完善了次级配电的功能

src/pPowerManger/UpperCommManager.cpp

@@ -165,7 +165,9 @@ void UpperCommManager::processPeriodicTasks() {
     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);
-    strJson =  m_secdistStateMsg.buildMsg(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);
     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));

src/pPowerManger/UpperCommManager.h

@@ -36,7 +36,7 @@ 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_MISSION "uPlan_taskStart_cmd"
 #define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
 
 //外部通信消息

src/pPowerManger/systemData.h

@@ -162,8 +162,7 @@ public:
     //锂电池故障字段
     unsigned char powfaultCode;
     unsigned char insfaultCode;
-    //配电系统故障码
+
-    std::set<unsigned int> disSysFaultCode;
 
     // MOOSD 状态
     bool moosd_status;
@@ -477,6 +476,7 @@ public:
     SystemData(){
         //初始化变量全部为0
         memset(this, 0, sizeof(SystemData));
+        disSysFaultCode.clear();
     };
     ~SystemData(){};
 
@@ -656,16 +656,19 @@ public:
         //心跳计数器
         heartbeat = data.heartbeat;
     }
-    // std::mutex faultCodeMutex;  // 添加互斥锁
+    std::set<unsigned int> disSysFaultCode;
+    mutable std::mutex faultCodeMutex;
     void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus, unsigned int faultCode)
     {
-        // std::lock_guard<std::mutex> lock(faultCodeMutex);  
+        std::lock_guard<std::mutex> lock(faultCodeMutex);  
-        breakerStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
+        unsigned char newStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
-        // if(breakerStatus == 2) {
+        breakerStatus = newStatus;  // 保证状态更新也是原子的
-        //     disSysFaultCode.insert(faultCode);
+        
-        // } else {
+        if(newStatus == 2) {
-        //     disSysFaultCode.erase(faultCode);
+            disSysFaultCode.insert(faultCode);
-        // }
+        } else {
+            disSysFaultCode.erase(faultCode);
+        }
     }
     void updateSystemData(disHighVolBusState data){
         updateBreakerFault(power_bus_status.fuelCellCircuitBreaker, data.fuelCellCircuitBreaker, 1);
@@ -699,7 +702,15 @@ public:
         // if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
 
         power_bus_status.emergencyPowerLossSignal = data.emergencyPowerLossSignal == 0x55 ? 0 : 1;
+
         // if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
+        {
+            std::lock_guard<std::mutex> lock(faultCodeMutex);  
+            if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
+            if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
+            if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
+            if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
+        }
         
         //温度
         power_bus_status.dcDcTemperature = data.dcDcTemperature-40;
@@ -740,6 +751,11 @@ public:
 
         power_a_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
         // if(power_a_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(39); else disSysFaultCode.erase(39);
+        {
+            std::lock_guard<std::mutex> lock(faultCodeMutex);  
+            if(power_a_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(39); else disSysFaultCode.erase(39);
+            if(power_a_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(38); else disSysFaultCode.erase(38);
+        }
         
         //浸水报警
         power_a_bus_status.waterIngressionAlarm = data.waterIngressionAlarm;
@@ -775,6 +791,12 @@ public:
         //绝缘状态
         instrument_main_bus_status.instrumentBusbarInsulationLow = data.instrumentBusbarInsulationLow == 0x55 ? 0 : 1;
         // if(instrument_main_bus_status.instrumentBusbarInsulationLow == 1) disSysFaultCode.insert(42); else disSysFaultCode.erase(43);
+        {
+            std::lock_guard<std::mutex> lock(faultCodeMutex);  
+            if(instrument_main_bus_status.instrumentBusbarInsulationLow == 1) disSysFaultCode.insert(42); else disSysFaultCode.erase(43);
+            if(instrument_main_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(41); else disSysFaultCode.erase(42);
+            if(instrument_main_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(40); else disSysFaultCode.erase(41);
+        }
         
         //电压电流参数
         instrument_main_bus_status.instrumentBusbarVoltage = data.instrumentBusbarVoltage * 0.1;
@@ -807,6 +829,11 @@ public:
 
         instrument_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
         // if(instrument_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(45); else disSysFaultCode.erase(45);
+        {
+            std::lock_guard<std::mutex> lock(faultCodeMutex);  
+            if(instrument_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(45); else disSysFaultCode.erase(45);
+            if(instrument_bus_status.powerFailureSignal == 1) disSysFaultCode.insert(44); else disSysFaultCode.erase(44);
+        }
         
         //浸水报警
         instrument_bus_status.waterIngressionAlarm = data.waterIngressionAlarm;
@@ -823,6 +850,4 @@ public:
         instrument_bus_status.emergency1BusbarVoltage = data.emergency1BusbarVoltage * 0.1;
     }
 };
-
-
 #endif

src/pPowerManger/upmsg/uDevice_secdistState.h

@@ -4,6 +4,7 @@
 #include <json/json.h>
 #include "../driver.h"
 #include "../logc/loguru.hpp"
+#include <cstring> 
 
 class uDevice_secdistStateMsg
 {
@@ -329,7 +330,7 @@ public:
         state.bowThrow = driver.bowThrow;
         state.depth2 = driver.depth2;
         state.thruster = driver.thruster;
-        state.haulingMachine = 0; // No corresponding field in DriverTable
+        state.haulingMachine = 2; // No corresponding field in DriverTable
         state.buoyancyAdjust4 = driver.buoyancyAdjust4;
         state.buoyancyAdjust5 = driver.buoyancyAdjust5;
         state.sternRudderServo1 = driver.sternRudderServo1;
@@ -337,7 +338,7 @@ public:
         state.sternRudderServo3 = driver.sternRudderServo3;
         state.sternRudderServo4 = driver.sternRudderServo4;
         state.ctd2 = driver.ctd2;
-        state.commDevStern = 0; // No corresponding field in DriverTable
+        state.commDevStern = 2; // No corresponding field in DriverTable
         state.inOutLetWater3 = driver.inputWaterSensor3;
 
         // UNIT5
@@ -350,7 +351,7 @@ public:
         // driver.overDeep1 
         // driver.overDeep2
         // driver.ntp
-        state.dragSonar = 0; // Assuming dragSonar is same as lowFreqSonar
+        state.dragSonar = 2; // Assuming dragSonar is same as lowFreqSonar
 
 
         return true;
@@ -449,6 +450,46 @@ public:
         converToDriverTable(s,driver);
         return true;
     };
+
+    std::string buildMsg(DriverTable driver, DriverTable driver_state){
+        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;
+            if (*driverCopyPtr == *statePtr) {
+                *driverCopyPtr = 2;
+            }
+        }
+        converFromDriverTable(s, driverCopy);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
+        return buildSecdistStateToJson(s);
+    };
+
+    std::string buildMsg(DriverTable driver, DriverTable driver_state,  unsigned int nCheck){
+        static size_t callCount = 0; // 静态变量，记录函数调用次数
+        DeviceSecdistState s;
+        DriverTable driverCopy = driver;
+        if (nCheck > 0 && callCount % nCheck == 0)
+        {
+            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;
+                if (*driverCopyPtr == *statePtr) {
+                    *driverCopyPtr = 2;
+                }
+            }
+        } 
+        else {
+            memset(&driverCopy, 2, sizeof(DriverTable));
+        }
+        callCount ++;
+        converFromDriverTable(s, driverCopy);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
+        return buildSecdistStateToJson(s);
+    };
 };
 
 

src/pPowerManger/upmsg/uPlan_taskStart.h

@@ -4,14 +4,14 @@
 #include "../pmSysvariable.h"
 #include "../logc/loguru.hpp"
 //决策消息
-#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+#define DB_TO_PM_MISSION "uPlan_taskStart_st"
 
 class uPlan_taskStartMsg
 {
 private:
     /* data */
 public:
-    std::string key = "uPlan_taskStart_cmd";
+    std::string key = "uPlan_taskStart_st";
     uPlan_taskStartMsg(/* args */){};
     ~uPlan_taskStartMsg(){};
 

src/pPowerManger/upmsg/uPower_disSysState.h

@@ -133,8 +133,9 @@ public:
             }
         }
     }m_state_of_bus_lv_a;
-    
+
-    std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
+    // std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
+    std::string buildMsg(const SystemData& data,disSysBreakerList currentDisBreakerState)
     {
         //构建配电系统状态报告
         Json::Value dis;
@@ -182,11 +183,14 @@ public:
         m_state_of_bus_lv_a.set_emergency_lithium_battery_group_1_breaker((data.instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker == 1));
         dis["LVolBusBreaker_uint16"]  = m_state_of_bus_lv.relay_states.to_ulong();
         
-        //TODO: 构建配电系统故障码
+        //构建配电系统故障码
         Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
-        for(auto val : data.disSysFaultCode)
         {
-            faultCodeDis_array.append(val);
+            std::lock_guard<std::mutex> lock(data.faultCodeMutex);
+            for(auto val : data.disSysFaultCode)
+            {
+                faultCodeDis_array.append(val);
+            }
         }        
         dis["faultCode_array"] = faultCodeDis_array;
 

src/pPowerManger/upmsg/uPower_fcsState.h

@@ -24,7 +24,8 @@ public:
         unsigned int errorCode : 8;        // 错误代码
     } state;
 
-    std::string buildMsg(SystemData data)
+    // std::string buildMsg(SystemData data)
+    std::string buildMsg(const SystemData& data)
     {
         //TODO:根据最新协议修改
         Json::Value fcs;

src/pPowerManger/upmsg/uPower_liBatState.h

@@ -15,8 +15,8 @@ public:
     ~uPower_liBatStateMsg() {};
     std::string key = "uPower_liBatState_st";
 
-
+    // std::string buildMsg(SystemData data)
-    std::string buildMsg(SystemData data)
+    std::string buildMsg(const SystemData& data)
     {
         //TODO:根据最新协议修改
         Json::Value lbs;

test/disSysTest/PowerManagerApp.py

@@ -56,6 +56,8 @@ class PowerManagerApp:
         # 上位机端口
         self.udp_control_port = 5001
         self.udp_control_host = "192.168.0.223"
+        # self.udp_control_host = "127.0.0.1"
+
         # 下位机端口
         # self.udp_ip = "127.0.0.1"
         self.udp_ip = "192.168.0.140"