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使用tinyfsm

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zjk
2025-04-06 21:27:37 +08:00
parent c51eb7073a
commit 8677811dac
1 changed files with 27 additions and 23 deletions
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src/pPowerManger/PowerManagerFsm.hpp
+27 -23
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@@ -1,7 +1,6 @@
#ifndef POWER_MANAGER_FSM_HPP
#define POWER_MANAGER_FSM_HPP
#include "PowerManger.h"
#include "tinyfsm.hpp"
// 前向声明
@@ -10,7 +9,7 @@ class PowerManger;
// 定义事件类型
struct InitEvent : tinyfsm::Event { };
struct StandbyEvent : tinyfsm::Event { };
struct FaultEvent : tinyfsm::Event {
struct FaultEvent : tinyfsm::Event {
unsigned int faultCode;
FaultEvent(unsigned int code) : faultCode(code) {}
};
@@ -18,14 +17,19 @@ struct FaultEvent : tinyfsm::Event {
// 定义状态机基类
class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
protected:
static PowerManger* pm;
static void* pm;
public:
// 初始化状态机
static void init(PowerManger* powerManager) {
static void init(void* powerManager) {
pm = powerManager;
}
// 类型安全转换接口
static PowerManger* getPowerManager() {
return static_cast<PowerManger*>(pm);
}
// 响应事件默认实现
virtual void react(tinyfsm::Event const &) { }
@@ -36,23 +40,23 @@ public:
};
// 初始化静态成员
PowerManger* PowerManagerFsm::pm = nullptr;
void* PowerManagerFsm::pm = nullptr;
// 定义状态类
class InitState : public PowerManagerFsm {
public:
void entry() {
PowerManagerFsm::pm->m_pmEvent = "初始化状态";
PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
PowerManagerFsm::getPowerManager()->m_pmEvent = "初始化状态";
PowerManagerFsm::getPowerManager()->printState("InitState", "进入初始化状态");
}
void react(InitEvent const &) {
// 1. 检查通信是否正常
double StartTime = PowerManagerFsm::pm->GetAppStartTime();
while (PowerManagerFsm::pm->connectState < 5) {
double StartTime = PowerManagerFsm::getPowerManager()->GetAppStartTime();
while (PowerManagerFsm::getPowerManager()->connectState < 5) {
MOOSPause(1000);
PowerManagerFsm::pm->updateTime();
double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
PowerManagerFsm::getPowerManager()->updateTime();
double dft = abs(PowerManagerFsm::getPowerManager()->m_current_time - StartTime);
if(dft > 10) {
transit<FaultState>();
PowerManagerFsm::pm->m_faultNum = 1;
@@ -63,9 +67,9 @@ public:
}
// 2. 检查复合管控器是否上报故障
if(PowerManagerFsm::pm->checkError() < 0) {
if(PowerManagerFsm::getPowerManager()->checkError() < 0) {
transit<FaultState>();
PowerManagerFsm::pm->m_faultNum = 2;
PowerManagerFsm::getPowerManager()->m_faultNum = 2;
return;
}
@@ -74,17 +78,17 @@ public:
// 4. 判断关键断路器是否闭合
while (true) {
if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
if(PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
transit<StandbyState>();
return;
}
PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
PowerManagerFsm::getPowerManager()->m_pmEvent = "等待关键断路器闭合";
MOOSPause(1000);
PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
PowerManagerFsm::getPowerManager()->printState("InitState", PowerManagerFsm::getPowerManager()->m_pmEvent);
}
}
};
@@ -92,8 +96,8 @@ public:
class StandbyState : public PowerManagerFsm {
public:
void entry() {
PowerManagerFsm::pm->m_stateData.note = "待机状态";
PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
PowerManagerFsm::getPowerManager()->m_stateData.note = "待机状态";
PowerManagerFsm::getPowerManager()->printState("StandbyState", "进入待机状态");
}
void react(StandbyEvent const &) {
@@ -130,7 +134,7 @@ private:
class FaultState : public PowerManagerFsm {
public:
void entry() {
PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
PowerManagerFsm::getPowerManager()->printState("FaultState", "进入故障状态");
}
void react(FaultEvent const & e) {