zjk/H100PowerManger
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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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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();
}