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调试0723

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This commit is contained in:
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/fsm/PowerManagerFsm.cpp
+17 -9
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@@ -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)