zjk/H100PowerManger
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完善功能

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This commit is contained in:
zjk
2025-04-02 21:31:51 +08:00
parent 341630f547
commit 811fbf2924
7 changed files with 426 additions and 62 deletions
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src/appPowerMangerWebUI/main.cpp
+23 -15
View File
@@ -74,7 +74,6 @@ void sendStateUpdate() {
if(dbImage->GetProcInfo(proc, subs, pubs)) {
crow::json::wvalue processInfo;
processInfo["name"] = proc;
// 将STRING_LIST转换为std::vector<std::string>
std::vector<std::string> subs_vec(subs.begin(), subs.end());
std::vector<std::string> pubs_vec(pubs.begin(), pubs.end());
processInfo["subscribed"] = subs_vec;
@@ -93,16 +92,25 @@ void sendStateUpdate() {
{
lock_guard<mutex> lock(wsMutex);
int varCount = dbImage->GetNumVariables();
CDBImage::CVar lastVar;
bool hasLastVar = (varCount > 0) && dbImage->Get(lastVar, varCount-1);
crow::json::wvalue::list varList;
// 遍历所有变量
for(int i = 0; i < varCount; i++) {
CDBImage::CVar var;
if(dbImage->Get(var, i)) {
varList.push_back({
{"name", var.GetName()},
{"value", var.GetValue()},
{"time", var.GetTime()},
{"type", var.GetType()},
{"source", var.GetSource()}
});
}
}
msg["variables"] = {
{"count", varCount},
{"last_updated", {
{"name", hasLastVar ? lastVar.GetName() : ""},
{"value", hasLastVar ? lastVar.GetValue() : ""},
{"time", hasLastVar ? lastVar.GetTime() : "0.0"}
}}
{"data", std::move(varList)} // 包含所有变量的数组
};
}
@@ -132,9 +140,9 @@ bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
m_DBImage->SetProcInfo(procMail);
// 打印进程信息
STRING_LIST processes;
m_DBImage->GetProcesses(processes);
std::cout << "Active processes: " << processes.size() << std::endl;
// STRING_LIST processes;
// m_DBImage->GetProcesses(processes);
// std::cout << "Active processes: " << processes.size() << std::endl;
}
}
@@ -146,15 +154,15 @@ bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
// 打印数据库变量信息
int varCount = m_DBImage->GetNumVariables();
std::cout << "Database variables: " << varCount << std::endl;
// std::cout << "Database variables: " << varCount << std::endl;
// 打印最近更新的变量
if(varCount > 0) {
CDBImage::CVar lastVar;
if(m_DBImage->Get(lastVar, varCount-1)) {
std::cout << "Last updated variable: "
<< lastVar.GetName() << " = "
<< lastVar.GetValue() << std::endl;
// std::cout << "Last updated variable: "
// << lastVar.GetName() << " = "
// << lastVar.GetValue() << std::endl;
}
}
}
src/pPowerManger/PowerManger.cpp
+20 -4
View File
@@ -182,7 +182,7 @@ bool PowerManger::Iterate()
{
//a. 配电系统操作
disSysOption();
//b. ccu操作
//b. ccu操作
ccuOption();
//c. 上位机反馈
buildPowerSysReport();
@@ -686,39 +686,55 @@ int PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
{
case 0:
pm->m_pmEvent = "收到上位机控制指令:关机";
pm->shutdown();
// pm->shutdown();
break;
case 1:
pm->m_pmEvent = "动力电上电";
// pm->powerOn();
//1.先上动力锂电池
pm->m_CcuColCmd.powerBatCmd = 0x10;
//2.检查燃料电池是否就绪，如果就绪则启动
if(pm->m_pmCurrentState.ccustate.fcuState = 0x04)
pm->m_CcuColCmd.fcuCmd = 0x02;
break;
case 2:
pm->m_pmEvent = "锂动力电启动";
pm->m_CcuColCmd.powerBatCmd = 0x10;
break;
case 3:
pm->m_pmEvent = "燃料电池启动";
pm->m_CcuColCmd.fcuCmd = 0x02;
break;
case 4:
pm->m_pmEvent = "锂动力电关闭";
pm->m_CcuColCmd.powerBatCmd = 0x20;
case 5:
pm->m_pmEvent = "燃料电池停机";
pm->m_CcuColCmd.fcuCmd = 0x03;
break;
case 6:
pm->m_pmEvent = "燃料电池预热指令";
pm->m_CcuColCmd.fcuCmd = 0x07;
break;
case 7:
pm->m_pmEvent = "燃料电池自检指令";
pm->m_CcuColCmd.fcuCmd = 0x01;
break;
case 8:
pm->m_pmEvent = "燃料电池紧急停机";
pm->m_CcuColCmd.fcuCmd = 0x05;
break;
case 9:
pm->m_pmEvent = "燃料电池复位指令";
pm->m_CcuColCmd.fcuCmd = 0x04;
break;
case 10:
pm->m_pmEvent = "燃料电池补给指令";
pm->m_CcuColCmd.fcuCmd = 0x06;
break;
case 11:
pm->m_pmEvent = "燃料电池停机维护";
pm->m_CcuColCmd.fcuCmd = 0x08;
break;
default:
break;
@@ -773,9 +789,11 @@ int PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
break;
case 1:
pm->m_pmEvent = "试验模式";
pm->currentMod = 1;
break;
case 2:
pm->m_pmEvent = "调试模式";
pm->currentMod = 2;
break;
}
MOOSPause(1000);
@@ -859,12 +877,10 @@ void PowerManger::initControlCmd()
m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
m_CcuColCmd.heartbeat = 0;
m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
//================初始化上位机指令=========================
m_msCmd.modCMD = 99;
m_msCmd.powerCMD = 99;
m_msCmd.workCMD = 99;
//================初始化设备驱动指令========================
}
src/pPowerManger/PowerManger.h
+2 -6
View File
@@ -58,8 +58,6 @@
#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
class PowerManger : public AppCastingMOOSApp
{
public:
@@ -99,10 +97,9 @@ class PowerManger : public AppCastingMOOSApp
double msg_disHighBVolBusFbMsg_Update_time;
double msg_disLowBusFbMsg_Update_time;
protected:
//===========================交互状态变量==================================
Driver m_driver;
Driver m_driver; //设备驱动
pmState m_pmCurrentState; //能源系统的当前状态
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
disSysBreakerList m_targetDisBreakerState;
@@ -120,7 +117,6 @@ class PowerManger : public AppCastingMOOSApp
unsigned int soc;
unsigned int sustainableTime;
// 配电和CCU的反馈状态
msg_CcuStateFbMsg m_CcuCurrentState;
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
@@ -189,4 +185,4 @@ class PowerManger : public AppCastingMOOSApp
};
#endif
#endif
src/pPowerManger/driver.cpp
+1 -3
View File
@@ -23,8 +23,7 @@ int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
switch (condition)
{
case STANDBY:
break;
case SHORE_BASED_READY:
@@ -770,7 +769,6 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
root["sideSonar"] = driverTable->sideSonar;
root["buoyage"] = driverTable->buoyage;
return root.toStyledString();
}
std::string Driver::getDriverTableJson()