优化通信代码,修复状态机的bug

src/pPowerManger/UpperCommManager.cpp

@@ -6,39 +6,116 @@ UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}
 
 bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
     if(key == DB_TO_PM_MSCMD) {
-        if(m_pm->getMsCmdFromJson(m_pm->m_msCmd, strJson)) {
-            cout << "get ms cmd:" << strJson << endl;
-            return true;
-        } else {
-            cout << MOOS::ConsoleColours::Red << "get ms cmd error:" << strJson  
-                 << MOOS::ConsoleColours::reset << endl;
-        }
+        m_pm->m_msCmd = getMasterControlCmd(key, strJson);
+        return true;
     }
     else if(key == DB_TO_PM_EQUIPMENTCMD) {
-        if(m_pm->m_driver.loadDriverTableFromJson(strJson, m_pm->m_subDisSysCmd) < 0) {
-            cout << MOOS::ConsoleColours::Red << "get sub dis cmd error:" << strJson 
-                 << MOOS::ConsoleColours::reset << endl;
-        }
+        m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
         return true;
     }
     else if(key == DB_TO_PM_SUBDISSTATE) {
-        if(m_pm->m_driver.loadDriverTableFromJson(strJson, m_pm->m_subDisSysState) < 0) {
-            cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << strJson 
-                 << MOOS::ConsoleColours::reset << endl;
-        }
+        m_pm->m_subDisSysState = getSubDisState(key, strJson);
         return true;
     }
+    std::cout << "Unknown key: " << key << std::endl;
     return false;
 }
 
+const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
+{
+    MSControlCmd cmd;
+    if (parseControlCmdFromJson(cmd, msg)) {
+        return cmd;
+    }
+    else
+    {
+        cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
+{
+    DriverTable cmd;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+    return cmd;
+}
+
+const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
+{
+    DriverTable state;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
+const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
 void UpperCommManager::processPeriodicTasks() {
     buildSystemReport();
-    // m_pm->Notify(PM_TO_DB_SUBDISCMD, m_pm->m_driver.saveDriverTableToJson(&m_pm->m_subDisSysCmd));
-    // m_pm->Notify(PM_TO_DB_EQUIPMENTSTATE, m_pm->m_driver.saveDriverTableToJson(&m_pm->m_currentDriverState));
+    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);
 }
+bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+{
+  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 false; // 解析失败
+  }
+  if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+  {
+      cmd.powerCMD = root["powerCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("modCMD") && root["modCMD"].isUInt())
+  {
+      cmd.modCMD = root["modCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("workCMD") && root["workCMD"].isUInt())
+  {
+      cmd.workCMD = root["workCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+  return true; // 成功
+}
 void UpperCommManager::buildSystemReport() {
-  //TODO： 构建能源系统报告
   string suffix;
   Json::Value pms;
   Json::Value fcs;