增加了次级配电状态,设备状态表,设备上电指令的订阅\解析\发布等功能

2025-02-20 23:15:37 +08:00
parent d89a1936ee
commit 4ee5cbfb86
7 changed files with 355 additions and 134 deletions
@@ -1,47 +1,47 @@
 {
-  "HVABFTDev123Cur_uint16": 65491,
-  "HVABactCur_uint16": 65368,
+  "HVABFTDev123Cur_uint16": 0,
+  "HVABactCur_uint16": 0,
  "HVABbowRudCur_uint16": 0,
-  "HVABbusBCur_uint16": 46080,
-  "HVABbusBVol_uint16": 127,
-  "HVABmastSteGeaCur_uint16": 127,
+  "HVABbusBCur_uint16": 0,
+  "HVABbusBVol_uint16": 0,
+  "HVABmastSteGeaCur_uint16": 0,
  "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 1792,
-  "HVBBCCUCur_uint16": 65492,
-  "HVBBFCSSecurSysCur_uint16": 65368,
-  "HVBBbatInsCur_uint16": 24700,
-  "HVBBbowLowVolDisBoxCur_uint16": 25073,
-  "HVBBdcC1InsCur_uint16": 19436,
-  "HVBBemer2BusVol_uint16": 32768,
+  "HVABxczCur_uint16": 0,
+  "HVBBCCUCur_uint16": 0,
+  "HVBBFCSSecurSysCur_uint16": 0,
+  "HVBBbatInsCur_uint16": 0,
+  "HVBBbowLowVolDisBoxCur_uint16": 0,
+  "HVBBdcC1InsCur_uint16": 0,
+  "HVBBemer2BusVol_uint16": 0,
  "HVBBemerBatCur_uint16": 0,
-  "HVBBinsBusVol_uint16": 18176,
-  "HVBBplcCur_uint16": 127,
-  "HVBBreservedCur1_uint16": 127,
-  "HVBBreservedCur2_uint16": 127,
-  "HVBBunit4Cur_uint16": 19436,
+  "HVBBinsBusVol_uint16": 0,
+  "HVBBplcCur_uint16": 0,
+  "HVBBreservedCur1_uint16": 0,
+  "HVBBreservedCur2_uint16": 0,
+  "HVBBunit4Cur_uint16": 0,
  "HVBFTDev45Cur_uint16": 0,
-  "HVBbatGroupCur_uint16": 37,
+  "HVBbatGroupCur_uint16": 0,
  "HVBbowHVolDisBoxCur_uint16": 0,
  "HVBbusACur_uint16": 0,
-  "HVBbusAVol_uint16": 60617,
+  "HVBbusAVol_uint16": 0,
  "HVBdcDc5Cur_uint16": 0,
-  "HVBfbCur_uint16": 47824,
-  "HVBmotorCur_uint16": 32587,
-  "HVBpowerBusCur_uint16": 8394,
-  "HVBpowerBusVol_uint16": 32767,
-  "HVBreservedCur1_uint16": 60616,
+  "HVBfbCur_uint16": 0,
+  "HVBmotorCur_uint16": 0,
+  "HVBpowerBusCur_uint16": 0,
+  "HVBpowerBusVol_uint16": 0,
+  "HVBreservedCur1_uint16": 0,
  "HVBreservedCur2_uint16": 0,
-  "HVBreservedCur3_uint16": 60619,
-  "HVBsternRud1Cur_uint16": 39104,
-  "HVBsternRud2Cur_uint16": 32587,
+  "HVBreservedCur3_uint16": 0,
+  "HVBsternRud1Cur_uint16": 0,
+  "HVBsternRud2Cur_uint16": 0,
  "HVBtyzCur_uint16": 0,
-  "LVBBbowPZDevCur_uint16": 127,
-  "LVBBemerBatCur_uint16": 1792,
+  "LVBBbowPZDevCur_uint16": 0,
+  "LVBBemerBatCur_uint16": 0,
  "LVBBemerBusVol_uint16": 0,
  "LVBBinsBusCur_uint16": 0,
  "LVBBunit1Cur_uint16": 0,
-  "LVBBunit2Cur_uint16": 28672,
-  "LVBBunit3Cur_uint16": 41536,
-  "LVBBunit5Cur_uint16": 19436,
-  "LVBinsBusVol_uint16": 193
+  "LVBBunit2Cur_uint16": 0,
+  "LVBBunit3Cur_uint16": 0,
+  "LVBBunit5Cur_uint16": 0,
+  "LVBinsBusVol_uint16": 0
 }
@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": -261504.0,
-  "backpressure2_fp32": 1.1690343649017501e-38,
-  "ch4oConcent1_fp32": -641600.0,
-  "ch4oConcent2_fp32": 1.1690343649017501e-38,
+  "backpressure1_fp32": 0.0,
+  "backpressure2_fp32": 0.0,
+  "ch4oConcent1_fp32": 0.0,
+  "ch4oConcent2_fp32": 0.0,
  "ch4o_fp32": 0.0,
-  "excTemp_fp32": 3.4331812375958018e-43,
-  "faultCode1_uint16": 1649,
-  "faultCode2_uint16": 38944,
+  "excTemp_fp32": 0.0,
+  "faultCode1_uint16": 0,
+  "faultCode2_uint16": 0,
  "faultCode3_uint16": 0,
-  "fcuCurIns_fp32": null,
-  "fcuCurPower_fp32": 1.1754708090080869e-38,
-  "fcuCur_fp32": -282240.0,
-  "fcuFaultLeve_uint8": 201,
-  "fcuOutIns_fp32": 1.1690343649017501e-38,
-  "fcuOutPower_fp32": 6.9238340671194006e+19,
-  "fcuState_uint8": 32,
-  "fcuVolIns_fp32": 7.2147666030475346e+19,
-  "fcuVolPower_fp32": 1.1690343649017501e-38,
-  "fcuVol_fp32": 1.1690343649017501e-38,
+  "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": -658592.0,
-  "h2Concent2_fp32": 1.1690343649017501e-38,
-  "o2Concent1_fp32": 8.602403116674333e-40,
+  "h2Concent1_fp32": 0.0,
+  "h2Concent2_fp32": 0.0,
+  "o2Concent1_fp32": 0.0,
  "o2Concent2_fp32": 0.0,
-  "o2Level_fp32": 1.1690343649017501e-38,
-  "o2_fp32": -641600.0,
-  "powLimit_fp32": 1.1690343649017501e-38,
-  "powerGen_fp32": 1.8108811898653892e-39
+  "o2Level_fp32": 0.0,
+  "o2_fp32": 0.0,
+  "powLimit_fp32": 0.0,
+  "powerGen_fp32": 0.0
 }
@@ -1,38 +1,38 @@
 {
-  "fcuCurToInsLimit1_uint8": 127,
+  "fcuCurToInsLimit1_uint8": 0,
  "fcuCurToinsLimit2_uint8": 0,
-  "insBatCurElect_uint16": 32587,
-  "insBatLimit_uint16": 60544,
+  "insBatCurElect_uint16": 0,
+  "insBatLimit_uint16": 0,
  "insBatSoc_uint8": 0,
-  "insBatTotalElect_uint16": 36880,
-  "insChargeState_uint8": 116,
-  "insCurSocHold1_uint8": 201,
-  "insCurSocHold2_uint8": 236,
-  "insCurSocHold3_uint8": 75,
+  "insBatTotalElect_uint16": 0,
+  "insChargeState_uint8": 0,
+  "insCurSocHold1_uint8": 0,
+  "insCurSocHold2_uint8": 0,
+  "insCurSocHold3_uint8": 0,
  "insCurrent_uint16": 0,
-  "insLinkVol_uint16": 22783,
+  "insLinkVol_uint16": 0,
  "insNegRelayState_uint8": 0,
-  "insNegRes_uint16": 60617,
-  "insPackVol_uint16": 32767,
+  "insNegRes_uint16": 0,
+  "insPackVol_uint16": 0,
  "insPosRelayState_uint8": 0,
-  "insPosRes_uint16": 8394,
-  "insfaultCode_uint8": 164,
+  "insPosRes_uint16": 0,
+  "insfaultCode_uint8": 0,
  "powBatCurElect_uint16": 0,
  "powBatSoc_uint8": 0,
-  "powBatTotalElect_uint16": 60544,
-  "powChargeState_uint8": 211,
+  "powBatTotalElect_uint16": 0,
+  "powChargeState_uint8": 0,
  "powCurSocHold1_uint8": 0,
-  "powCurSocHold2_uint8": 208,
-  "powCurSocHold3_uint8": 186,
-  "powCurToInsLimit1_uint8": 203,
-  "powCurToinsLimit2_uint8": 236,
-  "powCur_uint16": 3590,
-  "powLinkVol_uint16": 32587,
-  "powNegRelayState_uint8": 103,
+  "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": 208,
+  "powPosRelayState_uint8": 0,
  "powPosRes_uint16": 0,
-  "powerBatLimit_uint16": 32587,
+  "powerBatLimit_uint16": 0,
  "powerPackVol_uint16": 0,
-  "powfaultCode_uint8": 28
+  "powfaultCode_uint8": 0
 }
@@ -49,7 +49,14 @@ PowerManger::PowerManger()
  msg_disLowBusFbMsg_Update_time = 0;

  connectState = 0;
-
+  
+  m_pmCurrentState = {};
+  m_currentDisBreakerState = {};
+  m_targetDisBreakerState = {};
+  m_currentDriverState = {};
+  m_MSDriverCmd = {};
+  m_subDisSysCmd = {};
+  m_subDisSysState = {};
  //初始化断路器状态
  initControlCmd();

@@ -59,6 +66,10 @@ PowerManger::PowerManger()
  m_db->createPowerDataTables();
  m_db->createStateTables();
  m_db->createDisCcuSysTables();
+  m_db->createDriversTables(VAR_TO_STR(m_currentDriverState));
+  m_db->createDriversTables(VAR_TO_STR(m_subDisSysState));
+  m_db->createDriversTables(VAR_TO_STR(m_subDisSysCmd));
+  m_db->createDriversTables(VAR_TO_STR(m_MSDriverCmd));
    
  //注册状态机
  m_fsm.RegisterState("Init",  1, m_Inite_s1);
@@ -98,11 +109,11 @@ bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
    {
      if(getMsCmdFromJson(m_msCmd,strJson))
      {
-        cout << "get ms cmd:" << strJson << endl;
+        cout <<  "get ms cmd:" << strJson << endl;
      }
      else
      {
-        cout << "get ms cmd error:" << strJson << endl;
+        cout << MOOS::ConsoleColours::Red << "get ms cmd error:" << strJson  << MOOS::ConsoleColours::reset << endl;
      }
    }
    //处理设备上电指令
@@ -110,7 +121,7 @@ bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
    {
      if(m_driver.loadDriverTableFromJson(strJson,m_subDisSysCmd) < 0)
      {
-        cout << "get sub dis cmd error:" << strJson << endl;
+        cout << MOOS::ConsoleColours::Red  << "get sub dis cmd error:" << strJson << MOOS::ConsoleColours::reset << endl;
      }
    }
    //处理设备状态反馈
@@ -118,7 +129,7 @@ bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
    {
      if(m_driver.loadDriverTableFromJson(strJson,m_subDisSysState) < 0)
      {
-        cout << "get sub dis state error:" << strJson << endl;
+        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << strJson << MOOS::ConsoleColours::reset << endl;
      }
    }
    
@@ -175,25 +186,25 @@ bool PowerManger::Iterate()
    ccuOption();
    //c. 上位机反馈
    buildPowerSysReport();
+    Notify(PM_TO_DB_SUBDISCMD,m_driver.saveDriverTableToJson(&m_subDisSysCmd));
+    Notify(PM_TO_DB_EQUIPMENTSTATE,m_driver.saveDriverTableToJson(&m_currentDriverState));
+    //d.保存到数据库
+    writeDataToDB();
  }
  ///////////////////////
-  string a = m_driver.getSubDisCmdJson(&m_subDisSysCmd);
-  saveStringToJsonFile(a,"/home/zjk/project/H100/H100PowerManger/data/subDisSysCmd.json");
+  // string a = m_driver.getSubDisCmdJson(&m_subDisSysCmd);
+  // saveStringToJsonFile(a,"/home/zjk/project/H100/H100PowerManger/data/subDisSysCmd.json");
  ///////////////////////
-  //4. 打印错误信息
-  if(!m_udpComm.sError.empty())
-  {
-    for(int i=0;i<m_udpComm.sError.size();i++)
-    {
-      cout<<MOOS::ConsoleColours::red() << m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
-    }
-    m_udpComm.sError.clear();
-  }
+  //4. 写状态信息到数据库
+  m_stateData.state_id = m_pmState.id;
+  m_stateData.state_name = m_pmState.name;
+  m_stateData.event = m_pmEvent;
+  m_stateData.fault_code = m_faultNum;
+  if(!m_db->insertStateData(m_stateData))
+    return false;
  //AppCastingMOOSApp::PostReport();
  //5. 清空UDP消息队列
-  m_udpComm.clearMsgQueue();
-  //6. 写入数据库
-  writeDataToDB();
+  m_udpComm.clearMsgQueue(); 
  return(true);
 }

@@ -315,18 +326,27 @@ bool PowerManger::ListenLoopUDP()
        }
      }
    }
-    // updatePmState();
+    // 打印通信错误信息
+    if(!m_udpComm.sError.empty())
+    {
+      for(int i=0;i<m_udpComm.sError.size();i++)
+      {
+        cout<<MOOS::ConsoleColours::red() << m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
+      }
+      m_udpComm.sError.clear();
+    }
  }
  return true;
 }

 bool PowerManger::FsmLoop()
 {
+  //状态机循环
  while (!m_FsmThread.IsQuitRequested())
  {
    m_fsm.run(m_pmState,this);
-    //延时200ms
-    usleep(200000);
+    //延时1s
+    usleep(1000000);
  }
  return true;
 }
@@ -336,20 +356,20 @@ bool PowerManger::updateConnectState()
  double seck = 0;
  updateTime();
  connectState = 0;
-  IsSkewed(msg_CcuStateFbMsg_Update_time,&seck);
-  connectState++;
+  if(!IsSkewed(msg_CcuStateFbMsg_Update_time,&seck))
+    connectState++;
  // cout << "seck:" << seck << endl;
-  IsSkewed(msg_disHighVolBusFbMsg_Update_time,&seck);
-  connectState++;
+  if(!IsSkewed(msg_disHighVolBusFbMsg_Update_time,&seck))
+    connectState++;
  // cout << "seck:" << seck << endl;
-  IsSkewed(msg_disHighAVolBusFbMsg_Update_time,&seck);
-  connectState++;
+  if(!IsSkewed(msg_disHighAVolBusFbMsg_Update_time,&seck))
+    connectState++;
  // cout << "seck:" << seck << endl;
-  IsSkewed(msg_disHighBVolBusFbMsg_Update_time,&seck);
-  connectState++;
+  if(!IsSkewed(msg_disHighBVolBusFbMsg_Update_time,&seck))
+    connectState++;
  // cout << "seck:" << seck << endl;
-  IsSkewed(msg_disLowBusFbMsg_Update_time,&seck);
-  connectState++;
+  if(!IsSkewed(msg_disLowBusFbMsg_Update_time,&seck))
+    connectState++;
  // cout << "seck:" << seck << endl;
  return true;

@@ -546,17 +566,20 @@ bool PowerManger::saveStringToJsonFile(const string &strJson, const string &file

 bool PowerManger::writeDataToDB()
 {
-  m_stateData.state_id = m_pmState.id;
-  m_stateData.state_name = m_pmState.name;
-  m_stateData.event = m_pmEvent;
-  m_stateData.event_id = 1;
-  m_stateData.fault_code = m_faultNum;
-  m_stateData.note = "No fault";
-  if(!m_db->insertStateData(m_stateData))
-    return false;
+
  // //写入配电系统状态
  // if(!m_db->insertDisCcuData(m_pmCurrentState))
  //   return false;
+  //写入设备状态
+  if(!m_db->insertDriverTables(m_currentDriverState,VAR_TO_STR(m_currentDriverState)))
+    return false;
+  if(!m_db->insertDriverTables(m_subDisSysState,VAR_TO_STR(m_subDisSysState)))
+    return false;
+  if(!m_db->insertDriverTables(m_subDisSysCmd,VAR_TO_STR(m_subDisSysCmd)))
+    return false;
+  if(!m_db->insertDriverTables(m_MSDriverCmd,VAR_TO_STR(m_MSDriverCmd)))
+    return false;
+
  return true;

 }
@@ -577,9 +600,10 @@ void PowerManger::printState(FSM_State st, string desp){
 int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
 {
  PowerManger* pm = (PowerManger*)pData;
+  bool ok = true;
  //1. 检查通信是否正常 如果超时则进入故障状态
  double StartTime = pm->GetAppStartTime();
-  while (!pm->connectState == 5)
+  while (pm->connectState < 5)
  {
    MOOSPause(1000);
    pm->updateTime();
@@ -587,14 +611,14 @@ int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
    if(dft > 10)
    {
      pm->m_pmState = pm->m_Fault_s99;
-      pm->m_faultNum = 1; 
+      pm->m_faultNum = 1; //通信故障
+      ok = false;
      break;
    }
    string desp = "等待复合管控消息 : " + to_string(10-dft);
    pm->printState(fsm,desp);
  }
  //2. 检查复合管控器是否上报故障 如果故障则进入故障状态
-  bool ok = true;
  if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
@@ -604,13 +628,15 @@ int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
     pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
  {
    ok = false;
+    pm->m_faultNum = 2; //能源故障
  }
+  //3. 初始化系统为待机状态
+  pm->initControlCmd();
+  //4.判断关键断路器是否闭合
  if(!ok)
  {
    pm->m_pmState = pm->m_Fault_s99;
  }
-  //3. 初始化系统为待机状态
-  pm->initControlCmd();
  pm->m_pmState = pm->m_Standby_s2;
  return 0;
 }
@@ -701,6 +727,9 @@ void PowerManger::initControlCmd()
  m_msCmd.modCMD = 0;
  m_msCmd.powerCMD = 0;
  m_msCmd.workCMD = 0;
+
+  //================初始化设备驱动指令========================
+
 } 

 char PowerManger::getBreakerOption(char cmd)
@@ -17,6 +17,75 @@ bool SQLiteDB::bindParameters(sqlite3_stmt* stmt, const T& data) {
    return false;
 }

+template<>
+bool SQLiteDB::bindParameters<DriverTable>(sqlite3_stmt* stmt, const DriverTable& data)
+{
+    int index = 1;
+    sqlite3_bind_int(stmt, index++, data.depth1);
+    sqlite3_bind_int(stmt, index++, data.depth2);
+    sqlite3_bind_int(stmt, index++, data.depth3);
+    sqlite3_bind_int(stmt, index++, data.overDeep1);
+    sqlite3_bind_int(stmt, index++, data.overDeep2);
+    sqlite3_bind_int(stmt, index++, data.ctd1);
+    sqlite3_bind_int(stmt, index++, data.ctd2);
+    sqlite3_bind_int(stmt, index++, data.soundVeloc);
+    sqlite3_bind_int(stmt, index++, data.commMast);
+    sqlite3_bind_int(stmt, index++, data.ins);
+    sqlite3_bind_int(stmt, index++, data.ntp);
+    sqlite3_bind_int(stmt, index++, data.inputWaterSensor1);
+    sqlite3_bind_int(stmt, index++, data.inputWaterSensor2);
+    sqlite3_bind_int(stmt, index++, data.inputWaterSensor3);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar1);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar2);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar3);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar4);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar5);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar6);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar7);
+    sqlite3_bind_int(stmt, index++, data.singleBeamSonar8);
+    sqlite3_bind_int(stmt, index++, data.forwardSonar);
+    sqlite3_bind_int(stmt, index++, data.DVL);
+    sqlite3_bind_int(stmt, index++, data.lowFreqSonar);
+    sqlite3_bind_int(stmt, index++, data.USBL);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet1);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet2);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet3);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet4);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet5);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet6);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet7);
+    sqlite3_bind_int(stmt, index++, data.bowWaterlnet8);
+    sqlite3_bind_int(stmt, index++, data.bowRudderDeploy);
+    sqlite3_bind_int(stmt, index++, data.bowRudderServo1);
+    sqlite3_bind_int(stmt, index++, data.bowRudderServo2);
+    sqlite3_bind_int(stmt, index++, data.bowCover1);
+    sqlite3_bind_int(stmt, index++, data.bowCover2);
+    sqlite3_bind_int(stmt, index++, data.bowCover3);
+    sqlite3_bind_int(stmt, index++, data.bowCover4);
+    sqlite3_bind_int(stmt, index++, data.bowCover5);
+    sqlite3_bind_int(stmt, index++, data.bowCover6);
+    sqlite3_bind_int(stmt, index++, data.waterInject);
+    sqlite3_bind_int(stmt, index++, data.mastLiftingServo);
+    sqlite3_bind_int(stmt, index++, data.buoyancyAdjust1);
+    sqlite3_bind_int(stmt, index++, data.buoyancyAdjust2);
+    sqlite3_bind_int(stmt, index++, data.buoyancyAdjust3);
+    sqlite3_bind_int(stmt, index++, data.buoyancyAdjust4);
+    sqlite3_bind_int(stmt, index++, data.buoyancyAdjust5);
+    sqlite3_bind_int(stmt, index++, data.sternRudderServo1);
+    sqlite3_bind_int(stmt, index++, data.sternRudderServo2);
+    sqlite3_bind_int(stmt, index++, data.sternRudderServo3);
+    sqlite3_bind_int(stmt, index++, data.sternRudderServo4);
+    sqlite3_bind_int(stmt, index++, data.thruster);
+    sqlite3_bind_int(stmt, index++, data.bowThrow);
+    sqlite3_bind_int(stmt, index++, data.sternThrow);
+    sqlite3_bind_int(stmt, index++, data.photoSensor);
+    sqlite3_bind_int(stmt, index++, data.electSensor);
+    sqlite3_bind_int(stmt, index++, data.launchControler);
+    sqlite3_bind_int(stmt, index++, data.sideSonar);
+    sqlite3_bind_int(stmt, index++, data.buoyage);
+    return true;
+}
+
 // 为ccuState特化实现
 template<>
 bool SQLiteDB::bindParameters<ccuState>(sqlite3_stmt* stmt, const ccuState& data) {
@@ -317,6 +386,84 @@ bool SQLiteDB::createPowerDataTables() {
    return true;
 }

+bool SQLiteDB::createDriversTables(string tableName) 
+{
+    if (!m_db) return false;
+
+    string createTableSQL = "CREATE TABLE IF NOT EXISTS " + tableName + " ("
+    "timestamp DATETIME DEFAULT (strftime('%Y-%m-%d %H:%M:%f', 'now')), "
+    "DVL INTEGER DEFAULT 0, "
+    "USBL INTEGER DEFAULT 0, "
+    "bowCover1 INTEGER DEFAULT 0, "
+    "bowCover2 INTEGER DEFAULT 0, "
+    "bowCover3 INTEGER DEFAULT 0, "
+    "bowCover4 INTEGER DEFAULT 0, "
+    "bowCover5 INTEGER DEFAULT 0, "
+    "bowCover6 INTEGER DEFAULT 0, "
+    "bowRudderDeploy INTEGER DEFAULT 0, "
+    "bowRudderServo1 INTEGER DEFAULT 0, "
+    "bowRudderServo2 INTEGER DEFAULT 0, "
+    "bowThrow INTEGER DEFAULT 0, "
+    "bowWaterlnet1 INTEGER DEFAULT 0, "
+    "bowWaterlnet2 INTEGER DEFAULT 0, "
+    "bowWaterlnet3 INTEGER DEFAULT 0, "
+    "bowWaterlnet4 INTEGER DEFAULT 0, "
+    "bowWaterlnet5 INTEGER DEFAULT 0, "
+    "bowWaterlnet6 INTEGER DEFAULT 0, "
+    "bowWaterlnet7 INTEGER DEFAULT 0, "
+    "bowWaterlnet8 INTEGER DEFAULT 0, "
+    "buoyage INTEGER DEFAULT 0, "
+    "buoyancyAdjust1 INTEGER DEFAULT 0, "
+    "buoyancyAdjust2 INTEGER DEFAULT 0, "
+    "buoyancyAdjust3 INTEGER DEFAULT 0, "
+    "buoyancyAdjust4 INTEGER DEFAULT 0, "
+    "buoyancyAdjust5 INTEGER DEFAULT 0, "
+    "commMast INTEGER DEFAULT 0, "
+    "ctd1 INTEGER DEFAULT 0, "
+    "ctd2 INTEGER DEFAULT 0, "
+    "depth1 INTEGER DEFAULT 0, "
+    "depth2 INTEGER DEFAULT 0, "
+    "depth3 INTEGER DEFAULT 0, "
+    "electSensor INTEGER DEFAULT 0, "
+    "forwardSonar INTEGER DEFAULT 0, "
+    "inputWaterSensor1 INTEGER DEFAULT 0, "
+    "inputWaterSensor2 INTEGER DEFAULT 0, "
+    "inputWaterSensor3 INTEGER DEFAULT 0, "
+    "ins INTEGER DEFAULT 0, "
+    "launchControler INTEGER DEFAULT 0, "
+    "lowFreqSonar INTEGER DEFAULT 0, "
+    "mastLiftingServo INTEGER DEFAULT 0, "
+    "ntp INTEGER DEFAULT 0, "
+    "overDeep1 INTEGER DEFAULT 0, "
+    "overDeep2 INTEGER DEFAULT 0, "
+    "photoSensor INTEGER DEFAULT 0, "
+    "sideSonar INTEGER DEFAULT 0, "
+    "singleBeamSonar1 INTEGER DEFAULT 0, "
+    "singleBeamSonar2 INTEGER DEFAULT 0, "
+    "singleBeamSonar3 INTEGER DEFAULT 0, "
+    "singleBeamSonar4 INTEGER DEFAULT 0, "
+    "singleBeamSonar5 INTEGER DEFAULT 0, "
+    "singleBeamSonar6 INTEGER DEFAULT 0, "
+    "singleBeamSonar7 INTEGER DEFAULT 0, "
+    "singleBeamSonar8 INTEGER DEFAULT 0, "
+    "soundVeloc INTEGER DEFAULT 0, "
+    "sternRudderServo1 INTEGER DEFAULT 0, "
+    "sternRudderServo2 INTEGER DEFAULT 0, "
+    "sternRudderServo3 INTEGER DEFAULT 0, "
+    "sternRudderServo4 INTEGER DEFAULT 0, "
+    "sternThrow INTEGER DEFAULT 0, "
+    "thruster INTEGER DEFAULT 0, "
+    "waterInject INTEGER DEFAULT 0"
+    ");";
+    char* errMsg = nullptr;
+    if (sqlite3_exec(m_db, createTableSQL.c_str(), nullptr, nullptr, &errMsg) != SQLITE_OK) {
+        std::cerr << "SQL error: " << errMsg << std::endl;
+        sqlite3_free(errMsg);
+        return false;
+    }
+    return true;
+}
+
 bool SQLiteDB::createStateTables() {
    if (!m_db) return false;

@@ -482,6 +629,8 @@ bool SQLiteDB::clearStateData() {
    return true;
 }

+
+
 bool SQLiteDB::insertDisCcuData(pmState s, bool filter) {
    if (!m_db) return false;

@@ -774,6 +923,32 @@ bool SQLiteDB::insertDisLowBusData(disLowBusState s)
    return result;
 }

+bool SQLiteDB::insertDriverTables(DriverTable driverTable,string tableName)
+{
+    if (!m_db) return false;
+
+    // 构建插入语句
+    std::string insertSql = "INSERT INTO " + tableName + " ("
+                            "depth1, depth2, depth3, overDeep1, overDeep2, ctd1, ctd2, soundVeloc, commMast, ins, ntp, "
+                            "inputWaterSensor1, inputWaterSensor2, inputWaterSensor3, "
+                            "singleBeamSonar1, singleBeamSonar2, singleBeamSonar3, singleBeamSonar4, singleBeamSonar5, "
+                            "singleBeamSonar6, singleBeamSonar7, singleBeamSonar8, forwardSonar, DVL, lowFreqSonar, USBL, "
+                            "bowWaterlnet1, bowWaterlnet2, bowWaterlnet3, bowWaterlnet4, bowWaterlnet5, bowWaterlnet6, "
+                            "bowWaterlnet7, bowWaterlnet8, bowRudderDeploy, bowRudderServo1, bowRudderServo2, "
+                            "bowCover1, bowCover2, bowCover3, bowCover4, bowCover5, bowCover6, waterInject, "
+                            "mastLiftingServo, buoyancyAdjust1, buoyancyAdjust2, buoyancyAdjust3, buoyancyAdjust4, "
+                            "buoyancyAdjust5, sternRudderServo1, sternRudderServo2, sternRudderServo3, sternRudderServo4, "
+                            "thruster, bowThrow, sternThrow, "
+                            "photoSensor, electSensor, launchControler, sideSonar, buoyage) "
+                            "VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, "
+                            "?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, "
+                            "?, ?, ?, ?, ?, ?, ?, ?);";
+
+    // 执行插入操作
+    bool result = executeInsert(insertSql.c_str(), driverTable);
+    return result;
+}
+
 template<typename T>
 bool SQLiteDB::executeInsert(const char* sql, const T& data) {
    sqlite3_stmt* stmt;
@@ -799,7 +974,6 @@ bool SQLiteDB::executeInsert(const char* sql, const T& data) {
 }


-
 bool SQLiteDB::createDisCcuSysTables() {
    if (!m_db) return false;

@@ -7,6 +7,7 @@
 #include "json/json.h"
 #include "ccuUdpMsg.h"
 #include "pmSysvariable.h"
+#include "driver.h"

 using namespace std;
 struct PowerData {
@@ -26,11 +27,11 @@ struct StateData {
 };

 // 前向声明
-struct ccuState;
-struct disHighVolBusState;
-struct disHighAVolBusState;
-struct disHighBVolBusState;
-struct disLowBusState;
+// struct ccuState;
+// struct disHighVolBusState;
+// struct disHighAVolBusState;
+// struct disHighBVolBusState;
+// struct disLowBusState;

 class SQLiteDB {
 public:
@@ -47,6 +48,7 @@ public:
    bool createPowerDataTables();
    bool createStateTables();
    bool createDisCcuSysTables();
+    bool createDriversTables(string tableName);

    bool clearPowerData();
    bool clearStateData();
@@ -55,6 +57,7 @@ public:
    bool insertPowerData(const PowerData& powerData);
    bool insertStateData(StateData stateData,bool filter=true);

+
    bool insertCcuData(ccuState s);
    bool insertDisHighVolBusData(disHighVolBusState s);
    bool insertDisHighAVolBusData(disHighAVolBusState s);
@@ -67,6 +70,8 @@ public:
    bool insertDisSysCmd(disHighBVolBusCmd cmd);
    bool insertDisSysCmd(disLowBusCmd cmd);

+    bool insertDriverTables(DriverTable driverTable,string tableName);
+
    bool insertDisCcuData(pmState s,bool filter=true);//由于信息同步原因，暂时不使用该函数

    // 获取最新的状态数据
@@ -1,12 +1,16 @@
 #include "catch2/catch.hpp"
 #include "../src/pPowerManger/SQLiteDB.h"
+#include "../src/pPowerManger/driver.h"

 TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
    SQLiteDB db("test.db");

    SECTION("Create Tables") {
        REQUIRE(db.createPowerDataTables() == true);
-        REQUIRE(db.createStateTables() == true);
+        // REQUIRE(db.createStateTables() == true);
+        REQUIRE(db.createDisCcuSysTables() == true);
+        REQUIRE(db.createDriversTables("test") == true);
+
    }
    
    SECTION("Test isDatabaseConnected") {
@@ -36,6 +40,15 @@ TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
        
        //REQUIRE(db.clearPowerData(stateDataForGet) == true);
        }
+    
+    SECTION("Test insertStateData") {
+        
+        for(int i = 0; i < 100; i++)
+        {   DriverTable driver;
+            REQUIRE(db.insertDriverTables(driver,"test") == true);
+        }
+        
+    }
       
    
 }