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增加了配电app

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This commit is contained in:
zjk
2025-05-05 19:03:57 +08:00
parent 97a86acae4
commit 3e33c95cb1
25 changed files with 4583 additions and 233 deletions
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src/pPowerManger/LowerCommManager.h
+1 -1
View File
@@ -54,7 +54,7 @@ public:
msg_CcuStateFbMsg m_CcuCurrentState;
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
msg_disLowMainBusFbMsg m_disHighBVolBusCurrentState;
msg_disLowBusFbMsg m_disLowBusState;
// 配电和CCU的反馈状态时间戳
double msg_CcuStateFbMsg_Update_time;
src/pPowerManger/PowerManagerFsm.cpp
+63 -2
View File
@@ -11,6 +11,37 @@ void PowerManagerFsm::react(TaskStopEvent const &e) {
transit<RemoteControl>();
LOG_F(INFO, "使命结束");
};
void PowerManagerFsm::react(CycleTriggeredEvent const &){
if(pm->currentMod != RunMode::Debug)
{
}
}
bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){
if(pm->workCondition > WorkCondition::REMOTE_CONTROL){
LOG_F(INFO, "上电保护，执行任务时候禁止操作设备");
return false;
}
if(e.id == DeviceId::singleBeamSonar1 ||
e.id == DeviceId::singleBeamSonar2 ||
e.id == DeviceId::singleBeamSonar3 ||
e.id == DeviceId::singleBeamSonar4 ||
e.id == DeviceId::singleBeamSonar5 ||
e.id == DeviceId::singleBeamSonar6 ||
e.id == DeviceId::singleBeamSonar7 ||
e.id == DeviceId::singleBeamSonar8 ||
e.id == DeviceId::sideSonar ||
e.id == DeviceId::forwardSonar ||
e.id == DeviceId::lowFreqSonar ||
e.id == DeviceId::DVL ||
e.id == DeviceId::USBL){
if(e.cmd == 1){
LOG_F(INFO, "水声设备操作上电保护 %d 已关闭", e.id);
return false;
}
}
}
void PowerManagerFsm::react(TaskStartEvent const &e){
LOG_F(INFO, "TaskStartEvent received - type: %d, enableBowRudder: %d, enableBuoyancyAdjustment: %d", e.type, e.enableBowRudder, e.enableBuoyancyAdjustment);
switch (e.type)
@@ -44,7 +75,7 @@ void PowerManagerFsm::react(TaskStartEvent const &e){
}
}
void PowerManagerFsm::react(DevCmdExt const &e) {
void PowerManagerFsm::react(DevCmdExt const &e) {
LOG_F(INFO, "DevCmdExt received - id: %d, cmd: %d", e.id, e.cmd);
switch (e.id)
{
@@ -1704,6 +1735,33 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
break;
}
}
void StandbyState::react(DevCmdExt const &e)
{
LOG_F(INFO, "StandbyState::react(DevCmdExt const &e)");
//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 PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
{
LOG_F(INFO, "basicNavigationFault");
@@ -1712,6 +1770,7 @@ void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
LOG_F(INFO, "部分深度计失效");
pm->faultCode.push_back(0x1102);
pm->faultCode.push_back(0x1103);
pm->faultCode.push_back(0x1104);
}
if(FaultEnable::BasicNavigationFault_2)
{
@@ -2003,7 +2062,7 @@ void StandbyState::react(MasterCommandEvent const &) {
}
void StandbyState::handlePowerOn() {
PowerManagerFsm::pm->m_pmEvent = "动力电上电";
LOG_F(INFO,"动力电上电");
PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
@@ -2326,6 +2385,8 @@ void RemoteControl::entry() {
LOG_F(INFO, "进入遥控工况");
}
// void StandbyState::react(TaskStart const &)
// {
// LOG_F(INFO, "接收到任务启动信息");
src/pPowerManger/PowerManagerFsm.hpp
+9 -5
View File
@@ -23,9 +23,6 @@ enum class PowerSystemState {
struct InitEvent : tinyfsm::Event { };
struct StandbyEvent : tinyfsm::Event { };
struct TaskStopEvent : tinyfsm::Event { };
//==================状态流程事件============================
struct MasterCommandEvent : tinyfsm::Event {};
struct TaskStartEvent : tinyfsm::Event {
int type;
bool enableBowRudder;
@@ -33,14 +30,17 @@ struct TaskStartEvent : tinyfsm::Event {
TaskStartEvent() : type(0), enableBowRudder(false), enableBuoyancyAdjustment(false) {};
TaskStartEvent(int type, bool bowRudder, bool buoyancyAdjustment) : type(type), enableBowRudder(bowRudder), enableBuoyancyAdjustment(buoyancyAdjustment) {};
};
struct DeviceCmd : tinyfsm::Event { };
//==================状态流程事件============================
struct CycleTriggeredEvent : tinyfsm::Event {};
struct MasterCommandEvent : tinyfsm::Event {};
struct DeviceCmd : tinyfsm::Event {};
struct DevCmdExt : tinyfsm::Event {
int id;
int cmd;
DevCmdExt() : id(0), cmd(0) {};
DevCmdExt(int id, int cmd) : id(id), cmd(cmd) {};
};
struct FaultEvent : tinyfsm::Event {
struct FaultEvent : tinyfsm::Event {
unsigned int subDisSysFaultCode;
unsigned int disSysFaultCode;
unsigned int powerFaultCode;
@@ -78,12 +78,15 @@ public:
virtual void react(TaskStartEvent const &e);
virtual void react(FaultEvent const &e);
virtual void react(TaskStopEvent const &e);
virtual void react(CycleTriggeredEvent const &);
//操作函数
void handelPowerCmd();
void handleModCmd();
void handleWorkCmd();
void handleDeviceCmd();
bool handPowerProtection(DevCmdExt const &e);
//故障处理
void basicNavigationFault(FaultEvent const &e);
void extendedNavigationFault(FaultEvent const &e);
@@ -141,6 +144,7 @@ class StandbyState : public PowerManagerFsm {
public:
void entry() override;
void react(StandbyEvent const &) override;
void react(DevCmdExt const &e) override;
void react(MasterCommandEvent const &) override;
private:
void handlePowerOn();
src/pPowerManger/PowerManger.cpp
+1
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@@ -34,6 +34,7 @@ PowerManger::PowerManger()
sustainableTime = 0;
m_faultNum = 0;
m_ticker = 0;
m_leakage = 0;
faultCode.push_back(0);
m_pmCurrentState = {};
src/pPowerManger/PowerManger.h
+2 -2
View File
@@ -98,7 +98,8 @@ class PowerManger : public AppCastingMOOSApp
unsigned int sustainableTime;
unsigned int m_faultNum;
Driver m_driver; //设备表处理
std::string m_pmEvent; // 状态机事件描述
unsigned char m_leakage;
// std::string m_pmEvent; // 状态机事件描述
//===========================CONFIG========================================
long m_lPort;
unsigned int m_nReceiveBufferSizeKB;
@@ -106,7 +107,6 @@ class PowerManger : public AppCastingMOOSApp
double m_current_time;
unsigned int m_ticker;
int connectState;
//=============================过程函数======================================
void initControlCmd();
src/pPowerManger/UpperCommManager.cpp
+2
View File
@@ -385,6 +385,8 @@ void UpperCommManager::buildSystemReport() {
suffix = getTypeName(typeid(m_pm->sustainableTime).name());
pms["sustainableTime_int64"] = m_pm->sustainableTime;
pms["leakage_uint8"] = m_pm->m_leakage;
//2.构建燃料电池状态报告
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuState).name());
src/pPowerManger/UpperCommManager.h
+1 -1
View File
@@ -27,7 +27,7 @@ using namespace std;
//决策消息
#define DB_TO_PM_DEEPTH "uDevice_depth_st"
#define DB_TO_PM_MISSION "uPlan_taskReport_st"
#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
//外部通信消息
src/pPowerManger/ccuUdpMsg.h
+5 -5
View File
@@ -77,12 +77,12 @@ typedef struct
cChecksum checkCode;
}msg_disHVBACmd;
typedef struct
typedef struct msg_disHVBBCmd
{
m_header header;
disHighBVolBusCmd data;
cChecksum checkCode;
}msg_disHVBBCmd;
}msg_disLVMBCmd;
typedef struct
{
@@ -121,12 +121,12 @@ typedef struct {
cChecksum checkCode;
} msg_disHighAVolBusFbMsg;
// 高压母线B配电反馈
// 仪表母线配电反馈
typedef struct {
m_header header;
disHighBVolBusState data;
disLowMainBusState data;
cChecksum checkCode;
} msg_disHighBVolBusFbMsg;
} msg_disLowMainBusFbMsg;
//仪表汇流排配电反馈
typedef struct {
src/pPowerManger/pmSysvariable.h
+269 -48
View File
@@ -120,149 +120,292 @@ typedef struct {
typedef struct disHighVolBusState
{
//断路器状态
// 5: 燃料电池断路器
unsigned char fuelCellCircuitBreaker;
// 6: 动力锂电池断路器
unsigned char powerLithiumBatteryCircuitBreaker;
// 7: 推进电机断路器
unsigned char propulsionMotorCircuitBreaker;
// 8: 锂电池组仪表断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
// 9: DC/DC5模块断路器
unsigned char dcDc5ModuleCircuitBreaker;
// 10: 艏部高压配电箱断路器
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
// 11: 艉部FT装置4/5断路器
unsigned char sternFTDevice45CircuitBreaker;
// 12: 艉舵开关1断路器
unsigned char sternRudderSwitch1CircuitBreaker;
// 13: 艉舵开关2断路器
unsigned char sternRudderSwitch2CircuitBreaker;
// 14: FB预留断路器
unsigned char fbReservedCircuitBreaker;
// 15: TYZ预留断路器
unsigned char tyzReservedCircuitBreaker;
// 16: 预留断路器
unsigned char reservedCircuitBreaker;
unsigned char busInsulationLow;
unsigned char busAInsulationHigh;
unsigned char lostPower;
unsigned char lostEmerPower;
// unsigned char busInsulationLow;
// unsigned char busAInsulationHigh;
// 17: DC/DC5故障字低
// 0x00: 正常状态
// Bit0: DC/DC模块过温关机
// Bit1: 输出过流
// Bit2: 输出过压
// Bit3: 输出欠压
// Bit4: 输入过压
// Bit5: 输入欠压
// Bit6: 输出短路保护
// Bit7: 内部故障
// 18: DC/DC5故障字高
unsigned char dcDcFaultWord1;
// 0x00: 正常状态
// Bit0: 通讯故障报警
// Bit1: 工作状态
// Bit2: 冷却泵1故障
// Bit3: 冷却泵2故障
// Bit4: 冷却水泄露
unsigned char dcDcFaultWord2;
// 19: 动力母排绝缘状态（0x55 正常，0xAA 绝缘低）
unsigned char powerBusInsulationStatus;
// 20: A汇流排绝缘状态（0x55 正常，0xAA 绝缘低）
unsigned char aBusInsulationStatus;
// 21: 仪表电源状态 （0x55 正常，0xAA 故障）
unsigned char meterPowerLossSignal;
// 22: 应急电源状态 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerLossSignal;
// 23: 动力汇流排电压
unsigned short powerBusVoltage;
// 24: DC/DC5模块电流
unsigned short dcDc5ModuleCurrent;
// 25: 动力汇流排电流
unsigned short powerBusCurrent;
// 26: A汇流排电压
unsigned short busbarAVoltage;
// 27: 推进电机控制箱电流
unsigned short propulsionMotorControlBoxCurrent;
// 28: A汇流排电流
unsigned short busbarACurrent;
// 29: 锂电池组(仪表)电流
unsigned short lithiumBatteryGroupMeterCurrent;
// 30: 艏部高压配电箱电流
unsigned short bowHighVoltageDistributionBoxCurrent;
// 31: 艉部FT装置4/5电流
unsigned short sternFTDevice45Current;
// 32: TYZ预留开关电流
unsigned short tyzReservedSwitchCurrent;
// 33: 艉舵开关1电流
unsigned short sternRudderSwitch1Current;
// 34: 预留电流
unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
// 35: 艉舵开关2电流
unsigned short sternRudderSwitch2Current;
// 36: 预留电流2
unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
// 37: FB预留电流
unsigned short fbReservedSwitchCurrent;
// 38: 预留电流3
unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
// 39: 冷却水压力
unsigned short coolWaterPressure;
}disHighVolBusState;
typedef struct disHighAVolBusState
{
//5. 艏部FT装置1/2/3断路器
unsigned char bowFTDevice123CircuitBreaker;
//6. 启闭机构断路器
unsigned char actuatorCircuitBreaker;
//7. 桅杆舵机控制箱断路器
unsigned char mastSteeringGearControlBoxCircuitBreaker;
//8. XCZ断路器
unsigned char xczCircuitBreaker;
//9. 艏舵控制箱断路器
unsigned char bowRudderControlBoxCircuitBreaker;
//10. 敞水盖启动电缸断路器
unsigned char openWaterCoverStartCylinderCircuitBreaker;
//11. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char instrumentPowerFailureSignal;
//12. 应急电源失电信号 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerFailureSignal;
//13. 浸水报警
// unsigned char busbarBInsulationStatus;
unsigned char waterIngressionAlarm;
//14. 汇流排B电压
unsigned short busbarBVoltage;
//15. 汇流排B电流
unsigned short busbarBCurrent;
//16. 艏部FT装置1/2/3电流
unsigned short bowFTDevice123Current;
//17. 启闭机构电流
unsigned short actuatorCurrent;
//18. 桅杆舵机控制箱电流
unsigned short mastSteeringGearControlBoxCurrent;
//19. XCZ电流
unsigned short xczCurrent;
//20. 艏舵控制箱电流
unsigned short bowRudderControlBoxCurrent;
//21. 敞水盖启动电缸电流
unsigned short openWaterCoverStartCylinderCurrent;
}disHighAVolBusState;
typedef struct disHighBVolBusState
{
//5. 锂电池组（仪表）断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
//6. 艏部低压配电箱断路器
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
//7. UNIT4仪表DC48V断路器
unsigned char unit4InstrumentDC48VCircuitBreaker;
//8. DC-C1直流配电板断路器
unsigned char dcC1DCDistributionPanelCircuitBreaker;
//9. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//10. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//11. 应急锂电池组2断路器
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
//12. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char instrumentPowerFailureSignal;
//13. 应急电源失电信号 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerFailureSignal;
//14. 仪表汇流排绝缘低 （0x55 正常，0xAA 绝缘低）
unsigned char instrumentBusbarInsulationLow;
//15. 仪表母排电压
unsigned short instrumentBusbarVoltage;
//16. 艏部低压配电箱电流
unsigned short bowLowVoltageDistributionBoxCurrent;
//17. DC-C1（直流配电板1）仪表DC48V电流
unsigned short dcC1InstrumentDC48VCurrent;
//18. 预留电流
unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
//19. 应急锂电池组2电流
unsigned short emergencyLithiumBatteryGroup2Current;
//20. 锂电池组（仪表）电流
unsigned short lithiumBatteryGroupInstrumentCurrent;
//21. UNIT4仪表DC48V电流
unsigned short unit4InstrumentDC48VCurrent;
//22. Ushort 预留电流
unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
//23. 应急2汇流排电压
unsigned short emergency2BusbarVoltage;
//24. 复合能源管控系统应急DC48V电流
unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
//25. 燃料电池安全系统应急DC48V电流
unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
//26. PLC控制电源电流
unsigned short plcControlPowerCurrent;
}disHighBVolBusState;
}disLowMainBusState;
typedef struct disLowBusState
{
//5. UNIT1断路器
unsigned char unit1CircuitBreaker;
//6. UNIT2断路器
unsigned char unit2CircuitBreaker;
//7. UNIT3断路器
unsigned char unit3CircuitBreaker;
//8. UNIT5断路器
unsigned char unit5CircuitBreaker;
//9. 艏部PZ装置断路器
unsigned char bowPZDeviceCircuitBreaker;
//10. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//11. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//12. 应急锂电池组1断路器
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
//13. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char powerFailureSignal;
//14. 浸水报警 （0x55 正常，0xAA 故障）
unsigned char waterIngressionAlarm;
//15. 仪表母排电压
unsigned short instrumentBusbarVoltage;
//16. 仪表母排电流
unsigned short instrumentBusbarCurrent;
//17. UNIT1电流
unsigned short unit1Current;
//18. UNIT2电流
unsigned short unit2Current;
//19. UNIT3电流
unsigned short unit3Current;
//20. UNIT5电流
unsigned short unit5Current;
//21. 艏部PZ装置电流
unsigned short bowPZDeviceCurrent;
//22. 应急锂电池组1电流
unsigned short emergencyLithiumBatteryGroup1Current;
//23. 应急1汇流排电压
unsigned short emergency1BusbarVoltage;
}disLowBusState;
typedef struct disHighVolBusCmd
{
// 5: 燃料电池断路器
unsigned char fuelCellCircuitBreaker;
// 6: 动力锂电池断路器
unsigned char powerLithiumBatteryCircuitBreaker;
// 7: 推进电机断路器
unsigned char propulsionMotorCircuitBreaker;
// 8: 锂电池组仪表断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
// 9: DC/DC5模块断路器
unsigned char dcDc5ModuleCircuitBreaker;
// 10: 艏部高压配电箱断路器
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
// 11: 艉部FT装置4/5断路器
unsigned char sternFTDevice45CircuitBreaker;
// 12: 艉舵开关1断路器
unsigned char sternRudderSwitch1CircuitBreaker;
// 13: 艉舵开关2断路器
unsigned char sternRudderSwitch2CircuitBreaker;
// 14: FB预留断路器
unsigned char fbReservedCircuitBreaker;
// 15: TYZ预留断路器
unsigned char tyzReservedCircuitBreaker;
// 16: 预留断路器
unsigned char reservedCircuitBreaker;
// 17: DC/DC5模块启动
unsigned char dcdc5Module;
unsigned char inputWater;
unsigned char outputWater;
// 18: 冷却系统启动
unsigned char coolingSystem;
// unsigned char inputWater;
// unsigned char outputWater;
}disHighVolBusCmd;
typedef struct disHighAVolBusCmd
{
//5. 艏部FT装置1/2/3断路器
unsigned char bowFTDevice123CircuitBreaker;
//6. 启闭机构断路器
unsigned char actuatorCircuitBreaker;
//7. 桅杆舵机控制箱断路器
unsigned char mastSteeringGearControlBoxCircuitBreaker;
//8. XCZ断路器
unsigned char xczCircuitBreaker;
//9. 艏舵控制箱断路器
unsigned char bowRudderControlBoxCircuitBreaker;
//10. 敞水盖启动电缸断路器
unsigned char openWaterCoverStartCylinderCircuitBreaker;
}disHighAVolBusCmd;
typedef struct disHighBVolBusCmd
{
//5. 锂电池组（仪表）断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
//6. 艏部低压配电箱断路器
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
//7. UNIT4仪表DC48V断路器
unsigned char unit4InstrumentDC48VCircuitBreaker;
//8. DC-C1直流配电板断路器
unsigned char dcC1DCDistributionPanelCircuitBreaker;
//9. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//10. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//11. 应急锂电池组2断路器
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
}disHighBVolBusCmd;
}disLowMainBusCmd;
typedef struct disLowBusCmd
{
@@ -284,7 +427,7 @@ typedef struct pmState
ccuState ccustate;
disHighVolBusState bus1State;
disHighAVolBusState bus2State;
disHighBVolBusState bus3State;
disLowMainBusState bus3State;
disLowBusState bus4State;
} PmState;
@@ -439,6 +582,17 @@ namespace WorkCondition {
};
};
namespace RunMode {
enum Type : unsigned char {
//正常模式
Normal = 0,
//测试模式
Test = 1,
//调试模式
Debug = 2
};
};
namespace TaskType {
enum Type : unsigned char {
THROW_LOAD = 1, // 抛载
@@ -510,55 +664,122 @@ struct DeviceSwitchCmd
int cmd;
};
namespace DeviceId {
enum Type : unsigned char {
singleBeamSonar1 = 0,
singleBeamSonar2 = 1,
singleBeamSonar3 = 2,
singleBeamSonar4 = 3,
singleBeamSonar5 = 4,
singleBeamSonar6 = 5,
singleBeamSonar7 = 6,
singleBeamSonar8 = 7,
forwardSonar = 8,
bowCover1 = 9,
bowCover2 = 10,
bowCover3 = 11,
bowCover4 = 12,
bowCover5 = 13,
bowCover6 = 14,
bowRudderDeploy = 15,
bowRudderServo1 = 16,
bowRudderServo2 = 17,
depth1 = 18,
depth2 = 19,
depth3 = 20,
overDeep1 = 21,
overDeep2 = 22,
ctd1 = 23,
ctd2 = 24,
soundVeloc = 25,
waterInject = 26,
bowWaterlnet1 = 27,
bowWaterlnet2 = 28,
bowWaterlnet3 = 29,
bowWaterlnet4 = 30,
bowWaterlnet5 = 31,
bowWaterlnet6 = 32,
bowWaterlnet7 = 33,
bowWaterlnet8 = 34,
sideSonar = 35,
lowFreqSonar = 36,
launchControler = 37,
photoSensor = 38,
electSensor = 39,
commMast = 40,
mastLiftingServo = 41,
USBL = 42,
DVL = 43,
buoyancyAdjust1 = 44,
buoyancyAdjust2 = 45,
buoyancyAdjust3 = 46,
buoyancyAdjust4 = 47,
buoyancyAdjust5 = 48,
sternRudderServo1 = 49,
sternRudderServo2 = 50,
sternRudderServo3 = 51,
sternRudderServo4 = 52,
thruster = 53,
bowThrow = 54,
sternThrow = 55,
buoyage = 56,
ins = 57,
ntp = 58,
inputWaterSensor1 = 59,
inputWaterSensor2 = 60,
inputWaterSensor3 = 61,
};
}
namespace FaultEnable {
enum Type : bool {
BasicNavigationFault_1 = true, // 使能故障
BasicNavigationFault_2 = false,
BasicNavigationFault_3 = false,
BasicNavigationFault_4 = false,
BasicNavigationFault_5 = false,
BasicNavigationFault_6 = false,
BasicNavigationFault_7 = false,
BasicNavigationFault_8 = false,
BasicNavigationFault_9 = false,
BasicNavigationFault_10 = false,
BasicNavigationFault_2 = true,
BasicNavigationFault_3 = true,
BasicNavigationFault_4 = true,
BasicNavigationFault_5 = true,
BasicNavigationFault_6 = true,
BasicNavigationFault_7 = true,
BasicNavigationFault_8 = true,
BasicNavigationFault_9 = true,
BasicNavigationFault_10 = true,
ExtendedNavigationFault_1 = false, // 使能故障
ExtendedNavigationFault_2 = false,
ExtendedNavigationFault_3 = false,
ExtendedNavigationFault_4 = false,
ExtendedNavigationFault_1 = true, // 使能故障
ExtendedNavigationFault_2 = true,
ExtendedNavigationFault_3 = true,
ExtendedNavigationFault_4 = true,
ObstacleAvoidanceFault_1 = false, // 使能故障
ObstacleAvoidanceFault_2 = false,
ObstacleAvoidanceFault_3 = false,
ObstacleAvoidanceFault_1 = true, // 使能故障
ObstacleAvoidanceFault_2 = true,
ObstacleAvoidanceFault_3 = true,
BuoyancyControlFault_1 = false, // 使能故障
BuoyancyControlFault_2 = false,
BuoyancyControlFault_3 = false,
BuoyancyControlFault_4 = false,
BuoyancyControlFault_1 = true, // 使能故障
BuoyancyControlFault_2 = true,
BuoyancyControlFault_3 = true,
BuoyancyControlFault_4 = true,
CommunicationSystemFault_1 = false, // 使能故障
CommunicationSystemFault_2 = false,
CommunicationSystemFault_3 = false,
CommunicationSystemFault_1 = true, // 使能故障
CommunicationSystemFault_2 = true,
CommunicationSystemFault_3 = true,
PayloadSystemFault_1 = false, // 使能故障
PayloadSystemFault_2 = false,
PayloadSystemFault_3 = false,
PayloadSystemFault_4 = false,
PayloadSystemFault_5 = false,
PayloadSystemFault_6 = false,
PayloadSystemFault_7 = false,
PayloadSystemFault_1 = true, // 使能故障
PayloadSystemFault_2 = true,
PayloadSystemFault_3 = true,
PayloadSystemFault_4 = true,
PayloadSystemFault_5 = true,
PayloadSystemFault_6 = true,
PayloadSystemFault_7 = true,
EmergencySystemFault_1 = false, // 使能故障
EmergencySystemFault_2 = false,
EmergencySystemFault_3 = false,
EmergencySystemFault_4 = false,
EmergencySystemFault_5 = false,
EmergencySystemFault_6 = false,
EmergencySystemFault_1 = true, // 使能故障
EmergencySystemFault_2 = true,
EmergencySystemFault_3 = true,
EmergencySystemFault_4 = true,
EmergencySystemFault_5 = true,
EmergencySystemFault_6 = true,
SensorSystemFault_1 = false, // 使能故障
SensorSystemFault_2 = false,
SensorSystemFault_3 = false,
SensorSystemFault_1 = true, // 使能故障
SensorSystemFault_2 = true,
SensorSystemFault_3 = true,
};
}
src/pPowerManger/udpComm.cpp
+6 -6
View File
@@ -112,12 +112,12 @@ bool udpComm::getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s)
s = *p;
return true;
}
bool udpComm::getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s)
bool udpComm::getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s)
{
cChecksum sum;
msg_disHighBVolBusFbMsg *p;
p = reinterpret_cast<msg_disHighBVolBusFbMsg *>(m);
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighBVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
msg_disLowMainBusFbMsg *p;
p = reinterpret_cast<msg_disLowMainBusFbMsg *>(m);
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowMainBusFbMsg), sizeof(cChecksum)) & 0xFF;
if (sum!= p->checkCode) {
sError.push_back("DisSys HVBBus Msg Check error");
return false;
@@ -252,7 +252,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
}
case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
{
msg_disHighBVolBusFbMsg s;
msg_disLowMainBusFbMsg s;
if(getMsgFromBuff((char *)Buff,s))
{
if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
@@ -359,7 +359,7 @@ bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
m_qReceiveDisHighAVolBusBuffer.pop();
return true;
}
bool udpComm::popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m)
bool udpComm::popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m)
{
if(m_qReceiveDisHighBVolBusBuffer.empty())
return false;
src/pPowerManger/udpComm.h
+3 -3
View File
@@ -32,14 +32,14 @@ public:
bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
bool getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s);
bool getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s);
bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);
bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m);
bool popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m);
bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
bool sendCcuColCmd(const ccuColCmd cmd);
@@ -68,7 +68,7 @@ public:
std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
std::queue<std::pair<double,msg_disHighBVolBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
std::queue<std::pair<double,msg_disLowMainBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;
private: