diff --git a/bin/pPMtest.moos b/bin/pPMtest.moos deleted file mode 100644 index 3083268..0000000 --- a/bin/pPMtest.moos +++ /dev/null @@ -1,9 +0,0 @@ -//------------------------------------------------ -// pPMtest config block - -ProcessConfig = pPMtest -{ - AppTick = 4 - CommsTick = 4 -} - diff --git a/data/msg/uPower_fcsState_st.json b/data/msg/uPower_fcsState_st.json index 31141fb..ec747fa 100644 --- a/data/msg/uPower_fcsState_st.json +++ b/data/msg/uPower_fcsState_st.json @@ -1,30 +1 @@ -{ - "backpressure1_fp32": 0.0, - "backpressure2_fp32": 0.0, - "ch4oConcent1_fp32": 0.0, - "ch4oConcent2_fp32": 0.0, - "ch4o_fp32": 0.0, - "excTemp_fp32": 0.0, - "faultCode1_uint16": 0, - "faultCode2_uint16": 0, - "faultCode3_uint16": 0, - "fcuCurIns_fp32": 0.0, - "fcuCurPower_fp32": 0.0, - "fcuCur_fp32": 0.0, - "fcuFaultLeve_uint8": 0, - "fcuOutIns_fp32": 0.0, - "fcuOutPower_fp32": 0.0, - "fcuState_uint8": 0, - "fcuVolIns_fp32": 0.0, - "fcuVolPower_fp32": 0.0, - "fcuVol_fp32": 0.0, - "flameDet_uint8": 0, - "h2Concent1_fp32": 0.0, - "h2Concent2_fp32": 0.0, - "o2Concent1_fp32": 0.0, - "o2Concent2_fp32": 0.0, - "o2Level_fp32": 0.0, - "o2_fp32": 0.0, - "powLimit_fp32": 0.0, - "powerGen_fp32": 0.0 -} \ No newline at end of file +null \ No newline at end of file diff --git a/data/msg/uPower_liBatState_st.json b/data/msg/uPower_liBatState_st.json index b3e9fd4..ec747fa 100644 --- a/data/msg/uPower_liBatState_st.json +++ b/data/msg/uPower_liBatState_st.json @@ -1,38 +1 @@ -{ - "fcuCurToInsLimit1_uint8": 0, - "fcuCurToinsLimit2_uint8": 0, - "insBatCurElect_uint16": 0, - "insBatLimit_uint16": 0, - "insBatSoc_uint8": 0, - "insBatTotalElect_uint16": 0, - "insChargeState_uint8": 0, - "insCurSocHold1_uint8": 0, - "insCurSocHold2_uint8": 0, - "insCurSocHold3_uint8": 0, - "insCurrent_uint16": 0, - "insLinkVol_uint16": 0, - "insNegRelayState_uint8": 0, - "insNegRes_uint16": 0, - "insPackVol_uint16": 0, - "insPosRelayState_uint8": 0, - "insPosRes_uint16": 0, - "insfaultCode_uint8": 0, - "powBatCurElect_uint16": 0, - "powBatSoc_uint8": 0, - "powBatTotalElect_uint16": 0, - "powChargeState_uint8": 0, - "powCurSocHold1_uint8": 0, - "powCurSocHold2_uint8": 0, - "powCurSocHold3_uint8": 0, - "powCurToInsLimit1_uint8": 0, - "powCurToinsLimit2_uint8": 0, - "powCur_uint16": 0, - "powLinkVol_uint16": 0, - "powNegRelayState_uint8": 0, - "powNegRes_uint16": 0, - "powPosRelayState_uint8": 0, - "powPosRes_uint16": 0, - "powerBatLimit_uint16": 0, - "powerPackVol_uint16": 0, - "powfaultCode_uint8": 0 -} \ No newline at end of file +null \ No newline at end of file diff --git a/src/pPowerManger/CMakeLists.txt b/src/pPowerManger/CMakeLists.txt index 4cef8d9..9d7b35d 100644 --- a/src/pPowerManger/CMakeLists.txt +++ b/src/pPowerManger/CMakeLists.txt @@ -18,8 +18,25 @@ endif (${WIN32}) # Find SQLite3 package # find_package(SQLite3 REQUIRED) +SET(FSMLIB_SRC + fsm/PowerManagerFsm.cpp # 更新静态库的源文件路径 + fsm/CruiseMode.cpp + fsm/DJMode.cpp + fsm/FaultState.cpp + fsm/FloatAdjust.cpp + fsm/FloatDown.cpp + fsm/HighSpeedMode.cpp + fsm/InitState.cpp + fsm/RemoteControl.cpp + fsm/ShoreBasedReady.cpp + fsm/StandbyState.cpp + fsm/SurfaceSurvey.cpp + fsm/UnderwaterSurvey.cpp + fsm/WaterBasedReady.cpp +) + SET(SRC - PowerManagerFsm.cpp + ${FSMLIB_SRC} PowerManger.cpp PowerManger_Info.cpp udpComm.cpp @@ -55,9 +72,6 @@ SET(SQLITEDB_SRC SQLiteDB.cpp ) -SET(FSMLIB_SRC - PowerManagerFsm.cpp) - SET(DRIVER_SRC driver.cpp) diff --git a/src/pPowerManger/LowerCommManager.cpp b/src/pPowerManger/LowerCommManager.cpp index 0db30f3..7231908 100644 --- a/src/pPowerManger/LowerCommManager.cpp +++ b/src/pPowerManger/LowerCommManager.cpp @@ -77,8 +77,11 @@ bool LowerCommManager::initUdpComm(){ } void LowerCommManager::processPeriodicTasks() { sendCcuCommand(m_pm->m_CcuColCmd); + //延时5ms + usleep(5000); sendDisSysCommand(m_pm->m_targetDisBreakerState); m_udpComm->clearMsgQueue(); + } bool LowerCommManager::sendCcuCommand(const ccuColCmd cmd){ @@ -105,6 +108,7 @@ bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){ a.reservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.reservedCircuitBreaker); a.fbReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fbReservedCircuitBreaker); m_udpComm->sendDisSysCmd(a); + usleep(5000); //b. 高压汇流排A断路器 disHighAVolBusCmd b; b.bowFTDevice123CircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowFTDevice123CircuitBreaker); @@ -114,6 +118,7 @@ bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){ b.bowRudderControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowRudderControlBoxCircuitBreaker); b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(cmd.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker); m_udpComm->sendDisSysCmd(b); + usleep(5000); //c. 高压汇流排B断路器 disHighBVolBusCmd c; c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker); @@ -124,6 +129,7 @@ bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){ c.reservedCircuitBreaker2 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker2); c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(cmd.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker); m_udpComm->sendDisSysCmd(c); + usleep(5000); //d. 闭合低压汇流排断路器 disLowBusCmd d; d.unit1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit1CircuitBreaker); @@ -135,6 +141,7 @@ bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){ d.reservedCircuitBreaker2 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker2); d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker); m_udpComm->sendDisSysCmd(d); + usleep(5000); //将指令写入数据库 // m_pm->m_db->insertDisSysCmd(a); // m_pm->m_db->insertDisSysCmd(b); @@ -157,6 +164,8 @@ bool LowerCommManager::updatePoweSystemStates(){ m_udpComm->popMsgFormQueue(time,m_CcuCurrentState); m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data; // m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库 + //DEBUG + coutMsg(m_CcuCurrentState); msg_CcuStateFbMsg_Update_time = time; } if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty()) @@ -256,7 +265,7 @@ bool LowerCommManager::listenThreadFunc() try { int nRead = m_udpComm->udpScoket->iRecieveMessage(Buff, sizeof(Buff)); - //cout< 0) { try { @@ -342,3 +351,112 @@ bool LowerCommManager::checkConnection() { m_pm->connectState =5; } + +void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){ + os << std::hex << std::setfill('0') << std::uppercase; + + os << "起始符1 (start1): 0x" << std::setw(2) << static_cast(p.header.start1) << "\n"; + os << "起始符2 (start2): 0x" << std::setw(2) << static_cast(p.header.start2) << "\n"; + os << "标识符 (identifier): 0x" << std::setw(4) << p.header.id << "\n"; + os << std::dec << "数据长度 (length): " << p.header.length << "\n"; + + + os << "运行模式 (fc_mode): 0x" << std::hex << std::setw(2) << static_cast(p.data.fc_mode) << "\n"; + os << "燃料电池状态 (fc_status): 0x" << std::setw(2) << static_cast(p.data.fc_status) << "\n"; + os << "故障等级 (fc_fault_level): 0x" << std::setw(2) << static_cast(p.data.fc_fault_level) << "\n"; + + os << std::dec; + os << "输出功率限制 (output_power_limit): " << p.data.output_power_limit << " W\n"; + os << "累计发电时间 (total_generation_time): " << p.data.total_generation_time * 0.1 << " 小时\n"; + os << "发电总功率 (total_generation_power): " << p.data.total_generation_power << " W\n"; + os << "一级故障字 (fault_level_1): 0x" << std::hex << p.data.fault_level_1 << "\n"; + os << "二级故障字 (fault_level_2): 0x" << p.data.fault_level_2 << "\n"; + os << "三级故障字 (fault_level_3): 0x" << p.data.fault_level_3 << "\n"; + os << "四级故障字 (fault_level_4): 0x" << p.data.fault_level_4 << "\n"; + + os << std::dec; + os << "储氢剩余容量 (hydrogen_capacity): " << static_cast(p.data.hydrogen_capacity) << "%\n"; + os << "液氧剩余容量 (liquid_oxygen_capacity): " << static_cast(p.data.liquid_oxygen_capacity) << "%\n"; + os << "钯膜最高温度 (palladium_temp): " << p.data.palladium_temp << " ℃\n"; + os << "主水路压力 (main_pipe_pressure): " << p.data.main_pipe_pressure * 0.01 << " kPa\n"; + os << "辅水路压力 (aux_pipe_pressure): " << p.data.aux_pipe_pressure * 0.01 << " kPa\n"; + + os << "舱室压力1 (cabin_pressure1): " << p.data.cabin_pressure1 * 0.01 << " kPa\n"; + os << "舱室压力2 (cabin_pressure2): " << p.data.cabin_pressure2 * 0.01 << " kPa\n"; + os << "舱室温度1 (cabin_temp1): " << p.data.cabin_temp1 * 0.01 << " ℃\n"; + os << "舱室温度2 (cabin_temp2): " << p.data.cabin_temp2 * 0.01 << " ℃\n"; + os << "舱室湿度1 (cabin_humidity1): " << p.data.cabin_humidity1 * 0.01 << " %RH\n"; + os << "舱室湿度2 (cabin_humidity2): " << p.data.cabin_humidity2 * 0.01 << " %RH\n"; + + os << "火焰探测器1状态 (flame_detector1): 0x" << std::hex << static_cast(p.data.flame_detector1) << "\n"; + os << "火焰探测器2状态 (flame_detector2): 0x" << static_cast(p.data.flame_detector2) << "\n"; + + os << std::dec; + os << "氢气浓度1 (h2_concentration1): " << p.data.h2_concentration1 * 0.01 << "% LEL\n"; + os << "氢气浓度2 (h2_concentration2): " << p.data.h2_concentration2 * 0.01 << "% LEL\n"; + os << "氢气浓度3 (h2_concentration3): " << p.data.h2_concentration3 * 0.01 << "% LEL\n"; + os << "氧气浓度1 (o2_concentration1): " << p.data.o2_concentration1 * 0.01 << "% LEL\n"; + os << "氧气浓度2 (o2_concentration2): " << p.data.o2_concentration2 * 0.01 << "% LEL\n"; + os << "甲醇浓度1 (ch3oh_concentration1): " << p.data.ch3oh_concentration1 * 0.01 << "% LEL\n"; + os << "甲醇浓度2 (ch3oh_concentration2): " << p.data.ch3oh_concentration2 * 0.01 << "% LEL\n"; + + for (int i = 0; i < 18; ++i) + os << "保留字段 reserved1[" << i << "]: 0x" << std::hex << p.data.reserved1[i] << "\n"; + + for (int i = 0; i < 6; ++i) + os << "动力电池报警标志 dyn_alarm_flag[" << i << "]: 0x" << std::hex << static_cast(p.data.dyn_alarm_flag[i]) << "\n"; + for (int i = 0; i < 6; ++i) + os << "仪表电池报警标志 ins_alarm_flag[" << i << "]: 0x" << std::hex << static_cast(p.data.ins_alarm_flag[i]) << "\n"; + + os << "仪表正极/充电继电器状态 (ins_relay_status1): 0x" << std::hex << static_cast(p.data.ins_relay_status1) << "\n"; + os << "仪表预充/负极继电器状态 (ins_relay_status2): 0x" << static_cast(p.data.ins_relay_status2) << "\n"; + os << "动力正极/充电继电器状态 (dyn_relay_status1): 0x" << static_cast(p.data.dyn_relay_status1) << "\n"; + os << "动力预充/负极继电器状态 (dyn_relay_status2): 0x" << static_cast(p.data.dyn_relay_status2) << "\n"; + + os << std::dec; + os << "仪表最大放电功率 (ins_max_discharge_power): " << p.data.ins_max_discharge_power * 0.05 << " kW\n"; + os << "动力最大放电功率 (dyn_max_discharge_power): " << p.data.dyn_max_discharge_power * 0.05 << " kW\n"; + + os << "仪表SOC (ins_soc): " << static_cast(p.data.ins_soc) << "%\n"; + os << "动力SOC (dyn_soc): " << static_cast(p.data.dyn_soc) << "%\n"; + + os << "仪表电池总能量 (ins_total_energy): " << p.data.ins_total_energy << " kWh\n"; + os << "动力电池总能量 (dyn_total_energy): " << p.data.dyn_total_energy << " kWh\n"; + + os << "仪表输入功率 (ins_power_input): " << p.data.ins_power_input << " kW\n"; + os << "动力输入功率 (dyn_power_input): " << p.data.dyn_power_input << " kW\n"; + + os << "仪表充电状态 (ins_charge_status): 0x" << std::hex << static_cast(p.data.ins_charge_status) << "\n"; + os << "动力充电状态 (dyn_charge_status): 0x" << static_cast(p.data.dyn_charge_status) << "\n"; + + os << std::dec; + os << "仪表LINK电压: " << p.data.ins_voltage_link * 0.01 << " V\n"; + os << "仪表PACK电压: " << p.data.ins_voltage_pack * 0.01 << " V\n"; + os << "仪表电流: " << p.data.ins_current * 0.01 << " A\n"; + os << "仪表正端绝缘电阻: " << p.data.ins_resistance_pos << " kΩ\n"; + os << "仪表负端绝缘电阻: " << p.data.ins_resistance_neg << " kΩ\n"; + os << "动力LINK电压: " << p.data.dyn_voltage_link * 0.01 << " V\n"; + os << "动力PACK电压: " << p.data.dyn_voltage_pack * 0.01 << " V\n"; + os << "动力电流: " << p.data.dyn_current * 0.01 << " A\n"; + os << "动力正端绝缘电阻: " << p.data.dyn_resistance_pos << " kΩ\n"; + os << "动力负端绝缘电阻: " << p.data.dyn_resistance_neg << " kΩ\n"; + + os << "仪表紧急状态 (ins_emergency_status): 0x" << std::hex << static_cast(p.data.ins_emergency_status) << "\n"; + os << "动力紧急状态 (dyn_emergency_status): 0x" << static_cast(p.data.dyn_emergency_status) << "\n"; + + for (int i = 0; i < 2; ++i) + os << "保留字段 reserved2[" << i << "]: 0x" << std::hex << static_cast(p.data.reserved2[i]) << "\n"; + for (int i = 0; i < 6; ++i) + os << "SOC门限值 ins_soc_threshold" << i+1 << ": 0x" << std::hex << static_cast(p.data.ins_soc_threshold1) << "\n"; + for (int i = 0; i < 4; ++i) + os << "功率限制 ins_power_limit" << i+1 << ": 0x" << std::hex << static_cast(p.data.ins_power_limit1) << "\n"; + + os << "设备在线状态1 (device_online_flag1): 0x" << std::hex << p.data.device_online_flag1 << "\n"; + os << "设备在线状态2 (device_online_flag2): 0x" << p.data.device_online_flag2 << "\n"; + + // os << "保留字段 reserved3: 0x" << p.data.reserved1 << "\n"; + os << "主机心跳 (reserved4): 0x" << p.data.heartbeat << "\n"; + os << "校验和 (checksum): 0x" << p.checkCode << "\n"; + + os << std::dec; +} \ No newline at end of file diff --git a/src/pPowerManger/LowerCommManager.h b/src/pPowerManger/LowerCommManager.h index cc75d78..f826c27 100644 --- a/src/pPowerManger/LowerCommManager.h +++ b/src/pPowerManger/LowerCommManager.h @@ -46,6 +46,7 @@ public: // 启动/停止监听线程 void startListenThread(); void stopListenThread(); + void coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os = std::cout); //转换函数 char getBreakerOption(char cmd); diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp index 68897a0..a01e260 100644 --- a/src/pPowerManger/PowerManger.cpp +++ b/src/pPowerManger/PowerManger.cpp @@ -126,6 +126,8 @@ bool PowerManger::Iterate() AppCastingMOOSApp::Iterate(); // 打印当前状态 // cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState(); + CycleTriggeredEvent cycleEvent; + PowerManagerFsm::dispatch(cycleEvent); faultLevel = getFaultLevel(); if (m_ticker++ % 5 == 0) { @@ -263,14 +265,15 @@ bool PowerManger::writeDataToDB() int PowerManger::checkError() { + //TODO：更新协议 //1.检查复合管控器状态 - if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 || - m_pmCurrentState.ccustate.fcuGZ_1L != 0 || - m_pmCurrentState.ccustate.fcuGZ_2H != 0 || - m_pmCurrentState.ccustate.fcuGZ_2L != 0 || - m_pmCurrentState.ccustate.fcuGZ_3H != 0 || - m_pmCurrentState.ccustate.fcuGZ_3L != 0 || - m_pmCurrentState.ccustate.insEmergencyStatusWord != 0) + // if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 || + // m_pmCurrentState.ccustate.fcuGZ_1L != 0 || + // m_pmCurrentState.ccustate.fcuGZ_2H != 0 || + // m_pmCurrentState.ccustate.fcuGZ_2L != 0 || + // m_pmCurrentState.ccustate.fcuGZ_3H != 0 || + // m_pmCurrentState.ccustate.fcuGZ_3L != 0 || + // m_pmCurrentState.ccustate.insEmergencyStatusWord != 0) return 0; //2.检查断路器状态 } diff --git a/src/pPowerManger/PowerManger.h b/src/pPowerManger/PowerManger.h index 31a7b41..6ebd1ed 100644 --- a/src/pPowerManger/PowerManger.h +++ b/src/pPowerManger/PowerManger.h @@ -31,16 +31,16 @@ #include "json/json.h" #include "udpComm.h" #include "pmSysvariable.h" -#include "PowerManagerFsm.hpp" +#include "fsm/PowerManagerFsm.hpp" // #include "SQLiteDB.h" #include "driver.h" #include "LowerCommManager.h" #include "UpperCommManager.h" -#define IPORT 5000 -#define CCUPORT 5001 -#define CCUHOST "127.0.0.1" +#define IPORT 5001 +#define CCUPORT 7000 +#define CCUHOST "192.168.0.140" #define MAX_UDP_PKT_SIZE 65535 #define SKEW_TOLERANCE 5 @@ -115,7 +115,6 @@ class PowerManger : public AppCastingMOOSApp LowerCommManager* m_lowerCommManager; UpperCommManager* m_upperCommManager; - // // 状态机实例 // PowerManagerFsm m_fsm; public: diff --git a/src/pPowerManger/UpperCommManager.cpp b/src/pPowerManger/UpperCommManager.cpp index 153253f..a947e7a 100644 --- a/src/pPowerManger/UpperCommManager.cpp +++ b/src/pPowerManger/UpperCommManager.cpp @@ -1,9 +1,9 @@ #include "UpperCommManager.h" #include "PowerManger.h" #include "driver.h" -#include "PowerManagerFsm.hpp" +#include "fsm/PowerManagerFsm.hpp" -UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {} +UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}; bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) { if(key == DB_TO_PM_MSCMD) { @@ -15,11 +15,29 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) } else if(key == DB_TO_PM_EQUIPMENTCMD) { m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson); + vector devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson); + if (devCmdExt.empty()) { + LOG_F(WARNING, "控制指令"); + } + else { + for (auto& cmd : devCmdExt) { + DevCmdExt event(cmd.id, cmd.cmd); + PowerManagerFsm::dispatch(event); + } + } return true; } - else if(key == DB_TO_PM_SUBDISSTATE) { - m_pm->m_subDisSysState = getSubDisState(key, strJson); - return true; + // else if(key == DB_TO_PM_SUBDISSTATE) { + // m_pm->m_subDisSysState = getSubDisState(key, strJson); + // return true; + // } + // 次级配电状态处理 + else if(key == m_secdistStateMsg.key_fb) { + 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 + //m_pm->m_subDisSysState = m_pm->m_deviceState; + return true; } else if(key == DB_TO_PM_DEEPTH) { m_pm->m_depth = getDeepth(key, strJson); @@ -97,6 +115,7 @@ const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, cons if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) { cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg << MOOS::ConsoleColours::reset << endl; + LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str()); } return cmd; } @@ -107,6 +126,7 @@ const DriverTable UpperCommManager::getSubDisState(const std::string& key, const if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) { cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg << MOOS::ConsoleColours::reset << endl; + LOG_F(WARNING, "get sub dis state error:%s", msg.c_str()); } } @@ -120,21 +140,22 @@ const int UpperCommManager::getDeepth(const std::string& key, const std::string& std::istringstream stream(msg); if (!Json::parseFromStream(builder, stream, &root, &errs)) { std::cerr << "JSON解析失败: " << errs << std::endl; + LOG_F(WARNING, "JSON解析失败: %s", errs.c_str()); return -1; } // 检查并读取深度数组 - if (root.isMember("value_array_uint16") && root["value_array_uint16"].isArray()) { - const Json::Value& array = root["value_array_uint16"]; + if (root.isMember("value_array_int32") && root["value_array_int32"].isArray()) { + const Json::Value& array = root["value_array_int32"]; if (array.size() >= 3) { // 计算三个深度值的平均值 deepth = (array[0].asInt() + array[1].asInt() + array[2].asInt()) / 3; } else { - std::cerr << "深度数组元素不足3个" << std::endl; + LOG_F(WARNING, "深度数组元素不足3个"); return -1; } } else { - std::cerr << "JSON格式错误" << std::endl; + LOG_F(WARNING, "缺少或类型不匹配: value_array_int32"); return -1; } @@ -290,11 +311,6 @@ DeviceSwitchCmd UpperCommManager::getSetDevSwitch(const std::string& key, const } return false; } - - const std::string UpperCommManager::getCurrentEquState(DriverTable& driver) -{ - return m_pm->m_driver.saveDriverTableToJson(&driver); -} const std::string UpperCommManager::getSubDisCmd(DriverTable& driver) { @@ -304,10 +320,15 @@ const std::string UpperCommManager::getSubDisCmd(DriverTable& driver) void UpperCommManager::processPeriodicTasks() { buildSystemReport(); std::string strJson; - strJson = getCurrentEquState(m_pm->m_currentDriverState); - m_pm->sendNotification(PM_TO_DB_EQUIPMENTSTATE, strJson); - strJson = getSubDisCmd(m_pm->m_subDisSysCmd); - m_pm->sendNotification(PM_TO_DB_SUBDISCMD, strJson); + //发送当前设备状态 + 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); + strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd); + 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)); } bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson) { @@ -354,394 +375,21 @@ bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::str return true; // 成功 } void UpperCommManager::buildSystemReport() { - string suffix; - Json::Value pms; - Json::Value fcs; - Json::Value lbs; - Json::Value dis; - // 构建能源系统报告 - //1.构建系统状态报告 - suffix = getTypeName(typeid(m_pm->workCondition).name()); - pms[VAR_TO_STR(workCondition)+suffix] = m_pm->workCondition; - - suffix = getTypeName(typeid(m_pm->currentMod).name()); - pms[VAR_TO_STR(currentMod)+suffix] = m_pm->currentMod; - - suffix = getTypeName(typeid(m_pm->powerState).name()); - pms[VAR_TO_STR(powerState)+suffix] = m_pm->powerState; - - suffix = getTypeName(typeid(m_pm->faultLevel).name()); - pms[VAR_TO_STR(faultLevel)+suffix] = m_pm->faultLevel; - - Json::Value faultCode_array; - for(auto val : m_pm->faultCode) - { - faultCode_array.append(val); - } - pms[VAR_TO_STR(faultCode_array)] = faultCode_array; - - suffix = getTypeName(typeid(m_pm->soc).name()); - pms["soc_uint16"] = m_pm->soc; - - 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()); - fcs[VAR_TO_STR(fcuState)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuFaultLeve).name()); - fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuFaultLeve; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLimit).name()); - fcs[VAR_TO_STR(powLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLimit; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.totalPowerGeneration).name()); - fcs[VAR_TO_STR(powerGen)+suffix] = m_pm->m_pmCurrentState.ccustate.totalPowerGeneration; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4o).name()); - fcs[VAR_TO_STR(ch4o)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4o; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2).name()); - fcs[VAR_TO_STR(o2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltage).name()); - fcs[VAR_TO_STR(fcuVol)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltage; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrent).name()); - fcs[VAR_TO_STR(fcuCur)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrent; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Level).name()); - fcs[VAR_TO_STR(o2Level)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Level; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.exchangerTemperature).name()); - fcs[VAR_TO_STR(excTemp)+suffix] = m_pm->m_pmCurrentState.ccustate.exchangerTemperature; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutPower).name()); - fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutPower; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutIns).name()); - fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutIns; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltageIns).name()); - fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltageIns; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltagePower).name()); - fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltagePower; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentIns).name()); - fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentIns; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentPower).name()); - fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentPower; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration1).name()); - fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration2).name()); - fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration1).name()); - fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration2).name()); - fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration1).name()); - fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration2).name()); - fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure1).name()); - fcs[VAR_TO_STR(backpressure1)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure2).name()); - fcs[VAR_TO_STR(backpressure2)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.flameDetection).name()); - fcs[VAR_TO_STR(flameDet)+suffix] = m_pm->m_pmCurrentState.ccustate.flameDetection; - - unsigned short faultCode1; - unsigned short faultCode2; - unsigned short faultCode3; - faultCode1 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_1L; - faultCode2 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_2L; - faultCode3 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_3H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_3L; - - suffix = getTypeName(typeid(faultCode1).name()); - fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1; - suffix = getTypeName(typeid(faultCode2).name()); - fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2; - suffix = getTypeName(typeid(faultCode3).name()); - fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3; - - //4.构建动力锂电池状态报告 - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name()); - lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name()); - lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name()); - lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name()); - lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name()); - lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name()); - lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name()); - lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name()); - lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name()); - lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name()); - lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name()); - lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name()); - lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name()); - lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name()); - lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name()); - lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name()); - lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name()); - lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name()); - lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name()); - lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name()); - lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name()); - lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name()); - lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name()); - lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name()); - lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name()); - lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name()); - lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name()); - lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name()); - lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name()); - lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name()); - lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name()); - lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name()); - lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name()); - lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name()); - lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name()); - lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name()); - lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord; - - //5.构建配电系统状态报告 - disBus1Breaker* pdis1=new disBus1Breaker; - disBus2Breaker* pdis2=new disBus2Breaker; - disBus3Breaker* pdis3=new disBus3Breaker; - disBus4Breaker* pdis4=new disBus4Breaker; - - *pdis1 = m_pm->m_currentDisBreakerState.bus1Breaker; - *pdis2 = m_pm->m_currentDisBreakerState.bus2Breaker; - *pdis3 = m_pm->m_currentDisBreakerState.bus3Breaker; - *pdis4 = m_pm->m_currentDisBreakerState.bus4Breaker; - - dis["HVolBusBreaker_uint16"] = *(unsigned short*)pdis1; - dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2; - dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3; - dis["LVolBusBreaker_uint16"] = *(unsigned short*)pdis4; - - //TODO: 构建配电系统故障码 - Json::Value faultCodeDis_array; - for(auto val : m_pm->faultCode) - { - faultCodeDis_array.append(val); - } - dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array; - - - Json::Value currentBusState; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusVoltage).name()); - currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name()); - currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusCurrent).name()); - currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarAVoltage).name()); - currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarAVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name()); - currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarACurrent).name()); - currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarACurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name()); - currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name()); - currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current).name()); - currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name()); - currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current).name()); - currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent1).name()); - currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent1; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current).name()); - currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent2).name()); - currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent2; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name()); - currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent3).name()); - currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent3; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBVoltage).name()); - currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBCurrent).name()); - currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current).name()); - currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.actuatorCurrent).name()); - currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pm->m_pmCurrentState.bus2State.actuatorCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name()); - currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.xczCurrent).name()); - currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pm->m_pmCurrentState.bus2State.xczCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name()); - currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name()); - currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage).name()); - currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name()); - currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name()); - currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent1).name()); - currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent1; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name()); - currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name()); - currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name()); - currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent2).name()); - currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent2; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage).name()); - currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name()); - currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name()); - currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent).name()); - currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent; - - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage).name()); - currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent).name()); - currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit1Current).name()); - currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit1Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit2Current).name()); - currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit2Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit3Current).name()); - currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit3Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit5Current).name()); - currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit5Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent).name()); - currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name()); - currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current; - suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage).name()); - currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage; - - // dis["currentBusState"] = currentBusState; - - // pms[VAR_TO_STR(fcs_obj)] = fcs; - // pms[VAR_TO_STR(lbs_obj)] = lbs; - // pms[VAR_TO_STR(dis_obj)] = dis; - - m_pm->sendNotification(PM_TO_DB_STATE, pms.toStyledString()); - m_pm->sendNotification(PM_TO_DB_FCSSTATE, fcs.toStyledString()); - m_pm->sendNotification(PM_TO_DB_LIBATSTATE, lbs.toStyledString()); - m_pm->sendNotification(PM_TO_DB_DISSTATE, dis.toStyledString()); - m_pm->sendNotification(PM_TO_DB_CURRENTSTATE, currentBusState.toStyledString()); - - // 使用StreamWriterBuilder来设置保持插入顺序 - Json::StreamWriterBuilder builder; - builder["indentation"] = " "; // 设置不缩进，保持紧凑格式 - builder["enableYAMLCompatibility"] = true; // 保持插入顺序 - - // 将Json::Value对象转换为字符串 - string pathFile = "/home/zjk/project/H100/H100PowerManger/data/msg/"; - string jsonStr = Json::writeString(builder, pms); - - saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_STATE+".json"); - - jsonStr = Json::writeString(builder, fcs); - saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_FCSSTATE+".json"); - - jsonStr = Json::writeString(builder, lbs); - saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_LIBATSTATE+".json"); - - jsonStr = Json::writeString(builder, dis); - saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_DISSTATE + ".json"); - - jsonStr = Json::writeString(builder, currentBusState); - saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_CURRENTSTATE + ".json"); - -// return true; + m_pmStateMsg.state.workCondition = m_pm->workCondition; + m_pmStateMsg.state.currentMod = m_pm->currentMod; + m_pmStateMsg.state.powerState = m_pm->powerState; + m_pmStateMsg.state.faultLevel = m_pm->faultLevel; + m_pmStateMsg.state.faultCode = m_pm->faultCode; + m_pmStateMsg.state.soc = m_pm->soc; + m_pmStateMsg.state.sustainableTime = m_pm->sustainableTime; + 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_fcsStateMsg.key, m_fcsStateMsg.buildMsg(m_pm->m_pmCurrentState.ccustate)); + m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(m_pm->m_pmCurrentState.ccustate)); + m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(m_pm->m_currentDisBreakerState)); + m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState)); } bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath) { @@ -755,36 +403,4 @@ bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string std::cerr << "无法打开文件！" << std::endl; return false; } -} -string UpperCommManager::getTypeName(const string typeName) -{ - // 映射类型名称到指定的字符串 - if (typeName == "i" || typeName == "c") { - return "_int8"; - } else if (typeName == "h" || typeName == "C") { - return "_uint8"; - } else if (typeName == "s" || typeName == "S") { - return "_int16"; - } else if (typeName == "t" || typeName == "T") { - return "_uint16"; - } else if (typeName == "i" || typeName == "I") { - return "_int32"; - } else if (typeName == "j" || typeName == "J") { - return "_uint32"; - } else if (typeName == "x" || typeName == "X") { - return "_int64"; - } else if (typeName == "f" || typeName == "F") { - return "_fp32"; - } else if (typeName == "d" || typeName == "D") { - return "_fp64"; - } else if (typeName == "b" || typeName == "B") { - return "_bool"; - } else if (typeName == "NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE") { - return "_str"; - } else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") { - return "_array"; - } else { - // 默认情况 - return "_obj"; - } } \ No newline at end of file diff --git a/src/pPowerManger/UpperCommManager.h b/src/pPowerManger/UpperCommManager.h index ea8216f..50cef95 100644 --- a/src/pPowerManger/UpperCommManager.h +++ b/src/pPowerManger/UpperCommManager.h @@ -8,6 +8,14 @@ #include #include #include +#include "msg/uPower_equInsState.h" +#include "msg/uDevice_secdistState.h" +#include "msg/uPower_equState.h" +#include "msg/uPower_disSysState.h" +#include "msg/uPower_currentState_st.h" +#include "msg/uPower_pmState.h" +#include "msg/uPower_fcsState.h" +#include "msg/uPower_liBatState.h" using namespace std; #define VAR_TO_STR(var) #var //能源管理反馈的消息 @@ -18,7 +26,6 @@ using namespace std; #define PM_TO_DB_FCSSTATE "uPower_fcsState_st" #define PM_TO_DB_SUBDISCMD "uPower_secdistState_cmd" -#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb" //控制消息 #define DB_TO_PM_MSCMD "uPower_sysState_cmd" @@ -65,19 +72,25 @@ public: int getSetPMSys(const std::string& key, const std::string& msg); DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg); - const std::string getCurrentEquState(DriverTable& driver); const std::string getSubDisCmd(DriverTable& driver); // 其他公共函数 - string getTypeName(const string typeName); bool saveStringToJsonFile(const string &strJson, const string &filePath); - private: PowerManger* m_pm; MSControlCmd m_msCmd; Driver m_driver; + //定义上位机消息 + uPower_equInsStateMsg m_equInsStateMsg; + uDevice_secdistStateMsg m_secdistStateMsg; + uPower_equStateMsg m_equStateMsg; + uPower_disSysStateMsg m_disSysStateMsg; + uPower_currentStateMsg m_currentStateMsg; + uPower_pmStateMsg m_pmStateMsg; + uPower_fcsStateMsg m_fcsStateMsg; + uPower_liBatStateMsg m_liBatStateMsg; + - // 从JSON解析控制命令 bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson); }; diff --git a/src/pPowerManger/ccuUdpMsg.h b/src/pPowerManger/ccuUdpMsg.h index f4af522..d7e736a 100644 --- a/src/pPowerManger/ccuUdpMsg.h +++ b/src/pPowerManger/ccuUdpMsg.h @@ -8,9 +8,9 @@ #define DIS_MSG_HEAD1 0x40 #define DIS_MSG_HEAD2 0x40 -#define CCU_CMD_ID 0x0050 -#define CCU_SET_PARM_ID 0x0051 -#define CCU_STATE_FB_ID 0x0041 +#define CCU_CMD_ID 0x0040 +#define CCU_SET_PARM_ID 0x0041 +#define CCU_STATE_FB_ID 0x0051 #define CCU_SET_PARM_FB_ID 0x0040 #define DIS_HVBUS_FB_ID 0x0005 diff --git a/src/pPowerManger/driver.cpp b/src/pPowerManger/driver.cpp index 5bfddec..cd0dd78 100644 --- a/src/pPowerManger/driver.cpp +++ b/src/pPowerManger/driver.cpp @@ -763,210 +763,264 @@ int Driver::SafeReadUInt(const Json::Value& root, const std::string& key, unsign return 0; // 成功读取 } +vector Driver::loadDriverIdFromJson(const std::string &strJson) { + Json::CharReaderBuilder builder; + Json::Value root; + std::string errs; + vector driverCmd; + + // 解析JSON字符串 + std::istringstream s(strJson); + if (!Json::parseFromStream(builder, s, &root, &errs)) { + std::cerr << "JSON解析失败: " << errs << std::endl; + return driverCmd; + } + // 设备字段名到ID的映射 + const std::map fieldToId = { + {"depth1", 18}, {"depth2", 19}, {"depth3", 20}, + {"overDeep1", 21}, {"overDeep2", 22}, + {"ctd1", 23}, {"ctd2", 24}, {"soundVeloc", 25}, + {"commMast", 40}, {"ins", 57}, {"ntp", 58}, + {"inputWaterSensor1", 59}, {"inputWaterSensor2", 60}, {"inputWaterSensor3", 61}, + {"singleBeamSonar1", 0}, {"singleBeamSonar2", 1}, {"singleBeamSonar3", 2}, + {"singleBeamSonar4", 3}, {"singleBeamSonar5", 4}, {"singleBeamSonar6", 5}, + {"singleBeamSonar7", 6}, {"singleBeamSonar8", 7}, {"forwardSonar", 8}, + {"DVL", 43}, {"lowFreqSonar", 36}, {"USBL", 42}, + {"bowCover1", 9}, {"bowCover2", 10}, {"bowCover3", 11}, + {"bowCover4", 12}, {"bowCover5", 13}, {"bowCover6", 14}, + {"bowRudderDeploy", 15}, {"bowRudderServo1", 16}, {"bowRudderServo2", 17}, + {"bowWaterlnet1", 27}, {"bowWaterlnet2", 28}, {"bowWaterlnet3", 29}, + {"bowWaterlnet4", 30}, {"bowWaterlnet5", 31}, {"bowWaterlnet6", 32}, + {"bowWaterlnet7", 33}, {"bowWaterlnet8", 34}, {"waterInject", 26}, + {"mastLiftingServo", 41}, {"buoyancyAdjust1", 44}, {"buoyancyAdjust2", 45}, + {"buoyancyAdjust3", 46}, {"buoyancyAdjust4", 47}, {"buoyancyAdjust5", 48}, + {"sternRudderServo1", 49}, {"sternRudderServo2", 50}, {"sternRudderServo3", 51}, + {"sternRudderServo4", 52}, {"thruster", 53}, {"bowThrow", 54}, + {"sternThrow", 55}, {"photoSensor", 38}, {"electSensor", 39}, + {"launchControler", 37}, {"sideSonar", 35}, {"buoyage", 56} + }; + + // 检查每个字段，如果存在且值发生变化，则添加到返回向量中 + for (const auto& [field, id] : fieldToId) { + if (root.isMember(field)) { + unsigned char newValue = root[field].asUInt(); + // unsigned char& currentValue = *((unsigned char*)&table + offsetof(DriverTable, depth1) + + // (fieldToId.at(field) - 18) * sizeof(unsigned char)); + + DriverCommand cmd; + cmd.id = id; + cmd.cmd = newValue; + driverCmd.push_back(cmd); + } + } + + return driverCmd; +} + int Driver::loadDriverTableFromJson(const std::string &strJson, DriverTable& table) { Json::CharReaderBuilder builder; Json::Value root; std::string errs; - + // 解析JSON字符串 std::istringstream s(strJson); if (!Json::parseFromStream(builder, s, &root, &errs)) { std::cerr << "JSON解析失败: " << errs << std::endl; return -3; // 解析失败 + } - // 读取 JSON 数据并填充结构体，逐个字段检查 int error_code = 0; - error_code = SafeReadUInt(root, "depth1", table.depth1); + error_code = SafeReadUInt(root, "depth1_uint8", table.depth1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "depth2", table.depth2); + error_code = SafeReadUInt(root, "depth2_uint8", table.depth2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "depth3", table.depth3); + error_code = SafeReadUInt(root, "depth3_uint8", table.depth3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "overDeep1", table.overDeep1); + // error_code = SafeReadUInt(root, "overDeep1_uint8", table.overDeep1); + // if (error_code != 0) return error_code; + + // error_code = SafeReadUInt(root, "overDeep2_uint8", table.overDeep2); + // if (error_code != 0) return error_code; + + error_code = SafeReadUInt(root, "ctd1_uint8", table.ctd1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "overDeep2", table.overDeep2); + error_code = SafeReadUInt(root, "ctd2_uint8", table.ctd2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "ctd1", table.ctd1); + error_code = SafeReadUInt(root, "soundVeloc_uint8", table.soundVeloc); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "ctd2", table.ctd2); + error_code = SafeReadUInt(root, "commDev_uint8", table.commMast); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "soundVeloc", table.soundVeloc); + error_code = SafeReadUInt(root, "ins_uint8", table.ins); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "commMast", table.commMast); + error_code = SafeReadUInt(root, "ntp_uint8", table.ntp); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "ins", table.ins); + error_code = SafeReadUInt(root, "inputWaterSensor1_uint8", table.inputWaterSensor1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "ntp", table.ntp); + error_code = SafeReadUInt(root, "inputWaterSensor2_uint8", table.inputWaterSensor2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "inputWaterSensor1", table.inputWaterSensor1); - if (error_code != 0) return error_code; - - error_code = SafeReadUInt(root, "inputWaterSensor2", table.inputWaterSensor2); - if (error_code != 0) return error_code; - - error_code = SafeReadUInt(root, "inputWaterSensor3", table.inputWaterSensor3); + error_code = SafeReadUInt(root, "inputWaterSensor3_uint8", table.inputWaterSensor3); if (error_code != 0) return error_code; // 水声设备 - error_code = SafeReadUInt(root, "singleBeamSonar1", table.singleBeamSonar1); + error_code = SafeReadUInt(root, "singleBeamSonar1_uint8", table.singleBeamSonar1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar2", table.singleBeamSonar2); + error_code = SafeReadUInt(root, "singleBeamSonar2_uint8", table.singleBeamSonar2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar3", table.singleBeamSonar3); + error_code = SafeReadUInt(root, "singleBeamSonar3_uint8", table.singleBeamSonar3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar4", table.singleBeamSonar4); + error_code = SafeReadUInt(root, "singleBeamSonar4_uint8", table.singleBeamSonar4); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar5", table.singleBeamSonar5); + error_code = SafeReadUInt(root, "singleBeamSonar5_uint8", table.singleBeamSonar5); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar6", table.singleBeamSonar6); + error_code = SafeReadUInt(root, "singleBeamSonar6_uint8", table.singleBeamSonar6); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar7", table.singleBeamSonar7); + error_code = SafeReadUInt(root, "singleBeamSonar7_uint8", table.singleBeamSonar7); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "singleBeamSonar8", table.singleBeamSonar8); + error_code = SafeReadUInt(root, "singleBeamSonar8_uint8", table.singleBeamSonar8); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "forwardSonar", table.forwardSonar); + error_code = SafeReadUInt(root, "forwardSonar_uint8", table.forwardSonar); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "DVL", table.DVL); + error_code = SafeReadUInt(root, "DVL_uint8", table.DVL); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "lowFreqSonar", table.lowFreqSonar); + error_code = SafeReadUInt(root, "lowFreqSonar_uint8", table.lowFreqSonar); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "USBL", table.USBL); + error_code = SafeReadUInt(root, "USBL_uint8", table.USBL); if (error_code != 0) return error_code; // 执行机构 - error_code = SafeReadUInt(root, "bowWaterlnet1", table.bowWaterlnet1); + error_code = SafeReadUInt(root, "bowWaterlnet1_uint8", table.bowWaterlnet1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet2", table.bowWaterlnet2); + error_code = SafeReadUInt(root, "bowWaterlnet2_uint8", table.bowWaterlnet2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet3", table.bowWaterlnet3); + error_code = SafeReadUInt(root, "bowWaterlnet3_uint8", table.bowWaterlnet3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet4", table.bowWaterlnet4); + error_code = SafeReadUInt(root, "bowWaterlnet4_uint8", table.bowWaterlnet4); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet5", table.bowWaterlnet5); + error_code = SafeReadUInt(root, "bowWaterlnet5_uint8", table.bowWaterlnet5); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet6", table.bowWaterlnet6); + error_code = SafeReadUInt(root, "bowWaterlnet6_uint8", table.bowWaterlnet6); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet7", table.bowWaterlnet7); + error_code = SafeReadUInt(root, "bowWaterlnet7_uint8", table.bowWaterlnet7); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowWaterlnet8", table.bowWaterlnet8); + error_code = SafeReadUInt(root, "bowWaterlnet8_uint8", table.bowWaterlnet8); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowRudderDeploy", table.bowRudderDeploy); + error_code = SafeReadUInt(root, "bowRudderDeploy_uint8", table.bowRudderDeploy); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowRudderServo1", table.bowRudderServo1); + error_code = SafeReadUInt(root, "bowRudderServo1_uint8", table.bowRudderServo1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowRudderServo2", table.bowRudderServo2); + error_code = SafeReadUInt(root, "bowRudderServo2_uint8", table.bowRudderServo2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover1", table.bowCover1); + error_code = SafeReadUInt(root, "bowCover1_uint8", table.bowCover1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover2", table.bowCover2); + error_code = SafeReadUInt(root, "bowCover2_uint8", table.bowCover2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover3", table.bowCover3); + error_code = SafeReadUInt(root, "bowCover3_uint8", table.bowCover3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover4", table.bowCover4); + error_code = SafeReadUInt(root, "bowCover4_uint8", table.bowCover4); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover5", table.bowCover5); + error_code = SafeReadUInt(root, "bowCover5_uint8", table.bowCover5); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowCover6", table.bowCover6); + error_code = SafeReadUInt(root, "bowCover6_uint8", table.bowCover6); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "waterInject", table.waterInject); + error_code = SafeReadUInt(root, "waterInject_uint8", table.waterInject); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "mastLiftingServo", table.mastLiftingServo); + error_code = SafeReadUInt(root, "mastLiftingServo_uint8", table.mastLiftingServo); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyancyAdjust1", table.buoyancyAdjust1); + error_code = SafeReadUInt(root, "buoyancyAdjust1_uint8", table.buoyancyAdjust1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyancyAdjust2", table.buoyancyAdjust2); + error_code = SafeReadUInt(root, "buoyancyAdjust2_uint8", table.buoyancyAdjust2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyancyAdjust3", table.buoyancyAdjust3); + error_code = SafeReadUInt(root, "buoyancyAdjust3_uint8", table.buoyancyAdjust3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyancyAdjust4", table.buoyancyAdjust4); + error_code = SafeReadUInt(root, "buoyancyAdjust4_uint8", table.buoyancyAdjust4); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyancyAdjust5", table.buoyancyAdjust5); + error_code = SafeReadUInt(root, "buoyancyAdjust5_uint8", table.buoyancyAdjust5); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sternRudderServo1", table.sternRudderServo1); + error_code = SafeReadUInt(root, "sternRudderServo1_uint8", table.sternRudderServo1); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sternRudderServo2", table.sternRudderServo2); + error_code = SafeReadUInt(root, "sternRudderServo2_uint8", table.sternRudderServo2); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sternRudderServo3", table.sternRudderServo3); + error_code = SafeReadUInt(root, "sternRudderServo3_uint8", table.sternRudderServo3); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sternRudderServo4", table.sternRudderServo4); + error_code = SafeReadUInt(root, "sternRudderServo4_uint8", table.sternRudderServo4); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "thruster", table.thruster); + error_code = SafeReadUInt(root, "thruster_uint8", table.thruster); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "bowThrow", table.bowThrow); + error_code = SafeReadUInt(root, "bowThrow_uint8", table.bowThrow); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sternThrow", table.sternThrow); + error_code = SafeReadUInt(root, "sternThrow_uint8", table.sternThrow); if (error_code != 0) return error_code; // 负载 - error_code = SafeReadUInt(root, "photoSensor", table.photoSensor); + error_code = SafeReadUInt(root, "photoSensor_uint8", table.photoSensor); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "electSensor", table.electSensor); + error_code = SafeReadUInt(root, "electSensor_uint8", table.electSensor); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "launchControler", table.launchControler); + error_code = SafeReadUInt(root, "launchControler_uint8", table.launchControler); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "sideSonar", table.sideSonar); + error_code = SafeReadUInt(root, "sideSonar_uint8", table.sideSonar); if (error_code != 0) return error_code; - error_code = SafeReadUInt(root, "buoyage", table.buoyage); + error_code = SafeReadUInt(root, "buoyage_uint8", table.buoyage); if (error_code != 0) return error_code; return 0; // 返回0表示所有数据成功读取 diff --git a/src/pPowerManger/driver.h b/src/pPowerManger/driver.h index c30d7c7..eb01b65 100644 --- a/src/pPowerManger/driver.h +++ b/src/pPowerManger/driver.h @@ -3,7 +3,7 @@ #include "json/json.h" #include "iostream" #include - +#include #define DRIVER_POWER_OFF 0x00 #define DRIVER_FULL_POWER_ON 0x01 @@ -11,6 +11,7 @@ #define DRIVER_MOTIVE_POWER_ON 0x03 #define DRIVER_STANDBY 0x04 +using namespace std; struct DriverTable { unsigned char depth1; @@ -80,6 +81,13 @@ struct DriverTable unsigned char buoyage; }; +struct DriverCommand +{ + int id; + int cmd; +}; + + class Driver { public: @@ -115,6 +123,7 @@ public: std::string saveDriverTableToJson(const DriverTable* driverTable); int loadDriverTableFromJson(const std::string &strJson, DriverTable& table); + vector loadDriverIdFromJson(const std::string &strJson); int SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value); diff --git a/src/pPowerManger/fsm/CruiseMode.cpp b/src/pPowerManger/fsm/CruiseMode.cpp new file mode 100644 index 0000000..2c2c65a --- /dev/null +++ b/src/pPowerManger/fsm/CruiseMode.cpp @@ -0,0 +1,20 @@ +#include "PowerManagerFsm.hpp" + +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->workCondition = WorkCondition::CRUISE_MODE; + LOG_F(INFO, "进入巡航模式"); +} + +// CruiseMode实现 +void CruiseMode::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} diff --git a/src/pPowerManger/fsm/DJMode.cpp b/src/pPowerManger/fsm/DJMode.cpp new file mode 100644 index 0000000..7e0a41d --- /dev/null +++ b/src/pPowerManger/fsm/DJMode.cpp @@ -0,0 +1,15 @@ +#include "PowerManagerFsm.hpp" + + +// DJMode实现 +void DJMode::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} + +void DJMode::entry() { + PowerManagerFsm::entry(); + pm->workCondition = WorkCondition::DJ_MODE; + LOG_F(INFO, "进入DJ模式"); +} diff --git a/src/pPowerManger/fsm/FaultState.cpp b/src/pPowerManger/fsm/FaultState.cpp new file mode 100644 index 0000000..f8328d7 --- /dev/null +++ b/src/pPowerManger/fsm/FaultState.cpp @@ -0,0 +1,19 @@ +#include "PowerManagerFsm.hpp" + +// 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"); + } +} + +void FaultState::react(FaultEvent const & e) { + LOG_F(INFO, "FaultState 处理故障事件"); +} diff --git a/src/pPowerManger/fsm/FloatAdjust.cpp b/src/pPowerManger/fsm/FloatAdjust.cpp new file mode 100644 index 0000000..259c323 --- /dev/null +++ b/src/pPowerManger/fsm/FloatAdjust.cpp @@ -0,0 +1,21 @@ +#include "PowerManagerFsm.hpp" + +// FloatAdjust实现 +void FloatAdjust::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} + +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 + pm->workCondition = WorkCondition::BUOYANCY_ADJUST; + LOG_F(INFO, "进入浮调模式"); +} diff --git a/src/pPowerManger/fsm/FloatDown.cpp b/src/pPowerManger/fsm/FloatDown.cpp new file mode 100644 index 0000000..973ec8a --- /dev/null +++ b/src/pPowerManger/fsm/FloatDown.cpp @@ -0,0 +1,20 @@ +#include "PowerManagerFsm.hpp" + +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::ASCEND_DESCEND; + LOG_F(INFO, "进入上浮下潜模式"); +} + +// FloatDown实现 +void FloatDown::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} diff --git a/src/pPowerManger/fsm/HighSpeedMode.cpp b/src/pPowerManger/fsm/HighSpeedMode.cpp new file mode 100644 index 0000000..91eb2e9 --- /dev/null +++ b/src/pPowerManger/fsm/HighSpeedMode.cpp @@ -0,0 +1,14 @@ +#include "PowerManagerFsm.hpp" + +void HighSpeedMode::entry() { + PowerManagerFsm::entry(); + pm->workCondition = WorkCondition::HIGH_SPEED_MODE; + LOG_F(INFO, "进入高速模式"); +} + +// HighSpeedMode实现 +void HighSpeedMode::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} \ No newline at end of file diff --git a/src/pPowerManger/fsm/InitState.cpp b/src/pPowerManger/fsm/InitState.cpp new file mode 100644 index 0000000..09f74d8 --- /dev/null +++ b/src/pPowerManger/fsm/InitState.cpp @@ -0,0 +1,9 @@ +#include "PowerManagerFsm.hpp" + +// InitState实现 +void InitState::entry() { + PowerManagerFsm::entry(); + LOG_F(INFO, "进入初始化状态"); + pm->initControlCmd(); + transit(); +} \ No newline at end of file diff --git a/src/pPowerManger/PowerManagerFsm.cpp b/src/pPowerManger/fsm/PowerManagerFsm.cpp similarity index 86% rename from src/pPowerManger/PowerManagerFsm.cpp rename to src/pPowerManger/fsm/PowerManagerFsm.cpp index fe040a8..00d9772 100644 --- a/src/pPowerManger/PowerManagerFsm.cpp +++ b/src/pPowerManger/fsm/PowerManagerFsm.cpp @@ -1,6 +1,6 @@ #include "PowerManagerFsm.hpp" -#include "PowerManger.h" -#include "loguru.hpp" +#include "../PowerManger.h" +#include "../loguru.hpp" #include #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h" @@ -13,10 +13,8 @@ void PowerManagerFsm::react(TaskStopEvent const &e) { }; void PowerManagerFsm::react(CycleTriggeredEvent const &){ - if(pm->currentMod != RunMode::Debug) - { - - } + // 更新当前设备状态 + pm->m_currentDriverState = pm->m_currentDriverState; } bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){ if(pm->workCondition > WorkCondition::REMOTE_CONTROL){ @@ -42,6 +40,10 @@ bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){ } } } + +void PowerManagerFsm::react(DeviceCmd const &){ + LOG_F(INFO, "DeviceCmd received"); +} 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) @@ -1736,32 +1738,6 @@ void PowerManagerFsm::react(DevCmdExt const &e) { } } -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"); @@ -2042,51 +2018,9 @@ void PowerManagerFsm::react(FaultEvent const &e) emergencySystemFault(e); sensorSystemFault(e); } -// InitState实现 -void InitState::entry() { - PowerManagerFsm::entry(); - LOG_F(INFO, "进入初始化状态"); - pm->initControlCmd(); - transit(); -} -void StandbyState::react(StandbyEvent const &) { - transit(); -} -void StandbyState::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void StandbyState::handlePowerOn() { - 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; -} - -// 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"); - } -} - -void FaultState::react(FaultEvent const & e) { - LOG_F(INFO, "FaultState 处理故障事件"); -} - - void PowerManagerFsm::handelPowerCmd(){ switch (pm->m_msCmd.powerCMD) { @@ -2209,259 +2143,4 @@ void PowerManagerFsm::handleDeviceCmd() { } - -// 设置初始状态 -// ShoreBasedReady实现 -void ShoreBasedReady::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -// StandbyState实现 -void StandbyState::entry() { - PowerManagerFsm::entry(); - pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd); - pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop; - pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop; - pm->workCondition = WorkCondition::STANDBY; - LOG_F(INFO, "WorkCondition %d", pm->workCondition); -} - -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 - pm->workCondition = WorkCondition::SHORE_BASED_READY; - LOG_F(INFO, "进入岸基备航状态"); -} - -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 - pm->workCondition = WorkCondition::WATER_BASED_READY; - LOG_F(INFO, "进入水中备航状态"); -} - -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->workCondition = WorkCondition::CRUISE_MODE; - LOG_F(INFO, "进入巡航模式"); -} - -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 - pm->workCondition = WorkCondition::BUOYANCY_ADJUST; - LOG_F(INFO, "进入浮调模式"); -} - -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::ASCEND_DESCEND; - LOG_F(INFO, "进入上浮下潜模式"); -} - - -// FloatDown实现 -void FloatDown::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -// WaterBasedReady实现 -void WaterBasedReady::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - - - -// CruiseMode实现 -void CruiseMode::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - - - -// HighSpeedMode实现 -void HighSpeedMode::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void HighSpeedMode::entry() { - PowerManagerFsm::entry(); - pm->workCondition = WorkCondition::HIGH_SPEED_MODE; - LOG_F(INFO, "进入高速模式"); -} - -// FloatAdjust实现 -void FloatAdjust::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -// UnderwaterSurvey实现 -void UnderwaterSurvey::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void UnderwaterSurvey::entry() { - PowerManagerFsm::entry(); - pm->workCondition = WorkCondition::UNDERWATER_RECON; - LOG_F(INFO, "进入水下侦查模式"); -} - -// SurfaceSurvey实现 -void SurfaceSurvey::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void SurfaceSurvey::entry() { - PowerManagerFsm::entry(); - pm->workCondition = WorkCondition::SURFACE_RECON; - LOG_F(INFO, "进入水面侦查模式"); -} - -// DJMode实现 -void DJMode::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void DJMode::entry() { - PowerManagerFsm::entry(); - pm->workCondition = WorkCondition::DJ_MODE; - LOG_F(INFO, "进入DJ模式"); -} - -// RemoteControl实现 -void RemoteControl::react(MasterCommandEvent const &) { - PowerManagerFsm::handelPowerCmd(); - PowerManagerFsm::handleModCmd(); - PowerManagerFsm::handleWorkCmd(); -} - -void RemoteControl::entry() { - PowerManagerFsm::entry(); - pm->workCondition = WorkCondition::REMOTE_CONTROL; - 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"); -// //日志保存错误 -// LOG_F(WARNING, "待机状态无法直接启动任务"); -// } -//岸基备航 -// void ShoreBasedReady::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// //日志保存错误 -// LOG_F(WARNING, "岸基备航状态无法直接启动任务"); -// } -// //水中备航 -// void WaterBasedReady::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "开始执行启动任务"); -// } - -// //遥控工况 -// void RemoteControl::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "开始执行启动任务"); -// } - -// //巡航模式 -// void CruiseMode::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入巡航模式"); -// } - -// //高速模式 -// void HighSpeedMode::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入高速模式"); -// } - -// //浮调模式 -// void FloatAdjust::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入浮调模式"); -// } - -// //水下侦查 -// void UnderwaterSurvey::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入水下侦查模式"); -// } - -// //水面侦查 -// void SurfaceSurvey::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入水面侦查模式"); -// } - -// //DJ模式 -// void DJMode::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入DJ模式"); -// } - -// // 上浮下潜 -// void FloatDown::react(TaskStart const &) -// { -// LOG_F(INFO, "接收到任务启动信息"); -// LOG_F(INFO, "进入上浮下潜模式"); -// } - - FSM_INITIAL_STATE(PowerManagerFsm, InitState); \ No newline at end of file diff --git a/src/pPowerManger/PowerManagerFsm.hpp b/src/pPowerManger/fsm/PowerManagerFsm.hpp similarity index 98% rename from src/pPowerManger/PowerManagerFsm.hpp rename to src/pPowerManger/fsm/PowerManagerFsm.hpp index bf230b6..21fb3d6 100644 --- a/src/pPowerManger/PowerManagerFsm.hpp +++ b/src/pPowerManger/fsm/PowerManagerFsm.hpp @@ -1,15 +1,15 @@ #ifndef POWER_MANAGER_FSM_HPP #define POWER_MANAGER_FSM_HPP #include "tinyfsm.hpp" -#include "loguru.hpp" +#include "../loguru.hpp" #include #include // 新增头文件 #include // 新增头文件 #include // 新增头文件，用于localtime函数 #include // 新增头文件，用于demangle功能 -#include "pmSysvariable.h" -#include "driver.h" -#include "PowerManger.h" +#include "../pmSysvariable.h" +#include "../driver.h" +#include "../PowerManger.h" // 前向声明 class PowerManger; @@ -73,7 +73,7 @@ public: virtual void react(InitEvent const &) {}; virtual void react(StandbyEvent const &) { }; virtual void react(MasterCommandEvent const &) { LOG_F(INFO, "MasterCommandEvent");}; - virtual void react(DeviceCmd const &) { LOG_F(INFO, "DeviceCmd"); }; + virtual void react(DeviceCmd const &); virtual void react(DevCmdExt const &e); virtual void react(TaskStartEvent const &e); virtual void react(FaultEvent const &e); @@ -180,17 +180,6 @@ class CruiseMode : public PowerManagerFsm { 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(); -}; // 上浮下潜 class FloatDown : public PowerManagerFsm { public: @@ -201,6 +190,17 @@ class FloatDown : public PowerManagerFsm { 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 class FloatAdjust : public PowerManagerFsm { public: diff --git a/src/pPowerManger/fsm/RemoteControl.cpp b/src/pPowerManger/fsm/RemoteControl.cpp new file mode 100644 index 0000000..6b77fe9 --- /dev/null +++ b/src/pPowerManger/fsm/RemoteControl.cpp @@ -0,0 +1,16 @@ +#include "PowerManagerFsm.hpp" + +// RemoteControl实现 +void RemoteControl::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} + +void RemoteControl::entry() { + PowerManagerFsm::entry(); + pm->workCondition = WorkCondition::REMOTE_CONTROL; + LOG_F(INFO, "进入遥控工况"); +} + + diff --git a/src/pPowerManger/fsm/ShoreBasedReady.cpp b/src/pPowerManger/fsm/ShoreBasedReady.cpp new file mode 100644 index 0000000..429b5bf --- /dev/null +++ b/src/pPowerManger/fsm/ShoreBasedReady.cpp @@ -0,0 +1,21 @@ +#include "PowerManagerFsm.hpp" + +// ShoreBasedReady实现 +void ShoreBasedReady::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + 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 + pm->workCondition = WorkCondition::SHORE_BASED_READY; + LOG_F(INFO, "进入岸基备航状态"); +} \ No newline at end of file diff --git a/src/pPowerManger/fsm/StandbyState.cpp b/src/pPowerManger/fsm/StandbyState.cpp new file mode 100644 index 0000000..4d4b98e --- /dev/null +++ b/src/pPowerManger/fsm/StandbyState.cpp @@ -0,0 +1,55 @@ +#include "PowerManagerFsm.hpp" + +// StandbyState实现 +void StandbyState::entry() { + PowerManagerFsm::entry(); + pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd); + pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop; + // pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop; + pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start; + pm->workCondition = WorkCondition::STANDBY; + LOG_F(INFO, "WorkCondition %d", pm->workCondition); +} +void StandbyState::react(StandbyEvent const &) { + transit(); +} +void StandbyState::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} + +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 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; +} \ No newline at end of file diff --git a/src/pPowerManger/fsm/SurfaceSurvey.cpp b/src/pPowerManger/fsm/SurfaceSurvey.cpp new file mode 100644 index 0000000..f6b9236 --- /dev/null +++ b/src/pPowerManger/fsm/SurfaceSurvey.cpp @@ -0,0 +1,14 @@ +#include "PowerManagerFsm.hpp" + +// SurfaceSurvey实现 +void SurfaceSurvey::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} + +void SurfaceSurvey::entry() { + PowerManagerFsm::entry(); + pm->workCondition = WorkCondition::SURFACE_RECON; + LOG_F(INFO, "进入水面侦查模式"); +} \ No newline at end of file diff --git a/src/pPowerManger/fsm/UnderwaterSurvey.cpp b/src/pPowerManger/fsm/UnderwaterSurvey.cpp new file mode 100644 index 0000000..e4958b7 --- /dev/null +++ b/src/pPowerManger/fsm/UnderwaterSurvey.cpp @@ -0,0 +1,15 @@ +#include "PowerManagerFsm.hpp" + +void UnderwaterSurvey::entry() { + PowerManagerFsm::entry(); + pm->workCondition = WorkCondition::UNDERWATER_RECON; + LOG_F(INFO, "进入水下侦查模式"); +} + + +// UnderwaterSurvey实现 +void UnderwaterSurvey::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} diff --git a/src/pPowerManger/fsm/WaterBasedReady.cpp b/src/pPowerManger/fsm/WaterBasedReady.cpp new file mode 100644 index 0000000..ff61816 --- /dev/null +++ b/src/pPowerManger/fsm/WaterBasedReady.cpp @@ -0,0 +1,20 @@ +#include "PowerManagerFsm.hpp" + + +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 + pm->workCondition = WorkCondition::WATER_BASED_READY; + LOG_F(INFO, "进入水中备航状态"); +} + +// WaterBasedReady实现 +void WaterBasedReady::react(MasterCommandEvent const &) { + PowerManagerFsm::handelPowerCmd(); + PowerManagerFsm::handleModCmd(); + PowerManagerFsm::handleWorkCmd(); +} diff --git a/src/pPowerManger/tinyfsm.hpp b/src/pPowerManger/fsm/tinyfsm.hpp similarity index 100% rename from src/pPowerManger/tinyfsm.hpp rename to src/pPowerManger/fsm/tinyfsm.hpp diff --git a/src/pPowerManger/msg/uDevice_secdistState.h b/src/pPowerManger/msg/uDevice_secdistState.h new file mode 100644 index 0000000..f61c440 --- /dev/null +++ b/src/pPowerManger/msg/uDevice_secdistState.h @@ -0,0 +1,451 @@ +#ifndef UDEVICE_SECDISTSTATE_H +#define UDEVICE_SECDISTSTATE_H +#include +#include +#include "../driver.h" +#include "../loguru.hpp" + +class uDevice_secdistStateMsg +{ +private: + /* data */ +public: + uDevice_secdistStateMsg(){}; + ~uDevice_secdistStateMsg(){}; + std::string key_fb = "uDevice_secdistState_st"; + std::string key_cmd = "uPower_secdistState_cmd"; + + struct DeviceSecdistState + { + // UNIT1 + u_int8_t bowCover1; + u_int8_t bowCover2; + u_int8_t bowCover3; + u_int8_t bowCover4; + u_int8_t bowCover5; + u_int8_t bowCover6; + u_int8_t singleBeamSonar1; + u_int8_t singleBeamSonar2; + u_int8_t singleBeamSonar3; + u_int8_t singleBeamSonar4; + u_int8_t singleBeamSonar5; + u_int8_t singleBeamSonar6; + u_int8_t forwardSonar; + u_int8_t depth3; + u_int8_t soundVeloc; + u_int8_t bowRudderServo; + u_int8_t bowRudderDeploy; + u_int8_t ctd1; + u_int8_t waterInject; + + // UNIT2 + u_int8_t sideSonar; + u_int8_t bowWaterInet1; + u_int8_t bowWaterInet2; + u_int8_t bowWaterInet3; + u_int8_t bowWaterInet4; + u_int8_t bowWaterInet5; + u_int8_t bowWaterInet6; + u_int8_t bowWaterInet7; + u_int8_t bowWaterInet8; + u_int8_t launchControler; + u_int8_t electSensor; + u_int8_t lowFreqSonar; + + // UNIT3 + u_int8_t buoyancyAdjust1; + u_int8_t buoyancyAdjust2; + u_int8_t buoyancyAdjust3; + u_int8_t USBL; + u_int8_t depth1; + u_int8_t commDev; + u_int8_t mastLiftingServo; + u_int8_t DVL; + u_int8_t ADCP; + u_int8_t inOutLetWater1; + u_int8_t inOutLetWater2; + + // UNIT4 + u_int8_t singleBeamSonar7; + u_int8_t singleBeamSonar8; + u_int8_t buoyage; + u_int8_t bowThrow; + u_int8_t depth2; + u_int8_t thruster; + u_int8_t dragSonar; + u_int8_t haulingMachine; + u_int8_t buoyancyAdjust4; + u_int8_t buoyancyAdjust5; + u_int8_t sternRudderServo1; + u_int8_t sternRudderServo2; + u_int8_t sternRudderServo3; + u_int8_t sternRudderServo4; + u_int8_t ctd2; + u_int8_t commDevStern; + u_int8_t inOutLetWater3; + + // UNIT5 + u_int8_t secINS; + u_int8_t photoSensor; + u_int8_t sternThrow; + u_int8_t mainINS; + } deviceSecdistState; + + + + bool parseSecdistStateFromJson(DeviceSecdistState &state, const std::string &strJson){ + Json::Value root; + Json::CharReaderBuilder readerBuilder; + std::unique_ptr reader(readerBuilder.newCharReader()); + std::string errors; + + if(!reader->parse(strJson.c_str(), strJson.c_str() + strJson.length(), &root, &errors)){ + LOG_F(ERROR, "Failed to parse JSON: %s", errors.c_str()); + return false; + } + + auto checkField = [&root](const std::string& field) -> bool { + if(!root.isMember(field) || !root[field].isUInt()) { + // std::cerr << "Missing or invalid field: " << field << std::endl; + LOG_F(ERROR, "Missing or invalid field: %s", field.c_str()); + return false; + } + return true; + }; + + bool ok = true; + + // UNIT1 + if(!checkField("bowCover1_uint8")) ok=false; state.bowCover1 = root["bowCover1_uint8"].asUInt(); + if(!checkField("bowCover2_uint8")) ok=false; state.bowCover2 = root["bowCover2_uint8"].asUInt(); + if(!checkField("bowCover3_uint8")) ok=false; state.bowCover3 = root["bowCover3_uint8"].asUInt(); + if(!checkField("bowCover4_uint8")) ok=false; state.bowCover4 = root["bowCover4_uint8"].asUInt(); + if(!checkField("bowCover5_uint8")) ok=false; state.bowCover5 = root["bowCover5_uint8"].asUInt(); + if(!checkField("bowCover6_uint8")) ok=false; state.bowCover6 = root["bowCover6_uint8"].asUInt(); + if(!checkField("singleBeamSonar1_uint8")) ok=false; state.singleBeamSonar1 = root["singleBeamSonar1_uint8"].asUInt(); + if(!checkField("singleBeamSonar2_uint8")) ok=false; state.singleBeamSonar2 = root["singleBeamSonar2_uint8"].asUInt(); + if(!checkField("singleBeamSonar3_uint8")) ok=false; state.singleBeamSonar3 = root["singleBeamSonar3_uint8"].asUInt(); + if(!checkField("singleBeamSonar4_uint8")) ok=false; state.singleBeamSonar4 = root["singleBeamSonar4_uint8"].asUInt(); + if(!checkField("singleBeamSonar5_uint8")) ok=false; state.singleBeamSonar5 = root["singleBeamSonar5_uint8"].asUInt(); + if(!checkField("singleBeamSonar6_uint8")) ok=false; state.singleBeamSonar6 = root["singleBeamSonar6_uint8"].asUInt(); + if(!checkField("forwardSonar_uint8")) ok=false; state.forwardSonar = root["forwardSonar_uint8"].asUInt(); + if(!checkField("depth3_uint8")) ok=false; state.depth3 = root["depth3_uint8"].asUInt(); + if(!checkField("soundVeloc_uint8")) ok=false; state.soundVeloc = root["soundVeloc_uint8"].asUInt(); + if(!checkField("bowRudderServo_uint8")) ok=false; state.bowRudderServo = root["bowRudderServo_uint8"].asUInt(); + if(!checkField("bowRudderDeploy_uint8")) ok=false; state.bowRudderDeploy = root["bowRudderDeploy_uint8"].asUInt(); + if(!checkField("ctd1_uint8")) ok=false; state.ctd1 = root["ctd1_uint8"].asUInt(); + if(!checkField("waterInject_uint8")) ok=false; state.waterInject = root["waterInject_uint8"].asUInt(); + + // UNIT2 + if(!checkField("sideSonar_uint8")) ok=false; state.sideSonar = root["sideSonar_uint8"].asUInt(); + if(!checkField("bowWaterInet1_uint8")) ok=false; state.bowWaterInet1 = root["bowWaterInet1_uint8"].asUInt(); + if(!checkField("bowWaterInet2_uint8")) ok=false; state.bowWaterInet2 = root["bowWaterInet2_uint8"].asUInt(); + if(!checkField("bowWaterInet3_uint8")) ok=false; state.bowWaterInet3 = root["bowWaterInet3_uint8"].asUInt(); + if(!checkField("bowWaterInet4_uint8")) ok=false; state.bowWaterInet4 = root["bowWaterInet4_uint8"].asUInt(); + if(!checkField("bowWaterInet5_uint8")) ok=false; state.bowWaterInet5 = root["bowWaterInet5_uint8"].asUInt(); + if(!checkField("bowWaterInet6_uint8")) ok=false; state.bowWaterInet6 = root["bowWaterInet6_uint8"].asUInt(); + if(!checkField("bowWaterInet7_uint8")) ok=false; state.bowWaterInet7 = root["bowWaterInet7_uint8"].asUInt(); + if(!checkField("bowWaterInet8_uint8")) ok=false; state.bowWaterInet8 = root["bowWaterInet8_uint8"].asUInt(); + if(!checkField("launchControler_uint8")) ok=false; state.launchControler = root["launchControler_uint8"].asUInt(); + if(!checkField("electSensor_uint8")) ok=false; state.electSensor = root["electSensor_uint8"].asUInt(); + if(!checkField("lowFreqSonar_uint8")) ok=false; state.lowFreqSonar = root["lowFreqSonar_uint8"].asUInt(); + + // UNIT3 + if(!checkField("buoyancyAdjust1_uint8")) ok=false; state.buoyancyAdjust1 = root["buoyancyAdjust1_uint8"].asUInt(); + if(!checkField("buoyancyAdjust2_uint8")) ok=false; state.buoyancyAdjust2 = root["buoyancyAdjust2_uint8"].asUInt(); + if(!checkField("buoyancyAdjust3_uint8")) ok=false; state.buoyancyAdjust3 = root["buoyancyAdjust3_uint8"].asUInt(); + if(!checkField("USBL_uint8")) ok=false; state.USBL = root["USBL_uint8"].asUInt(); + if(!checkField("depth1_uint8")) ok=false; state.depth1 = root["depth1_uint8"].asUInt(); + if(!checkField("commDev_uint8")) ok=false; state.commDev = root["commDev_uint8"].asUInt(); + if(!checkField("mastLiftingServo_uint8")) ok=false; state.mastLiftingServo = root["mastLiftingServo_uint8"].asUInt(); + if(!checkField("DVL_uint8")) ok=false; state.DVL = root["DVL_uint8"].asUInt(); + if(!checkField("ADCP_uint8")) ok=false; state.ADCP = root["ADCP_uint8"].asUInt(); + if(!checkField("inOutLetWater1_uint8")) ok=false; state.inOutLetWater1 = root["inOutLetWater1_uint8"].asUInt(); + if(!checkField("inOutLetWater2_uint8")) ok=false; state.inOutLetWater2 = root["inOutLetWater2_uint8"].asUInt(); + + // UNIT4 + if(!checkField("singleBeamSonar7_uint8")) ok=false; state.singleBeamSonar7 = root["singleBeamSonar7_uint8"].asUInt(); + if(!checkField("singleBeamSonar8_uint8")) ok=false; state.singleBeamSonar8 = root["singleBeamSonar8_uint8"].asUInt(); + if(!checkField("buoyage_uint8")) ok=false; state.buoyage = root["buoyage_uint8"].asUInt(); + if(!checkField("bowThrow_uint8")) ok=false; state.bowThrow = root["bowThrow_uint8"].asUInt(); + if(!checkField("depth2_uint8")) ok=false; state.depth2 = root["depth2_uint8"].asUInt(); + if(!checkField("thruster_uint8")) ok=false; state.thruster = root["thruster_uint8"].asUInt(); + if(!checkField("dragSonar_uint8")) ok=false; state.dragSonar = root["dragSonar_uint8"].asUInt(); + if(!checkField("haulingMachine_uint8")) ok=false; state.haulingMachine = root["haulingMachine_uint8"].asUInt(); + if(!checkField("buoyancyAdjust4_uint8")) ok=false; state.buoyancyAdjust4 = root["buoyancyAdjust4_uint8"].asUInt(); + if(!checkField("buoyancyAdjust5_uint8")) ok=false; state.buoyancyAdjust5 = root["buoyancyAdjust5_uint8"].asUInt(); + if(!checkField("sternRudderServo1_uint8")) ok=false; state.sternRudderServo1 = root["sternRudderServo1_uint8"].asUInt(); + if(!checkField("sternRudderServo2_uint8")) ok=false; state.sternRudderServo2 = root["sternRudderServo2_uint8"].asUInt(); + if(!checkField("sternRudderServo3_uint8")) ok=false; state.sternRudderServo3 = root["sternRudderServo3_uint8"].asUInt(); + if(!checkField("sternRudderServo4_uint8")) ok=false; state.sternRudderServo4 = root["sternRudderServo4_uint8"].asUInt(); + if(!checkField("ctd2_uint8")) ok=false; state.ctd2 = root["ctd2_uint8"].asUInt(); + if(!checkField("commDevStern_uint8")) ok=false; state.commDevStern = root["commDevStern_uint8"].asUInt(); + if(!checkField("inOutLetWater3_uint8")) ok=false; state.inOutLetWater3 = root["inOutLetWater3_uint8"].asUInt(); + + // UNIT5 + if(!checkField("secINS_uint8")) ok=false; state.secINS = root["secINS_uint8"].asUInt(); + if(!checkField("photoSensor_uint8")) ok=false; state.photoSensor = root["photoSensor_uint8"].asUInt(); + if(!checkField("sternThrow_uint8")) ok=false; state.sternThrow = root["sternThrow_uint8"].asUInt(); + if(!checkField("mainINS_uint8")) ok=false; state.mainINS = root["mainINS_uint8"].asUInt(); + + return ok; + }; + std::string buildSecdistStateToJson(DeviceSecdistState &state){ + Json::Value root; + + // UNIT1 + root["bowCover1_uint8"] = state.bowCover1; + root["bowCover2_uint8"] = state.bowCover2; + root["bowCover3_uint8"] = state.bowCover3; + root["bowCover4_uint8"] = state.bowCover4; + root["bowCover5_uint8"] = state.bowCover5; + root["bowCover6_uint8"] = state.bowCover6; + root["singleBeamSonar1_uint8"] = state.singleBeamSonar1; + root["singleBeamSonar2_uint8"] = state.singleBeamSonar2; + root["singleBeamSonar3_uint8"] = state.singleBeamSonar3; + root["singleBeamSonar4_uint8"] = state.singleBeamSonar4; + root["singleBeamSonar5_uint8"] = state.singleBeamSonar5; + root["singleBeamSonar6_uint8"] = state.singleBeamSonar6; + root["forwardSonar_uint8"] = state.forwardSonar; + root["depth3_uint8"] = state.depth3; + root["soundVeloc_uint8"] = state.soundVeloc; + root["bowRudderServo_uint8"] = state.bowRudderServo; + root["bowRudderDeploy_uint8"] = state.bowRudderDeploy; + root["ctd1_uint8"] = state.ctd1; + root["waterInject_uint8"] = state.waterInject; + + // UNIT2 + root["sideSonar_uint8"] = state.sideSonar; + root["bowWaterInet1_uint8"] = state.bowWaterInet1; + root["bowWaterInet2_uint8"] = state.bowWaterInet2; + root["bowWaterInet3_uint8"] = state.bowWaterInet3; + root["bowWaterInet4_uint8"] = state.bowWaterInet4; + root["bowWaterInet5_uint8"] = state.bowWaterInet5; + root["bowWaterInet6_uint8"] = state.bowWaterInet6; + root["bowWaterInet7_uint8"] = state.bowWaterInet7; + root["bowWaterInet8_uint8"] = state.bowWaterInet8; + root["launchControler_uint8"] = state.launchControler; + root["electSensor_uint8"] = state.electSensor; + root["lowFreqSonar_uint8"] = state.lowFreqSonar; + + // UNIT3 + root["buoyancyAdjust1_uint8"] = state.buoyancyAdjust1; + root["buoyancyAdjust2_uint8"] = state.buoyancyAdjust2; + root["buoyancyAdjust3_uint8"] = state.buoyancyAdjust3; + root["USBL_uint8"] = state.USBL; + root["depth1_uint8"] = state.depth1; + root["commDev_uint8"] = state.commDev; + root["mastLiftingServo_uint8"] = state.mastLiftingServo; + root["DVL_uint8"] = state.DVL; + root["ADCP_uint8"] = state.ADCP; + root["inOutLetWater1_uint8"] = state.inOutLetWater1; + root["inOutLetWater2_uint8"] = state.inOutLetWater2; + + // UNIT4 + root["singleBeamSonar7_uint8"] = state.singleBeamSonar7; + root["singleBeamSonar8_uint8"] = state.singleBeamSonar8; + root["buoyage_uint8"] = state.buoyage; + root["bowThrow_uint8"] = state.bowThrow; + root["depth2_uint8"] = state.depth2; + root["thruster_uint8"] = state.thruster; + root["dragSonar_uint8"] = state.dragSonar; + root["haulingMachine_uint8"] = state.haulingMachine; + root["buoyancyAdjust4_uint8"] = state.buoyancyAdjust4; + root["buoyancyAdjust5_uint8"] = state.buoyancyAdjust5; + root["sternRudderServo1_uint8"] = state.sternRudderServo1; + root["sternRudderServo2_uint8"] = state.sternRudderServo2; + root["sternRudderServo3_uint8"] = state.sternRudderServo3; + root["sternRudderServo4_uint8"] = state.sternRudderServo4; + root["ctd2_uint8"] = state.ctd2; + root["commDevStern_uint8"] = state.commDevStern; + root["inOutLetWater3_uint8"] = state.inOutLetWater3; + + // UNIT5 + root["secINS_uint8"] = state.secINS; + root["photoSensor_uint8"] = state.photoSensor; + root["sternThrow_uint8"] = state.sternThrow; + root["mainINS_uint8"] = state.mainINS; + + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; // 紧凑格式，无缩进 + return Json::writeString(writerBuilder, root); + }; + + bool converFromDriverTable(DeviceSecdistState &state,const DriverTable &driver){ + // UNIT1 + state.bowCover1 = driver.bowCover1; + state.bowCover2 = driver.bowCover2; + state.bowCover3 = driver.bowCover3; + state.bowCover4 = driver.bowCover4; + state.bowCover5 = driver.bowCover5; + state.bowCover6 = driver.bowCover6; + state.singleBeamSonar1 = driver.singleBeamSonar1; + state.singleBeamSonar2 = driver.singleBeamSonar2; + state.singleBeamSonar3 = driver.singleBeamSonar3; + state.singleBeamSonar4 = driver.singleBeamSonar4; + state.singleBeamSonar5 = driver.singleBeamSonar5; + state.singleBeamSonar6 = driver.singleBeamSonar6; + state.forwardSonar = driver.forwardSonar; + state.depth3 = driver.depth3; + state.soundVeloc = driver.soundVeloc; + state.bowRudderServo = driver.bowRudderServo1 | driver.bowRudderServo2; + state.bowRudderDeploy = driver.bowRudderDeploy; + state.ctd1 = driver.ctd1; + state.waterInject = driver.waterInject; + + // UNIT2 + state.sideSonar = driver.sideSonar; + state.bowWaterInet1 = driver.bowWaterlnet1; + state.bowWaterInet2 = driver.bowWaterlnet2; + state.bowWaterInet3 = driver.bowWaterlnet3; + state.bowWaterInet4 = driver.bowWaterlnet4; + state.bowWaterInet5 = driver.bowWaterlnet5; + state.bowWaterInet6 = driver.bowWaterlnet6; + state.bowWaterInet7 = driver.bowWaterlnet7; + state.bowWaterInet8 = driver.bowWaterlnet8; + state.launchControler = driver.launchControler; + state.electSensor = driver.electSensor; + state.lowFreqSonar = driver.lowFreqSonar; + + // UNIT3 + state.buoyancyAdjust1 = driver.buoyancyAdjust1; + state.buoyancyAdjust2 = driver.buoyancyAdjust2; + state.buoyancyAdjust3 = driver.buoyancyAdjust3; + state.USBL = driver.USBL; + state.depth1 = driver.depth1; + state.commDev = driver.commMast; + state.mastLiftingServo = driver.mastLiftingServo; + state.DVL = driver.DVL; + state.ADCP = driver.DVL; // Assuming ADCP is same as DVL + state.inOutLetWater1 = driver.inputWaterSensor1; + state.inOutLetWater2 = driver.inputWaterSensor2; + + // UNIT4 + state.singleBeamSonar7 = driver.singleBeamSonar7; + state.singleBeamSonar8 = driver.singleBeamSonar8; + state.buoyage = driver.buoyage; + state.bowThrow = driver.bowThrow; + state.depth2 = driver.depth2; + state.thruster = driver.thruster; + state.haulingMachine = 0; // No corresponding field in DriverTable + state.buoyancyAdjust4 = driver.buoyancyAdjust4; + state.buoyancyAdjust5 = driver.buoyancyAdjust5; + state.sternRudderServo1 = driver.sternRudderServo1; + state.sternRudderServo2 = driver.sternRudderServo2; + state.sternRudderServo3 = driver.sternRudderServo3; + state.sternRudderServo4 = driver.sternRudderServo4; + state.ctd2 = driver.ctd2; + state.commDevStern = 0; // No corresponding field in DriverTable + state.inOutLetWater3 = driver.inputWaterSensor3; + + // UNIT5 + state.secINS = driver.ins; + state.photoSensor = driver.photoSensor; + state.sternThrow = driver.sternThrow; + state.mainINS = driver.ins; + + // 未映射字段 + // driver.overDeep1 + // driver.overDeep2 + // driver.ntp + state.dragSonar = 0; // Assuming dragSonar is same as lowFreqSonar + + + return true; + }; + + bool converToDriverTable(const DeviceSecdistState &state, DriverTable &driver){ + // UNIT1 + driver.bowCover1 = state.bowCover1; + driver.bowCover2 = state.bowCover2; + driver.bowCover3 = state.bowCover3; + driver.bowCover4 = state.bowCover4; + driver.bowCover5 = state.bowCover5; + driver.bowCover6 = state.bowCover6; + driver.singleBeamSonar1 = state.singleBeamSonar1; + driver.singleBeamSonar2 = state.singleBeamSonar2; + driver.singleBeamSonar3 = state.singleBeamSonar3; + driver.singleBeamSonar4 = state.singleBeamSonar4; + driver.singleBeamSonar5 = state.singleBeamSonar5; + driver.singleBeamSonar6 = state.singleBeamSonar6; + driver.forwardSonar = state.forwardSonar; + driver.depth3 = state.depth3; + driver.soundVeloc = state.soundVeloc; + driver.bowRudderServo1 = state.bowRudderServo; + driver.bowRudderServo2 = state.bowRudderServo; + driver.bowRudderDeploy = state.bowRudderDeploy; + driver.ctd1 = state.ctd1; + driver.waterInject = state.waterInject; + + // UNIT2 + driver.sideSonar = state.sideSonar; + driver.bowWaterlnet1 = state.bowWaterInet1; + driver.bowWaterlnet2 = state.bowWaterInet2; + driver.bowWaterlnet3 = state.bowWaterInet3; + driver.bowWaterlnet4 = state.bowWaterInet4; + driver.bowWaterlnet5 = state.bowWaterInet5; + driver.bowWaterlnet6 = state.bowWaterInet6; + driver.bowWaterlnet7 = state.bowWaterInet7; + driver.bowWaterlnet8 = state.bowWaterInet8; + driver.launchControler = state.launchControler; + driver.electSensor = state.electSensor; + driver.lowFreqSonar = state.lowFreqSonar; + + // UNIT3 + driver.buoyancyAdjust1 = state.buoyancyAdjust1; + driver.buoyancyAdjust2 = state.buoyancyAdjust2; + driver.buoyancyAdjust3 = state.buoyancyAdjust3; + driver.USBL = state.USBL; + driver.depth1 = state.depth1; + driver.commMast = state.commDev; + driver.ntp = 1; + driver.mastLiftingServo = state.mastLiftingServo; + driver.DVL = state.DVL; + driver.inputWaterSensor1 = state.inOutLetWater1; + driver.inputWaterSensor2 = state.inOutLetWater2; + driver.overDeep1 = (state.depth1 == 1) ? 1 : 0; + driver.overDeep2 = (state.depth2 == 1 || state.depth3 == 1) ? 1 : 0; + + // UNIT4 + driver.singleBeamSonar7 = state.singleBeamSonar7; + driver.singleBeamSonar8 = state.singleBeamSonar8; + driver.buoyage = state.buoyage; + driver.bowThrow = state.bowThrow; + driver.depth2 = state.depth2; + driver.thruster = state.thruster; + driver.buoyancyAdjust4 = state.buoyancyAdjust4; + driver.buoyancyAdjust5 = state.buoyancyAdjust5; + driver.sternRudderServo1 = state.sternRudderServo1; + driver.sternRudderServo2 = state.sternRudderServo2; + driver.sternRudderServo3 = state.sternRudderServo3; + driver.sternRudderServo4 = state.sternRudderServo4; + driver.ctd2 = state.ctd2; + driver.inputWaterSensor3 = state.inOutLetWater3; + + // UNIT5 + driver.ins = state.secINS | state.mainINS; + driver.photoSensor = state.photoSensor; + driver.sternThrow = state.sternThrow; + + return true; + } + + std::string buildMsg(DriverTable &driver){ + DeviceSecdistState s; + converFromDriverTable(s,driver); + return buildSecdistStateToJson(s); + }; + + bool parseMsg(const std::string &strJson,DriverTable &driver){ + DeviceSecdistState s; + if(!parseSecdistStateFromJson(s,strJson)){ + LOG_F(WARNING, "parseSecdistStateFromJson failed"); + return false; + } + converToDriverTable(s,driver); + return true; + }; +}; + + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_currentState_st.h b/src/pPowerManger/msg/uPower_currentState_st.h new file mode 100644 index 0000000..4a8e821 --- /dev/null +++ b/src/pPowerManger/msg/uPower_currentState_st.h @@ -0,0 +1,81 @@ +#ifndef U_POWER_CURRENTSTATE_ST_H +#define U_POWER_CURRENTSTATE_ST_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include + +class uPower_currentStateMsg +{ +private: + /* data */ +public: + uPower_currentStateMsg() { + memset(&state, 0, sizeof(state)); + }; + ~uPower_currentStateMsg() {}; + std::string key = "uPower_currentState_st"; + + pmState state; + std::string buildMsg(pmState state) + { + // 状态赋值 + Json::Value currentBusState; + currentBusState["HVBpowerBusVol_uint16"] = state.bus1State.powerBusVoltage; + currentBusState["HVBdcDc5Cur_uint16"] = state.bus1State.dcDc5ModuleCurrent; + currentBusState["HVBpowerBusCur_uint16"] = state.bus1State.powerBusCurrent; + currentBusState["HVBbusAVol_uint16"] = state.bus1State.busbarAVoltage; + currentBusState["HVBmotorCur_uint16"] = state.bus1State.propulsionMotorControlBoxCurrent; + currentBusState["HVBbusACur_uint16"] = state.bus1State.busbarACurrent; + currentBusState["HVBbatGroupCur_uint16"] = state.bus1State.lithiumBatteryGroupMeterCurrent; + currentBusState["HVBbowHVolDisBoxCur_uint16"] = state.bus1State.bowHighVoltageDistributionBoxCurrent; + currentBusState["HVBFTDev45Cur_uint16"] = state.bus1State.sternFTDevice45Current; + currentBusState["HVBtyzCur_uint16"] = state.bus1State.tyzReservedSwitchCurrent; + currentBusState["HVBsternRud1Cur_uint16"] = state.bus1State.sternRudderSwitch1Current; + currentBusState["HVBreservedCur1_uint16"] = state.bus1State.reservedCurrent1; + currentBusState["HVBsternRud2Cur_uint16"] = state.bus1State.sternRudderSwitch2Current; + currentBusState["HVBreservedCur2_uint16"] = state.bus1State.reservedCurrent2; + currentBusState["HVBfbCur_uint16"] = state.bus1State.fbReservedSwitchCurrent; + currentBusState["HVBreservedCur3_uint16"] = state.bus1State.reservedCurrent3; + + currentBusState["HVABbusBVol_uint16"] = state.bus2State.busbarBVoltage; + currentBusState["HVABbusBCur_uint16"] = state.bus2State.busbarBCurrent; + currentBusState["HVABFTDev123Cur_uint16"] = state.bus2State.bowFTDevice123Current; + currentBusState["HVABactCur_uint16"] = state.bus2State.actuatorCurrent; + currentBusState["HVABmastSteGeaCur_uint16"] = state.bus2State.mastSteeringGearControlBoxCurrent; + currentBusState["HVABxczCur_uint16"] = state.bus2State.xczCurrent; + currentBusState["HVABbowRudCur_uint16"] = state.bus2State.bowRudderControlBoxCurrent; + currentBusState["HVABopenWaterCur_uint16"] = state.bus2State.openWaterCoverStartCylinderCurrent; + + currentBusState["HVBBinsBusVol_uint16"] = state.bus3State.instrumentBusbarVoltage; + currentBusState["HVBBbowLowVolDisBoxCur_uint16"] = state.bus3State.bowLowVoltageDistributionBoxCurrent; + currentBusState["HVBBdcC1InsCur_uint16"] = state.bus3State.dcC1InstrumentDC48VCurrent; + currentBusState["HVBBreservedCur1_uint16"] = state.bus3State.reservedCurrent1; + currentBusState["HVBBemerBatCur_uint16"] = state.bus3State.emergencyLithiumBatteryGroup2Current; + currentBusState["HVBBbatInsCur_uint16"] = state.bus3State.lithiumBatteryGroupInstrumentCurrent; + currentBusState["HVBBunit4Cur_uint16"] = state.bus3State.unit4InstrumentDC48VCurrent; + currentBusState["HVBBreservedCur2_uint16"] = state.bus3State.reservedCurrent2; + currentBusState["HVBBemer2BusVol_uint16"] = state.bus3State.emergency2BusbarVoltage; + currentBusState["HVBBCCUCur_uint16"] = state.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent; + currentBusState["HVBBFCSSecurSysCur_uint16"] = state.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent; + currentBusState["HVBBplcCur_uint16"] = state.bus3State.plcControlPowerCurrent; + + currentBusState["LVBinsBusVol_uint16"] = state.bus4State.instrumentBusbarVoltage; + currentBusState["LVBBinsBusCur_uint16"] = state.bus4State.instrumentBusbarCurrent; + currentBusState["LVBBunit1Cur_uint16"] = state.bus4State.unit1Current; + currentBusState["LVBBunit2Cur_uint16"] = state.bus4State.unit2Current; + currentBusState["LVBBunit3Cur_uint16"] = state.bus4State.unit3Current; + currentBusState["LVBBunit5Cur_uint16"] = state.bus4State.unit5Current; + currentBusState["LVBBbowPZDevCur_uint16"] = state.bus4State.bowPZDeviceCurrent; + currentBusState["LVBBemerBatCur_uint16"] = state.bus4State.emergencyLithiumBatteryGroup1Current; + currentBusState["LVBBemerBusVol_uint16"] = state.bus4State.emergency1BusbarVoltage; + + // 转化为json格式 + + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; + return Json::writeString(writerBuilder, currentBusState); + } +}; + +#endif diff --git a/src/pPowerManger/msg/uPower_disSysState.h b/src/pPowerManger/msg/uPower_disSysState.h new file mode 100644 index 0000000..58e2cb7 --- /dev/null +++ b/src/pPowerManger/msg/uPower_disSysState.h @@ -0,0 +1,55 @@ +#ifndef U_POWER_DISSYSSTATE_ST_H +#define U_POWER_DISSYSSTATE_ST_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include +#include "../pmSysvariable.h" + +class uPower_disSysStateMsg +{ +private: + /* data */ +public: + uPower_disSysStateMsg() { + }; + ~uPower_disSysStateMsg() {}; + std::string key = "uPower_disSysState_st"; + + disSysBreakerList currentDisBreakerState; + + std::string buildMsg(disSysBreakerList currentDisBreakerState) + { + //构建配电系统状态报告 + Json::Value dis; + disBus1Breaker* pdis1=new disBus1Breaker; + disBus2Breaker* pdis2=new disBus2Breaker; + disBus3Breaker* pdis3=new disBus3Breaker; + disBus4Breaker* pdis4=new disBus4Breaker; + + *pdis1 = currentDisBreakerState.bus1Breaker; + *pdis2 = currentDisBreakerState.bus2Breaker; + *pdis3 = currentDisBreakerState.bus3Breaker; + *pdis4 = currentDisBreakerState.bus4Breaker; + + dis["HVolBusBreaker_uint16"] = *(unsigned short*)pdis1; + dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2; + dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3; + dis["LVolBusBreaker_uint16"] = *(unsigned short*)pdis4; + + //TODO: 构建配电系统故障码 + // Json::Value faultCodeDis_array; + // for(auto val : m_pm->faultCode) + // { + // faultCodeDis_array.append(val); + // } + // dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array; + // 转化为json格式 + + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; + return Json::writeString(writerBuilder, dis); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_equInsState.h b/src/pPowerManger/msg/uPower_equInsState.h new file mode 100644 index 0000000..4d7b962 --- /dev/null +++ b/src/pPowerManger/msg/uPower_equInsState.h @@ -0,0 +1,220 @@ +#ifndef U_POWER_EQUINSSTATE_H +#define U_POWER_EQUINSSTATE_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include +class uPower_equInsStateMsg +{ +private: + /* data */ +public: + uPower_equInsStateMsg() { + // 初始化成员变量 + //state全部初始化为0 + memset(&state, 0, sizeof(state)); + }; // 添加默认构造函数实现 + ~uPower_equInsStateMsg() {}; // 添加析构函数实现 + std::string key = "uPower_equInsState_fb"; + + struct SensorState + { + unsigned int singleBeamSonar1 : 1; // 单波束声呐1 + unsigned int singleBeamSonar2 : 1; // 单波束声呐2 + unsigned int singleBeamSonar3 : 1; // 单波束声呐3 + unsigned int singleBeamSonar4 : 1; // 单波束声呐4 + unsigned int singleBeamSonar5 : 1; // 单波束声呐5 + unsigned int singleBeamSonar6 : 1; // 单波束声呐6 + unsigned int singleBeamSonar7 : 1; // 单波束声呐7 + unsigned int singleBeamSonar8 : 1; // 单波束声呐8 + unsigned int forwardSonar : 1; // 前视声呐 + unsigned int ctd1 : 1; // CTD1 + unsigned int ctd2 : 1; // CTD2 + unsigned int soundVelocityMeter : 1; // 声速仪 + unsigned int ntp : 1; // 深度计 + unsigned int depthMeter1 : 1; // 深度计1 + unsigned int depthMeter2 : 1; // 深度计2 + unsigned int depthMeter3 : 1; // 深度计3 + }; + struct ActuatorState + { + unsigned int openCloseMechanism1 : 1; // bit 0 启闭机构1 + unsigned int openCloseMechanism2 : 1; // bit 1 启闭机构2 + unsigned int openCloseMechanism3 : 1; // bit 2 启闭机构3 + unsigned int openCloseMechanism4 : 1; // bit 3 启闭机构4 + unsigned int openCloseMechanism5 : 1; // bit 4 启闭机构5 + unsigned int openCloseMechanism6 : 1; // bit 5 启闭机构6 + unsigned int reserved1 : 2; // bit 6-7 保留 + unsigned int openWaterMechanism1 : 1; // bit 8 敞水机构1 + unsigned int openWaterMechanism2 : 1; // bit 9 敞水机构2 + unsigned int openWaterMechanism3 : 1; // bit 10 敞水机构3 + unsigned int openWaterMechanism4 : 1; // bit 11 敞水机构4 + unsigned int openWaterMechanism5 : 1; // bit 12 敞水机构5 + unsigned int openWaterMechanism6 : 1; // bit 13 敞水机构6 + unsigned int openWaterMechanism7 : 1; // bit 14 敞水机构7 + unsigned int openWaterMechanism8 : 1; // bit 15 敞水机构8 + }; + + struct MotionState + { + unsigned int sternRudder1 : 1; // bit 0 艉部舵机1 + unsigned int sternRudder2 : 1; // bit 1 艉部舵机2 + unsigned int sternRudder3 : 1; // bit 2 艉部舵机3 + unsigned int sternRudder4 : 1; // bit 3 艉部舵机4 + unsigned int bowRudder : 1; // bit 4 艏舵电缸 + unsigned int waterInjection : 1; // bit 5 注水机构 + unsigned int propulsionMotor : 1; // bit 6 推进电机 + unsigned int buoyancyAdjust1 : 1; // bit 7 浮调机构(艏部)1 + unsigned int buoyancyAdjust2 : 1; // bit 8 浮调机构(艏部)2 + unsigned int buoyancyAdjust3 : 1; // bit 9 浮调机构(艏部)3 + unsigned int buoyancyAdjust4 : 1; // bit 10 浮调机构(艉部)4 + unsigned int buoyancyAdjust5 : 1; // bit 11 浮调机构(艉部)5 + unsigned int DVL : 1; // bit 12 DVL + unsigned int INS : 1; // bit 13 惯导系统 + unsigned int bowRudderLeft : 1; // bit 14 艏舵左舵机 + unsigned int bowRudderRight : 1; // bit 15 艏右舵舵机 + }; + struct LoadcommState + { + unsigned int payloadControl : 1; // bit 0 载荷发控 + unsigned int optMast : 1; // bit 1 光电桅杆 + unsigned int emMast : 1; // bit 2 电磁桅杆 + unsigned int reserved1 : 1; // bit 3 保留 + unsigned int sideSonar : 1; // bit 4 舷侧声纳 + unsigned int towedSonar : 1; // bit 5 拖曳声纳 + unsigned int reserved2 : 2; // bit 6-7 保留 + unsigned int commMast : 1; // bit 8 通信桅杆 + unsigned int midLowFreqSonar : 1; // bit 9 中低频声呐 + unsigned int highFreqComm : 1; // bit 10 高频声通机 + unsigned int buoySystem : 1; // bit 11 浮标系统 + unsigned int commMastRudder : 1; // bit 12 通信桅杆舵机 + unsigned int optMastRudder : 1; // bit 13 光电桅杆舵机 + unsigned int emMastRudder : 1; // bit 14 电磁桅杆舵机 + unsigned int reserved3 : 1; // bit 15 保留 + }; + struct ThrowPowerState + { + unsigned int bowThrow : 1; // bit 0 艏部抛载 + unsigned int reserved1 : 7; // bit 1-7 保留 + unsigned int fuelCellController : 1; // bit 8 燃料电池控制器 + unsigned int instrumentPanel : 1; // bit 9 仪表配电板 + unsigned int powerPanel : 1; // bit 10 动力配电板 + unsigned int instrumentBattery : 1; // bit 11 仪表锂电池 + unsigned int powerBattery : 1; // bit 12 动力锂电 + unsigned int sternThrow : 1; // bit 13 艉部抛载 + unsigned int reserved2 : 2; // bit 14-15 保留 + }; + struct uPower_equInsState + { + SensorState sensorState; + ActuatorState actuatorState; + MotionState motionState; + LoadcommState loadcommState; + ThrowPowerState throwPowerState; + } state; + std::string buildMsg(DriverTable s) + { + // 按照协议格式填充数据 + + // 传感器状态赋值 + state.sensorState.singleBeamSonar1 = s.singleBeamSonar1; + state.sensorState.singleBeamSonar2 = s.singleBeamSonar2; + state.sensorState.singleBeamSonar3 = s.singleBeamSonar3; + state.sensorState.singleBeamSonar4 = s.singleBeamSonar4; + state.sensorState.singleBeamSonar5 = s.singleBeamSonar5; + state.sensorState.singleBeamSonar6 = s.singleBeamSonar6; + state.sensorState.singleBeamSonar7 = s.singleBeamSonar7; + state.sensorState.singleBeamSonar8 = s.singleBeamSonar8; + state.sensorState.forwardSonar = s.forwardSonar; + state.sensorState.ctd1 = s.ctd1; + state.sensorState.ctd2 = s.ctd2; + state.sensorState.soundVelocityMeter = s.soundVeloc; + state.sensorState.ntp = s.ntp; + state.sensorState.depthMeter1 = s.depth1; + state.sensorState.depthMeter2 = s.depth2; + state.sensorState.depthMeter3 = s.depth3; + + // 执行机构状态赋值 + state.actuatorState.openCloseMechanism1 = s.bowCover1; + state.actuatorState.openCloseMechanism2 = s.bowCover2; + state.actuatorState.openCloseMechanism3 = s.bowCover3; + state.actuatorState.openCloseMechanism4 = s.bowCover4; + state.actuatorState.openCloseMechanism5 = s.bowCover5; + state.actuatorState.openCloseMechanism6 = s.bowCover6; + state.actuatorState.openWaterMechanism1 = s.bowWaterlnet1; + state.actuatorState.openWaterMechanism2 = s.bowWaterlnet2; + state.actuatorState.openWaterMechanism3 = s.bowWaterlnet3; + state.actuatorState.openWaterMechanism4 = s.bowWaterlnet4; + state.actuatorState.openWaterMechanism5 = s.bowWaterlnet5; + state.actuatorState.openWaterMechanism6 = s.bowWaterlnet6; + state.actuatorState.openWaterMechanism7 = s.bowWaterlnet7; + state.actuatorState.openWaterMechanism8 = s.bowWaterlnet8; + + // 运动状态赋值 + state.motionState.sternRudder1 = s.sternRudderServo1; + state.motionState.sternRudder2 = s.sternRudderServo2; + state.motionState.sternRudder3 = s.sternRudderServo3; + state.motionState.sternRudder4 = s.sternRudderServo4; + + state.motionState.bowRudder = s.bowRudderDeploy; + + state.motionState.waterInjection = s.waterInject; + + state.motionState.propulsionMotor = s.thruster; + state.motionState.buoyancyAdjust1 = s.buoyancyAdjust1; + state.motionState.buoyancyAdjust2 = s.buoyancyAdjust2; + state.motionState.buoyancyAdjust3 = s.buoyancyAdjust3; + state.motionState.buoyancyAdjust4 = s.buoyancyAdjust4; + state.motionState.buoyancyAdjust5 = s.buoyancyAdjust5; + state.motionState.DVL = s.DVL; + state.motionState.INS = s.ins; + + state.motionState.bowRudderLeft = s.bowRudderServo1; + state.motionState.bowRudderRight = s.bowRudderServo2; + + // 负载通信状态赋值 + state.loadcommState.payloadControl = s.launchControler; + state.loadcommState.sideSonar = s.sideSonar; + state.loadcommState.optMast = s.photoSensor; + state.loadcommState.emMast = s.electSensor; + state.loadcommState.buoySystem = s.buoyage; + state.loadcommState.commMastRudder = s.mastLiftingServo; + state.loadcommState.optMastRudder = s.mastLiftingServo; + state.loadcommState.emMastRudder = s.mastLiftingServo; + state.loadcommState.highFreqComm = s.USBL; + state.loadcommState.midLowFreqSonar = s.lowFreqSonar; + state.loadcommState.commMast = s.commMast; + state.loadcommState.towedSonar = 0; //拖曳声纳未安装，默认为0 + + // 抛载和电源状态赋值 + state.throwPowerState.bowThrow = s.bowThrow; // 艏部抛载 + state.throwPowerState.sternThrow = s.sternThrow; // 艉部抛载 + state.throwPowerState.fuelCellController = 1; // 燃料电池控制器 默认开启 + state.throwPowerState.instrumentPanel = 1; // 仪表配电板 默认开启 + state.throwPowerState.powerPanel = 1; // 动力配电板 默认开启 + state.throwPowerState.instrumentBattery = 1; // 仪表锂电池 默认开启 + state.throwPowerState.powerBattery = 1; // 动力锂电 默认开启 + + // 转化为json格式 + Json::Value root; + root["sensor_int16"] = *reinterpret_cast(&state.sensorState); + root["actuator_int16"] = *reinterpret_cast(&state.actuatorState); + root["motion_int16"] = *reinterpret_cast(&state.motionState); + root["loadcomm_int16"] = *reinterpret_cast(&state.loadcommState); + root["throwpower_int16"] = *reinterpret_cast(&state.throwPowerState); + + //以二进制形式打印 + // std::cout << "sensor_int16: " << std::bitset<16>(*reinterpret_cast(&state.sensorState)) << std::endl; + // std::cout << "actuator_int16: " << std::bitset<16>(*reinterpret_cast(&state.actuatorState)) << std::endl; + // std::cout << "motion_int16: " << std::bitset<16>(*reinterpret_cast(&state.motionState)) << std::endl; + // std::cout << "loadcomm_int16: " << std::bitset<16>(*reinterpret_cast(&state.loadcommState)) << std::endl; + // std::cout << "throwpower_int16: " << std::bitset<16>(*reinterpret_cast(&state.throwPowerState)) << std::endl; + + // 返回json字符串 + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; // 紧凑格式，无缩进 + return Json::writeString(writerBuilder, root); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_equState.h b/src/pPowerManger/msg/uPower_equState.h new file mode 100644 index 0000000..78035e6 --- /dev/null +++ b/src/pPowerManger/msg/uPower_equState.h @@ -0,0 +1,26 @@ +#ifndef U_POWER_EQUSTATE_FB_H +#define U_POWER_EQUSTATE_FB_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include + +class uPower_equStateMsg +{ +private: + /* data */ +public: + uPower_equStateMsg() { + }; + ~uPower_equStateMsg() {}; + std::string key = "uPower_equState_fb"; + + Driver driver; + + std::string buildMsg(DriverTable s) + { + return driver.saveDriverTableToJson(&s); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_fcsState.h b/src/pPowerManger/msg/uPower_fcsState.h new file mode 100644 index 0000000..5913c57 --- /dev/null +++ b/src/pPowerManger/msg/uPower_fcsState.h @@ -0,0 +1,133 @@ +#ifndef U_POWER_FCSSTATE_ST_H +#define U_POWER_FCSSTATE_ST_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include + +class uPower_fcsStateMsg +{ +private: + /* data */ +public: + uPower_fcsStateMsg() { + memset(&state, 0, sizeof(state)); + }; + ~uPower_fcsStateMsg() {}; + std::string key = "uPower_fcsState_st"; + + struct uPower_fcsState + { + unsigned int fcsStatus : 4; // 燃料电池状态 + unsigned int outputPower : 12; // 输出功率 (0-4095) + unsigned int temperature : 8; // 温度 (0-255) + unsigned int errorCode : 8; // 错误代码 + } state; + + std::string buildMsg(ccuState ccustate) + { + //TODO:根据最新协议修改 + Json::Value fcs; + // suffix = getTypeName(typeid(ccustate.fcuState).name()); + // fcs["fcuState"] = ccustate.fcuState; + + // suffix = getTypeName(typeid(ccustate.fcuFaultLeve).name()); + // fcs["fcuFaultLeve"] = ccustate.fcuFaultLeve; + + // suffix = getTypeName(typeid(ccustate.powerLimit).name()); + // fcs[VAR_TO_STR(powLimit)+suffix] = ccustate.powerLimit; + + // suffix = getTypeName(typeid(ccustate.totalPowerGeneration).name()); + // fcs[VAR_TO_STR(powerGen)+suffix] = ccustate.totalPowerGeneration; + + // suffix = getTypeName(typeid(ccustate.ch4o).name()); + // fcs[VAR_TO_STR(ch4o)+suffix] = ccustate.ch4o; + + // suffix = getTypeName(typeid(ccustate.o2).name()); + // fcs[VAR_TO_STR(o2)+suffix] = ccustate.o2; + + // suffix = getTypeName(typeid(ccustate.fcuVoltage).name()); + // fcs[VAR_TO_STR(fcuVol)+suffix] = ccustate.fcuVoltage; + + // suffix = getTypeName(typeid(ccustate.fcuCurrent).name()); + // fcs[VAR_TO_STR(fcuCur)+suffix] = ccustate.fcuCurrent; + + // suffix = getTypeName(typeid(ccustate.o2Level).name()); + // fcs[VAR_TO_STR(o2Level)+suffix] = ccustate.o2Level; + + // suffix = getTypeName(typeid(ccustate.exchangerTemperature).name()); + // fcs[VAR_TO_STR(excTemp)+suffix] = ccustate.exchangerTemperature; + + // suffix = getTypeName(typeid(ccustate.fcuOutPower).name()); + // fcs[VAR_TO_STR(fcuOutPower)+suffix] = ccustate.fcuOutPower; + + // suffix = getTypeName(typeid(ccustate.fcuOutIns).name()); + // fcs[VAR_TO_STR(fcuOutIns)+suffix] = ccustate.fcuOutIns; + + // suffix = getTypeName(typeid(ccustate.fcuVoltageIns).name()); + // fcs[VAR_TO_STR(fcuVolIns)+suffix] = ccustate.fcuVoltageIns; + + // suffix = getTypeName(typeid(ccustate.fcuVoltagePower).name()); + // fcs[VAR_TO_STR(fcuVolPower)+suffix] = ccustate.fcuVoltagePower; + + // suffix = getTypeName(typeid(ccustate.fcuCurrentIns).name()); + // fcs[VAR_TO_STR(fcuCurIns)+suffix] = ccustate.fcuCurrentIns; + + // suffix = getTypeName(typeid(ccustate.fcuCurrentPower).name()); + // fcs[VAR_TO_STR(fcuCurPower)+suffix] = ccustate.fcuCurrentPower; + + // suffix = getTypeName(typeid(ccustate.h2Concentration1).name()); + // fcs[VAR_TO_STR(h2Concent1)+suffix] = ccustate.h2Concentration1; + + // suffix = getTypeName(typeid(ccustate.h2Concentration2).name()); + // fcs[VAR_TO_STR(h2Concent2)+suffix] = ccustate.h2Concentration2; + + // suffix = getTypeName(typeid(ccustate.o2Concentration1).name()); + // fcs[VAR_TO_STR(o2Concent1)+suffix] = ccustate.o2Concentration1; + + // suffix = getTypeName(typeid(ccustate.o2Concentration2).name()); + // fcs[VAR_TO_STR(o2Concent2)+suffix] = ccustate.o2Concentration2; + + // suffix = getTypeName(typeid(ccustate.ch4oConcentration1).name()); + // fcs[VAR_TO_STR(ch4oConcent1)+suffix] = ccustate.ch4oConcentration1; + + // suffix = getTypeName(typeid(ccustate.ch4oConcentration2).name()); + // fcs[VAR_TO_STR(ch4oConcent2)+suffix] = ccustate.ch4oConcentration2; + + // suffix = getTypeName(typeid(ccustate.backpressure1).name()); + // fcs[VAR_TO_STR(backpressure1)+suffix] = ccustate.backpressure1; + + // suffix = getTypeName(typeid(ccustate.backpressure2).name()); + // fcs[VAR_TO_STR(backpressure2)+suffix] = ccustate.backpressure2; + + // suffix = getTypeName(typeid(ccustate.flameDetection).name()); + // fcs[VAR_TO_STR(flameDet)+suffix] = ccustate.flameDetection; + + // unsigned short faultCode1; + // unsigned short faultCode2; + // unsigned short faultCode3; + // faultCode1 = (ccustate.fcuGZ_1H << 8) | ccustate.fcuGZ_1L; + // faultCode2 = (ccustate.fcuGZ_2H << 8) | ccustate.fcuGZ_2L; + // faultCode3 = (ccustate.fcuGZ_3H << 8) | ccustate.fcuGZ_3L; + + // suffix = getTypeName(typeid(faultCode1).name()); + // fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1; + // suffix = getTypeName(typeid(faultCode2).name()); + // fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2; + // suffix = getTypeName(typeid(faultCode3).name()); + // fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3; + + // // 转化为json格式 + // Json::Value root; + // root["fcsStatus"] = state.fcsStatus; + // root["outputPower"] = state.outputPower; + // root["temperature"] = state.temperature; + // root["errorCode"] = state.errorCode; + + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; + return Json::writeString(writerBuilder, fcs); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_liBatState.h b/src/pPowerManger/msg/uPower_liBatState.h new file mode 100644 index 0000000..b19e437 --- /dev/null +++ b/src/pPowerManger/msg/uPower_liBatState.h @@ -0,0 +1,137 @@ +#ifndef U_POWER_LIBATSTATE_ST_H +#define U_POWER_LIBATSTATE_ST_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include + +class uPower_liBatStateMsg +{ +private: + /* data */ +public: + uPower_liBatStateMsg() { + }; + ~uPower_liBatStateMsg() {}; + std::string key = "uPower_liBatState_st"; + + + std::string buildMsg(ccuState ccustate) + { + //TODO:根据最新协议修改 + Json::Value lbs; + //构建动力锂电池状态报告 + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name()); + // lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name()); + // lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name()); + // lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name()); + // lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name()); + // lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name()); + // lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name()); + // lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name()); + // lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name()); + // lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name()); + // lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name()); + // lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name()); + // lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name()); + // lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name()); + // lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name()); + // lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name()); + // lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name()); + // lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name()); + // lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name()); + // lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name()); + // lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name()); + // lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name()); + // lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name()); + // lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name()); + // lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name()); + // lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name()); + // lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name()); + // lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name()); + // lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name()); + // lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name()); + // lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name()); + // lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name()); + // lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name()); + // lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name()); + // lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2; + + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name()); + // lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord; + // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name()); + // lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord; + + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; + return Json::writeString(writerBuilder, lbs); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/msg/uPower_pmState.h b/src/pPowerManger/msg/uPower_pmState.h new file mode 100644 index 0000000..81d9b45 --- /dev/null +++ b/src/pPowerManger/msg/uPower_pmState.h @@ -0,0 +1,63 @@ +#ifndef U_POWER_PMSTATE_FB_H +#define U_POWER_PMSTATE_FB_H +#include "../driver.h" +#include "string" +#include "json/json.h" +#include + +class uPower_pmStateMsg +{ +private: + /* data */ +public: + uPower_pmStateMsg() { + memset(&state, 0, sizeof(state)); + }; + ~uPower_pmStateMsg() {}; + std::string key = "uPower_pmState_fb"; + + struct uPower_pmState + { + unsigned char workCondition; + unsigned char currentMod; + unsigned char powerState; + unsigned char faultLevel; + vector faultCode; + unsigned int soc; + unsigned int sustainableTime; + unsigned int m_faultNum; + unsigned char m_leakage; + } state; + + std::string buildMsg() + { + // 状态赋值 + //1.构建系统状态报告 + Json::Value pms; + + pms["workCondition_uint"] = state.workCondition; + pms["currentMod_uint8"] = state.currentMod; + pms["powerState_uint8"] = state.powerState; + pms["faultLevel_uint8"] = state.faultLevel; + + Json::Value faultCode_array; + for(auto val : state.faultCode) + { + faultCode_array.append(val); + } + pms["faultCode_array"] = faultCode_array; + + pms["soc_uint16"] = state.soc; + + pms["sustainableTime_int64"] = state.sustainableTime; + + pms["leakage_uint8"] = state.m_leakage; + + // 转化为json格式 + Json::StreamWriterBuilder writerBuilder; + writerBuilder.settings_["indentation"] = ""; + return Json::writeString(writerBuilder, pms); + } +}; + +#endif \ No newline at end of file diff --git a/src/pPowerManger/pmSysvariable.h b/src/pPowerManger/pmSysvariable.h index 4661b8e..ef04513 100644 --- a/src/pPowerManger/pmSysvariable.h +++ b/src/pPowerManger/pmSysvariable.h @@ -10,87 +10,106 @@ #define BREAK_ON 0x55 #define BREAK_FALSE 0x5A - - //消息结构体变量定义 #pragma pack (1) typedef struct ccuState { - unsigned char currentWorkCondition; - unsigned char fcuState; - unsigned char fcuFaultLeve; - float powerLimit; - float totalPowerGeneration; - float ch4o; - float o2; - float fcuVoltage; - float fcuCurrent; - float o2Level; - float placeholder1; - float exchangerTemperature; - float fcuOutPower; - float fcuOutIns; - float fcuVoltageIns; - float fcuVoltagePower; - float fcuCurrentIns; - float fcuCurrentPower; - float h2Concentration1; - float h2Concentration2; - float o2Concentration1; - float o2Concentration2; - float ch4oConcentration1; - float ch4oConcentration2; - float backpressure1; - float backpressure2; - unsigned char flameDetection; - unsigned char fcuGZ_1L; - unsigned char fcuGZ_1H; - unsigned char fcuGZ_2L; - unsigned char fcuGZ_2H; - unsigned char fcuGZ_3L; - unsigned char fcuGZ_3H; - unsigned char insPosRelayState; - unsigned char insNegRelayState; - unsigned char powerPosRelayState; - unsigned char powerNegRelayState; - unsigned short insBatLimit; - unsigned short powerBatLimit; - unsigned char insBatSoc; - unsigned char powerBatSoc; - unsigned short insBatTotalElectricity; - unsigned short powerBatTotalElectricity; - unsigned short insBatCurrentElectricity; - unsigned short powerBatCurrentElectricity; - unsigned char insChargeState; - unsigned char powerChargeState; - unsigned short insLinkVoltage; - unsigned short insPackVoltage; - unsigned short insCurrent; - unsigned short insPosInsulationResistance; - unsigned short insNegInsulationResistance; - unsigned short powerLinkVoltage; - unsigned short powerPackVoltage; - unsigned short powerCurrent; - unsigned short powerPosInsulationResistance; - unsigned short powerNegInsulationResistance; - unsigned char insEmergencyStatusWord; - unsigned char powerEmergencyStatusWord; - unsigned char insAlarmIdentificationWord; - unsigned char powerAlarmIdentificationWord; - unsigned char insCurrentSocHold1; - unsigned char insCurrentSocHold2; - unsigned char insCurrentSocHold3; - unsigned char fcuCurrentToInsLimit1; - unsigned char fcuCurrentToinsLimit2; - unsigned char powerCurrentSocHold1; - unsigned char powerCurrentSocHold2; - unsigned char powerCurrentSocHold3; - unsigned char powerCurrentToInsLimit1; - unsigned char powerCurrentToinsLimit2; - float placeholder2; - float placeholder3; - float placeholder4; - float placeholder5; + 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（详见协议） + uint8_t fc_fault_level; // 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级 + + uint16_t output_power_limit; // 系统输出功率限制值，单位：W，范围：0~30000W + uint16_t total_generation_time; // 系统累计发电时间，单位：0.1小时，最大值6553.5小时 + uint16_t total_generation_power; // 系统累计发电总功率，单位：W + uint16_t fault_level_1; // 一级故障位，按位表示不同的故障项 + uint16_t fault_level_2; // 二级故障位 + uint16_t fault_level_3; // 三级故障位 + uint16_t fault_level_4; // 四级故障位 + + uint8_t hydrogen_capacity; // 储氢罐剩余容量百分比，单位：%，范围：0~100 + uint8_t liquid_oxygen_capacity; // 液氧罐剩余容量百分比，单位：%，范围：0~100 + + uint16_t palladium_temp; // 钯膜最高温度，单位：℃ + uint16_t main_pipe_pressure; // 主水路压力，单位：0.01kPa + uint16_t aux_pipe_pressure; // 辅水路压力，单位：0.01kPa + + uint16_t cabin_pressure1; // 舱室1压力，单位：0.01kPa + uint16_t cabin_pressure2; // 舱室2压力，单位：0.01kPa + uint16_t cabin_temp1; // 舱室1温度，单位：0.01℃ + uint16_t cabin_temp2; // 舱室2温度，单位：0.01℃ + uint16_t cabin_humidity1; // 舱室1湿度，单位：0.01%RH + uint16_t cabin_humidity2; // 舱室2湿度，单位：0.01%RH + + uint8_t flame_detector1; // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障 + uint8_t flame_detector2; // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障 + + uint16_t h2_concentration1; // 舱室H2浓度1，单位：0.01% LEL（爆炸下限） + uint16_t h2_concentration2; // 舱室H2浓度2，单位：0.01% LEL + uint16_t h2_concentration3; // 舱室H2浓度3，单位：0.01% LEL + uint16_t o2_concentration1; // 舱室O2浓度1，单位：0.01% LEL + uint16_t o2_concentration2; // 舱室O2浓度2，单位：0.01% LEL + uint16_t ch3oh_concentration1; // 舱室甲醇气体浓度1，单位：0.01% LEL + uint16_t ch3oh_concentration2; // 舱室甲醇气体浓度2，单位：0.01% LEL + + uint16_t reserved1[18]; // 保留字段，地址范围35~52，共18个uint16_t，协议预留 + + uint8_t dyn_alarm_flag[6]; // 动力锂电池报警标志字数组，共6字节，按位表示各类报警 + uint8_t ins_alarm_flag[6]; // 仪表锂电池报警标志字数组，共6字节，按位表示各类报警 + + uint8_t ins_relay_status1; // 仪表电池继电器状态，高4位表示正极继电器，低4位表示充电继电器 + uint8_t ins_relay_status2; // 仪表电池预充继电器和负极继电器状态 + uint8_t dyn_relay_status1; // 动力电池正极与充电继电器状态 + uint8_t dyn_relay_status2; // 动力电池预充与负极继电器状态 + + uint16_t ins_max_discharge_power; // 仪表电池最大允许放电功率，单位：kW，精度0.05kW + uint16_t dyn_max_discharge_power; // 动力电池最大允许放电功率，单位：kW，精度0.05kW + + uint8_t ins_soc; // 仪表锂电池荷电状态SOC，范围：0~100 + uint8_t dyn_soc; // 动力锂电池荷电状态SOC，范围：0~100 + + uint16_t ins_total_energy; // 仪表电池总能量，单位：kWh + uint16_t dyn_total_energy; // 动力电池总能量，单位：kWh + + uint16_t ins_power_input; // 仪表电池输入功率，单位：kW + uint16_t dyn_power_input; // 动力电池输入功率，单位：kW + + uint8_t ins_charge_status; // 仪表电池充放电状态：00H-无效，10H-充电，20H-放电 + uint8_t dyn_charge_status; // 动力电池充放电状态：00H-无效，10H-充电，20H-放电 + + uint16_t ins_voltage_link; // 仪表电池LINK端电压，单位：0.01V + uint16_t ins_voltage_pack; // 仪表电池PACK端电压，单位：0.01V + uint16_t ins_current; // 仪表电池电流，单位：0.01A（正值放电） + uint16_t ins_resistance_pos; // 仪表电池正极绝缘电阻，单位：kΩ + uint16_t ins_resistance_neg; // 仪表电池负极绝缘电阻，单位：kΩ + + uint16_t dyn_voltage_link; // 动力电池LINK端电压，单位：0.01V + uint16_t dyn_voltage_pack; // 动力电池PACK端电压，单位：0.01V + uint16_t dyn_current; // 动力电池电流，单位：0.01A（正值放电） + uint16_t dyn_resistance_pos; // 动力电池正极绝缘电阻，单位：kΩ + uint16_t dyn_resistance_neg; // 动力电池负极绝缘电阻，单位：kΩ + + uint8_t ins_emergency_status; // 仪表电池紧急状态字，按位表示异常或告警状态 + uint8_t dyn_emergency_status; // 动力电池紧急状态字，按位表示异常或告警状态 + + uint8_t reserved2[2]; // 保留字节，协议预留 + + uint8_t ins_soc_threshold1; // 仪表电池1 SOC门限，范围：0~100 + uint8_t ins_soc_threshold2; // 仪表电池2 SOC门限，范围：0~100 + uint8_t ins_soc_threshold3; // 仪表电池3 SOC门限，范围：0~100 + uint8_t dyn_soc_threshold1; // 动力电池1 SOC门限，范围：0~100 + uint8_t dyn_soc_threshold2; // 动力电池2 SOC门限，范围：0~100 + uint8_t dyn_soc_threshold3; // 动力电池3 SOC门限，范围：0~100 + + uint8_t ins_power_limit1; // 仪表电池1功率限制值，单位：% + uint8_t ins_power_limit2; // 仪表电池2功率限制值，单位：% + uint8_t dyn_power_limit1; // 动力电池1功率限制值，单位：% + uint8_t dyn_power_limit2; // 动力电池2功率限制值，单位：% + + uint32_t device_online_flag1; // 设备在线状态标志1，byte0：低压配电板在线标志位 byte1：复合管控主机在线标志位 byte2：复合管控备机在线标志位 + uint32_t device_online_flag2; // 设备在线状态标志2，byte0：仪表锂电在线标志位 byte1：动力锂电在线标志位 byte2：燃电锂电在线标志位 byte3：高压配电板在线标志位 + + uint32_t reserved3; // 保留字段，协议预留 + uint32_t heartbeat; // 主机心跳计数器或标志值 } ccuState; typedef struct { @@ -116,6 +135,8 @@ typedef struct { unsigned char powerBatEfficiency; unsigned char heartbeat; unsigned char masterState; + unsigned int paceholder1; + unsigned int paceholder2; }ccuColCmd; typedef struct disHighVolBusState @@ -551,7 +572,8 @@ enum class FcuState : unsigned char { namespace BatteryCommand { enum Type : unsigned char { Start = 0x10, - Stop = 0x20 + Stop = 0x20, + Hold = 0x00 }; }; @@ -733,53 +755,53 @@ namespace DeviceId { namespace FaultEnable { enum Type : bool { - BasicNavigationFault_1 = true, // 使能故障 - 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, + BasicNavigationFault_1 = false, // 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, - ExtendedNavigationFault_1 = true, // 使能故障 - ExtendedNavigationFault_2 = true, - ExtendedNavigationFault_3 = true, - ExtendedNavigationFault_4 = true, + ExtendedNavigationFault_1 = false, // 使能故障 + ExtendedNavigationFault_2 = false, + ExtendedNavigationFault_3 = false, + ExtendedNavigationFault_4 = false, - ObstacleAvoidanceFault_1 = true, // 使能故障 - ObstacleAvoidanceFault_2 = true, - ObstacleAvoidanceFault_3 = true, + ObstacleAvoidanceFault_1 = false, // 使能故障 + ObstacleAvoidanceFault_2 = false, + ObstacleAvoidanceFault_3 = false, - BuoyancyControlFault_1 = true, // 使能故障 - BuoyancyControlFault_2 = true, - BuoyancyControlFault_3 = true, - BuoyancyControlFault_4 = true, + BuoyancyControlFault_1 = false, // 使能故障 + BuoyancyControlFault_2 = false, + BuoyancyControlFault_3 = false, + BuoyancyControlFault_4 = false, - CommunicationSystemFault_1 = true, // 使能故障 - CommunicationSystemFault_2 = true, - CommunicationSystemFault_3 = true, + CommunicationSystemFault_1 = false, // 使能故障 + CommunicationSystemFault_2 = false, + CommunicationSystemFault_3 = 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, + 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, - EmergencySystemFault_1 = true, // 使能故障 - EmergencySystemFault_2 = true, - EmergencySystemFault_3 = true, - EmergencySystemFault_4 = true, - EmergencySystemFault_5 = true, - EmergencySystemFault_6 = true, + EmergencySystemFault_1 = false, // 使能故障 + EmergencySystemFault_2 = false, + EmergencySystemFault_3 = false, + EmergencySystemFault_4 = false, + EmergencySystemFault_5 = false, + EmergencySystemFault_6 = false, - SensorSystemFault_1 = true, // 使能故障 - SensorSystemFault_2 = true, - SensorSystemFault_3 = true, + SensorSystemFault_1 = false, // 使能故障 + SensorSystemFault_2 = false, + SensorSystemFault_3 = false, }; } diff --git a/test/disSysTest.zip b/test/disSysTest.zip new file mode 100644 index 0000000..09dec11 Binary files /dev/null and b/test/disSysTest.zip differ diff --git a/test/disSysTest/PowerManagerApp.py b/test/disSysTest/PowerManagerApp.py index e5bd6d7..c974d39 100644 --- a/test/disSysTest/PowerManagerApp.py +++ b/test/disSysTest/PowerManagerApp.py @@ -4,6 +4,7 @@ import socket import threading import time from db import DB +import os from udpMsg import ( msg_disHighVolBusFbMsg, msg_disHighAVolBusFbMsg, @@ -36,12 +37,12 @@ class PowerManagerApp: self.disSysPortC1 = 6000 self.disSysHostC1 = '192.168.1.154' - # self.disSysHostC1 = '192.168.0.140' self.disSysPortC2 = 6000 self.disSysHostC2 = '192.168.1.158' # 数据库配置 - self.db = DB('/home/zjk/project/H100/H100PowerManger/test/disSysTest/test.db') + # 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() # 状态数据 - 完全匹配udpMsg.py中的定义 @@ -167,7 +168,8 @@ class PowerManagerApp: "应急锂电池组1断路器": 0 }, "alarms": { - "电源故障信号": 0, + "仪表电源故障": 0, + "应急电源故障": 0, "进水报警": 0 }, "voltage": { @@ -373,7 +375,7 @@ class PowerManagerApp: def send_hvb_cmd(self, breaker_name, state): """发送动力母线配电指令""" - print(breaker_name,state) + # print(breaker_name,state) cmd = msg_disHVBCmdMsg() if breaker_name == "燃料电池断路器": cmd.fuelCellCircuitBreaker = state @@ -498,11 +500,11 @@ class PowerManagerApp: def udp_receive_loop(self): """UDP接收消息循环""" while self.running: - print('接收中') + # print('接收中') try: data, addr = self.sock.recvfrom(1024) self.process_udp_message(data) - print('接收成功') + # print('接收成功') except Exception as e: self.log_message(f"接收错误: {str(e)}") @@ -552,7 +554,7 @@ class PowerManagerApp: # 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"] - fault_labels2 = ["通信故障", "工作状态", "冷却泵1故障", "冷却泵2故障", "冷却水泄漏", "保留", "保留", "保留"] + fault_labels2 = ["通信故障", "工作状态", "冷却泵1故障", "冷却泵2故障", "冷却水泄漏", "冷却泵1运行状态", "冷却泵2运行状态", "保留"] # DC/DC故障显示 fault_frame = ttk.Frame(frame) @@ -574,26 +576,29 @@ class PowerManagerApp: # 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(0.0MΩ)") + 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(0.0MΩ)") + 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 current_labels = [ ("动力母线电流(A):", "powerBusCurrent"), - ("A母线电流(A):", "busbarACurrent"), + ("A汇流排电流(A):", "busbarACurrent"), ("DC/DC5模块电流(A):", "dcDc5ModuleCurrent"), ("推进电机控制箱电流(A):", "propulsionMotorControlBoxCurrent"), - ("锂电池组表电流(A):", "lithiumBatteryGroupMeterCurrent"), - ("艏高压配电箱电流(A):", "bowHighVoltageDistributionBoxCurrent"), - ("艉FT设备45电流(A):", "sternFTDevice45Current"), - ("TYZ备用开关电流(A):", "tyzReservedSwitchCurrent"), - ("艉舵机开关1电流(A):", "sternRudderSwitch1Current"), - ("艉舵机开关2电流(A):", "sternRudderSwitch2Current"), - ("FB备用开关电流(A):", "fbReservedSwitchCurrent") + ("锂电池组(仪表)电流(A):", "lithiumBatteryGroupMeterCurrent"), + ("艏部高压配电箱电流(A):", "bowHighVoltageDistributionBoxCurrent"), + ("艉部FT装置4/5电流(A):", "sternFTDevice45Current"), + ("TYZ预留开关电流(A):", "tyzReservedSwitchCurrent"), + ("艉舵开关1电流(A):", "sternRudderSwitch1Current"), + ("艉舵开关2电流(A):", "sternRudderSwitch2Current"), + ("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") ] for i, (label, _) in enumerate(current_labels): @@ -603,14 +608,22 @@ class PowerManagerApp: setattr(self, f"high_vol_{current_labels[i][1]}", label_var) # 冷却水压力 - ttk.Label(frame, text="冷却水压力(MPa):").grid(row=23, column=0, sticky=tk.W) + 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=23, column=1, sticky=tk.W) + self.high_vol_cool_water_pressure.grid(row=24, column=1, sticky=tk.W) # 冷却水压力 - ttk.Label(frame, text="DC/DC温度:").grid(row=24, column=0, sticky=tk.W) + 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=1, sticky=tk.W) + self.high_vol_dcdc_temp.grid(row=24, column=4, sticky=tk.W) + + 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""" @@ -623,46 +636,63 @@ class PowerManagerApp: frame.grid_columnconfigure(2, weight=1) # 电压显示 - 添加详细说明 - ttk.Label(frame, text="高压B母线电压(V):").grid(row=0, column=0, sticky=tk.W) - self.high_a_vol_voltage = ttk.Label(frame, text="0.0") + ttk.Label(frame, text="汇流排B电压(V):").grid(row=0, column=0, sticky=tk.W) + self.high_a_vol_voltage = ttk.Label(frame, text="0.0 V") self.high_a_vol_voltage.grid(row=0, column=1, sticky=tk.W) # 电流显示 - 统一格式 - ttk.Label(frame, text="高压B母线电流(A):").grid(row=1, column=0, sticky=tk.W) - self.high_a_vol_current = ttk.Label(frame, text="0.0") + ttk.Label(frame, text="汇流排B电流(A):").grid(row=1, column=0, sticky=tk.W) + self.high_a_vol_current = ttk.Label(frame, text="0.0 A") self.high_a_vol_current.grid(row=1, column=1, sticky=tk.W) ttk.Label(frame, text="艏部FT设备123电流(A):").grid(row=2, column=0, sticky=tk.W) - self.high_a_vol_bow_ft_current = ttk.Label(frame, text="0.0") + self.high_a_vol_bow_ft_current = ttk.Label(frame, text="0.0 A") self.high_a_vol_bow_ft_current.grid(row=2, column=1, sticky=tk.W) - ttk.Label(frame, text="执行机构工作电流(A):").grid(row=3, column=0, sticky=tk.W) - self.high_a_vol_actuator_current = ttk.Label(frame, text="0.0") + ttk.Label(frame, text="启闭机构电流(A):").grid(row=3, column=0, sticky=tk.W) + self.high_a_vol_actuator_current = ttk.Label(frame, text="0.0 A") self.high_a_vol_actuator_current.grid(row=3, column=1, sticky=tk.W) + # 补充缺失的电流显示项 + ttk.Label(frame, text="桅杆舵机控制箱电流(A):").grid(row=4, column=0, sticky=tk.W) + self.high_a_vol_mast_steering_current = ttk.Label(frame, text="0.0 A") + self.high_a_vol_mast_steering_current.grid(row=4, column=1, sticky=tk.W) + + ttk.Label(frame, text="XCZ电流(A):").grid(row=4, column=2, sticky=tk.W) + self.high_a_vol_xcz_current = ttk.Label(frame, text="0.0 A") + self.high_a_vol_xcz_current.grid(row=4, column=3, sticky=tk.W) + + ttk.Label(frame, text="艏舵控制箱电流(A):").grid(row=5, column=0, sticky=tk.W) + self.high_a_vol_bow_rudder_current = ttk.Label(frame, text="0.0 A") + self.high_a_vol_bow_rudder_current.grid(row=5, column=1, sticky=tk.W) + + ttk.Label(frame, text="敞水盖启动电缸电流(A):").grid(row=5, column=2, sticky=tk.W) + self.high_a_vol_open_cover_current = ttk.Label(frame, text="0.0 A") + self.high_a_vol_open_cover_current.grid(row=5, column=3, sticky=tk.W) + # 断路器状态 - 添加详细说明 - ttk.Label(frame, text="高压A母线断路器状态:").grid(row=4, column=0, columnspan=4, sticky=tk.W) + ttk.Label(frame, text="高压A母线断路器状态:").grid(row=10, column=0, columnspan=4, sticky=tk.W) self.high_a_vol_breakers = {} breaker_names = list(self.status_data["high_a_vol_bus"]["breakers"].keys()) for i, name in enumerate(breaker_names): - ttk.Label(frame, text=f"{name}状态:").grid(row=5+i//2, column=(i%2)*2, sticky=tk.W) + ttk.Label(frame, text=f"{name}状态:").grid(row=8+i//2, column=(i%2)*2, sticky=tk.W) canvas = tk.Canvas(frame, width=20, height=20, bg="white") - canvas.grid(row=5+i//2, column=(i%2)*2+1, sticky=tk.W) + canvas.grid(row=8+i//2, column=(i%2)*2+1, sticky=tk.W) self.high_a_vol_breakers[name] = canvas # 报警状态 - 更详细描述 - ttk.Label(frame, text="仪表电源故障状态:").grid(row=8, column=0, sticky=tk.W) + ttk.Label(frame, text="仪表电源失电信号:").grid(row=11, column=0, sticky=tk.W) self.high_a_vol_instrument_power_fault = ttk.Label(frame, text="正常") - self.high_a_vol_instrument_power_fault.grid(row=8, column=1, sticky=tk.W) + self.high_a_vol_instrument_power_fault.grid(row=11, column=1, sticky=tk.W) - ttk.Label(frame, text="应急电源故障状态:").grid(row=8, column=2, sticky=tk.W) + ttk.Label(frame, text="应急电源失电信号:").grid(row=11, column=2, sticky=tk.W) self.high_a_vol_emergency_power_fault = ttk.Label(frame, text="正常") - self.high_a_vol_emergency_power_fault.grid(row=8, column=3, sticky=tk.W) + self.high_a_vol_emergency_power_fault.grid(row=11, column=3, sticky=tk.W) - ttk.Label(frame, text="进水报警:").grid(row=9, column=0, sticky=tk.W) + ttk.Label(frame, text="进水报警:").grid(row=12, column=0, sticky=tk.W) self.high_a_vol_water_alarm = ttk.Label(frame, text="无") - self.high_a_vol_water_alarm.grid(row=9, column=1, sticky=tk.W) + self.high_a_vol_water_alarm.grid(row=12, column=1, sticky=tk.W) def process_udp_message(self, data): """处理接收到的UDP消息""" @@ -733,15 +763,16 @@ class PowerManagerApp: else: bus["insulation"]["A母线绝缘状态"] = 1 - if msg.meterPowerLossSignal == 0x55: - bus["alarms"]["仪表电源丢失信号"] = 0 - else: - bus["alarms"]["仪表电源丢失信号"] = 1 - # bus["alarms"]["应急电源丢失信号"] = msg.emergencyPowerLossSignal - if msg.emergencyPowerLossSignal == 0x55: - bus["alarms"]["应急电源丢失信号"] = 0 - else: - bus["alarms"]["应急电源丢失信号"] = 1 + # if msg.meterPowerLossSignal == 0x55: + # bus["alarms"]["仪表电源丢失信号"] = 0 + # else: + # bus["alarms"]["仪表电源丢失信号"] = 1 + bus["alarms"]["应急电源丢失信号"] = msg.emergencyPowerLossSignal + bus["alarms"]["仪表电源丢失信号"] = msg.meterPowerLossSignal + # if msg.emergencyPowerLossSignal == 0x55: + # bus["alarms"]["应急电源丢失信号"] = 0 + # else: + # bus["alarms"]["应急电源丢失信号"] = 1 bus["cool_water_pressure"] = msg.coolWaterPressure / 10.0 bus["dcdc_temp"] = msg.dcdcTemperature-40 @@ -778,8 +809,8 @@ class PowerManagerApp: bus["breakers"]["开盖启动气缸断路器"] = msg.openWaterCoverStartCylinderCircuitBreaker - bus["alarms"]["仪表电源丢失信号"] = msg.instrumentPowerFailureSignal - bus["alarms"]["应急电源丢失信号"] = msg.emergencyPowerFailureSignal + bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal + bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal bus["alarms"]["进水报警"] = msg.waterIngressionAlarm self.log_message("收到高压A母线状态更新") @@ -818,16 +849,16 @@ class PowerManagerApp: # 0x55 正常 # 0xaa 故障 - if msg.instrumentPowerFailureSignal == 0x55: - bus["alarms"]["仪表电源故障"] = 0 - else: - bus["alarms"]["仪表电源故障"] = 1 - # bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal - if msg.emergencyPowerFailureSignal == 0x55: - bus["alarms"]["应急电源故障"] = 0 - else: - bus["alarms"]["应急电源故障"] = 1 - # bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal + # if msg.instrumentPowerFailureSignal == 0x55: + # bus["alarms"]["仪表电源故障"] = 0 + # else: + # bus["alarms"]["仪表电源故障"] = 1 + bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal + # if msg.emergencyPowerFailureSignal == 0x55: + # bus["alarms"]["应急电源故障"] = 0 + # else: + # bus["alarms"]["应急电源故障"] = 1 + bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal # bus["insulation"] = msg.instrumentBusbarInsulationLow if msg.instrumentBusbarInsulationLow == 0x55: bus["insulation"] = 0 @@ -835,7 +866,9 @@ class PowerManagerApp: bus["insulation"] = 1 self.log_message("收到仪表主母线状态更新") - + else: + print("仪表主母线状态","解析失败") + elif msg_id == 0x0008: # 仪表母线状态 msg = msg_disLowBusFbMsg() if msg.unpack(data): @@ -864,22 +897,17 @@ class PowerManagerApp: bus["breakers"]["单元2断路器"] = msg.unit2CircuitBreaker bus["breakers"]["单元3断路器"] = msg.unit3CircuitBreaker bus["breakers"]["单元5断路器"] = msg.unit5CircuitBreaker - bus["breakers"]["艏PZ设备断路器"] = msg.bowPZDeviceCircuitBreake + bus["breakers"]["艏PZ设备断路器"] = msg.bowPZDeviceCircuitBreaker bus["breakers"]["备用断路器1"] = msg.reservedCircuitBreaker1 bus["breakers"]["备用断路器2"] = msg.reservedCircuitBreaker2 bus["breakers"]["应急锂电池组1断路器"] = msg.emergencyLithiumBatteryGroup1CircuitBreaker - # bus["alarms"]["电源故障信号"] = msg.powerFailureSignal - if msg.powerFailureSignal == 0x55: - bus["alarms"]["电源故障信号"] = 0 - else: - bus["alarms"]["电源故障信号"] = 1 - # bus["alarms"]["进水报警"] = msg.waterIngressionAlarm - if msg.waterIngressionAlarm == 0x55: - bus["alarms"]["进水报警"] = 0 - else: - bus["alarms"]["进水报警"] = 1 + bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal + bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal + bus["alarms"]["进水报警"] = msg.waterIngressionAlarm self.log_message("收到仪表母线状态更新") + else: + print("仪表母线状态","解析失败") else: self.log_message("消息解析失败") @@ -904,54 +932,81 @@ class PowerManagerApp: self.low_main_instrument_voltage = ttk.Label(frame, text="0.0") self.low_main_instrument_voltage.grid(row=0, column=1, sticky=tk.W) - ttk.Label(frame, text="应急2母线电压(V):").grid(row=0, column=2, sticky=tk.W) + ttk.Label(frame, text="应急2汇流排电压(V):").grid(row=0, column=2, sticky=tk.W) self.low_main_emergency2_voltage = ttk.Label(frame, text="0.0") self.low_main_emergency2_voltage.grid(row=0, column=3, sticky=tk.W) # 电流显示 - ttk.Label(frame, text="艏低压配电盒电流(A):").grid(row=1, column=0, sticky=tk.W) + ttk.Label(frame, text="艏部低压配电箱电流(A):").grid(row=1, column=0, sticky=tk.W) self.low_main_bow_current = ttk.Label(frame, text="0.0") self.low_main_bow_current.grid(row=1, column=1, sticky=tk.W) - ttk.Label(frame, text="锂电池组仪表电流(A):").grid(row=1, column=2, sticky=tk.W) + ttk.Label(frame, text="锂电池组（仪表）电流(A):").grid(row=1, column=2, sticky=tk.W) self.low_main_battery_current = ttk.Label(frame, text="0.0") self.low_main_battery_current.grid(row=1, column=3, sticky=tk.W) + # 补充其他电流显示项 + ttk.Label(frame, text="DC-C1(直流配电板1)仪表DC48V电流(A):").grid(row=2, column=0, sticky=tk.W) + self.low_main_dcc1_current = ttk.Label(frame, text="0.0") + self.low_main_dcc1_current.grid(row=2, column=1, sticky=tk.W) + + ttk.Label(frame, text="应急锂电池组2电流(A):").grid(row=2, column=2, sticky=tk.W) + self.low_main_emergency2_current = ttk.Label(frame, text="0.0") + self.low_main_emergency2_current.grid(row=2, column=3, sticky=tk.W) + + ttk.Label(frame, text="单元4仪表48V电流(A):").grid(row=3, column=0, sticky=tk.W) + self.low_main_unit4_current = ttk.Label(frame, text="0.0") + self.low_main_unit4_current.grid(row=3, column=1, sticky=tk.W) + + ttk.Label(frame, text="复合能源管控系统应急DC48V电流(A):").grid(row=3, column=2, sticky=tk.W) + self.low_main_energy_current = ttk.Label(frame, text="0.0") + self.low_main_energy_current.grid(row=3, column=3, sticky=tk.W) + + ttk.Label(frame, text="燃料电池安保系统应急DC48V电流(A):").grid(row=4, column=0, sticky=tk.W) + self.low_main_fuelcell_current = ttk.Label(frame, text="0.0") + self.low_main_fuelcell_current.grid(row=4, column=1, sticky=tk.W) + + ttk.Label(frame, text="PLC控制电源电流(A):").grid(row=4, column=2, sticky=tk.W) + self.low_main_plc_current = ttk.Label(frame, text="0.0") + self.low_main_plc_current.grid(row=4, 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) + ttk.Label(frame, text="断路器状态:").grid(row=5, column=0, columnspan=4, sticky=tk.W) self.low_main_breakers = {} breaker_names = list(self.status_data["low_main_bus"]["breakers"].keys()) + # 断路器状态 - 调整为每行3个断路器，从行6开始 for i, name in enumerate(breaker_names): - row = 3 + i//2 - col = (i%2)*2 + row = 6 + i//3 + col = (i%3)*2 ttk.Label(frame, text=name).grid(row=row, column=col, sticky=tk.W) canvas = tk.Canvas(frame, width=20, height=20, bg="white") canvas.grid(row=row, column=col+1, sticky=tk.W) self.low_main_breakers[name] = canvas # 报警状态 - ttk.Label(frame, text="仪表电源故障:").grid(row=8, column=0, sticky=tk.W) + ttk.Label(frame, text="仪表电源失电信号 :").grid(row=9, column=0, sticky=tk.W) self.low_main_instrument_fault = ttk.Label(frame, text="无") - self.low_main_instrument_fault.grid(row=8, column=1, sticky=tk.W) + self.low_main_instrument_fault.grid(row=9, column=1, sticky=tk.W) - ttk.Label(frame, text="应急电源故障:").grid(row=8, column=2, sticky=tk.W) + ttk.Label(frame, text="应急电源失电信号 :").grid(row=9, column=2, sticky=tk.W) self.low_main_emergency_fault = ttk.Label(frame, text="无") - self.low_main_emergency_fault.grid(row=8, column=3, sticky=tk.W) - - # 报警状态 - ttk.Label(frame, text="仪表电源故障:").grid(row=8, column=0, sticky=tk.W) - self.low_main_instrument_fault = ttk.Label(frame, text="无") - self.low_main_instrument_fault.grid(row=8, column=1, sticky=tk.W) - - ttk.Label(frame, text="应急电源故障:").grid(row=8, column=2, sticky=tk.W) - self.low_main_emergency_fault = ttk.Label(frame, text="无") - self.low_main_emergency_fault.grid(row=8, column=3, sticky=tk.W) + self.low_main_emergency_fault.grid(row=9, column=3, sticky=tk.W) # 绝缘状态 - ttk.Label(frame, text="绝缘状态:").grid(row=9, column=0, sticky=tk.W) + ttk.Label(frame, text="仪表汇流排绝缘低 :").grid(row=10, column=0, sticky=tk.W) self.low_main_insulation = ttk.Label(frame, text="正常") - self.low_main_insulation.grid(row=9, column=1, sticky=tk.W) + self.low_main_insulation.grid(row=10, column=1, sticky=tk.W) + + # 备用电流 + ttk.Label(frame, text="备用电流1 :").grid(row=11, column=0, sticky=tk.W) + self.low_main_reserved1 = ttk.Label(frame, text="0.0") + self.low_main_reserved1.grid(row=11, column=1, sticky=tk.W) + + ttk.Label(frame, text="备用电流2 :").grid(row=11, column=2, sticky=tk.W) + self.low_main_reserved2 = ttk.Label(frame, text="0.0") + self.low_main_reserved2.grid(row=11, column=3, sticky=tk.W) + return frame @@ -967,7 +1022,7 @@ class PowerManagerApp: frame.grid_columnconfigure(3, weight=1) # 电压显示 - ttk.Label(frame, text="仪表母线电压(V):").grid(row=0, column=0, sticky=tk.W) + ttk.Label(frame, text="仪表母排电压(V):").grid(row=0, column=0, sticky=tk.W) self.low_bus_instrument_voltage = ttk.Label(frame, text="0.0") self.low_bus_instrument_voltage.grid(row=0, column=1, sticky=tk.W) @@ -983,14 +1038,34 @@ class PowerManagerApp: ttk.Label(frame, text="单元2电流(A):").grid(row=1, column=2, sticky=tk.W) self.low_bus_unit2_current = ttk.Label(frame, text="0.0") self.low_bus_unit2_current.grid(row=1, column=3, sticky=tk.W) + + ttk.Label(frame, text="仪表母排电流(A):").grid(row=2, column=0, sticky=tk.W) + self.low_bus_main_current = ttk.Label(frame, text="0.0") + self.low_bus_main_current.grid(row=2, column=1, sticky=tk.W) + + ttk.Label(frame, text="单元3电流(A):").grid(row=2, column=2, sticky=tk.W) + self.low_bus_unit3_current = ttk.Label(frame, text="0.0") + self.low_bus_unit3_current.grid(row=2, column=3, sticky=tk.W) + + ttk.Label(frame, text="单元5电流(A):").grid(row=3, column=0, sticky=tk.W) + self.low_bus_unit5_current = ttk.Label(frame, text="0.0") + self.low_bus_unit5_current.grid(row=3, column=1, sticky=tk.W) + + ttk.Label(frame, text="艏PZ设备电流(A):").grid(row=3, column=2, sticky=tk.W) + self.low_bus_bow_pz_current = ttk.Label(frame, text="0.0") + self.low_bus_bow_pz_current.grid(row=3, column=3, sticky=tk.W) + + ttk.Label(frame, text="应急锂电池组1电流(A):").grid(row=4, column=0, sticky=tk.W) + self.low_bus_emergency1_current = ttk.Label(frame, text="0.0") + self.low_bus_emergency1_current.grid(row=4, column=1, 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) + ttk.Label(frame, text="断路器状态:").grid(row=5, column=0, columnspan=4, sticky=tk.W) self.low_bus_breakers = {} breaker_names = list(self.status_data["low_bus"]["breakers"].keys()) for i, name in enumerate(breaker_names): - row = 3 + i//2 + row = 6 + i//2 col = (i%2)*2 ttk.Label(frame, text=name).grid(row=row, column=col, sticky=tk.W) canvas = tk.Canvas(frame, width=20, height=20, bg="white") @@ -998,19 +1073,17 @@ class PowerManagerApp: self.low_bus_breakers[name] = canvas # 报警状态 - ttk.Label(frame, text="电源故障信号:").grid(row=8, column=0, sticky=tk.W) + ttk.Label(frame, text="仪表电失电信号 :").grid(row=10, column=0, sticky=tk.W) self.low_bus_power_fault = ttk.Label(frame, text="无") - self.low_bus_power_fault.grid(row=8, column=1, sticky=tk.W) + self.low_bus_power_fault.grid(row=10, column=1, sticky=tk.W) + + ttk.Label(frame, text="应急电失电信号 :").grid(row=11, column=0, sticky=tk.W) + self.low_bus_emgpower_fault = ttk.Label(frame, text="无") + self.low_bus_emgpower_fault.grid(row=11, column=1, sticky=tk.W) - ttk.Label(frame, text="进水报警:").grid(row=8, column=2, sticky=tk.W) + ttk.Label(frame, text="浸水报警 :").grid(row=10, column=2, sticky=tk.W) self.low_bus_water_alarm = ttk.Label(frame, text="无") - self.low_bus_water_alarm.grid(row=8, column=3, sticky=tk.W) - - self.low_bus_power_fault.grid(row=8, column=1, sticky=tk.W) - - ttk.Label(frame, text="进水报警:").grid(row=8, column=2, sticky=tk.W) - self.low_bus_water_alarm = ttk.Label(frame, text="无") - self.low_bus_water_alarm.grid(row=8, column=3, sticky=tk.W) + self.low_bus_water_alarm.grid(row=10, column=3, sticky=tk.W) return frame @@ -1045,7 +1118,10 @@ class PowerManagerApp: ('tyzReservedSwitchCurrent', 'TYZ备用开关电流'), ('sternRudderSwitch1Current', '艉舵机开关1电流'), ('sternRudderSwitch2Current', '艉舵机开关2电流'), - ('fbReservedSwitchCurrent', 'FB备用开关电流') + ('fbReservedSwitchCurrent', 'FB备用开关电流'), + ('reservedCurrent1', '备用电流1'), + ('reservedCurrent2', '备用电流2'), + ('reservedCurrent3', '备用电流3') ] for var_name, data_key in current_vars: @@ -1057,7 +1133,7 @@ class PowerManagerApp: if name in self.high_vol_breakers: canvas = self.high_vol_breakers[name] # color = 'green' if state else 'red' - print(name, hex(state)) + # print(name, hex(state)) if state == 0x55: color = "green" elif state == 0xAA: @@ -1094,6 +1170,11 @@ 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 + # 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") def update_ui(self): """更新界面状态""" @@ -1107,6 +1188,12 @@ class PowerManagerApp: self.high_a_vol_bow_ft_current.config(text=f"{high_a_vol['current']['艏FT设备123电流']:.1f} A") self.high_a_vol_actuator_current.config(text=f"{high_a_vol['current']['执行机构电流']:.1f} A") + # 更新新增的电流显示项 + self.high_a_vol_mast_steering_current.config(text=f"{high_a_vol['current']['桅舵机控制箱电流']:.1f} A") + self.high_a_vol_xcz_current.config(text=f"{high_a_vol['current']['XCZ电流']:.1f} A") + self.high_a_vol_bow_rudder_current.config(text=f"{high_a_vol['current']['艏舵控制箱电流']:.1f} A") + self.high_a_vol_open_cover_current.config(text=f"{high_a_vol['current']['开盖启动气缸电流']:.1f} A") + for name, canvas in self.high_a_vol_breakers.items(): state = high_a_vol["breakers"].get(name, 0) if state == 0x55: @@ -1151,22 +1238,32 @@ class PowerManagerApp: canvas.create_oval(2, 2, 18, 18, fill=color, outline="black") self.high_a_vol_instrument_power_fault.config( - text="正常" if not high_a_vol["alarms"]["仪表电源故障"] else "故障" + text="正常" if high_a_vol["alarms"]["仪表电源故障"]==0x55 else "故障" ) self.high_a_vol_emergency_power_fault.config( - text="正常" if not high_a_vol["alarms"]["应急电源故障"] else "故障" + text="正常" if high_a_vol["alarms"]["应急电源故障"]==0x55 else "故障" ) self.high_a_vol_water_alarm.config( - text="正常" if not high_a_vol["alarms"]["进水报警"] else "故障" + text="正常" if high_a_vol["alarms"]["进水报警"]==0x55 else "故障" ) # 更新仪表主母线状态 low_main = self.status_data["low_main_bus"] self.low_main_instrument_voltage.config(text=f"{low_main['voltage']['仪表母线电压']:.1f} V") self.low_main_emergency2_voltage.config(text=f"{low_main['voltage']['应急2母线电压']:.1f} V") - self.low_main_bow_current.config(text=f"{low_main['current']['艏低压配电盒电流']:.1f}") - self.low_main_battery_current.config(text=f"{low_main['current']['锂电池组仪表电流']:.1f} A") self.low_main_bow_current.config(text=f"{low_main['current']['艏低压配电盒电流']:.1f} A") + self.low_main_battery_current.config(text=f"{low_main['current']['锂电池组仪表电流']:.1f} A") + + # 更新新增的电流显示项 + self.low_main_dcc1_current.config(text=f"{low_main['current']['DC/C1仪表48V电流']:.1f} A") + self.low_main_emergency2_current.config(text=f"{low_main['current']['应急锂电池组2电流']:.1f} A") + self.low_main_unit4_current.config(text=f"{low_main['current']['单元4仪表48V电流']:.1f} A") + self.low_main_energy_current.config(text=f"{low_main['current']['综合能量管理系统应急DC48V电流']:.1f} A") + self.low_main_fuelcell_current.config(text=f"{low_main['current']['燃料电池安全系统应急DC48V电流']:.1f} A") + self.low_main_plc_current.config(text=f"{low_main['current']['PLC控制电源电流']:.1f} A") + # 新增加备用电流 + self.low_main_reserved1.config(text=f"{low_main['current']['备用电流1']:.1f} A") + self.low_main_reserved2.config(text=f"{low_main['current']['备用电流2']:.1f} A") for name, canvas in self.low_main_breakers.items(): state = low_main["breakers"].get(name, 0) @@ -1182,21 +1279,29 @@ class PowerManagerApp: canvas.create_oval(2, 2, 18, 18, fill=color, outline="black") self.low_main_instrument_fault.config( - text="正常" if not low_main["alarms"]["仪表电源故障"] else "故障" + text="正常" if low_main["alarms"]["仪表电源故障"]==0x55 else "故障" ) self.low_main_emergency_fault.config( - text="正常" if not low_main["alarms"]["应急电源故障"] else "故障" + text="正常" if low_main["alarms"]["应急电源故障"]==0x55 else "故障" ) self.low_main_insulation.config( - text="正常" if not low_main["insulation"] else "故障" + text="正常" if low_main["insulation"]==0x55 else "故障" ) # 更新仪表母线状态 low_bus = self.status_data["low_bus"] self.low_bus_instrument_voltage.config(text=f"{low_bus['voltage']['仪表母线电压']:.1f} V") self.low_bus_emergency1_voltage.config(text=f"{low_bus['voltage']['应急1母线电压']:.1f} V") - self.low_bus_unit1_current.config(text=f"{low_bus['current']['单元1电流']:.1f}") - self.low_bus_unit2_current.config(text=f"{low_bus['current']['单元2电流']:.1f}") + self.low_bus_unit1_current.config(text=f"{low_bus['current']['单元1电流']:.1f} A") + self.low_bus_unit2_current.config(text=f"{low_bus['current']['单元2电流']:.1f} A") + + # 更新新增的电流显示项 + self.low_bus_main_current.config(text=f"{low_bus['current']['仪表母线电流']:.1f} A") + self.low_bus_unit3_current.config(text=f"{low_bus['current']['单元3电流']:.1f} A") + self.low_bus_unit5_current.config(text=f"{low_bus['current']['单元5电流']:.1f} A") + self.low_bus_bow_pz_current.config(text=f"{low_bus['current']['艏PZ设备电流']:.1f} A") + self.low_bus_emergency1_current.config(text=f"{low_bus['current']['应急锂电池组1电流']:.1f} A") + for name, canvas in self.low_bus_breakers.items(): state = low_bus["breakers"].get(name, 0) @@ -1212,10 +1317,13 @@ class PowerManagerApp: canvas.create_oval(2, 2, 18, 18, fill=color, outline="black") self.low_bus_power_fault.config( - text="正常" if not low_bus["alarms"]["电源故障信号"] else "故障" + text="正常" if low_bus["alarms"]["仪表电源故障"]==0x55 else "故障" + ) + self.low_bus_emgpower_fault.config( + text="正常" if low_bus["alarms"]["应急电源故障"]==0x55 else "故障" ) self.low_bus_water_alarm.config( - text="正常" if not low_bus["alarms"]["进水报警"] else "故障" + text="正常" if low_bus["alarms"]["进水报警"]==0x55 else "故障" ) # print('update_ui') # 每500ms更新一次 @@ -1226,6 +1334,13 @@ class PowerManagerApp: timestamp = time.strftime("%Y-%m-%d %H:%M:%S") self.log_text.config(state=tk.NORMAL) self.log_text.insert(tk.END, f"[{timestamp}] {message}\n") + + # 获取当前所有行数 + line_count = int(self.log_text.index('end-1c').split('.')[0]) + # 如果超过50行，删除最旧的行 + if line_count > 50: + self.log_text.delete(1.0, 2.0) + self.log_text.config(state=tk.DISABLED) self.log_text.see(tk.END) diff --git a/test/disSysTest/db.py b/test/disSysTest/db.py index 4ba446b..aa2b93b 100644 --- a/test/disSysTest/db.py +++ b/test/disSysTest/db.py @@ -143,7 +143,8 @@ class DB: reservedCircuitBreaker1 INTEGER, reservedCircuitBreaker2 INTEGER, emergencyLithiumBatteryGroup1CircuitBreaker INTEGER, - powerFailureSignal INTEGER, + instrumentPowerFailureSignal INTEGER, + emergencyPowerFailureSignal INTEGER, waterIngressionAlarm INTEGER, instrumentBusbarVoltage INTEGER, instrumentBusbarCurrent INTEGER, @@ -369,7 +370,9 @@ class DB: 'reservedCircuitBreaker1': data.reservedCircuitBreaker1, 'reservedCircuitBreaker2': data.reservedCircuitBreaker2, 'emergencyLithiumBatteryGroup1CircuitBreaker': data.emergencyLithiumBatteryGroup1CircuitBreaker, - 'powerFailureSignal': data.powerFailureSignal, + # 'powerFailureSignal': data.powerFailureSignal, + 'instrumentPowerFailureSignal': data.instrumentPowerFailureSignal, + 'emergencyPowerFailureSignal': data.emergencyPowerFailureSignal, 'waterIngressionAlarm': data.waterIngressionAlarm, 'instrumentBusbarVoltage': data.instrumentBusbarVoltage, 'instrumentBusbarCurrent': data.instrumentBusbarCurrent, @@ -556,7 +559,9 @@ if __name__ == "__main__": fb4.reservedCircuitBreaker1 = 0 fb4.reservedCircuitBreaker2 = 0 fb4.emergencyLithiumBatteryGroup1CircuitBreaker = 1 - fb4.powerFailureSignal = 0 + # fb4.powerFailureSignal = 0 + fb4.instrumentPowerFailureSignal = 0 + fb4.emergencyPowerFailureSignal = 0 fb4.waterIngressionAlarm = 0 fb4.instrumentBusbarVoltage = 48 fb4.instrumentBusbarCurrent = 10 diff --git a/test/disSysTest/test.py b/test/disSysTest/test.py index 93d1398..5281f35 100644 --- a/test/disSysTest/test.py +++ b/test/disSysTest/test.py @@ -14,7 +14,7 @@ from udpMsg import ( ) class PowerManagerSimulator: - def __init__(self, host='127.0.0.1', port=5001): + def __init__(self, host='127.0.0.1', port=6000): self.host = host self.port = port self.running = False @@ -63,19 +63,19 @@ class PowerManagerSimulator: self.high_vol_fb.sternFTDevice45Current = 15 self.high_vol_fb.tyzReservedSwitchCurrent = 0 self.high_vol_fb.sternRudderSwitch1Current = 10 - self.high_vol_fb.reservedCurrent1 = 0 + self.high_vol_fb.reservedCurrent1 = 100 self.high_vol_fb.sternRudderSwitch2Current = 10 - self.high_vol_fb.reservedCurrent2 = 0 - self.high_vol_fb.fbReservedSwitchCurrent = 0 - self.high_vol_fb.reservedCurrent3 = 0 + self.high_vol_fb.reservedCurrent2 = 100 + self.high_vol_fb.fbReservedSwitchCurrent = 1000 + self.high_vol_fb.reservedCurrent3 = 100 self.high_vol_fb.coolWaterPressure = 100 # 高压A母线反馈数据 - 测试所有成员 - self.high_a_vol_fb.bowFTDevice123CircuitBreaker = 0x55 - self.high_a_vol_fb.actuatorCircuitBreaker = 0x55 - self.high_a_vol_fb.mastSteeringGearControlBoxCircuitBreaker = 0x55 - self.high_a_vol_fb.xczCircuitBreaker = 0x55 - self.high_a_vol_fb.bowRudderControlBoxCircuitBreaker = 0x55 + self.high_a_vol_fb.bowFTDevice123CircuitBreaker = 0x5A + self.high_a_vol_fb.actuatorCircuitBreaker = 0x5A + self.high_a_vol_fb.mastSteeringGearControlBoxCircuitBreaker = 0x5A + self.high_a_vol_fb.xczCircuitBreaker = 0x5A + self.high_a_vol_fb.bowRudderControlBoxCircuitBreaker = 0x5A self.high_a_vol_fb.openWaterCoverStartCylinderCircuitBreaker = 0x55 self.high_a_vol_fb.instrumentPowerFailureSignal = 0x55 self.high_a_vol_fb.emergencyPowerFailureSignal = 0x55 @@ -90,40 +90,41 @@ class PowerManagerSimulator: self.high_a_vol_fb.openWaterCoverStartCylinderCurrent = 0 # 仪表主母线反馈数据 - 测试所有成员 - self.low_main_fb.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55 + self.low_main_fb.lithiumBatteryGroupInstrumentCircuitBreaker = 0x5A self.low_main_fb.bowLowVoltageDistributionBoxCircuitBreaker = 0x55 self.low_main_fb.unit4InstrumentDC48VCircuitBreaker = 0x55 - self.low_main_fb.dcC1DCDistributionPanelCircuitBreaker = 0x55 + self.low_main_fb.dcC1DCDistributionPanelCircuitBreaker = 0x5A self.low_main_fb.reservedCircuitBreaker1 = 0x55 self.low_main_fb.reservedCircuitBreaker2 = 0x55 - self.low_main_fb.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55 + self.low_main_fb.emergencyLithiumBatteryGroup2CircuitBreaker = 0x5A self.low_main_fb.instrumentPowerFailureSignal = 0x55 self.low_main_fb.emergencyPowerFailureSignal = 0x55 self.low_main_fb.instrumentBusbarInsulationLow = 0x55 self.low_main_fb.instrumentBusbarVoltage = 48 self.low_main_fb.bowLowVoltageDistributionBoxCurrent = 10 self.low_main_fb.dcC1InstrumentDC48VCurrent = 5 - self.low_main_fb.reservedCurrent1 = 0 - self.low_main_fb.emergencyLithiumBatteryGroup2Current = 0 + self.low_main_fb.reservedCurrent1 = 110 + self.low_main_fb.emergencyLithiumBatteryGroup2Current = 100 self.low_main_fb.lithiumBatteryGroupInstrumentCurrent = 20 self.low_main_fb.unit4InstrumentDC48VCurrent = 5 - self.low_main_fb.reservedCurrent2 = 0 + self.low_main_fb.reservedCurrent2 = 100 self.low_main_fb.emergency2BusbarVoltage = 48 self.low_main_fb.compositeEnergyManagementSystemEmergencyDC48VCurrent = 2 self.low_main_fb.fuelCellSecuritySystemEmergencyDC48VCurrent = 2 self.low_main_fb.plcControlPowerCurrent = 1 # 仪表汇流排反馈数据 - 测试所有成员 - self.low_bus_fb.unit1CircuitBreaker = 1 - self.low_bus_fb.unit2CircuitBreaker = 1 - self.low_bus_fb.unit3CircuitBreaker = 1 - self.low_bus_fb.unit5CircuitBreaker = 1 - self.low_bus_fb.bowPZDeviceCircuitBreaker = 1 - self.low_bus_fb.reservedCircuitBreaker1 = 0 - self.low_bus_fb.reservedCircuitBreaker2 = 0 - self.low_bus_fb.emergencyLithiumBatteryGroup1CircuitBreaker = 0 - self.low_bus_fb.powerFailureSignal = 0 - self.low_bus_fb.waterIngressionAlarm = 0 + self.low_bus_fb.unit1CircuitBreaker = 0x55 + self.low_bus_fb.unit2CircuitBreaker = 0x55 + self.low_bus_fb.unit3CircuitBreaker = 0x55 + self.low_bus_fb.unit5CircuitBreaker = 0x55 + self.low_bus_fb.bowPZDeviceCircuitBreaker = 0x55 + self.low_bus_fb.reservedCircuitBreaker1 = 0x55 + self.low_bus_fb.reservedCircuitBreaker2 = 0x55 + self.low_bus_fb.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55 + self.low_bus_fb.instrumentPowerFailureSignal = 0x5A + self.low_bus_fb.emergencyPowerFailureSignal = 0x5A + self.low_bus_fb.waterIngressionAlarm = 0x55 self.low_bus_fb.instrumentBusbarVoltage = 48 self.low_bus_fb.instrumentBusbarCurrent = 500 self.low_bus_fb.unit1Current = 100 @@ -131,7 +132,7 @@ class PowerManagerSimulator: self.low_bus_fb.unit3Current = 100 self.low_bus_fb.unit5Current = 100 self.low_bus_fb.bowPZDeviceCurrent = 50 - self.low_bus_fb.emergencyLithiumBatteryGroup1Current = 0 + self.low_bus_fb.emergencyLithiumBatteryGroup1Current = 100 self.low_bus_fb.emergency1BusbarVoltage = 48 def start(self): diff --git a/test/disSysTest/udpMsg.py b/test/disSysTest/udpMsg.py index 24097de..d2a44c2 100644 --- a/test/disSysTest/udpMsg.py +++ b/test/disSysTest/udpMsg.py @@ -366,7 +366,7 @@ class msg_disLowBusFbMsg: self.start1 = 0x40 self.start2 = 0x40 self.id = 0x0008 - self.length = 24 # disLowBusState结构体大小 + self.length = 25 # disLowBusState结构体大小 self.checkCode = 0x00 # disLowBusState成员 @@ -378,7 +378,8 @@ class msg_disLowBusFbMsg: self.reservedCircuitBreaker1 = 0x00 self.reservedCircuitBreaker2 = 0x00 self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00 - self.powerFailureSignal = 0x00 + self.instrumentPowerFailureSignal = 0x00 + self.emergencyPowerFailureSignal = 0x00 self.waterIngressionAlarm = 0x00 self.instrumentBusbarVoltage = 0 self.instrumentBusbarCurrent = 0 @@ -406,7 +407,8 @@ class msg_disLowBusFbMsg: data += struct.pack('