完善了显示,修改了复合管控的通信协议

cppcheck_full_report.txt

@@ -0,0 +1,113 @@
+src/pPowerManger/main.cpp:0:0: information: Too many #ifdef configurations - cppcheck only checks 12 of 78 configurations. Use --force to check all configurations. [toomanyconfigs]
+
+^
+src/pPowerManger/systemData.h:524:22: error: Array 'reserved2[1]' accessed at index 1, which is out of bounds. [arrayIndexOutOfBounds]
+            reserved2[i] = data.reserved2[i];
+                     ^
+src/pPowerManger/systemData.h:523:23: note: Assuming that condition 'i<2' is not redundant
+        for(int i=0; i<2; i++) {
+                      ^
+src/pPowerManger/systemData.h:524:22: note: Array index out of bounds
+            reserved2[i] = data.reserved2[i];
+                     ^
+src/pPowerManger/systemData.h:524:42: error: Array 'data.reserved2[1]' accessed at index 1, which is out of bounds. [arrayIndexOutOfBounds]
+            reserved2[i] = data.reserved2[i];
+                                         ^
+src/pPowerManger/systemData.h:523:23: note: Assuming that condition 'i<2' is not redundant
+        for(int i=0; i<2; i++) {
+                      ^
+src/pPowerManger/systemData.h:524:42: note: Array index out of bounds
+            reserved2[i] = data.reserved2[i];
+                                         ^
+src/pPowerManger/upmsg/uPower_pmState.h:14:9: error: Using 'memset' on struct that contains a 'std::vector'. [memsetClass]
+        memset(&state, 0, sizeof(state));
+        ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_verbosity' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_line' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_indent_stderr' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_start_time_ns' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_name' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/sqlit3/SQLite.h:13:5: style: Class 'SQLite' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    SQLite(const std::string& dbName);
+    ^
+src/pPowerManger/UpperCommManager.h:52:5: style: Class 'UpperCommManager' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    UpperCommManager(PowerManger* powerManager);
+    ^
+src/pPowerManger/httpserver/httpserver.h:20:5: style: Class 'HttpServer' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    HttpServer(int port = 8000);
+    ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:275:10: style: The function 'react' overrides a function in a base class but is not marked with a 'override' specifier. [missingOverride]
+    void react(FaultEvent const &);
+         ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:90:18: note: Virtual function in base class
+    virtual void react(FaultEvent const &e);
+                 ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:275:10: note: Function in derived class
+    void react(FaultEvent const &);
+         ^
+src/pPowerManger/udpcomm/udpComm.h:54:31: style: C-style pointer casting [cstyleCast]
+    udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
+                              ^
+src/pPowerManger/upmsg/uPower_disSysState.h:34:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:35:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:36:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:37:42: style: C-style pointer casting [cstyleCast]
+        dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
+                                         ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:29:20: style: Variable 'cmd.id' is reassigned a value before the old one has been used. [redundantAssignment]
+            cmd.id = root["id_uint8"].asUInt();
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:24:20: note: cmd.id is assigned
+            cmd.id = -1;
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:29:20: note: cmd.id is overwritten
+            cmd.id = root["id_uint8"].asUInt();
+                   ^
+src/pPowerManger/upmsg/uExternComm_setOpCondition.h:34:13: style: Statements following 'return' will never be executed. [unreachableCode]
+            LOG_F(INFO, "上位机指令:opCondition: %d", root["state_uint8"].asUInt());
+            ^
+src/pPowerManger/udpcomm/udpComm.h:45:38: performance: Function parameter 'cmd' should be passed by const reference. [passedByValue]
+  bool sendCcuColCmd(const ccuColCmd cmd);
+                                     ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:49:27: performance: Function parameter 'eventName' should be passed by const reference. [passedByValue]
+    TestEvent(std::string eventName, unsigned int type,unsigned int eventId) : eventName(eventName), eventId(eventId),type(type) {};
+                          ^
+src/pPowerManger/LowerCommManager.h:85:41: performance: Function parameter 'cmd' should be passed by const reference. [passedByValue]
+    bool sendCcuCommand(const ccuColCmd cmd);
+                                        ^
+src/pPowerManger/upmsg/uDevice_secdistState.h:195:61: style: Parameter 'state' can be declared as reference to const [constParameter]
+    std::string buildSecdistStateToJson(DeviceSecdistState &state){
+                                                            ^
+src/pPowerManger/upmsg/uDevice_secdistState.h:435:39: style: Parameter 'driver' can be declared as reference to const [constParameter]
+    std::string buildMsg(DriverTable &driver){
+                                      ^
+src/pPowerManger/upmsg/uPlan_taskStart.h:29:20: error: Uninitialized variable: mission [uninitvar]
+            return mission;
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:39:16: warning: Uninitialized variable: cmd.cmd [uninitvar]
+        return cmd;
+               ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:34:40: note: Assuming condition is false
+        if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
+                                       ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:39:16: note: Uninitialized variable: cmd.cmd
+        return cmd;
+               ^
+nofile:0:0: information: Cppcheck cannot find all the include files (use --check-config for details) [missingInclude]
+

generated.dbc

@@ -0,0 +1,68 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: 
+
+
+BO_ 256 EngineData: 8 Vector__XXX
+ SG_ Temp : 32|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ Speed : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ RPM : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 512 VehicleStatus: 4 Vector__XXX
+ SG_ LightStatus : 4|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DoorStatus : 0|4@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2483135745 CircuitBreakerStatus: 8 Vector__XXX
+ SG_ SternRudder1Breaker : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternFT45Breaker : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowDistBoxBreaker : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC5Breaker : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeterBreaker : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MotorBreaker : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryBreaker : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellBreaker : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+
+
+
+
+
+
+
+
+
+
+

src/pPowerManger/LowerCommManager.cpp

@@ -171,7 +171,7 @@ bool LowerCommManager::updatePoweSystemStates(){
     //写入文件
     // std::ofstream outFile("ccuState.txt", std::ios::app);
     // coutMsg(m_CcuCurrentState, outFile);
-    coutMsg(m_CcuCurrentState,std::cout);
+    // coutMsg(m_CcuCurrentState,std::cout);
     msg_CcuStateFbMsg_Update_time = time;
   }
   if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())

src/pPowerManger/PowerManger.cpp

@@ -79,6 +79,9 @@ PowerManger::~PowerManger()
 {
   delete m_db;
   delete m_lowerCommManager;
+  delete m_upperCommManager;
+  delete m_systemData;
+  delete m_httpServer;
 }
 
 //---------------------------------------------------------
@@ -159,8 +162,7 @@ bool PowerManger::Iterate()
   m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
   m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
   m_systemData->updateCommonStatus();
-  // 运行状态
-  
+  // m_CcuColCmd.heartbeat
   if (m_ticker++ % 5 == 0)
   {
     m_CcuColCmd.heartbeat++;
@@ -204,7 +206,6 @@ bool PowerManger::OnStartUp()
   }
 
   registerVariables();	
-
     
   // 初始化状态机
   PowerManagerFsm::init(this);
@@ -341,7 +342,7 @@ void PowerManger::initControlCmd()
   m_CcuColCmd.fcmode = 0x00; //默认无效
   m_CcuColCmd.fcuCmd = 0x00; //无效指令
   m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
-  m_CcuColCmd.fcuInsEfficiency = 00; //预留指令，无效
+  m_CcuColCmd.insChargeEnable = 00; //不允许充电
   m_CcuColCmd.insBatCmd = 0x00; //无效指令
   m_CcuColCmd.powerBatCmd = 0x00; //无效指令
   m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
@@ -368,7 +369,6 @@ unsigned char PowerManger::getFaultLevel()
     return maxLevel;
 }
 
-
 void PowerManger::injectFault(unsigned type,unsigned int faultCode){
   LOG_F(INFO, "注入故障: %d %d", type, faultCode);
   TestEvent testEvent("故障注入测试",type,faultCode);

src/pPowerManger/UpperCommManager.cpp

@@ -3,16 +3,27 @@
 #include "driver.h"
 #include "fsm/PowerManagerFsm.hpp"
 
-UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {
-    // 初始化消息对象
-    m_secdistStateMsg = uDevice_secdistStateMsg();
-    m_setOpConditionMsg = uExternComm_setOpConditionMsg();
-    m_depthMsg = uDevice_depthMsg();
-    m_taskStartMsg = uPlan_taskStartMsg();
-    m_equInsStateMsg = uPower_equInsStateMsg();
-    m_equStateMsg = uPower_equStateMsg();
-    m_setPMSysMsg = uExternComm_setPowerSystemMsg();
-};
+UpperCommManager::UpperCommManager(PowerManger* pm) : 
+    m_pm(pm),
+    m_secdistStateMsg(),
+    m_setOpConditionMsg(),
+    m_depthMsg(),
+    m_taskStartMsg(),
+    m_equInsStateMsg(),
+    m_equStateMsg(),
+    m_setPMSysMsg(),
+    m_disSysStateMsg(),
+    m_currentStateMsg(),
+    m_pmStateMsg(),
+    m_fcsStateMsg(),
+    m_liBatStateMsg(),
+    m_setOpModeMsg(),
+    m_taskStopMsg(),
+    m_setDevSwitchMsg(),
+    m_sysStateMsg(),
+    m_msCmd(),
+    m_driver() {
+}
 
 bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
     if (key == m_sysStateMsg.key)
@@ -190,4 +201,4 @@ void UpperCommManager::buildSystemReport() {
   m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
   m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
   #endif
-}
+}

src/pPowerManger/UpperCommManager.h

@@ -50,7 +50,7 @@ class PowerManger; // 前向声明
 class UpperCommManager {
 public:
     UpperCommManager(PowerManger* powerManager);
-    ~UpperCommManager();
+    ~UpperCommManager(){};
 
     // 周期调用
     void processPeriodicTasks();

src/pPowerManger/driver.cpp

@@ -2,17 +2,12 @@
 
 Driver::Driver()
 {
-    currentDriverTable = new DriverTable();
-    nextDriverTable = new DriverTable();
+    currentDriverTable.reset(new DriverTable());
+    nextDriverTable.reset(new DriverTable());
     debug = false;
-    
 }
 
-Driver::~Driver()
-{
-    delete currentDriverTable;
-    delete nextDriverTable;
-}
+Driver::~Driver() = default;
 
 void Driver::setDebug(bool debug)
 {
@@ -734,17 +729,17 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
 }
 std::string Driver::getDriverTableJson()
 {
-    return saveDriverTableToJson(currentDriverTable);
+    return saveDriverTableToJson(currentDriverTable.get());
 }
 
 std::string Driver::getSubDisCmdJson(const DriverTable* driverTable)
 {
-    return saveDriverTableToJson(currentDriverTable);
+    return saveDriverTableToJson(currentDriverTable.get());
 }
 
 std::string Driver::getDriveStateJson(const DriverTable* driverTable)
 {
-    return saveDriverTableToJson(currentDriverTable);
+    return saveDriverTableToJson(currentDriverTable.get());
 }
 
 
@@ -960,4 +955,4 @@ int Driver::loadDriverTableFromJson(const std::string &strJson, DriverTable& tab
     error_code = SafeReadUInt(root, "buoyage_uint8", table.buoyage);
 
     return 0;  // 返回0表示所有数据成功读取
-}
+}

src/pPowerManger/driver.h

@@ -1,5 +1,6 @@
 #ifndef DRIVER_H
 #define DRIVER_H
+#include <memory>
 #include "json/json.h"
 #include "iostream"
 #include <sstream>
@@ -96,8 +97,8 @@ public:
     void setDebug(bool debug);
 
 public:
-    DriverTable* currentDriverTable;
-    DriverTable* nextDriverTable;
+    std::unique_ptr<DriverTable> currentDriverTable;
+    std::unique_ptr<DriverTable> nextDriverTable;
 
     //操作函数，操作指定设备
     //TODO: 增加设备操作函数

src/pPowerManger/fsm/StandbyState.cpp

@@ -6,13 +6,11 @@ void StandbyState::entry() {
     // pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
     // pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
     // 启动流程 仪表电一直设置为启动
-    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    // pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
     // 启动设备
-    
     pm->workCondition = WorkCondition::STANDBY;
     pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
 
-    // 
     LOG_F(INFO, "WorkCondition %d", pm->workCondition);
 }
 void StandbyState::react(StandbyEvent const &) {

src/pPowerManger/httpserver/batteryoperation.h

@@ -356,6 +356,26 @@ body {
                     </div>
                 </div>
 
+                <div class="panel-title">主机状态</div>
+
+                <div class="control-group">
+                    <label class="control-label">主机状态指令</label>
+                    <div class="radio-group">
+                        <label class="radio-option">
+                            <input type="radio" name="hostStatus" value="AAH" checked>
+                            <span>运行</span>
+                        </label>
+                        <label class="radio-option">
+                            <input type="radio" name="hostStatus" value="FFH">
+                            <span>关机</span>
+                        </label>
+                        <label class="radio-option">
+                            <input type="radio" name="hostStatus" value="55H">
+                            <span>故障</span>
+                        </label>
+                    </div>
+                </div>
+
                 <button type="submit" class="button form-submit">提交配置</button>
                 
                 <div id="statusMessage" class="status-message"></div>

src/pPowerManger/httpserver/data.h

@@ -189,7 +189,7 @@ const std::string DATA_HTML = R"(
     </div>
 </div>
 
-<button class="collapsible">电池系统</button>
+<button class="collapsible">锂电池系统</button>
 <div class="content">
     <div class="system-data-grid">
         <div class="data-item">
@@ -201,13 +201,37 @@ const std::string DATA_HTML = R"(
             <span class="data-value" id="dyn-soc">正在加载...</span>
         </div>
         <div class="data-item">
-            <span class="data-label">仪表电池电压:</span>
+            <span class="data-label">仪表电池LINK电压:</span>
             <span class="data-value" id="ins-voltage-link">正在加载...</span>
         </div>
         <div class="data-item">
-            <span class="data-label">动力电池电压:</span>
+            <span class="data-label">仪表电池PACK电压:</span>
+            <span class="data-value" id="ins-voltage-pack">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">仪表电池正极绝缘电阻:</span>
+            <span class="data-value" id="ins-resistance-pos">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">仪表电池负极绝缘电阻:</span>
+            <span class="data-value" id="ins-resistance-neg">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力电池LINK电压:</span>
             <span class="data-value" id="dyn-voltage-link">正在加载...</span>
         </div>
+        <div class="data-item">
+            <span class="data-label">动力电池PACK电压:</span>
+            <span class="data-value" id="dyn-voltage-pack">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力电池正极绝缘电阻:</span>
+            <span class="data-value" id="dyn-resistance-pos">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力电池负极绝缘电阻:</span>
+            <span class="data-value" id="dyn-resistance-neg">正在加载...</span>
+        </div>
         <div class="data-item">
             <span class="data-label">仪表电池电流:</span>
             <span class="data-value" id="ins-current">正在加载...</span>
@@ -262,6 +286,38 @@ const std::string DATA_HTML = R"(
             <span class="data-label">动力继电器2:</span>
             <span class="data-value" id="dyn-relay-status2">正在加载...</span>
         </div>
+        <div class="data-item">
+            <span class="data-label">仪表正极继电器:</span>
+            <span class="data-value" id="ins-pos-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">仪表充电继电器:</span>
+            <span class="data-value" id="ins-charge-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">仪表预充继电器:</span>
+            <span class="data-value" id="ins-precharge-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">仪表负极继电器:</span>
+            <span class="data-value" id="ins-neg-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力正极继电器:</span>
+            <span class="data-value" id="dyn-pos-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力充电继电器:</span>
+            <span class="data-value" id="dyn-charge-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力预充继电器:</span>
+            <span class="data-value" id="dyn-precharge-relay-status">正在加载...</span>
+        </div>
+        <div class="data-item">
+            <span class="data-label">动力负极继电器:</span>
+            <span class="data-value" id="dyn-neg-relay-status">正在加载...</span>
+        </div>
     </div>
 </div>
 
@@ -956,10 +1012,28 @@ function updateSystemData(data) {
         document.getElementById('dyn-soc').textContent = (data.dyn_soc).toFixed(1) + '%';
     }
     if (data.ins_voltage_link !== undefined) {
-        document.getElementById('ins-voltage-link').textContent = (data.ins_voltage_link ).toFixed(2) + ' V';
+        document.getElementById('ins-voltage-link').textContent = (data.ins_voltage_link).toFixed(2) + ' V';
+    }
+    if (data.ins_voltage_pack !== undefined) {
+        document.getElementById('ins-voltage-pack').textContent = (data.ins_voltage_pack).toFixed(2) + ' V';
+    }
+    if (data.ins_resistance_pos !== undefined) {
+        document.getElementById('ins-resistance-pos').textContent = (data.ins_resistance_pos).toFixed(2) + ' kΩ';
+    }
+    if (data.ins_resistance_neg !== undefined) {
+        document.getElementById('ins-resistance-neg').textContent = (data.ins_resistance_neg).toFixed(2) + ' kΩ';
     }
     if (data.dyn_voltage_link !== undefined) {
-        document.getElementById('dyn-voltage-link').textContent = (data.dyn_voltage_link ).toFixed(2) + ' V';
+        document.getElementById('dyn-voltage-link').textContent = (data.dyn_voltage_link).toFixed(2) + ' V';
+    }
+    if (data.dyn_voltage_pack !== undefined) {
+        document.getElementById('dyn-voltage-pack').textContent = (data.dyn_voltage_pack).toFixed(2) + ' V';
+    }
+    if (data.dyn_resistance_pos !== undefined) {
+        document.getElementById('dyn-resistance-pos').textContent = (data.dyn_resistance_pos).toFixed(2) + ' kΩ';
+    }
+    if (data.dyn_resistance_neg !== undefined) {
+        document.getElementById('dyn-resistance-neg').textContent = (data.dyn_resistance_neg).toFixed(2) + ' kΩ';
     }
     if (data.ins_current !== undefined) {
         document.getElementById('ins-current').textContent = (data.ins_current).toFixed(2) + ' A';
@@ -974,18 +1048,18 @@ function updateSystemData(data) {
         document.getElementById('dyn-total-energy').textContent = data.dyn_total_energy + ' Wh';
     }
     if (data.ins_power_input !== undefined) {
-        document.getElementById('ins-power-input').textContent = data.ins_power_input + ' W';
+        document.getElementById('ins-power-input').textContent = data.ins_power_input + ' KW';
     }
     if (data.dyn_power_input !== undefined) {
-        document.getElementById('dyn-power-input').textContent = data.dyn_power_input + ' W';
+        document.getElementById('dyn-power-input').textContent = data.dyn_power_input + ' KW';
     }
     if (data.ins_max_discharge_power !== undefined) {
         document.getElementById('ins-max-discharge-power').textContent = 
-            (data.ins_max_discharge_power * 0.05).toFixed(2) + ' kW';
+            (data.ins_max_discharge_power).toFixed(2) + ' kW';
     }
     if (data.dyn_max_discharge_power !== undefined) {
         document.getElementById('dyn-max-discharge-power').textContent = 
-            (data.dyn_max_discharge_power * 0.05).toFixed(2) + ' kW';
+            (data.dyn_max_discharge_power).toFixed(2) + ' kW';
     }
 
     // 继电器状态
@@ -1001,6 +1075,30 @@ function updateSystemData(data) {
     if (data.dyn_relay_status2 !== undefined) {
         document.getElementById('dyn-relay-status2').textContent = (data.dyn_relay_status2);
     }
+    if (data.ins_pos_relay_status !== undefined) {
+        document.getElementById('ins-pos-relay-status').textContent = getRelayStatusText(data.ins_pos_relay_status);
+    }
+    if (data.ins_charge_relay_status !== undefined) {
+        document.getElementById('ins-charge-relay-status').textContent = getRelayStatusText(data.ins_charge_relay_status);
+    }
+    if (data.ins_precharge_relay_status !== undefined) {
+        document.getElementById('ins-precharge-relay-status').textContent = getRelayStatusText(data.ins_precharge_relay_status);
+    }
+    if (data.ins_neg_relay_status !== undefined) {
+        document.getElementById('ins-neg-relay-status').textContent = getRelayStatusText(data.ins_neg_relay_status);
+    }
+    if (data.dyn_pos_relay_status !== undefined) {
+        document.getElementById('dyn-pos-relay-status').textContent = getRelayStatusText(data.dyn_pos_relay_status);
+    }
+    if (data.dyn_charge_relay_status !== undefined) {
+        document.getElementById('dyn-charge-relay-status').textContent = getRelayStatusText(data.dyn_charge_relay_status);
+    }
+    if (data.dyn_precharge_relay_status !== undefined) {
+        document.getElementById('dyn-precharge-relay-status').textContent = getRelayStatusText(data.dyn_precharge_relay_status);
+    }
+    if (data.dyn_neg_relay_status !== undefined) {
+        document.getElementById('dyn-neg-relay-status').textContent = getRelayStatusText(data.dyn_neg_relay_status);
+    }
 
     // 报警标志
     if (data.ins_emergency_status !== undefined) {
@@ -1542,6 +1640,15 @@ if (data.power_a_bus_status) {
     }
 }
 
+// 继电器状态文本转换
+function getRelayStatusText(status) {
+    const statuses = {
+        1: '接通',
+        2: '断开'
+    };
+    return statuses[status] || '无效';
+}
+
 // 紧急状态文本转换
 function getEmergencyStatusText(status) {
     const statuses = {

src/pPowerManger/httpserver/httpserver.cpp

@@ -105,6 +105,7 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
                 unsigned char instrumentBattery = 0;
                 unsigned char powerBattery = 0;
                 unsigned short powerBatteryPower = 0;
+                unsigned char hostStatus = 0;
 
                 char tmp[16] = {0};
                 mg_http_get_var(&body, "fuelCellMode", tmp, sizeof(tmp));
@@ -119,13 +120,16 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
                 powerBattery = (unsigned char)strtoul(tmp, NULL, 16);
                 mg_http_get_var(&body, "powerBatteryPower", tmp, sizeof(tmp));
                 powerBatteryPower = (unsigned short)atoi(tmp);
+                mg_http_get_var(&body, "hostStatus", tmp, sizeof(tmp));
+                hostStatus = (unsigned char)strtoul(tmp, NULL, 16);
 
                 // 记录接收到的配置
                 LOG_F(INFO, "Received battery control config: "
                     "fuelCellMode=%02XH, fuelCellCommand=%02XH, fuelCellPower=%d, "
-                    "instrumentBattery=%02XH, powerBattery=%02XH, powerBatteryPower=%d",
+                    "instrumentBattery=%02XH, powerBattery=%02XH, powerBatteryPower=%d, "
+                    "hostStatus=%02XH",
                     fuelCellMode, fuelCellCommand, fuelCellPower,
-                    instrumentBattery, powerBattery, powerBatteryPower);
+                    instrumentBattery, powerBattery, powerBatteryPower, hostStatus);
 
                 m_powerManger->m_CcuColCmd.fcmode = fuelCellMode;
                 m_powerManger->m_CcuColCmd.fcuCmd = fuelCellCommand;
@@ -134,7 +138,8 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
                 cout << "powerBatteryPower:" << (int)instrumentBattery << endl;
                 m_powerManger->m_CcuColCmd.powerBatCmd = powerBattery;
                 m_powerManger->m_CcuColCmd.powerBatEfficiency = powerBatteryPower;
-
+                m_powerManger->m_CcuColCmd.masterState = hostStatus;
+                cout << "m_powerManger->m_CcuColCmd.masterState:" << (int)m_powerManger->m_CcuColCmd.masterState << endl;
 
                 mg_http_reply(c, 200, "Content-Type: application/json\r\n",
                     "{\"success\": true, \"message\": \"电池配置提交成功\"}");
@@ -340,13 +345,18 @@ bool HttpServer::serverThreadFunc() {
 }
 
 void HttpServer::pushSystemData() {
-    if (!m_systemData) return;
+    if (!m_systemData) {
+        LOG_F(ERROR, "System data pointer is null");
+        return;
+    }
+    
     // 序列化系统数据为JSON
     json j;
-    //燃料电池系统参数
-    j["fc_mode"] = Json::Value(m_systemData->fc_mode); // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
-    j["fc_status"] = Json::Value(m_systemData->fc_status); // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成
-    j["fc_fault_level"] = Json::Value(m_systemData->fc_fault_level);
+    
+    // 初始化所有字段为默认值
+    j["fc_mode"] = m_systemData->fc_mode ? Json::Value(m_systemData->fc_mode) : Json::Value(0);
+    j["fc_status"] = m_systemData->fc_status ? Json::Value(m_systemData->fc_status) : Json::Value(0);
+    j["fc_fault_level"] = m_systemData->fc_fault_level ? Json::Value(m_systemData->fc_fault_level) : Json::Value(0);
 
     //功率和时间参数
     j["output_power_limit"] = Json::Value(m_systemData->output_power_limit); // 系统输出功率限制值，单位：W
@@ -369,37 +379,37 @@ void HttpServer::pushSystemData() {
     j["aux_pipe_pressure"] = Json::Value(m_systemData->aux_pipe_pressure); // 辅水路压力，单位：0.01kPa
 
     //舱室环境参数
-    j["cabin_pressure1"] = Json::Value(m_systemData->cabin_pressure1); // 舱室1压力，单位：0.01kPa
-    j["cabin_pressure2"] = Json::Value(m_systemData->cabin_pressure2); // 舱室2压力，单位：0.01kPa
-    j["cabin_temp1"] = Json::Value(m_systemData->cabin_temp1); // 舱室1温度，单位：0.01℃
-    j["cabin_temp2"] = Json::Value(m_systemData->cabin_temp2); // 舱室2温度，单位：0.01℃
-    j["cabin_humidity1"] = Json::Value(m_systemData->cabin_humidity1); // 舱室1湿度，单位：0.01%RH
-    j["cabin_humidity2"] = Json::Value(m_systemData->cabin_humidity2); // 舱室2湿度，单位：0.01%RH
+    j["cabin_pressure1"] = Json::Value(m_systemData->cabin_pressure1); // 舱室1压力，单位：kPa
+    j["cabin_pressure2"] = Json::Value(m_systemData->cabin_pressure2); // 舱室2压力，单位：kPa
+    j["cabin_temp1"] = Json::Value(m_systemData->cabin_temp1); // 舱室1温度，单位：℃
+    j["cabin_temp2"] = Json::Value(m_systemData->cabin_temp2); // 舱室2温度，单位：℃
+    j["cabin_humidity1"] = Json::Value(m_systemData->cabin_humidity1); // 舱室1湿度，单位：%RH
+    j["cabin_humidity2"] = Json::Value(m_systemData->cabin_humidity2); // 舱室2湿度，单位：%RH
 
     //火焰探测器
     j["flame_detector1"] = Json::Value(m_systemData->flame_detector1); // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
     j["flame_detector2"] = Json::Value(m_systemData->flame_detector2); // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
 
     //气体浓度
-    j["h2_concentration1"] = Json::Value(m_systemData->h2_concentration1); // 舱室H2浓度1，单位：0.01% LEL
-    j["h2_concentration2"] = Json::Value(m_systemData->h2_concentration2); // 舱室H2浓度2，单位：0.01% LEL
-    j["h2_concentration3"] = Json::Value(m_systemData->h2_concentration3); // 舱室H2浓度3，单位：0.01% LEL
-    j["o2_concentration1"] = Json::Value(m_systemData->o2_concentration1); // 舱室O2浓度1，单位：0.01% LEL
-    j["o2_concentration2"] = Json::Value(m_systemData->o2_concentration2); // 舱室O2浓度2，单位：0.01% LEL
-    j["ch3oh_concentration1"] = Json::Value(m_systemData->ch3oh_concentration1); // 舱室甲醇气体浓度1，单位：0.01% LEL
-    j["ch3oh_concentration2"] = Json::Value(m_systemData->ch3oh_concentration2); // 舱室甲醇气体浓度2，单位：0.01% LEL
+    j["h2_concentration1"] = Json::Value(m_systemData->h2_concentration1); // 舱室H2浓度1，单位：% LEL
+    j["h2_concentration2"] = Json::Value(m_systemData->h2_concentration2); // 舱室H2浓度2，单位：% LEL
+    j["h2_concentration3"] = Json::Value(m_systemData->h2_concentration3); // 舱室H2浓度3，单位：% LEL
+    j["o2_concentration1"] = Json::Value(m_systemData->o2_concentration1); // 舱室O2浓度1，单位：% LEL
+    j["o2_concentration2"] = Json::Value(m_systemData->o2_concentration2); // 舱室O2浓度2，单位：% LEL
+    j["ch3oh_concentration1"] = Json::Value(m_systemData->ch3oh_concentration1); // 舱室甲醇气体浓度1，单位：% LEL
+    j["ch3oh_concentration2"] = Json::Value(m_systemData->ch3oh_concentration2); // 舱室甲醇气体浓度2，单位：% LEL
 
     //保留字段  
-    j["cabin_ox_concentration"] = Json::Value(m_systemData->cabin_ox_concentration); // 仪表舱内氧气浓度，单位：0.1%
-    j["cabin_temperature"] = Json::Value(m_systemData->cabin_temperature); // 仪表舱内温度，单位：0.1℃
-    j["cabin_humidity"] = Json::Value(m_systemData->cabin_humidity); // 仪表舱内湿度，单位：0.1%RH
-    j["cabin_pressure"] = Json::Value(m_systemData->cabin_pressure); // 仪表舱内大气压，单位：0.2kPa
+    j["cabin_ox_concentration"] = Json::Value(m_systemData->cabin_ox_concentration); // 仪表舱内氧气浓度，单位：%
+    j["cabin_temperature"] = Json::Value(m_systemData->cabin_temperature); // 仪表舱内温度，单位：℃
+    j["cabin_humidity"] = Json::Value(m_systemData->cabin_humidity); // 仪表舱内湿度，单位：%RH
+    j["cabin_pressure"] = Json::Value(m_systemData->cabin_pressure); // 仪表舱内大气压，单位：kPa
 
     //动力舱参数      
-    j["power_cabin_ox_concentration"] = Json::Value(m_systemData->power_cabin_ox_concentration); // 动力舱内氧气浓度，单位：0.1%
-    j["power_cabin_temperature"] = Json::Value(m_systemData->power_cabin_temperature); // 动力舱内温度，单位：0.1℃
-    j["power_cabin_humidity"] = Json::Value(m_systemData->power_cabin_humidity); // 动力舱内湿度，单位：0.1%RH
-    j["power_cabin_pressure"] = Json::Value(m_systemData->power_cabin_pressure); // 动力舱内大气压，单位：0.2kPa
+    j["power_cabin_ox_concentration"] = Json::Value(m_systemData->power_cabin_ox_concentration); // 动力舱内氧气浓度，单位：%
+    j["power_cabin_temperature"] = Json::Value(m_systemData->power_cabin_temperature); // 动力舱内温度，单位：℃
+    j["power_cabin_humidity"] = Json::Value(m_systemData->power_cabin_humidity); // 动力舱内湿度，单位：%RH
+    j["power_cabin_pressure"] = Json::Value(m_systemData->power_cabin_pressure); // 动力舱内大气压，单位：kPa
 
     //电池报警标志
     // uint8_t dyn_alarm_flag[6];               // 动力锂电池报警标志
@@ -424,31 +434,41 @@ void HttpServer::pushSystemData() {
     j["dyn_relay_status1"] = Json::Value(m_systemData->dyn_relay_status1); // 动力电池正极与充电继电器状态
     j["dyn_relay_status2"] = Json::Value(m_systemData->dyn_relay_status2); // 动力电池预充与负极继电器状态
 
+    j["ins_pos_relay_status"] = Json::Value(m_systemData->ins_pos_relay_status);       // 仪表电池正极继电器状态  1：接通 2：断开 其他：无效
+    j["ins_charge_relay_status"] = Json::Value(m_systemData->ins_charge_relay_status);  // 仪表电池充电继电器状态 1：接通 2：断开 其他：无效
+    j["ins_precharge_relay_status"] = Json::Value(m_systemData->ins_precharge_relay_status); // 仪表电池预充继电器状态 1：接通 2：断开 其他：无效
+    j["ins_neg_relay_status"] = Json::Value(m_systemData->ins_neg_relay_status);       // 仪表电池负极继电器状态 1：接通 2：断开 其他：无效
+    
+    j["dyn_pos_relay_status"] = Json::Value(m_systemData->dyn_pos_relay_status);       // 动力电池正极继电器状态 1：接通 2：断开 其他：无效
+    j["dyn_charge_relay_status"] = Json::Value(m_systemData->dyn_charge_relay_status);  // 动力电池充电继电器状态 1：接通 2：断开 其他：无效
+    j["dyn_precharge_relay_status"] = Json::Value(m_systemData->dyn_precharge_relay_status); // 动力电池预充继电器状态 1：接通 2：断开 其他：无效
+    j["dyn_neg_relay_status"] = Json::Value(m_systemData->dyn_neg_relay_status);       // 动力电池负极继电器状态 1：接通 2：断开 其他：无效
+
     //电池功率参数
-    j["ins_max_discharge_power"] = Json::Value(m_systemData->ins_max_discharge_power); // 仪表电池最大允许放电功率，单位：0.05kW
-    j["dyn_max_discharge_power"] = Json::Value(m_systemData->dyn_max_discharge_power); // 动力电池最大允许放电功率，单位：0.05kW
+    j["ins_max_discharge_power"] = Json::Value(m_systemData->ins_max_discharge_power); // 仪表电池最大允许放电功率，单位：kW
+    j["dyn_max_discharge_power"] = Json::Value(m_systemData->dyn_max_discharge_power); // 动力电池最大允许放电功率，单位：kW
 
     //电池SOC
-    j["ins_soc"] = Json::Value(m_systemData->ins_soc); // 仪表电池SOC，单位：0.1%
-    j["dyn_soc"] = Json::Value(m_systemData->dyn_soc); // 动力电池SOC，单位：0.1%
+    j["ins_soc"] = Json::Value(m_systemData->ins_soc); // 仪表电池SOC，单位：%
+    j["dyn_soc"] = Json::Value(m_systemData->dyn_soc); // 动力电池SOC，单位：%
 
     //电池能量
-    j["ins_total_energy"] = Json::Value(m_systemData->ins_total_energy); // 仪表电池能量，单位：0.01kWh
-    j["dyn_total_energy"] = Json::Value(m_systemData->dyn_total_energy); // 动力电池能量，单位：0.01kWh
+    j["ins_total_energy"] = Json::Value(m_systemData->ins_total_energy); // 仪表电池能量，单位：kWh
+    j["dyn_total_energy"] = Json::Value(m_systemData->dyn_total_energy); // 动力电池能量，单位：kWh
 
     //电池输入功率
     j["ins_power_input"] = Json::Value(m_systemData->ins_power_input);
     j["dyn_power_input"] = Json::Value(m_systemData->dyn_power_input);
     
     //电池电压电流           
-    j["ins_voltage_link"] = Json::Value(m_systemData->ins_voltage_link); // 仪表电池LINK端电压，单位：0.01V
-    j["ins_voltage_pack"] = Json::Value(m_systemData->ins_voltage_pack); // 仪表电池PACK端电压，单位：0.01V
-    j["ins_current"] = Json::Value(m_systemData->ins_current); // 仪表电池电流，单位：0.01A
+    j["ins_voltage_link"] = Json::Value(m_systemData->ins_voltage_link); // 仪表电池LINK端电压，单位：V
+    j["ins_voltage_pack"] = Json::Value(m_systemData->ins_voltage_pack); // 仪表电池PACK端电压，单位：V
+    j["ins_current"] = Json::Value(m_systemData->ins_current); // 仪表电池电流，单位：A
     j["ins_resistance_pos"] = Json::Value(m_systemData->ins_resistance_pos); // 仪表电池正极绝缘电阻，单位：kΩ
     j["ins_resistance_neg"] = Json::Value(m_systemData->ins_resistance_neg); // 仪表电池负极绝缘电阻，单位：kΩ
-    j["dyn_voltage_link"] = Json::Value(m_systemData->dyn_voltage_link); // 动力电池LINK端电压，单位：0.01V
-    j["dyn_voltage_pack"] = Json::Value(m_systemData->dyn_voltage_pack); // 动力电池PACK端电压，单位：0.01V
-    j["dyn_current"] = Json::Value(m_systemData->dyn_current); // 动力电池电流，单位：0.05A
+    j["dyn_voltage_link"] = Json::Value(m_systemData->dyn_voltage_link); // 动力电池LINK端电压，单位：V
+    j["dyn_voltage_pack"] = Json::Value(m_systemData->dyn_voltage_pack); // 动力电池PACK端电压，单位：V
+    j["dyn_current"] = Json::Value(m_systemData->dyn_current); // 动力电池电流，单位：A
     j["dyn_resistance_pos"] = Json::Value(m_systemData->dyn_resistance_pos); // 动力电池正极绝缘电阻，单位：kΩ
     j["dyn_resistance_neg"] = Json::Value(m_systemData->dyn_resistance_neg); // 动力电池负极绝缘电阻，单位：kΩ
 

src/pPowerManger/pmSysvariable.h

@@ -139,10 +139,10 @@ typedef struct {
   unsigned char fcmode;
   unsigned char fcuCmd;
   unsigned char fcuPowerEfficiency;
-  unsigned char fcuInsEfficiency;
+  unsigned char insChargeEnable; //0 不允许充电 1 允许充电
   unsigned char insBatCmd;
   unsigned char powerBatCmd;
-  unsigned char powerBatEfficiency;
+  unsigned short powerBatEfficiency;
   unsigned char heartbeat;
   unsigned char masterState;
   unsigned int paceholder1;

src/pPowerManger/sqlit3/SQLite.cpp

@@ -591,7 +591,7 @@ bool SQLite::insertData(const ccuColCmd cmd) {
     const char* sql = R"(
         INSERT INTO ccuColCmd (
             workCondition, fcuCmd, fcuPowerEfficiency,
-            fcuInsEfficiency, insBatCmd, powerBatCmd,
+            insChargeEnable, insBatCmd, powerBatCmd,
             powerBatEfficiency, heartbeat, masterState,
             paceholder1, paceholder2
         ) VALUES (
@@ -611,7 +611,7 @@ bool SQLite::insertData(const ccuColCmd cmd) {
     BIND_INT(cmd.fcmode);
     BIND_INT(cmd.fcuCmd);
     BIND_INT(cmd.fcuPowerEfficiency);
-    BIND_INT(cmd.fcuInsEfficiency);
+    BIND_INT(cmd.insChargeEnable);
     BIND_INT(cmd.insBatCmd);
     BIND_INT(cmd.powerBatCmd);
     BIND_INT(cmd.powerBatEfficiency);

src/pPowerManger/systemData.h

@@ -66,7 +66,7 @@ public:
     float power_cabin_temperature;        // 动力舱内温度，单位：0.1℃
     float power_cabin_humidity;           // 动力舱内湿度，单位：0.1%RH
     float power_cabin_pressure;           // 动力舱内大气压，单位：0.2kPa
-    uint8_t reserved2[1];                    // 保留字段
+    uint8_t reserved2[2];                    // 保留字段
 
     //电池报警标志
     uint8_t dyn_alarm_flag[6];               // 动力锂电池报警标志
@@ -78,6 +78,18 @@ public:
     uint8_t dyn_relay_status1;               // 动力电池正极与充电继电器状态
     uint8_t dyn_relay_status2;               // 动力电池预充与负极继电器状态
 
+    //仪表电池继电器状态
+    uint8_t ins_pos_relay_status;       // 仪表电池正极继电器状态 (X0H:无效 X1H:接通 X2H:断开)
+    uint8_t ins_charge_relay_status;    // 仪表电池充电继电器状态 (0XH:无效 1XH:接通 2XH:断开)
+    uint8_t ins_precharge_relay_status; // 仪表电池预充继电器状态 (X0H:无效 X1H:接通 X2H:断开) 
+    uint8_t ins_neg_relay_status;       // 仪表电池负极继电器状态 (0XH:无效 1XH:接通 2XH:断开)
+
+    //动力电池继电器状态
+    uint8_t dyn_pos_relay_status;       // 动力电池正极继电器状态 (X0H:无效 X1H:接通 X2H:断开)
+    uint8_t dyn_charge_relay_status;    // 动力电池充电继电器状态 (0XH:无效 1XH:接通 2XH:断开)
+    uint8_t dyn_precharge_relay_status; // 动力电池预充继电器状态 (X0H:无效 X1H:接通 X2H:断开)
+    uint8_t dyn_neg_relay_status;       // 动力电池负极继电器状态 (0XH:无效 1XH:接通 2XH:断开)
+
     //电池功率参数
     float ins_max_discharge_power;        // 仪表电池最大允许放电功率，单位：0.05kW
     float dyn_max_discharge_power;        // 动力电池最大允许放电功率，单位：0.05kW
@@ -483,6 +495,17 @@ public:
         dyn_relay_status1 = data.dyn_relay_status1;
         dyn_relay_status2 = data.dyn_relay_status2;
         
+        //继电器状态
+        ins_pos_relay_status = (data.ins_relay_status1 ) & 0x0F;       // 取高4位作为正极继电器状态
+        ins_charge_relay_status = ( data.ins_relay_status1 >> 4)& 0x0F;          // 取低4位作为充电继电器状态
+        ins_precharge_relay_status = (data.ins_relay_status2 ) & 0x0F; // 取高4位作为预充继电器状态
+        ins_neg_relay_status = (data.ins_relay_status2 >> 4) & 0x0F;             // 取低4位作为负极继电器状态
+
+        dyn_pos_relay_status = (data.dyn_relay_status1 ) & 0x0F;       // 取高4位作为正极继电器状态
+        dyn_charge_relay_status = (data.dyn_relay_status1  >> 4) & 0x0F;           // 取低4位作为充电继电器状态
+        dyn_precharge_relay_status = (data.dyn_relay_status2) & 0x0F;  // 取高4位作为预充继电器状态
+        dyn_neg_relay_status = (data.dyn_relay_status2 >> 4) & 0x0F;              // 取低4位作为负极继电器状态
+
         //电池功率参数
         ins_max_discharge_power = data.ins_max_discharge_power * 0.05;
         dyn_max_discharge_power = data.dyn_max_discharge_power * 0.05;
@@ -496,21 +519,21 @@ public:
         dyn_total_energy = data.dyn_total_energy * 0.1;
         
         //电池输入功率
-        ins_power_input = data.ins_power_input * 0.1;
-        dyn_power_input = data.dyn_power_input * 0.1;
+        ins_power_input = data.ins_power_input ;
+        dyn_power_input = data.dyn_power_input ;
         
         //电池充放电状态
         ins_charge_status = data.ins_charge_status;
         dyn_charge_status = data.dyn_charge_status;
         
         //电池电压电流
-        ins_voltage_link = data.ins_voltage_link * 0.01;
-        ins_voltage_pack = data.ins_voltage_pack * 0.01;
+        ins_voltage_link = data.ins_voltage_link * 0.1;
+        ins_voltage_pack = data.ins_voltage_pack * 0.1;
         ins_current = static_cast<int16_t>(data.ins_current) * 0.05;
         ins_resistance_pos = data.ins_resistance_pos;
         ins_resistance_neg = data.ins_resistance_neg;
-        dyn_voltage_link = data.dyn_voltage_link * 0.01;
-        dyn_voltage_pack = data.dyn_voltage_pack * 0.01;
+        dyn_voltage_link = data.dyn_voltage_link * 0.1;
+        dyn_voltage_pack = data.dyn_voltage_pack * 0.1;
         dyn_current = static_cast<int16_t>(data.dyn_current) * 0.05;
         dyn_resistance_pos = data.dyn_resistance_pos;
         dyn_resistance_neg = data.dyn_resistance_neg;
@@ -732,4 +755,4 @@ public:
 };
 
 
-#endif
+#endif

src/pPowerManger/udpcomm/udpComm.cpp

@@ -163,6 +163,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
   {
     // sError.push_back("pushMsgToQueue faile,Msg ID error");
     // LOG_F(INFO, "pushMsgToQueue faile,Msg ID error header: %p", header);
+    delete []header;
     return false;
   }
   delete []header;

src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h

@@ -16,7 +16,7 @@ public:
         Json::Value root;
         Json::CharReaderBuilder builder;
         JSONCPP_STRING errs;
-        DeviceSwitchCmd cmd;
+        DeviceSwitchCmd cmd{};
         // 解析JSON字符串
         std::istringstream stream(msg);
         if (!Json::parseFromStream(builder, stream, &root, &errs)) {
@@ -40,4 +40,4 @@ public:
     };
 };
 
-#endif
+#endif

src/pPowerManger/upmsg/uPlan_taskStart.h

@@ -16,7 +16,7 @@ public:
     ~uPlan_taskStartMsg(){};
 
     MissionState getMission(const std::string& key, const std::string& msg) {
-        MissionState mission;
+        MissionState mission{};
         Json::Value root;
         Json::CharReaderBuilder builder;
         JSONCPP_STRING errs;

src/pPowerManger/upmsg/uPower_disSysState.h

@@ -21,20 +21,15 @@ public:
     {
         //构建配电系统状态报告
         Json::Value dis;
-        disBus1Breaker* pdis1=new disBus1Breaker;
-        disBus2Breaker* pdis2=new disBus2Breaker;
-        disBus3Breaker* pdis3=new disBus3Breaker;
-        disBus4Breaker* pdis4=new disBus4Breaker;
+        disBus1Breaker dis1 = currentDisBreakerState.bus1Breaker;
+        disBus2Breaker dis2 = currentDisBreakerState.bus2Breaker;
+        disBus3Breaker dis3 = currentDisBreakerState.bus3Breaker;
+        disBus4Breaker dis4 = currentDisBreakerState.bus4Breaker;
 
-        *pdis1 = currentDisBreakerState.bus1Breaker;
-        *pdis2 = currentDisBreakerState.bus2Breaker;
-        *pdis3 = currentDisBreakerState.bus3Breaker;
-        *pdis4 = currentDisBreakerState.bus4Breaker;
-
-        dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
-        dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
-        dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
-        dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
+        dis["HVolBusBreaker_uint16"]  = *(unsigned short*)&dis1;
+        dis["HVolABusBreaker_unit16"] = *(unsigned short*)&dis2;
+        dis["HVolBBusBreaker_unit16"] = *(unsigned short*)&dis3;
+        dis["LVolBusBreaker_uint16"]  = *(unsigned short*)&dis4;
         
         //TODO: 构建配电系统故障码
         Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
@@ -50,4 +45,4 @@ public:
     }
 };
 
-#endif
+#endif

src/pPowerManger/upmsg/uPower_pmState.h

@@ -11,7 +11,15 @@ private:
     /* data */
 public:
     uPower_pmStateMsg() {
-        memset(&state, 0, sizeof(state));
+        state.workCondition = 0;
+        state.currentMod = 0;
+        state.powerState = 0;
+        state.faultLevel = 0;
+        state.faultCode.clear();
+        state.soc = 0;
+        state.sustainableTime = 0;
+        state.m_faultNum = 0;
+        state.m_leakage = 0;
     };
     ~uPower_pmStateMsg() {};
     std::string key = "uPower_pmState_fb";
@@ -59,4 +67,4 @@ public:
     }
 };
 
-#endif
+#endif

test/cantools/generate_dbc.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+DBC文件生成工具
+"""
+
+import cantools
+from cantools.database import Database, Message, Signal
+
+def create_sample_dbc():
+    """创建一个示例DBC文件"""
+    db = Database()
+    
+    # 添加消息
+    msg1 = Message(
+        name="EngineData",
+        frame_id=0x100,
+        length=8,
+        signals=[
+            Signal(name="RPM", start=0, length=16, is_signed=False),
+            Signal(name="Speed", start=16, length=16, is_signed=False),
+            Signal(name="Temp", start=32, length=8, is_signed=True)
+        ]
+    )
+    
+    msg2 = Message(
+        name="VehicleStatus",
+        frame_id=0x200,
+        length=4,
+        signals=[
+            Signal(name="DoorStatus", start=0, length=4, is_multiplexer=False),
+            Signal(name="LightStatus", start=4, length=4, is_multiplexer=False)
+        ]
+    )
+
+    # 添加断路器状态消息
+    msg3 = Message(
+        name="CircuitBreakerStatus",
+        frame_id=0x1401A501,
+        is_extended_frame=True,
+        length=8,
+        signals=[
+            Signal(name="FuelCellBreaker", start=0, length=8, is_signed=False),
+            Signal(name="BatteryBreaker", start=8, length=8, is_signed=False),
+            Signal(name="MotorBreaker", start=16, length=8, is_signed=False),
+            Signal(name="BatteryMeterBreaker", start=24, length=8, is_signed=False),
+            Signal(name="DCDC5Breaker", start=32, length=8, is_signed=False),
+            Signal(name="BowDistBoxBreaker", start=40, length=8, is_signed=False),
+            Signal(name="SternFT45Breaker", start=48, length=8, is_signed=False),
+            Signal(name="SternRudder1Breaker", start=56, length=8, is_signed=False)
+        ]
+    )
+    
+    db.messages.extend([msg1, msg2, msg3])
+    return db
+
+def save_dbc_file(db, filename):
+    """保存DBC文件"""
+    with open(filename, "w") as f:
+        f.write(db.as_dbc_string())
+
+if __name__ == "__main__":
+    print("正在生成示例DBC文件...")
+    db = create_sample_dbc()
+    save_dbc_file(db, "generated.dbc")
+    print("DBC文件已生成: generated.dbc")