0712提交

src/pPowerManger/upmsg/uDevice_secdistState.h

@@ -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

@@ -2,13 +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

@@ -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

@@ -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;