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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

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This commit is contained in:
zjk
2025-02-20 23:15:37 +08:00
parent d89a1936ee
commit 4ee5cbfb86
7 changed files with 355 additions and 134 deletions
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src/pPowerManger/PowerManger.cpp
+74 -45
View File
@@ -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)
src/pPowerManger/SQLiteDB.cpp
+175 -1
View File
@@ -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;
src/pPowerManger/SQLiteDB.h
+10 -5
View File
@@ -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