workCMD = m_setOpConditionMsg.getSetOpCondition(key, strJson);
MasterCommandEvent event;
PowerManagerFsm::dispatch(event);
return true;
}
else if(key == m_setPMSysMsg.key)
{
@@ -161,13 +162,12 @@ void UpperCommManager::processPeriodicTasks() {
buildSystemReport();
std::string strJson;
//发送当前设备状态
//TODO: 修改设备状态
m_pm->m_currentDriverState.ins = 1;
strJson = m_equStateMsg.buildMsg(m_pm->m_currentDriverState);
m_pm->sendNotification(m_equStateMsg.key, strJson);
//发送次级配电指令 修改后的代码
// strJson = getSubDisCmd(m_pm->m_subDisSysCmd);
// TODO : 修改指令逻辑，当状态一致时发送保持指令
// strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd);
strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd,m_pm->m_subDisSysState,2);
strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd,m_pm->m_subDisSysState, m_pm->m_subDisSysFault);
m_pm->sendNotification(m_secdistStateMsg.key_cmd, strJson);
//发送仪表电状态
m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
@@ -175,6 +175,8 @@ void UpperCommManager::processPeriodicTasks() {
m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
strJson = m_pm->m_driver.saveDriverTableToJson(&m_pm->m_subDisSysFault);
m_pm->sendNotification("uPower_subDisFault_st",strJson);
#endif
}
@@ -190,14 +192,14 @@ void UpperCommManager::buildSystemReport() {
m_pmStateMsg.state.m_leakage = m_pm->m_leakage;
m_pmStateMsg.state.m_faultNum = m_pm->m_faultNum;
m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg());
m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
#ifdef _DEBUG
m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg());
m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
m_fcsStateMsg_st_debug = std::make_pair(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
m_liBatStateMsg_st_debug = std::make_pair(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
src/pPowerManger/UpperCommManager.h
+1 -1
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@@ -37,7 +37,7 @@ using namespace std;
//决策消息
#define DB_TO_PM_DEEPTH "uDevice_depth_st"
// #define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
//外部通信消息
#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
src/pPowerManger/fsm/CruiseMode.cpp
+44 -5
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@@ -3,11 +3,50 @@
void CruiseMode::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);
//依次接入执行机构动力电设备
//TODO:接入执行机构动力电设备
//TODO：解除非必要动力电设备
// pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);
handleCuriseWork();
//解除非必要动力电设备
//1 解除启闭机构
unsigned char cmd = 0;
if(pm->m_currentDriverState.bowCover1 != 0 ||
pm->m_currentDriverState.bowCover2 != 0 ||
pm->m_currentDriverState.bowCover3 != 0 ||
pm->m_currentDriverState.bowCover4 != 0 ||
pm->m_currentDriverState.bowCover5 != 0 ||
pm->m_currentDriverState.bowCover6 != 0)
{
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
}
//2 解除敞水机构
if(pm->m_currentDriverState.bowWaterInet1 != 0 ||
pm->m_currentDriverState.bowWaterInet2 != 0 ||
pm->m_currentDriverState.bowWaterInet3 != 0 ||
pm->m_currentDriverState.bowWaterInet4 != 0 ||
pm->m_currentDriverState.bowWaterInet5 != 0 ||
pm->m_currentDriverState.bowWaterInet6 != 0 ||
pm->m_currentDriverState.bowWaterInet7 != 0 ||
pm->m_currentDriverState.bowWaterInet8 != 0)
{
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
}
pm->workCondition = WorkCondition::CRUISE_MODE;
LOG_F(INFO, "进入巡航模式");
}
src/pPowerManger/fsm/DJMode.cpp
+56
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@@ -10,6 +10,62 @@ void DJMode::react(MasterCommandEvent const &) {
void DJMode::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
handleCuriseWork();
//1 启动载荷装置
pm->m_subDisSysCmd.launchControler = 1;
//启动启闭机构和电缸
unsigned char cmd = 1;
//2.1 启闭机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
//2.2 敞水电缸
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
pm->workCondition = WorkCondition::DJ_MODE;
LOG_F(INFO, "进入DJ模式");
}
void DJMode::exit() {
PowerManagerFsm::exit();
//1 解除启闭机构
unsigned char cmd = 0;
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
//2 解除敞水机构
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
}
src/pPowerManger/fsm/FaultState.cpp
+7 -6
View File
@@ -3,17 +3,18 @@
// FaultState实现
void FaultState::entry() {
PowerManagerFsm::entry();
// PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
if(pm->m_missionState.type == TaskType::THROW_LOAD)
{
LOG_F(INFO, "检测到抛载，所有水声探测设备");
}
else
{
// LOG_F(INFO, "检测到抛载，所有水声设备关闭");
LOG_F(INFO, "检测到抛载");
}
}
void FaultState::react(FaultEvent const & e) {
LOG_F(INFO, "FaultState 处理故障事件");
}
void FaultState::react(MasterCommandEvent const &) {
PowerManagerFsm::handelPowerCmd();
PowerManagerFsm::handleModCmd();
PowerManagerFsm::handleWorkCmd();
}
src/pPowerManger/fsm/FloatAdjust.cpp
+1 -6
View File
@@ -10,12 +10,7 @@ void FloatAdjust::react(MasterCommandEvent const &) {
void FloatAdjust::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
//与巡航模式相同
pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);
//依次接入执行机构动力电设备
//TODO:接入执行机构动力电设备
//TODO：解除非必要动力电设备
handleCuriseWork();
pm->workCondition = WorkCondition::BUOYANCY_ADJUST;
LOG_F(INFO, "进入浮调模式");
}
src/pPowerManger/fsm/FloatDown.cpp
+2 -6
View File
@@ -2,12 +2,8 @@
void FloatDown::entry() {
PowerManagerFsm::entry();
//与巡航模式相同
pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);
//依次接入执行机构动力电设备
//TODO:接入执行机构动力电设备
//TODO：解除非必要动力电设备
pm->workCondition = WorkCondition::CHANING;
handleCuriseWork();
pm->workCondition = WorkCondition::ASCEND_DESCEND;
LOG_F(INFO, "进入上浮下潜模式");
}
src/pPowerManger/fsm/HighSpeedMode.cpp
+2
View File
@@ -2,6 +2,8 @@
void HighSpeedMode::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
handleCuriseWork();
pm->workCondition = WorkCondition::HIGH_SPEED_MODE;
LOG_F(INFO, "进入高速模式");
}
src/pPowerManger/fsm/PowerManagerFsm.cpp
+917 -70
View File
File diff suppressed because it is too large Load Diff
src/pPowerManger/fsm/PowerManagerFsm.hpp
+15 -34
View File
@@ -99,6 +99,8 @@ public:
void handleModCmd();
void handleWorkCmd();
void handleDeviceCmd();
void handleCuriseWork();
void handleNoPowerDeviceCmd(int id , int cmd); // 非水声仪表设备
void handleHydroacousticDeviceCmd(int id , int cmd); // 水声设备处理
@@ -134,6 +136,16 @@ public:
void emergencySystemFault(FaultEvent const &e);
void sensorSystemFault(FaultEvent const &e);
void basicNavigationFault();
void extendedNavigationFault();
void obstacleAvoidanceFault();
void buoyancyControlFault();
void communicationSystemFault();
void payloadSystemFault();
void emergencySystemFault();
void sensorSystemFault();
// void handleFaultOfDisSys();
// 状态机生命周期方法
virtual void entry() {
auto now = std::chrono::system_clock::now();
@@ -183,8 +195,6 @@ public:
void react(StandbyEvent const &) override;
void react(DevCmdExt const &e) override;
void react(MasterCommandEvent const &) override;
private:
void handlePowerOn();
};
// 岸基备航
@@ -193,49 +203,35 @@ class ShoreBasedReady : public PowerManagerFsm {
void entry() override;
void react(MasterCommandEvent const &) override;
private:
// void handlePowerCommands();
// void handlePowerOn();
};
// 水中备航
class WaterBasedReady : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
void react(DevCmdExt const &e) override;
private:
// void handlePowerCommands();
// void handlePowerOn();
};
// 巡航模式
class CruiseMode : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// 上浮下潜
class FloatDown : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// 高速模式
class HighSpeedMode : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// 浮调模式
@@ -243,58 +239,43 @@ class FloatAdjust : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// 水下侦查
class UnderwaterSurvey : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// 水面侦查
class SurfaceSurvey : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
// DJ模式
class DJMode : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
void exit() override;
private:
// void handlePowerCommands();
};
// 遥控工况
class RemoteControl : public PowerManagerFsm {
public:
void entry() override;
void react(MasterCommandEvent const &) override;
// void react(DeviceCmd const &) override;
// void react(TaskStart const &) override;
private:
// void handlePowerCommands();
};
class FaultState : public PowerManagerFsm {
public:
void entry() override;
void react(FaultEvent const &);
void react(MasterCommandEvent const &) override;
};
src/pPowerManger/fsm/ShoreBasedReady.cpp
+66 -4
View File
@@ -7,15 +7,77 @@ void ShoreBasedReady::react(MasterCommandEvent const &) {
PowerManagerFsm::handleWorkCmd();
}
void ShoreBasedReady::entry() {
PowerManagerFsm::entry();
pm->m_driver.getSHORE_BASED_READYable(&pm->m_subDisSysCmd);
// pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
pm->workCondition = WorkCondition::CHANING;
//依次接入执行机构动力电设备
//TODO:接入执行机构动力电设备
//1. 开启动力电
//1.1 动力锂电池上电
pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
//1.2 闭合动力电断路器
pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_dcDc5Module_Breaker(1);
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(1);
pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(1);
MOOSPause(10);
pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(1);
MOOSPause(3);
//2. 启动动力电设备
unsigned char cmd = 1;
//2.1 启闭机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
//2.2 敞水电缸
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
//2.3 艏舵
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
//2.4 桅杆舵机
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
//2.5 艏部浮调机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
//2.6 艉部浮调机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
//2.7 推进电机
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
pm->workCondition = WorkCondition::SHORE_BASED_READY;
LOG_F(INFO, "进入岸基备航状态");
}
src/pPowerManger/fsm/StandbyState.cpp
-41
View File
@@ -3,14 +3,8 @@
// StandbyState实现
void StandbyState::entry() {
PowerManagerFsm::entry();
// pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
// pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
// 启动流程 仪表电一直设置为启动
// pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
// 启动设备
pm->workCondition = WorkCondition::STANDBY;
pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
LOG_F(INFO, "WorkCondition %d", pm->workCondition);
}
void StandbyState::react(StandbyEvent const &) {
@@ -25,40 +19,5 @@ void StandbyState::react(MasterCommandEvent const &) {
void StandbyState::react(DevCmdExt const &e)
{
LOG_F(INFO, "DevCmdExt 执行");
cout << "DevCmdExt 执行" << (int)e.id << (int)e.cmd << endl;
PowerManagerFsm::react(e);
cout << (int) pm->m_subDisSysCmd.commMast << endl;
cout << (int) pm->m_subDisSysCmd.mastLiftingServo << endl;
cout << "DevCmdExt 执行完成" << (int)e.id << (int)e.cmd << endl;
//TODO：屏蔽上电保护
//正常模式下，不允许执行DevCmdExt
// if (pm->currentMod == RunMode::Normal )
// {
// LOG_F(INFO, "正常模式下,不允许执行DevCmdExt");
// }
// else if (pm->currentMod == RunMode::Test)
// {
// if(handPowerProtection(e))
// PowerManagerFsm::react(e);
// else
// LOG_F(INFO, "DevCmdExt 执行失败");
// }
// else if (pm->currentMod == RunMode::Debug)
// {
// LOG_F(INFO, "调试模式下,直接执行DevCmdExt");
// PowerManagerFsm::react(e);
// }
// else
// {
// LOG_F(INFO, "当前模式未知");
// }
}
void StandbyState::handlePowerOn() {
LOG_F(INFO,"动力电上电");
//TODO: 电源上电 更新协议
// PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
// if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
// PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
}
src/pPowerManger/fsm/SurfaceSurvey.cpp
+2
View File
@@ -9,6 +9,8 @@ void SurfaceSurvey::react(MasterCommandEvent const &) {
void SurfaceSurvey::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
handleCuriseWork();
pm->workCondition = WorkCondition::SURFACE_RECON;
LOG_F(INFO, "进入水面侦查模式");
}
src/pPowerManger/fsm/UnderwaterSurvey.cpp
+2
View File
@@ -2,6 +2,8 @@
void UnderwaterSurvey::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
handleCuriseWork();
pm->workCondition = WorkCondition::UNDERWATER_RECON;
LOG_F(INFO, "进入水下侦查模式");
}
src/pPowerManger/fsm/WaterBasedReady.cpp
+35 -4
View File
@@ -4,10 +4,10 @@
void WaterBasedReady::entry() {
PowerManagerFsm::entry();
pm->workCondition = WorkCondition::CHANING;
pm->m_driver.getWATER_BASED_READYable(&pm->m_subDisSysCmd);
// pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
//依次接入执行机构动力电设备
//TODO:接入执行机构动力电设备
PowerManagerFsm::handleCuriseWork();
//启动水声设备
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
pm->workCondition = WorkCondition::WATER_BASED_READY;
LOG_F(INFO, "进入水中备航状态");
}
@@ -18,3 +18,34 @@ void WaterBasedReady::react(MasterCommandEvent const &) {
PowerManagerFsm::handleModCmd();
PowerManagerFsm::handleWorkCmd();
}
void WaterBasedReady::react(DevCmdExt const &e)
{
int id = e.id;
int cmd = e.cmd;
if(underWterDevices.find(id) != underWterDevices.end())
{
if (pm->currentMod != PMMode::Debug)
{
if(pm->m_depth < 10)
{
LOG_F(INFO, "水下设备操作上电保护 %d ", id);
return;
}
}
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
}
else
{
if(pm->currentMod == PMMode::Normal)
{
LOG_F(INFO,"正常模式:操作禁止");
return;
}
else
{
PowerManagerFsm::react(e);
}
}
}
src/pPowerManger/httpserver/httpserver.cpp
+27
View File
@@ -579,6 +579,33 @@ void HttpServer::pushSystemData() {
j["power_bus_status"]["reservedCurrent3"] = Json::Value(m_systemData->power_bus_status.reservedCurrent3); // 预留电流3
j["power_bus_status"]["coolWaterPressure"] = Json::Value(m_systemData->power_bus_status.coolWaterPressure); // 冷却水压力
// union {
// unsigned char lowFaultWord;
// struct {
// bool overTemperatureShutdown : 1; // Bit0: DC/DC模块过温关机
// bool outputOverCurrent : 1; // Bit1: 输出过流
// bool outputOverVoltage : 1; // Bit2: 输出过压
// bool outputUnderVoltage : 1; // Bit3: 输出欠压
// bool inputOverVoltage : 1; // Bit4: 输入过压
// bool inputUnderVoltage : 1; // Bit5: 输入欠压
// bool outputShortCircuit : 1; // Bit6: 输出短路保护
// bool internalFault : 1; // Bit7: 内部故障
// };
// };
// // DC/DC5故障字高
// union {
// unsigned char highFaultWord;
// struct {
// bool communicationFault : 1; // Bit0: 通讯故障报警
// bool workingStatus : 1; // Bit1: 工作状态(1:启动, 0:关闭)
// bool coolingPump1Fault : 1; // Bit2: 冷却泵1故障
// bool coolingPump2Fault : 1; // Bit3: 冷却泵2故障
// bool coolingWaterLeak : 1; // Bit4: 冷却水泄露
// bool coolingPump1Running : 1; // Bit5: 冷却泵1运行状态
// bool coolingPump2Running : 1; // Bit6: 冷却泵2运行状态
// bool reserved : 1; // Bit7: 保留位
// };
// };
j["power_bus_status"]["dcdcStatus1"] = Json::Value(m_systemData->m_dcdcStatus.lowFaultWord);
j["power_bus_status"]["dcdcStatus2"] = Json::Value(m_systemData->m_dcdcStatus.highFaultWord);
src/pPowerManger/httpserver/index.h
+80 -26
View File
@@ -808,7 +808,27 @@ body {
<div class="panel-title">配电系统状态</div>
<div class="battery-cards">
<div class="battery-card">
<h3>动力母线状态</h3>
<h3>DC/DC模块状态</h3>
<div class="battery-data">
<div class="data-row"><span>过温关机:</span><span id="dcdc-over-temp">-</span></div>
<div class="data-row"><span>输出过流:</span><span id="dcdc-over-current">-</span></div>
<div class="data-row"><span>输出过压:</span><span id="dcdc-over-voltage">-</span></div>
<div class="data-row"><span>输出欠压:</span><span id="dcdc-under-voltage">-</span></div>
<div class="data-row"><span>输入过压:</span><span id="dcdc-input-over-voltage">-</span></div>
<div class="data-row"><span>输入欠压:</span><span id="dcdc-input-under-voltage">-</span></div>
<div class="data-row"><span>输出短路:</span><span id="dcdc-short-circuit">-</span></div>
<div class="data-row"><span>内部故障:</span><span id="dcdc-internal-fault">-</span></div>
<div class="data-row"><span>通讯故障:</span><span id="dcdc-comm-fault">-</span></div>
<div class="data-row"><span>工作状态:</span><span id="dcdc-working-status">-</span></div>
<div class="data-row"><span>冷却泵1故障:</span><span id="dcdc-cooling-pump1-fault">-</span></div>
<div class="data-row"><span>冷却泵2故障:</span><span id="dcdc-cooling-pump2-fault">-</span></div>
<div class="data-row"><span>冷却水泄露:</span><span id="dcdc-cooling-water-leak">-</span></div>
<div class="data-row"><span>冷却泵1运行:</span><span id="dcdc-cooling-pump1-running">-</span></div>
<div class="data-row"><span>冷却泵2运行:</span><span id="dcdc-cooling-pump2-running">-</span></div>
</div>
</div>
<div class="battery-card">
<h3>艉高压状态</h3>
<div class="battery-data">
<div class="data-row"><span>燃料电池断路器:</span><span id="power-bus-fuel-cell-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>动力锂电池断路器:</span><span id="power-bus-power-lithium-circuit-breaker" class="relay-status">-</span></div>
@@ -850,7 +870,7 @@ body {
</div>
<div class="battery-card">
<h3>仪表主母线状态</h3>
<h3>艉低压状态</h3>
<div class="battery-data">
<div class="data-row"><span>锂电池组(仪表)断路器:</span><span id="instrument-main-bus-lithium-meter-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>艏部低压配电箱断路器:</span><span id="instrument-main-bus-bow-low-voltage-circuit-breaker" class="relay-status">-</span></div>
@@ -878,7 +898,30 @@ body {
</div>
<div class="battery-card">
<h3>仪表母线状态</h3>
<h3>艏高压状态</h3>·
<div class="battery-data">
<div class="data-row"><span>艏部FT装置1/2/3断路器:</span><span id="power-a-bus-bow-ft-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>启闭机构断路器:</span><span id="power-a-bus-actuator-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>桅杆舵机控制箱断路器:</span><span id="power-a-bus-mast-steering-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>XCZ断路器:</span><span id="power-a-bus-xcz-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>艏舵控制箱断路器:</span><span id="power-a-bus-bow-rudder-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>敞水盖启动电缸断路器:</span><span id="power-a-bus-water-cover-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>仪表电源状态:</span><span id="power-a-bus-power-status">-</span></div>
<div class="data-row"><span>应急电源状态:</span><span id="power-a-bus-emergency-power-status">-</span></div>
<div class="data-row"><span>浸水报警:</span><span id="power-a-bus-water-alarm">-</span></div>
<div class="data-row"><span>汇流排B电压:</span><span id="power-a-bus-b-voltage">-</span>V</div>
<div class="data-row"><span>汇流排B电流:</span><span id="power-a-bus-b-current">-</span>A</div>
<div class="data-row"><span>艏部FT装置1/2/3电流:</span><span id="power-a-bus-bow-ft-current">-</span>A</div>
<div class="data-row"><span>启闭机构电流:</span><span id="power-a-bus-actuator-current">-</span>A</div>
<div class="data-row"><span>桅杆舵机控制箱电流:</span><span id="power-a-bus-mast-steering-current">-</span>A</div>
<div class="data-row"><span>XCZ电流:</span><span id="power-a-bus-xcz-current">-</span>A</div>
<div class="data-row"><span>艏舵控制箱电流:</span><span id="power-a-bus-bow-rudder-current">-</span>A</div>
<div class="data-row"><span>敞水盖启动电缸电流:</span><span id="power-a-bus-water-cover-current">-</span>A</div>
</div>
</div>
<div class="battery-card">
<h3>艏低压状态</h3>
<div class="battery-data">
<div class="data-row"><span>UNIT1断路器:</span><span id="instrument-bus-unit1-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>UNIT2断路器:</span><span id="instrument-bus-unit2-circuit-breaker" class="relay-status">-</span></div>
@@ -902,29 +945,7 @@ body {
<div class="data-row"><span>应急1汇流排电压:</span><span id="instrument-bus-emergency1-voltage">-</span>V</div>
</div>
</div>
<div class="battery-card">
<h3>动力母线A状态</h3>
<div class="battery-data">
<div class="data-row"><span>艏部FT装置1/2/3断路器:</span><span id="power-a-bus-bow-ft-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>启闭机构断路器:</span><span id="power-a-bus-actuator-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>桅杆舵机控制箱断路器:</span><span id="power-a-bus-mast-steering-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>XCZ断路器:</span><span id="power-a-bus-xcz-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>艏舵控制箱断路器:</span><span id="power-a-bus-bow-rudder-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>敞水盖启动电缸断路器:</span><span id="power-a-bus-water-cover-circuit-breaker" class="relay-status">-</span></div>
<div class="data-row"><span>仪表电源状态:</span><span id="power-a-bus-power-status">-</span></div>
<div class="data-row"><span>应急电源状态:</span><span id="power-a-bus-emergency-power-status">-</span></div>
<div class="data-row"><span>浸水报警:</span><span id="power-a-bus-water-alarm">-</span></div>
<div class="data-row"><span>汇流排B电压:</span><span id="power-a-bus-b-voltage">-</span>V</div>
<div class="data-row"><span>汇流排B电流:</span><span id="power-a-bus-b-current">-</span>A</div>
<div class="data-row"><span>艏部FT装置1/2/3电流:</span><span id="power-a-bus-bow-ft-current">-</span>A</div>
<div class="data-row"><span>启闭机构电流:</span><span id="power-a-bus-actuator-current">-</span>A</div>
<div class="data-row"><span>桅杆舵机控制箱电流:</span><span id="power-a-bus-mast-steering-current">-</span>A</div>
<div class="data-row"><span>XCZ电流:</span><span id="power-a-bus-xcz-current">-</span>A</div>
<div class="data-row"><span>艏舵控制箱电流:</span><span id="power-a-bus-bow-rudder-current">-</span>A</div>
<div class="data-row"><span>敞水盖启动电缸电流:</span><span id="power-a-bus-water-cover-current">-</span>A</div>
</div>
</div>
</div>
</div>
@@ -1236,6 +1257,31 @@ body {
updateCcuControlData(data);
updateAlarmState(data);
updateTime();
// 更新DC/DC模块状态
if (data.power_bus_status && data.power_bus_status.dcdcStatus1 !== undefined && data.power_bus_status.dcdcStatus2 !== undefined) {
const lowFaultWord = data.power_bus_status.dcdcStatus1;
const highFaultWord = data.power_bus_status.dcdcStatus2;
// 解析lowFaultWord (dcdcStatus1)
updateStatusWithDebounce('dcdc-over-temp', (lowFaultWord & 0x01) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-over-current', (lowFaultWord & 0x02) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-over-voltage', (lowFaultWord & 0x04) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-under-voltage', (lowFaultWord & 0x08) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-input-over-voltage', (lowFaultWord & 0x10) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-input-under-voltage', (lowFaultWord & 0x20) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-short-circuit', (lowFaultWord & 0x40) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-internal-fault', (lowFaultWord & 0x80) ? 1 : 0, getBooleanStatusText);
// 解析highFaultWord (dcdcStatus2)
updateStatusWithDebounce('dcdc-comm-fault', (highFaultWord & 0x01) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-working-status', (highFaultWord & 0x02) ? 1 : 0, getWorkingStatusText);
updateStatusWithDebounce('dcdc-cooling-pump1-fault', (highFaultWord & 0x04) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-cooling-pump2-fault', (highFaultWord & 0x08) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-cooling-water-leak', (highFaultWord & 0x10) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-cooling-pump1-running', (highFaultWord & 0x20) ? 1 : 0, getBooleanStatusText);
updateStatusWithDebounce('dcdc-cooling-pump2-running', (highFaultWord & 0x40) ? 1 : 0, getBooleanStatusText);
}
} catch (e) {
console.error('数据处理错误:', e, '原始数据:', event.data);
}
@@ -1366,6 +1412,14 @@ body {
return statuses[status] || '未知';
}
function getBooleanStatusText(status) {
return status ? '是' : '否';
}
function getWorkingStatusText(status) {
return status ? '启动' : '关闭';
}
function getOnlineStateText(state) {
const states = {
0: "未上线",
src/pPowerManger/pmSysvariable.h
+14 -6
View File
@@ -654,9 +654,12 @@ namespace TaskType {
RECYCLE = 3, // 回收
HOVER = 4, // 悬停
SAT_COMM = 5, // 上浮通信
SAT_CALIBRATE = 6, // 上浮校准
TOUR = 7, // 游曳
SAIL = 8 // 航行
SAT_CALIBRATE = 6, // 上浮校准
TOUR = 7, // 游曳
SAIL = 8, // 航行
EMER_SAT_COMM = 9, //紧急上浮通信
EMER_SAIL = 10 //紧急航行
};
inline const std::string toString(Type type) {
@@ -668,7 +671,9 @@ namespace TaskType {
{SAT_COMM, "satComm"},
{SAT_CALIBRATE, "satCalibrate"},
{TOUR, "tour"},
{SAIL, "sail"}
{SAIL, "sail"},
{EMER_SAT_COMM,"emerSatComm"},
{EMER_SAIL,"emerSail"}
};
auto it = names.find(type);
return it != names.end() ? it->second : "unknown";
@@ -680,9 +685,12 @@ namespace TaskType {
{"recycle", RECYCLE},
{"hover", HOVER},
{"satComm", SAT_COMM},
{"satCalibrate", SAT_CALIBRATE},
{"emerSatComm",SAT_COMM},
{"satCalibrate",SAT_CALIBRATE},
{"tour", TOUR},
{"sail", SAIL}
{"sail", SAIL},
{"emerSatComm",EMER_SAT_COMM},
{"emerSail",EMER_SAIL}
};
auto it = stringToEnum.find(str);
return it != stringToEnum.end() ? it->second : static_cast<Type>(0); // 返回0表示无效类型
src/pPowerManger/systemData.h
+42
View File
@@ -9,7 +9,48 @@ class SystemData
{
private:
SQLite* m_db;
std::set<unsigned int> sysFaultCodes;
mutable std::mutex sysFaultCodesMutex;
public:
/**
* @brief 向系统故障码集合中插入一个故障码
* @param faultCode 要插入的故障码
*/
void insertFaultCode(unsigned int faultCode) {
std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
sysFaultCodes.insert(faultCode);
}
/**
* @brief 从系统故障码集合中消除一个故障码
* @param faultCode 要消除的故障码
*/
void eraseFaultCode(unsigned int faultCode) {
std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
sysFaultCodes.erase(faultCode);
}
/**
* @brief 获取系统当前的故障等级
* @return uint8_t 故障等级，00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
*/
uint8_t getFaultCodeLevel() const {
uint8_t maxLevel = 0;
// 遍历 sysFaultCodes 集合中的每个故障码
for (auto code : sysFaultCodes) {
// 提取0xabcd中的b位 (右移8位后取低4位)
uint8_t level = (code >> 8) & 0xF;
if (level > maxLevel) {
maxLevel = level;
}
}
return maxLevel;
}
/**
* @brief 获取系统当前的故障码集合
* @return std::set<unsigned int>& 系统当前的故障码集合
*/
const std::set<unsigned int>& getFaultCode() const {
return sysFaultCodes;
}
//燃料电池系统参数
uint8_t fc_mode; // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
uint8_t fc_status; // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成
@@ -477,6 +518,7 @@ public:
//初始化变量全部为0
memset(this, 0, sizeof(SystemData));
disSysFaultCode.clear();
sysFaultCodes.clear();
};
~SystemData(){};
src/pPowerManger/udpcomm/udpComm.cpp
+88 -73
View File
@@ -315,81 +315,109 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
bool udpComm::clearMsgQueue()
{
while(!m_qReceiveCcuStateBuffer.empty())
m_qReceiveCcuStateBuffer.pop();
{
std::lock_guard<std::mutex> lock(m_mutexCcuState);
while(!m_qReceiveCcuStateBuffer.empty())
m_qReceiveCcuStateBuffer.pop();
}
while(!m_qReceiveCcuSetParmBuffer.empty())
m_qReceiveCcuSetParmBuffer.pop();
{
std::lock_guard<std::mutex> lock(m_mutexCcuSetParm);
while(!m_qReceiveCcuSetParmBuffer.empty())
m_qReceiveCcuSetParmBuffer.pop();
}
while(!m_qReceiveDisHighVolBusBuffer.empty())
m_qReceiveDisHighVolBusBuffer.pop();
{
std::lock_guard<std::mutex> lock(m_mutexDisHighVolBus);
while(!m_qReceiveDisHighVolBusBuffer.empty())
m_qReceiveDisHighVolBusBuffer.pop();
}
while(!m_qReceiveDisHighAVolBusBuffer.empty())
m_qReceiveDisHighAVolBusBuffer.pop();
{
std::lock_guard<std::mutex> lock(m_mutexDisHighAVolBus);
while(!m_qReceiveDisHighAVolBusBuffer.empty())
m_qReceiveDisHighAVolBusBuffer.pop();
}
while(!m_qReceiveDisHighBVolBusBuffer.empty())
m_qReceiveDisHighBVolBusBuffer.pop();
while(!m_qReceiveDisLowBusBuffer.empty())
m_qReceiveDisLowBusBuffer.pop();
return true;
{
std::lock_guard<std::mutex> lock(m_mutexDisHighBVolBus);
while(!m_qReceiveDisHighBVolBusBuffer.empty())
m_qReceiveDisHighBVolBusBuffer.pop();
}
{
std::lock_guard<std::mutex> lock(m_mutexDisLowBus);
while(!m_qReceiveDisLowBusBuffer.empty())
m_qReceiveDisLowBusBuffer.pop();
}
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_CcuStateFbMsg &m)
{
if(m_qReceiveCcuStateBuffer.empty())
return false;
time = m_qReceiveCcuStateBuffer.front().first;
m = m_qReceiveCcuStateBuffer.front().second;
m_qReceiveCcuStateBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexCcuState);
if(m_qReceiveCcuStateBuffer.empty())
return false;
time = m_qReceiveCcuStateBuffer.front().first;
m = m_qReceiveCcuStateBuffer.front().second;
m_qReceiveCcuStateBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m)
{
if(m_qReceiveCcuSetParmBuffer.empty())
return false;
time = m_qReceiveCcuSetParmBuffer.front().first;
m = m_qReceiveCcuSetParmBuffer.front().second;
m_qReceiveCcuSetParmBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexCcuSetParm);
if(m_qReceiveCcuSetParmBuffer.empty())
return false;
time = m_qReceiveCcuSetParmBuffer.front().first;
m = m_qReceiveCcuSetParmBuffer.front().second;
m_qReceiveCcuSetParmBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m)
{
if(m_qReceiveDisHighVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighVolBusBuffer.front().first;
m = m_qReceiveDisHighVolBusBuffer.front().second;
m_qReceiveDisHighVolBusBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexDisHighVolBus);
if(m_qReceiveDisHighVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighVolBusBuffer.front().first;
m = m_qReceiveDisHighVolBusBuffer.front().second;
m_qReceiveDisHighVolBusBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
{
if(m_qReceiveDisHighAVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighAVolBusBuffer.front().first;
m = m_qReceiveDisHighAVolBusBuffer.front().second;
m_qReceiveDisHighAVolBusBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexDisHighAVolBus);
if(m_qReceiveDisHighAVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighAVolBusBuffer.front().first;
m = m_qReceiveDisHighAVolBusBuffer.front().second;
m_qReceiveDisHighAVolBusBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m)
{
if(m_qReceiveDisHighBVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighBVolBusBuffer.front().first;
m = m_qReceiveDisHighBVolBusBuffer.front().second;
m_qReceiveDisHighBVolBusBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexDisHighBVolBus);
if(m_qReceiveDisHighBVolBusBuffer.empty())
return false;
time = m_qReceiveDisHighBVolBusBuffer.front().first;
m = m_qReceiveDisHighBVolBusBuffer.front().second;
m_qReceiveDisHighBVolBusBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m)
{
if(m_qReceiveDisLowBusBuffer.empty())
return false;
time = m_qReceiveDisLowBusBuffer.front().first;
m = m_qReceiveDisLowBusBuffer.front().second;
m_qReceiveDisLowBusBuffer.pop();
return true;
std::lock_guard<std::mutex> lock(m_mutexDisLowBus);
if(m_qReceiveDisLowBusBuffer.empty())
return false;
time = m_qReceiveDisLowBusBuffer.front().first;
m = m_qReceiveDisLowBusBuffer.front().second;
m_qReceiveDisLowBusBuffer.pop();
return true;
}
@@ -528,32 +556,19 @@ bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
msgBuf = reinterpret_cast<unsigned char *>(msg);
cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
try
{
if(udpScoket == nullptr) {
throw std::runtime_error("UDP socket not initialized");
bool sendResult = false;
try {
sendResult = sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
if (!sendResult) {
LOG_F(ERROR, "Failed to send CCU command");
}
if(ccuHost.empty() || ccuPort <= 0 || ccuPort > 65535) {
throw std::runtime_error("Invalid CCU address: " + ccuHost + ":" + std::to_string(ccuPort));
}
sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
}
catch(const std::invalid_argument& e)
{
std::cerr << "Invalid argument error in CCU command: " << e.what() << '\n';
LOG_F(ERROR, "Invalid argument in CCU command: %s", e.what());
delete msg;
return false;
}
catch(const std::out_of_range& e)
{
std::cerr << "Out of range error in CCU command: " << e.what() << '\n';
LOG_F(ERROR, "Out of range in CCU command: %s", e.what());
delete msg;
return false;
} catch (const std::exception& e) {
LOG_F(ERROR, "Exception in sendCcuColCmd: %s", e.what());
}
delete msg;
return true;
return sendResult;
}
bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
{
src/pPowerManger/udpcomm/udpComm.h
+32 -4
View File
@@ -10,6 +10,7 @@
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
#include <ctime>
#include <mutex>
#include <chrono>
#include <iostream>
#include <utility>
@@ -49,11 +50,31 @@ public:
bool sendDisSysCmd(const disHighAVolBusCmd cmd);
bool sendDisSysCmd(const disHighBVolBusCmd cmd);
bool sendDisSysCmd(const disLowBusCmd cmd);
bool sendMsg(const unsigned char* msg,unsigned int size){
// cout << "sendMsgTo" << ccuHost << ":" << ccuPort << endl;
udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
bool sendMsg(const unsigned char* msg, unsigned int size) {
if (!udpScoket) {
LOG_F(ERROR, "UDP socket is null in sendMsg");
return false;
}
if (!msg || size == 0) {
LOG_F(ERROR, "Invalid message parameters in sendMsg");
return false;
}
if (ccuHost.empty() || ccuPort <= 0) {
LOG_F(ERROR, "Invalid CCU address: %s:%d", ccuHost.c_str(), ccuPort);
return false;
}
return true;
try {
udpScoket->iSendMessageTo((void*)msg, size, ccuPort, ccuHost);
return true;
} catch (const XPCException& e) {
LOG_F(ERROR, "XPCException in sendMsg");
} catch (const std::exception& e) {
LOG_F(ERROR, "Exception in sendMsg: %s", e.what());
} catch (...) {
LOG_F(ERROR, "Unknown exception in sendMsg");
}
return false;
}
bool getMsgId(char *m,unsigned short &id);
@@ -64,6 +85,13 @@ public:
std::vector<std::string> sError;
std::mutex m_mutexCcuState;
std::mutex m_mutexCcuSetParm;
std::mutex m_mutexDisHighVolBus;
std::mutex m_mutexDisHighAVolBus;
std::mutex m_mutexDisHighBVolBus;
std::mutex m_mutexDisLowBus;
// std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;
std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
src/pPowerManger/upmsg/uDevice_secdistState.h
+39 -4
View File
@@ -291,7 +291,7 @@ public:
state.forwardSonar = driver.forwardSonar;
state.depth3 = driver.depth3;
state.soundVeloc = driver.soundVeloc;
state.bowRudderServo = driver.bowRudderServo1 | driver.bowRudderServo2;
state.bowRudderServo = driver.bowRudderServo1;
state.bowRudderDeploy = driver.bowRudderDeploy;
state.ctd1 = driver.ctd1;
state.waterInject = driver.waterInject;
@@ -320,8 +320,10 @@ public:
state.mastLiftingServo = driver.mastLiftingServo;
state.DVL = driver.DVL;
state.ADCP = driver.DVL; // Assuming ADCP is same as DVL
//出入水传感器1、2共用一个继电器
state.inOutLetWater1 = driver.inputWaterSensor1;
state.inOutLetWater2 = driver.inputWaterSensor2;
state.inOutLetWater2 = driver.inputWaterSensor1;
// state.inOutLetWater2 = driver.inputWaterSensor2;
// UNIT4
state.singleBeamSonar7 = driver.singleBeamSonar7;
@@ -490,7 +492,40 @@ public:
// std::cout << buildSecdistStateToJson(s) << std::endl;
return buildSecdistStateToJson(s);
};
static DriverTable fault_state;
std::string buildMsg(DriverTable driver, DriverTable driver_state, DriverTable &driver_fault_state){
static size_t f_callCount = 0; // 静态变量，记录函数调用次数
unsigned int nCheck = 10;
DeviceSecdistState s;
DriverTable driverCopy = driver;
for (size_t i = 0; i < sizeof(DriverTable); ++i)
{
unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
unsigned char* faultStatePtr = reinterpret_cast<unsigned char*>(&driver_fault_state) + i;
unsigned char* faultState = reinterpret_cast<unsigned char*>(&fault_state) + i;
if (*driverCopyPtr == *statePtr)
{
*driverCopyPtr = 2;
*faultStatePtr = 0;
*faultState = 0;
}
else
{
*faultState = *faultState + 1;
if(*faultState >= 5)
{
//只有开启失败才计入故障
if(*driverCopyPtr == 1)
*faultStatePtr = 1;
*faultState = 5;
}
}
}
f_callCount ++;
converFromDriverTable(s, driverCopy);
return buildSecdistStateToJson(s);
};
};
#endif
src/pPowerManger/upmsg/uPlan_planStop.h
+2 -2
View File
@@ -2,13 +2,13 @@
#define UPLAN_PLANSTOP_CMD_H
#include <string>
#include "../logc/loguru.hpp"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
class uPlan_planStopMsg
{
private:
/* data */
public:
std::string key = "uPlan_planStop_cmd";
std::string key = "uPlan_planStop_st";
uPlan_planStopMsg(/* args */){};
~uPlan_planStopMsg(){};
bool getTaskStop(const std::string& key, const std::string& msg) {
src/pPowerManger/upmsg/uPower_equState.h
+1 -1
View File
@@ -26,7 +26,7 @@ public:
const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg)
{
DriverTable cmd;
if (driver.loadDriverTableFromJson(msg, cmd) < 0)
if (driver.loadDriverTableFromJson(msg, cmd) < 0)
{
LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str());
}
src/pPowerManger/upmsg/uPower_pmState.h
+8 -5
View File
@@ -4,7 +4,7 @@
#include "string"
#include "json/json.h"
#include <bitset>
#include "../systemData.h"
class uPower_pmStateMsg
{
private:
@@ -37,7 +37,7 @@ public:
unsigned char m_leakage;
} state;
std::string buildMsg()
std::string buildMsg(const SystemData& data)
{
// 状态赋值
Json::Value pms;
@@ -45,13 +45,16 @@ public:
pms["workCondition_uint8"] = state.workCondition;
pms["currentMod_uint8"] = state.currentMod;
pms["powerState_uint8"] = state.powerState;
pms["faultLevel_uint8"] = state.faultLevel;
// pms["faultLevel_uint8"] = state.faultLevel;
pms["faultLevel_uint8"] = data.getFaultCodeLevel();
Json::Value faultCode_array = Json::Value(Json::arrayValue);
for(auto val : state.faultCode)
//TODO：屏蔽所有故障
for(auto faultCode : data.getFaultCode())
{
faultCode_array.append(val);
faultCode_array.append(faultCode);
}
pms["faultCode_array"] = faultCode_array;
pms["soc_uint16"] = state.soc;
test/disSysTest/PowerManagerApp copy.py
+1836
View File
File diff suppressed because it is too large Load Diff
test/disSysTest/PowerManagerApp.py
+200 -149
View File
@@ -79,7 +79,6 @@ class PowerManagerApp:
# self.disSysHostC2 = '192.168.0.140'
# 数据库配置
# self.db = DB('/home/zjk/project/H100/H100PowerManger/test/disSysTest/test.db')
self.db = DB(os.path.join(os.path.dirname(__file__), 'test.db'))
self.db.connect()
@@ -248,8 +247,15 @@ class PowerManagerApp:
options_menu.add_checkbutton(label="转发反馈", variable=self.menu_checkbox_vars['Forward_Feedback'])
options_menu.add_checkbutton(label="透传指令", variable=self.menu_checkbox_vars['Transparent_Command'])
options_menu.add_checkbutton(label="模拟模式", variable=self.menu_checkbox_vars['Simulation_Mode'])
menubar.add_cascade(label="选项", menu=options_menu)
menubar.add_cascade(label="通信选项", menu=options_menu)
dis_options_menu = tk.Menu(menubar, tearoff=0)
# 为每个按钮添加对应的命令，点击时调用相应的弹出窗口方法
dis_options_menu.add_command(label="动力母线操作", command=lambda: self.show_popup_window("动力母线操作"))
dis_options_menu.add_command(label="艏部高压操作", command=lambda: self.show_popup_window("艏部高压操作"))
dis_options_menu.add_command(label="仪表母线操作", command=lambda: self.show_popup_window("仪表母线操作"))
dis_options_menu.add_command(label="艏部低压操作", command=lambda: self.show_popup_window("艏部低压操作"))
menubar.add_cascade(label="配电操作", menu=dis_options_menu)
# 配置菜单栏
self.root.config(menu=menubar)
@@ -269,76 +275,76 @@ class PowerManagerApp:
# 高压母线状态页
high_vol_frame = ttk.Frame(self.notebook)
self.notebook.add(high_vol_frame, text="高压母线")
self.notebook.add(high_vol_frame, text="动力母线状态")
self.setup_high_vol_ui(high_vol_frame)
# 高压A母线状态页
high_a_vol_frame = ttk.Frame(self.notebook)
self.notebook.add(high_a_vol_frame, text="高压A母线")
self.notebook.add(high_a_vol_frame, text="艏部高压状态")
self.setup_high_a_vol_ui(high_a_vol_frame)
# 仪表主母线状态页
low_main_frame = ttk.Frame(self.notebook)
self.notebook.add(low_main_frame, text="仪表主母线")
self.notebook.add(low_main_frame, text="仪表母线状态")
self.setup_low_main_ui(low_main_frame)
# 仪表母线状态页
low_bus_frame = ttk.Frame(self.notebook)
self.notebook.add(low_bus_frame, text="仪表母线")
self.notebook.add(low_bus_frame, text="艏部低压状态")
self.setup_low_bus_ui(low_bus_frame)
# 控制区
control_frame = ttk.LabelFrame(main_frame, text="控制面板", padding="10")
control_frame.pack(fill=tk.BOTH, expand=True, pady=5)
control_frame.grid_rowconfigure(0, weight=1)
control_frame.grid_columnconfigure(0, weight=1)
# # 控制区
# control_frame = ttk.LabelFrame(main_frame, text="控制面板", padding="10")
# control_frame.pack(fill=tk.BOTH, expand=True, pady=5)
# control_frame.grid_rowconfigure(0, weight=1)
# control_frame.grid_columnconfigure(0, weight=1)
# 创建Canvas和Scrollbar
canvas = tk.Canvas(control_frame)
scrollbar = ttk.Scrollbar(control_frame, orient="vertical", command=canvas.yview)
canvas.configure(yscrollcommand=scrollbar.set)
# # 创建Canvas和Scrollbar
# canvas = tk.Canvas(control_frame)
# scrollbar = ttk.Scrollbar(control_frame, orient="vertical", command=canvas.yview)
# canvas.configure(yscrollcommand=scrollbar.set)
# 将Canvas和Scrollbar放入控制区
canvas.pack(side="left", fill="both", expand=True)
scrollbar.pack(side="right", fill="y")
# # 将Canvas和Scrollbar放入控制区
# canvas.pack(side="left", fill="both", expand=True)
# scrollbar.pack(side="right", fill="y")
# 创建内部Frame用于放置Notebook
inner_frame = ttk.Frame(canvas)
self.inner_frame_id = canvas.create_window((0, 0), window=inner_frame, anchor="nw")
# # 创建内部Frame用于放置Notebook
# inner_frame = ttk.Frame(canvas)
# self.inner_frame_id = canvas.create_window((0, 0), window=inner_frame, anchor="nw")
# 配置Canvas滚动区域
def configure_canvas(event):
canvas.configure(scrollregion=canvas.bbox("all"))
canvas.itemconfig(self.inner_frame_id, width=event.width)
# # 配置Canvas滚动区域
# def configure_canvas(event):
# canvas.configure(scrollregion=canvas.bbox("all"))
# canvas.itemconfig(self.inner_frame_id, width=event.width)
inner_frame.bind("<Configure>", configure_canvas)
canvas.bind("<Configure>", configure_canvas)
# inner_frame.bind("<Configure>", configure_canvas)
# canvas.bind("<Configure>", configure_canvas)
# 绑定鼠标滚轮事件
def on_mousewheel(event):
canvas.yview_scroll(int(-1*(event.delta/120)), "units")
# # 绑定鼠标滚轮事件
# def on_mousewheel(event):
# canvas.yview_scroll(int(-1*(event.delta/120)), "units")
canvas.bind_all("<MouseWheel>", on_mousewheel)
# canvas.bind_all("<MouseWheel>", on_mousewheel)
# 状态显示区 - 使用Notebook组织不同母线状态
self.notebook_c = ttk.Notebook(inner_frame)
self.notebook_c.pack(fill="both", expand=True, padx=5, pady=5)
# # 状态显示区 - 使用Notebook组织不同母线状态
# self.notebook_c = ttk.Notebook(inner_frame)
# self.notebook_c.pack(fill="both", expand=True, padx=5, pady=5)
high_vol_control_frame = ttk.Frame(self.notebook_c)
self.notebook_c.add(high_vol_control_frame, text="高压母线")
self.setup_hvb_control(high_vol_control_frame)
# high_vol_control_frame = ttk.Frame(self.notebook_c)
# self.notebook_c.add(high_vol_control_frame, text="高压母线操作")
# self.setup_hvb_control(high_vol_control_frame)
high_a_vol_control_frame = ttk.Frame(self.notebook_c)
self.notebook_c.add(high_a_vol_control_frame, text="高压A母线")
self.setup_hvba_control(high_a_vol_control_frame)
# high_a_vol_control_frame = ttk.Frame(self.notebook_c)
# self.notebook_c.add(high_a_vol_control_frame, text="艏部高压操作")
# self.setup_hvba_control(high_a_vol_control_frame)
low_main_control_frame = ttk.Frame(self.notebook_c)
self.notebook_c.add(low_main_control_frame, text="仪表主母线")
self.setup_lvmb_control(low_main_control_frame)
# low_main_control_frame = ttk.Frame(self.notebook_c)
# self.notebook_c.add(low_main_control_frame, text="仪表母线操作")
# self.setup_lvmb_control(low_main_control_frame)
low_bus_control_frame = ttk.Frame(self.notebook_c)
self.notebook_c.add(low_bus_control_frame, text="仪表母线")
self.setup_lvb_control(low_bus_control_frame)
# low_bus_control_frame = ttk.Frame(self.notebook_c)
# self.notebook_c.add(low_bus_control_frame, text="艏部低压操作")
# self.setup_lvb_control(low_bus_control_frame)
# 日志区
log_frame = ttk.LabelFrame(main_frame, text="系统日志", padding="10")
@@ -705,34 +711,51 @@ class PowerManagerApp:
frame.grid_columnconfigure(2, weight=1)
frame.grid_columnconfigure(3, weight=1)
# 电压显示
ttk.Label(frame, text="动力母线电压(V):").grid(row=0, column=0, sticky=tk.W)
self.high_vol_power_voltage = ttk.Label(frame, text="0.0V")
self.high_vol_power_voltage.grid(row=0, column=1, sticky=tk.W)
ttk.Label(frame, text="A母线电压(V):").grid(row=0, column=2, sticky=tk.W)
self.high_vol_a_voltage = ttk.Label(frame, text="0.0V")
self.high_vol_a_voltage.grid(row=0, column=3, sticky=tk.W)
# 断路器状态
ttk.Label(frame, text="断路器状态:").grid(row=2, column=0, columnspan=4, sticky=tk.W)
# 电压与断路器统一显示区域
status_frame = ttk.LabelFrame(frame, text="电压与断路器状态", padding=8)
status_frame.grid(row=0, column=0, columnspan=6, sticky=tk.W + tk.E, padx=8, pady=8)
# 电压显示（横向布局）
voltage_items = [
("动力母线电压(V):", "power_voltage"),
("艏部高压电压(V):", "a_voltage")
]
for i, (label_text, varname) in enumerate(voltage_items):
sub_frame = ttk.Frame(status_frame)
sub_frame.grid(row=0, column=i, padx=10, pady=4, sticky=tk.W)
ttk.Label(sub_frame, text=label_text, width=20, anchor="w").pack(side=tk.LEFT)
label_var = ttk.Label(sub_frame, text="0.0V", width=10, anchor="e", relief="groove")
label_var.pack(side=tk.RIGHT)
setattr(self, f"high_vol_{varname}", label_var)
# 断路器状态标签
ttk.Label(status_frame, text="断路器状态:", font=("Arial", 10, "bold")).grid(row=1, column=0, columnspan=6, sticky=tk.W, pady=(10, 4))
# 断路器状态显示区域
self.high_vol_breakers = {}
breaker_names = list(self.status_data["high_vol_bus"]["breakers"].keys())
columns_per_row = 4 # 每行 4 个断路器显示块
for i, name in enumerate(breaker_names):
ttk.Label(frame, text=name).grid(row=3+i//3, column=(i%3)*2, sticky=tk.W)
canvas = tk.Canvas(frame, width=20, height=20, bg="white")
canvas.grid(row=3+i//3, column=(i%3)*2+1, sticky=tk.W)
row = 2 + i // columns_per_row
col = i % columns_per_row
# 每个断路器显示块：使用 Frame 带边框
breaker_frame = tk.Frame(status_frame, relief="solid", borderwidth=1, padx=6, pady=2)
breaker_frame.grid(row=row, column=col, padx=6, pady=4, sticky=tk.W)
# 名称标签
ttk.Label(breaker_frame, text=name, width=20, anchor="w").pack(side=tk.LEFT)
# 圆形指示灯
canvas = tk.Canvas(breaker_frame, width=18, height=18, bg="white", highlightthickness=0)
canvas.create_oval(2, 2, 16, 16, fill="white", outline="gray")
canvas.pack(side=tk.RIGHT)
self.high_vol_breakers[name] = canvas
# 绝缘状态
ttk.Label(frame, text="动力母线绝缘:").grid(row=9, column=0, sticky=tk.W)
self.high_vol_power_insulation = ttk.Label(frame, text="正常")
self.high_vol_power_insulation.grid(row=9, column=1, sticky=tk.W)
ttk.Label(frame, text="A母线绝缘:").grid(row=9, column=2, sticky=tk.W)
self.high_vol_a_insulation = ttk.Label(frame, text="正常")
self.high_vol_a_insulation.grid(row=9, column=3, sticky=tk.W)
# 故障状态 - 扩展显示所有故障位
fault_labels1 = ["过温关机", "输出过流", "输出过压", "输出欠压", "输入过压", "输入欠压", "输出短路保护", "内部故障"]
@@ -742,31 +765,56 @@ class PowerManagerApp:
fault_frame = ttk.Frame(frame)
fault_frame.grid(row=10, column=0, columnspan=4, sticky=tk.W, pady=2)
ttk.Label(fault_frame, text="DC/DC故障字1:").grid(row=0, column=0, sticky=tk.W)
# 定义样式
style = ttk.Style()
style.configure("FaultTitle.TLabel", font=("Microsoft YaHei", 10, "bold"), background="#f0f0f0", padding=5)
style.configure("FaultLabel.TLabel", font=("Microsoft YaHei", 9))
# DC/DC故障字1
ttk.Label(fault_frame, text="DC/DC故障字1:", style="FaultTitle.TLabel").grid(row=0, column=0, columnspan=4, sticky=tk.W, pady=5)
for i, label in enumerate(fault_labels1):
ttk.Label(fault_frame, text=label).grid(row=1+i//4, column=(i%4)*2, sticky=tk.W, padx=2)
canvas = tk.Canvas(fault_frame, width=16, height=16, bg="white", highlightthickness=1)
canvas.grid(row=1+i//4, column=(i%4)*2+1, sticky=tk.W, padx=2)
pair_frame = tk.Frame(fault_frame, borderwidth=1, relief="solid", padx=4, pady=2)
pair_frame.grid(row=1+i//4, column=i%4, padx=5, pady=5, sticky=tk.W)
ttk.Label(pair_frame, text=label, style="FaultLabel.TLabel").pack(side=tk.LEFT, padx=(0, 5))
canvas = tk.Canvas(pair_frame, width=20, height=20, bg="white", highlightthickness=0)
canvas.create_oval(2, 2, 18, 18, fill="white", outline="gray")
canvas.pack(side=tk.RIGHT)
self.high_vol_dcdc_fault1_bits.append(canvas)
ttk.Label(fault_frame, text="DC/DC故障字2:").grid(row=3, column=0, sticky=tk.W)
# DC/DC故障字2
ttk.Label(fault_frame, text="DC/DC故障字2:", style="FaultTitle.TLabel").grid(row=3, column=0, columnspan=4, sticky=tk.W, pady=5)
for i, label in enumerate(fault_labels2):
ttk.Label(fault_frame, text=label).grid(row=4+i//4, column=(i%4)*2, sticky=tk.W, padx=2)
canvas = tk.Canvas(fault_frame, width=16, height=16, bg="white", highlightthickness=1)
canvas.grid(row=4+i//4, column=(i%4)*2+1, sticky=tk.W, padx=2)
pair_frame = tk.Frame(fault_frame, borderwidth=1, relief="solid", padx=4, pady=2)
pair_frame.grid(row=4+i//4, column=i%4, padx=5, pady=5, sticky=tk.W)
ttk.Label(pair_frame, text=label, style="FaultLabel.TLabel").pack(side=tk.LEFT, padx=(0, 5))
canvas = tk.Canvas(pair_frame, width=20, height=20, bg="white", highlightthickness=0)
canvas.create_oval(2, 2, 18, 18, fill="white", outline="gray")
canvas.pack(side=tk.RIGHT)
self.high_vol_dcdc_fault2_bits.append(canvas)
# # 绝缘状态 - 详细显示
# ttk.Label(frame, text="动力母线绝缘:").grid(row=16, column=0, sticky=tk.W)
# self.high_vol_power_insulation = ttk.Label(frame, text="正常")
# self.high_vol_power_insulation.grid(row=16, column=1, sticky=tk.W)
# 绝缘状态 - 详细显示
ttk.Label(frame, text="动力母线绝缘:").grid(row=16, column=0, sticky=tk.W)
self.high_vol_power_insulation = ttk.Label(frame, text="正常")
self.high_vol_power_insulation.grid(row=16, column=1, sticky=tk.W)
# ttk.Label(frame, text="A母线绝缘:").grid(row=16, column=2, sticky=tk.W)
# self.high_vol_a_insulation = ttk.Label(frame, text="正常")
# self.high_vol_a_insulation.grid(row=16, column=3, sticky=tk.W)
ttk.Label(frame, text="A母线绝缘:").grid(row=16, column=2, sticky=tk.W)
self.high_vol_a_insulation = ttk.Label(frame, text="正常")
self.high_vol_a_insulation.grid(row=16, column=3, sticky=tk.W)
# 电流值显示分组框
current_group = ttk.LabelFrame(frame, text="电流值显示", padding=10)
current_group.grid(row=16, column=0, columnspan=6, sticky=tk.W+tk.E, padx=10, pady=10)
# 电流值显示
current_labels = [
# 创建统一的显示区域（LabelFrame）
status_group = ttk.LabelFrame(frame, text="高压电系统状态", padding=10)
status_group.grid(row=16, column=0, columnspan=6, sticky=tk.W + tk.E, padx=10, pady=10)
# 所有参数标签及属性名
status_items = [
("动力母线电流(A):", "powerBusCurrent"),
("A汇流排电流(A):", "busbarACurrent"),
("DC/DC5模块电流(A):", "dcDc5ModuleCurrent"),
@@ -780,32 +828,35 @@ class PowerManagerApp:
("FB预留开关电流(A):", "fbReservedSwitchCurrent"),
("备用电流1(A):", "reservedCurrent1"),
("备用电流2(A):", "reservedCurrent2"),
("备用电流3(A):", "reservedCurrent3")
("备用电流3(A):", "reservedCurrent3"),
("冷却水压力(MPa):", "cool_water_pressure"),
("DC/DC温度(℃):", "dcdc_temp"),
("仪表失电信号:", "losspower_insulation"),
("应急失电信号:", "loss_emerpower_insulation"),
("动力母线绝缘:", "power_insulation"),
("艏高压绝缘:", "a_insulation")
]
for i, (label, _) in enumerate(current_labels):
ttk.Label(frame, text=label).grid(row=17+i//2, column=(i%2)*2, sticky=tk.W)
label_var = ttk.Label(frame, text="0.0A")
label_var.grid(row=17+i//2, column=(i%2)*2+1, sticky=tk.W)
setattr(self, f"high_vol_{current_labels[i][1]}", label_var)
# 每行显示几列（可根据实际界面宽度调整）
columns_per_row = 3
# 冷却水压力
ttk.Label(frame, text="冷却水压力(MPa):").grid(row=24, column=0, sticky=tk.W)
self.high_vol_cool_water_pressure = ttk.Label(frame, text="0.00KPa")
self.high_vol_cool_water_pressure.grid(row=24, column=1, sticky=tk.W)
# 布局显示
for i, (label_text, varname) in enumerate(status_items):
row = i // columns_per_row
col = i % columns_per_row
# 冷却水压力
ttk.Label(frame, text="DC/DC温度:").grid(row=24, column=3, sticky=tk.W)
self.high_vol_dcdc_temp = ttk.Label(frame, text="0.00摄氏度")
self.high_vol_dcdc_temp.grid(row=24, column=4, sticky=tk.W)
# 每个参数一个子 Frame（横向排列）
item_frame = ttk.Frame(status_group)
item_frame.grid(row=row, column=col, sticky=tk.W, padx=8, pady=3)
ttk.Label(item_frame, text=label_text, width=26, anchor="w").pack(side=tk.LEFT)
label_var = ttk.Label(item_frame, text="0.0", width=10, anchor="e", relief="groove")
label_var.pack(side=tk.RIGHT)
# 保存变量引用
setattr(self, f"high_vol_{varname}", label_var)
ttk.Label(frame, text="仪表失电信号:").grid(row=25, column=0, sticky=tk.W)
self.high_vol_losspower_insulation = ttk.Label(frame, text="正常")
self.high_vol_losspower_insulation.grid(row=25, column=1, sticky=tk.W)
ttk.Label(frame, text="应急失电信号").grid(row=25, column=2, sticky=tk.W)
self.high_vol_loss_emerpower_insulation = ttk.Label(frame, text="正常")
self.high_vol_loss_emerpower_insulation.grid(row=25, column=3, sticky=tk.W)
def setup_high_a_vol_ui(self, parent):
"""设置高压A母线状态界面"""
@@ -903,19 +954,6 @@ class PowerManagerApp:
bus["current"]["备用电流2"] = msg.reservedCurrent2 / 10.0
bus["current"]["FB备用开关电流"] = msg.fbReservedSwitchCurrent / 10.0
bus["current"]["备用电流3"] = msg.reservedCurrent3 / 10.0
# bus["breakers"]["燃料电池断路器"] = 1 if msg.fuelCellCircuitBreaker == 0x55 else 0
# bus["breakers"]["动力锂电池断路器"] = 1 if msg.powerLithiumBatteryCircuitBreaker == 0x55 else 0
# bus["breakers"]["推进电机断路器"] = 1 if msg.propulsionMotorCircuitBreaker == 0x55 else 0
# bus["breakers"]["锂电池组仪表断路器"] = 1 if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else 0
# bus["breakers"]["DC/DC模块断路器"] = 1 if msg.dcDc5ModuleCircuitBreaker == 0x55 else 0
# bus["breakers"]["艏高压配电盒断路器"] = 1 if msg.bowHighVoltageDistributionBoxCircuitBreaker == 0x55 else 0
# bus["breakers"]["艉FT设备45断路器"] = 1 if msg.sternFTDevice45CircuitBreaker == 0x55 else 0
# bus["breakers"]["艉舵机开关1断路器"] = 1 if msg.sternRudderSwitch1CircuitBreaker == 0x55 else 0
# bus["breakers"]["艉舵机开关2断路器"] = 1 if msg.sternRudderSwitch2CircuitBreaker == 0x55 else 0
# bus["breakers"]["FB备用断路器"] = 1 if msg.fbReservedCircuitBreaker == 0x55 else 0
# bus["breakers"]["TYZ备用断路器"] = 1 if msg.tyzReservedCircuitBreaker == 0x55 else 0
# bus["breakers"]["备用断路器"] = 1 if msg.reservedCircuitBreaker == 0x55 else 0
bus["breakers"]["燃料电池断路器"] = msg.fuelCellCircuitBreaker
bus["breakers"]["动力锂电池断路器"] = msg.powerLithiumBatteryCircuitBreaker
@@ -977,12 +1015,6 @@ class PowerManagerApp:
bus["current"]["艏舵控制箱电流"] = msg.bowRudderControlBoxCurrent / 10.0
bus["current"]["开盖启动气缸电流"] = msg.openWaterCoverStartCylinderCurrent / 10.0
# bus["breakers"]["艏FT设备123断路器"] = 1 if msg.bowFTDevice123CircuitBreaker == 0x55 else 0
# bus["breakers"]["执行机构断路器"] = 1 if msg.actuatorCircuitBreaker == 0x55 else 0
# bus["breakers"]["桅舵机控制箱断路器"] = 1 if msg.mastSteeringGearControlBoxCircuitBreaker == 0x55 else 0
# bus["breakers"]["XCZ断路器"] = 1 if msg.xczCircuitBreaker == 0x55 else 0
# bus["breakers"]["艏舵控制箱断路器"] = 1 if msg.bowRudderControlBoxCircuitBreaker == 0x55 else 0
# bus["breakers"]["开盖启动气缸断路器"] = 1 if msg.openWaterCoverStartCylinderCircuitBreaker == 0x55 else 0
bus["breakers"]["艏FT设备123断路器"] = msg.bowFTDevice123CircuitBreaker
bus["breakers"]["执行机构断路器"] = msg.actuatorCircuitBreaker
bus["breakers"]["桅舵机控制箱断路器"] = msg.mastSteeringGearControlBoxCircuitBreaker
@@ -1014,13 +1046,6 @@ class PowerManagerApp:
bus["current"]["燃料电池安全系统应急DC48V电流"] = msg.fuelCellSecuritySystemEmergencyDC48VCurrent / 10.0
bus["current"]["PLC控制电源电流"] = msg.plcControlPowerCurrent / 10.0
# bus["breakers"]["锂电池组仪表断路器"] = 1 if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else 0
# bus["breakers"]["艏低压配电盒断路器"] = 1 if msg.bowLowVoltageDistributionBoxCircuitBreaker == 0x55 else 0
# bus["breakers"]["单元4仪表48V断路器"] = 1 if msg.unit4InstrumentDC48VCircuitBreaker == 0x55 else 0
# bus["breakers"]["DC/C1直流配电板断路器"] = 1 if msg.dcC1DCDistributionPanelCircuitBreaker == 0x55 else 0
# bus["breakers"]["备用断路器1"] = 1 if msg.reservedCircuitBreaker1 == 0x55 else 0
# bus["breakers"]["备用断路器2"] = 1 if msg.reservedCircuitBreaker2 == 0x55 else 0
# bus["breakers"]["应急锂电池组2断路器"] = 1 if msg.emergencyLithiumBatteryGroup2CircuitBreaker == 0x55 else 0
bus["breakers"]["锂电池组仪表断路器"] = msg.lithiumBatteryGroupInstrumentCircuitBreaker
bus["breakers"]["艏低压配电盒断路器"] = msg.bowLowVoltageDistributionBoxCircuitBreaker
bus["breakers"]["单元4仪表48V断路器"] = msg.unit4InstrumentDC48VCircuitBreaker
@@ -1316,10 +1341,10 @@ class PowerManagerApp:
for name, state in status['breakers'].items():
if name in self.high_vol_breakers:
canvas = self.high_vol_breakers[name]
# color = 'green' if state else 'red'
# color = '' if state else 'red'
# print(name, hex(state))
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
@@ -1334,8 +1359,8 @@ class PowerManagerApp:
dcdc_fault2 = status['faults']['DC/DC故障2']
for i in range(8):
color1 = 'red' if (dcdc_fault1 & (1 << i)) else 'green'
color2 = 'red' if (dcdc_fault2 & (1 << i)) else 'green'
color1 = 'red' if (dcdc_fault1 & (1 << i)) else 'yellow'
color2 = 'red' if (dcdc_fault2 & (1 << i)) else 'yellow'
self.high_vol_dcdc_fault1_bits[i].config(bg=color1)
self.high_vol_dcdc_fault2_bits[i].config(bg=color2)
@@ -1354,8 +1379,8 @@ class PowerManagerApp:
# # 更新温度状态
self.high_vol_dcdc_temp.config(text=f"{status['dcdc_temp']} 摄氏度")
# "仪表电源丢失信号": 0,
# "应急电源丢失信号": 0
# "仪表电源丢失信号": 0,
# "应急电源丢失信号": 0
# 更新失电故障显示
self.high_vol_losspower_insulation.config(text="正常" if status['alarms']['仪表电源丢失信号'] == 0x55 else "故障")
self.high_vol_loss_emerpower_insulation.config(text="正常" if status['alarms']['应急电源丢失信号'] == 0x55 else "故障")
@@ -1381,23 +1406,23 @@ class PowerManagerApp:
for name, canvas in self.high_a_vol_breakers.items():
state = high_a_vol["breakers"].get(name, 0)
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
color = "red"
else:
color = "white"
# color = "green" if state else "red"
# color = "yellow" if state else "red"
canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
# 更新仪表主母线状态
low_main = self.status_data["low_main_bus"]
for name, canvas in self.low_main_breakers.items():
state = low_main["breakers"].get(name, 0)
# color = "green" if state else "red"
# color = "yellow" if state else "red"
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
@@ -1410,9 +1435,9 @@ class PowerManagerApp:
low_bus = self.status_data["low_bus"]
for name, canvas in self.low_bus_breakers.items():
state = low_bus["breakers"].get(name, 0)
# color = "green" if state else "red"
# color = "yellow" if state else "red"
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
@@ -1451,9 +1476,9 @@ class PowerManagerApp:
for name, canvas in self.low_main_breakers.items():
state = low_main["breakers"].get(name, 0)
# color = "green" if state else "red"
# color = "yellow" if state else "red"
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
@@ -1489,9 +1514,9 @@ class PowerManagerApp:
for name, canvas in self.low_bus_breakers.items():
state = low_bus["breakers"].get(name, 0)
# color = "green" if state else "red"
# color = "yellow" if state else "red"
if state == 0x55:
color = "green"
color = "yellow"
elif state == 0xAA:
color = "black"
elif state == 0x5A:
@@ -1608,6 +1633,32 @@ class PowerManagerApp:
self.stop_simulation()
self.sock.close()
self.root.destroy()
def show_popup_window(self, title):
"""创建并显示弹出窗口"""
popup = tk.Toplevel(self.root)
popup.title(title)
# 根据不同的标题创建对应的操作面板
if title == "动力母线操作":
frame = ttk.Frame(popup)
frame.pack(fill="both", expand=True, padx=5, pady=5)
self.setup_hvb_control(frame)
elif title == "艏部高压操作":
frame = ttk.Frame(popup)
frame.pack(fill="both", expand=True, padx=5, pady=5)
self.setup_hvba_control(frame)
elif title == "仪表母线操作":
frame = ttk.Frame(popup)
frame.pack(fill="both", expand=True, padx=5, pady=5)
self.setup_lvmb_control(frame)
elif title == "艏部低压操作":
frame = ttk.Frame(popup)
frame.pack(fill="both", expand=True, padx=5, pady=5)
self.setup_lvb_control(frame)
close_button = ttk.Button(popup, text="关闭", command=popup.destroy)
close_button.pack(pady=10)
if __name__ == "__main__":
root = tk.Tk()
app = PowerManagerApp(root)