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调试0723

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zjk
2025-07-23 22:20:42 +08:00
parent 5360521750
commit 6a78989fec
6 changed files with 55 additions and 19 deletions
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src/pPowerManger/LowerCommManager.cpp
+4
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@@ -81,6 +81,10 @@ void LowerCommManager::processPeriodicTasks() {
//延时5ms
usleep(5000);
// sendDisSysCommand(m_pm->m_targetDisBreakerState);
// if(m_pm->m_systemData->device_common_status.dis_hv_c1.isTimeout)
// {
// }
m_udpComm->clearMsgQueue();
}
src/pPowerManger/PowerManger.h
+3
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@@ -141,6 +141,9 @@ class PowerManger : public AppCastingMOOSApp
bool sendNotification(const std::string& key, const std::string& value) {
return Notify(key, value);
}
bool sendNotification(const std::string& key, double value) {
return Notify(key, value);
}
public:
double GetPublicAppFreq() { return GetAppFreq(); }
unsigned int GetPublicCommsFreq() { return GetCommsFreq(); }
src/pPowerManger/fsm/PowerManagerFsm.cpp
+17 -9
View File
@@ -33,7 +33,7 @@ void PowerManagerFsm::react(CycleTriggeredEvent const &){
//非调试模式下，对水声设备进行保护
if(pm->currentMod != PMMode::Debug)
{
if(pm->m_depth > 10)
if(pm->m_depth < OVER_DEPTH)
{
if(pm->m_systemData->power_a_bus_status.xczCircuitBreaker == 1)
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
@@ -100,7 +100,6 @@ void PowerManagerFsm::handleCuriseWork()
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
}
//2.2 桅杆舵机
@@ -108,7 +107,6 @@ void PowerManagerFsm::handleCuriseWork()
{
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
}
//2.3 艏部浮调机构
@@ -118,7 +116,6 @@ void PowerManagerFsm::handleCuriseWork()
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
}
//2.4 艉部浮调机构
@@ -127,7 +124,6 @@ void PowerManagerFsm::handleCuriseWork()
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
}
//2.5 推进电机
@@ -168,14 +164,25 @@ void PowerManagerFsm::handleHydroacousticDeviceCmd(int id , int cmd)
{
if (pm->currentMod != PMMode::Debug)
{
if(pm->m_depth < 10)
if(pm->m_depth < OVER_DEPTH)
{
LOG_F(INFO, "水下设备操作上电保护 %d ", id);
return;
}
}
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
// 如果是前视声纳断电则先关机再断电
if(id == DeviceId::forwardSonar)
{
if(cmd == 0)
{
LOG_F(INFO,"前视声纳关机指令");
pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
MOOSPause(10000);
}
}
LOG_F(INFO, "水声设备操作: %d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
}
}
@@ -717,7 +724,7 @@ void PowerManagerFsm::handleSideSonarCmd(int id, int cmd)
{
if (pm->currentMod != PMMode::Debug)
{
if(pm->m_depth < 10)
if(pm->m_depth < OVER_DEPTH)
{
LOG_F(INFO, "水下设备操作上电保护 %d ", id);
return;
@@ -891,7 +898,6 @@ void PowerManagerFsm::react(DevCmdExt const &e)
void PowerManagerFsm::getNoPowerDeviceStatus(DriverTable &s)
{
s.bowThrow = pm->m_subDisSysState.bowThrow;
s.commMast = pm->m_subDisSysState.commMast;
s.ctd1 = pm->m_subDisSysState.ctd1;
s.ctd2 = pm->m_subDisSysState.ctd2;
@@ -922,6 +928,8 @@ void PowerManagerFsm::getNoPowerDeviceStatus(DriverTable &s)
s.waterInject = pm->m_subDisSysState.waterInject;
s.USBL = pm->m_subDisSysState.USBL;
s.lowFreqSonar = pm->m_subDisSysState.lowFreqSonar;
s.sternThrow = pm->m_subDisSysState.sternThrow;
s.bowThrow = pm->m_subDisSysState.bowThrow;
}
void PowerManagerFsm::getBowRudderSystemStatus(DriverTable &s)
src/pPowerManger/fsm/PowerManagerFsm.hpp
+4
View File
@@ -10,6 +10,10 @@
#include "../pmSysvariable.h"
#include "../driver.h"
#include "../PowerManger.h"
#define OVER_DEPTH 0.1
// 前向声明
class PowerManger;
src/pPowerManger/fsm/WaterBasedReady.cpp
+13 -2
View File
@@ -8,6 +8,7 @@ void WaterBasedReady::entry() {
//启动水声设备
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
pm->m_upperCommManager->processPeriodicTasks();
pm->workCondition = WorkCondition::WATER_BASED_READY;
LOG_F(INFO, "进入水中备航状态");
}
@@ -27,14 +28,24 @@ void WaterBasedReady::react(DevCmdExt const &e)
{
if (pm->currentMod != PMMode::Debug)
{
if(pm->m_depth < 10)
if(pm->m_depth < OVER_DEPTH)
{
LOG_F(INFO, "水下设备操作上电保护 %d ", id);
return;
}
}
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
// 如果是前视声纳断电则先关机再断电
if(id == DeviceId::forwardSonar)
{
if(cmd == 0)
{
LOG_F(INFO,"前视声纳关机指令");
pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
MOOSPause(10000);
}
}
LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
}
else
{
src/pPowerManger/systemData.h
+14 -8
View File
@@ -712,6 +712,12 @@ public:
disSysFaultCode.erase(faultCode);
}
}
void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus)
{
std::lock_guard<std::mutex> lock(faultCodeMutex);
unsigned char newStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
breakerStatus = newStatus; // 保证状态更新也是原子的
}
void updateSystemData(disHighVolBusState data){
updateBreakerFault(power_bus_status.fuelCellCircuitBreaker, data.fuelCellCircuitBreaker, 1);
updateBreakerFault(power_bus_status.powerLithiumBatteryCircuitBreaker, data.powerLithiumBatteryCircuitBreaker, 2);
@@ -722,9 +728,9 @@ public:
updateBreakerFault(power_bus_status.sternFTDevice45CircuitBreaker, data.sternFTDevice45CircuitBreaker, 7);
updateBreakerFault(power_bus_status.sternRudderSwitch1CircuitBreaker, data.sternRudderSwitch1CircuitBreaker, 8);
updateBreakerFault(power_bus_status.sternRudderSwitch2CircuitBreaker, data.sternRudderSwitch2CircuitBreaker, 9);
updateBreakerFault(power_bus_status.fbReservedCircuitBreaker, data.fbReservedCircuitBreaker, 10);
updateBreakerFault(power_bus_status.tyzReservedCircuitBreaker, data.tyzReservedCircuitBreaker, 11);
updateBreakerFault(power_bus_status.reservedCircuitBreaker, data.reservedCircuitBreaker, 12);
updateBreakerFault(power_bus_status.fbReservedCircuitBreaker, data.fbReservedCircuitBreaker);
updateBreakerFault(power_bus_status.tyzReservedCircuitBreaker, data.tyzReservedCircuitBreaker);
updateBreakerFault(power_bus_status.reservedCircuitBreaker, data.reservedCircuitBreaker);
//模块状态
power_bus_status.dcDcModuleStatus = data.dcDcFaultWord1;
power_bus_status.coolingSystemStatus = data.dcDcFaultWord2;
@@ -819,8 +825,8 @@ public:
updateBreakerFault(instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker,data.bowLowVoltageDistributionBoxCircuitBreaker, 20);
updateBreakerFault(instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker,data.unit4InstrumentDC48VCircuitBreaker, 21);
updateBreakerFault(instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker, data.dcC1DCDistributionPanelCircuitBreaker, 22);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1, 23);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2, 24);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2);
updateBreakerFault(instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker, data.emergencyLithiumBatteryGroup2CircuitBreaker, 25);
//电源状态
@@ -860,9 +866,9 @@ public:
updateBreakerFault(instrument_bus_status.unit2CircuitBreaker, data.unit2CircuitBreaker, 27);
updateBreakerFault(instrument_bus_status.unit3CircuitBreaker, data.unit3CircuitBreaker, 28);
updateBreakerFault(instrument_bus_status.unit5CircuitBreaker, data.unit5CircuitBreaker, 29);
updateBreakerFault(instrument_bus_status.bowPZDeviceCircuitBreaker, data.bowPZDeviceCircuitBreaker, 30);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1, 31);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2, 32);
updateBreakerFault(instrument_bus_status.bowPZDeviceCircuitBreaker, data.bowPZDeviceCircuitBreaker);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2);
updateBreakerFault(instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker, data.emergencyLithiumBatteryGroup1CircuitBreaker, 33);
//电源状态