完善了部分逻辑,优化网页

bin/static/script.js

@@ -144,10 +144,10 @@ document.getElementById('moos-send-btn').addEventListener('click', sendMoosNotif
 setInterval(updateData, 1000);
 updateData(); // 初始加载
 
-// 每3秒检查一次数据库连接状态
+// 每10秒检查一次数据库连接状态
 setInterval(() => {
     checkDbConnection();
     checkMoosDbConnection();
-}, 3000);
+}, 10000);
 checkDbConnection(); // 初始检查
 checkMoosDbConnection(); // 初始检查

data/msg/uPower_currentState_st.json

@@ -6,7 +6,7 @@
   "HVABbusBVol_uint16": 0,
   "HVABmastSteGeaCur_uint16": 0,
   "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 0,
+  "HVABxczCur_uint16": 1,
   "HVBBCCUCur_uint16": 0,
   "HVBBFCSSecurSysCur_uint16": 0,
   "HVBBbatInsCur_uint16": 0,

data/msg/uPower_disSysState_st.json

@@ -1,8 +1,8 @@
 {
   "HVolABusBreaker_unit16": 0,
-  "HVolBBusBreaker_unit16": 0,
+  "HVolBBusBreaker_unit16": 79,
-  "HVolBusBreaker_uint16": 0,
+  "HVolBusBreaker_uint16": 58,
-  "LVolBusBreaker_uint16": 0,
+  "LVolBusBreaker_uint16": 159,
   "faultCode_array": 
   [
     0

data/msg/uPower_fcsState_st.json

@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": 0.0,
+  "backpressure1_fp32": 3.0,
-  "backpressure2_fp32": 0.0,
+  "backpressure2_fp32": 8.0,
-  "ch4oConcent1_fp32": 0.0,
+  "ch4oConcent1_fp32": 13.0,
-  "ch4oConcent2_fp32": 0.0,
+  "ch4oConcent2_fp32": 57.0,
   "ch4o_fp32": 0.0,
-  "excTemp_fp32": 0.0,
+  "excTemp_fp32": 64.0,
   "faultCode1_uint16": 0,
   "faultCode2_uint16": 0,
   "faultCode3_uint16": 0,
   "fcuCurIns_fp32": 0.0,
   "fcuCurPower_fp32": 0.0,
-  "fcuCur_fp32": 0.0,
+  "fcuCur_fp32": 74.0,
   "fcuFaultLeve_uint8": 0,
-  "fcuOutIns_fp32": 0.0,
+  "fcuOutIns_fp32": 81.0,
-  "fcuOutPower_fp32": 0.0,
+  "fcuOutPower_fp32": 848.0,
   "fcuState_uint8": 0,
   "fcuVolIns_fp32": 0.0,
   "fcuVolPower_fp32": 0.0,
-  "fcuVol_fp32": 0.0,
+  "fcuVol_fp32": 384.0,
-  "flameDet_uint8": 0,
+  "flameDet_uint8": 1,
-  "h2Concent1_fp32": 0.0,
+  "h2Concent1_fp32": 55.0,
-  "h2Concent2_fp32": 0.0,
+  "h2Concent2_fp32": 34.0,
-  "o2Concent1_fp32": 0.0,
+  "o2Concent1_fp32": 67.0,
-  "o2Concent2_fp32": 0.0,
+  "o2Concent2_fp32": 53.0,
   "o2Level_fp32": 0.0,
   "o2_fp32": 0.0,
-  "powLimit_fp32": 0.0,
+  "powLimit_fp32": 23.0,
-  "powerGen_fp32": 0.0
+  "powerGen_fp32": 539.0
 }

data/msg/uPower_liBatState_st.json

@@ -2,14 +2,14 @@
   "fcuCurToInsLimit1_uint8": 0,
   "fcuCurToinsLimit2_uint8": 0,
   "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 0,
+  "insBatLimit_uint16": 86,
-  "insBatSoc_uint8": 0,
+  "insBatSoc_uint8": 95,
-  "insBatTotalElect_uint16": 0,
+  "insBatTotalElect_uint16": 741,
   "insChargeState_uint8": 0,
   "insCurSocHold1_uint8": 0,
   "insCurSocHold2_uint8": 0,
   "insCurSocHold3_uint8": 0,
-  "insCurrent_uint16": 0,
+  "insCurrent_uint16": 9,
   "insLinkVol_uint16": 0,
   "insNegRelayState_uint8": 0,
   "insNegRes_uint16": 0,
@@ -18,21 +18,21 @@
   "insPosRes_uint16": 0,
   "insfaultCode_uint8": 0,
   "powBatCurElect_uint16": 0,
-  "powBatSoc_uint8": 0,
+  "powBatSoc_uint8": 47,
-  "powBatTotalElect_uint16": 0,
+  "powBatTotalElect_uint16": 860,
   "powChargeState_uint8": 0,
   "powCurSocHold1_uint8": 0,
   "powCurSocHold2_uint8": 0,
   "powCurSocHold3_uint8": 0,
   "powCurToInsLimit1_uint8": 0,
   "powCurToinsLimit2_uint8": 0,
-  "powCur_uint16": 0,
+  "powCur_uint16": 34,
   "powLinkVol_uint16": 0,
   "powNegRelayState_uint8": 0,
   "powNegRes_uint16": 0,
-  "powPosRelayState_uint8": 0,
+  "powPosRelayState_uint8": 1,
   "powPosRes_uint16": 0,
-  "powerBatLimit_uint16": 0,
+  "powerBatLimit_uint16": 65,
   "powerPackVol_uint16": 0,
   "powfaultCode_uint8": 0
 }

data/uPower_sysState_cmd.json

@@ -0,0 +1,5 @@
+{
+    "powerCMD":0,
+    "modCMD":0,
+    "workCMD":0
+}

src/appPowerMangerWebUI/main.cpp

@@ -24,7 +24,7 @@ int main() {
     SQLiteDB db("/home/zjk/project/H100/H100PowerManger/data/power_data.db");
     MOOS::MOOSAsyncCommClient moosClient;
     moosClient.Run("localhost", 9000, "appPowerMangerWebUI");
-    
+
     std::cout << " Current Path -> " << std::system("pwd") << std::endl;
 
     // 定义路由，处理根路径的请求
@@ -100,8 +100,6 @@ int main() {
         return response;
     });
 
-
-
     // 定义路由，处理 /api/moos-notify 的请求（POST）
     CROW_ROUTE(app, "/api/moos-notify").methods("POST"_method)
     ([&moosClient](const crow::request& req) {
@@ -137,8 +135,14 @@ int main() {
         return res;
     });
 
-    // 启动服务器，监听端口 18080
+    // 启动服务器，监听端口 18080 并启动多线程
-    app.port(18080).multithreaded().run();
+    std::cout << "Server started on port 18080" << std::endl;
+    // app.port(18080).multithreaded().run();
+
+    app.port(18080)
+    .multithreaded()
+    .concurrency(16)  // 增加并发线程数
+    .run();
 
     return 0;
 }

src/pPowerManger/PowerManger.cpp

@@ -584,6 +584,19 @@ bool PowerManger::writeDataToDB()
 
 }
 
+int PowerManger::checkError()
+{
+  //1.检查复合管控器状态
+  if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
+  m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
+  m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
+  m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
+  m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
+  m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
+  m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
+  return 0;
+  //2.检查断路器状态
+}
 
 
 void PowerManger::printState(FSM_State st, string desp){
@@ -619,13 +632,7 @@ int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
     pm->printState(fsm,desp);
   }
   //2. 检查复合管控器是否上报故障 如果故障则进入故障状态
-  if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
+  if(pm->checkError() < 0)
-     pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
-     pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
-     pm->m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
-     pm->m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
-     pm->m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
-     pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
   {
     ok = false;
     pm->m_faultNum = 2; //能源故障
@@ -633,11 +640,30 @@ int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
   //3. 初始化系统为待机状态
   pm->initControlCmd();
   //4.判断关键断路器是否闭合
+  ok = false;
+  while (!ok)
+  {
+    if(pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
+      pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
+      pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
+      pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
+      pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1)
+   {
+     ok = true;
+   }
+   pm->m_pmEvent = "等待关键断路器闭合";
+   MOOSPause(1000);
+   pm->printState(fsm,pm->m_pmEvent);
+  }
+  //5. 进入下一状态
+  if(ok)
+  {
+    pm->m_pmState = pm->m_Standby_s2;
+  }
   if(!ok)
   {
     pm->m_pmState = pm->m_Fault_s99;
   }
-  pm->m_pmState = pm->m_Standby_s2;
   return 0;
 }
 
@@ -649,6 +675,109 @@ int  PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
   {
     string desp = "待机状态";
     pm->printState(fsm,desp);
+    //1. 检查当前是否存在故障
+    if(pm->checkError() < 0)
+    {
+      pm->m_pmState = pm->m_Fault_s99;
+      break;
+    }
+    //2. 检查上位机上电控制指令
+    switch (pm->m_msCmd.powerCMD)
+    {
+    case 0:
+      pm->m_pmEvent = "收到上位机控制指令:关机";
+      pm->shutdown();
+      break;
+    case 1:
+      pm->m_pmEvent = "动力电上电";
+      break;
+    case 2:
+      pm->m_pmEvent = "锂动力电启动";
+      break;
+    case 3:
+      pm->m_pmEvent = "燃料电池启动";
+      break;
+    case 4:
+      pm->m_pmEvent = "锂动力电关闭";
+    case 5:
+      pm->m_pmEvent = "燃料电池停机";
+      break;
+    case 6:
+      pm->m_pmEvent = "燃料电池预热指令";
+      break;
+    case 7:
+      pm->m_pmEvent = "燃料电池自检指令";
+      break;
+    case 8:
+      pm->m_pmEvent = "燃料电池紧急停机";
+      break;
+    case 9:
+      pm->m_pmEvent = "燃料电池复位指令";
+      break;
+    case 10:
+      pm->m_pmEvent = "燃料电池补给指令";
+      break;
+    case 11:
+      pm->m_pmEvent = "燃料电池停机维护";
+      break;
+    default:
+      break;
+    }
+    //2. 检查上位机模式切换指令
+    switch (pm->m_msCmd.modCMD)
+    {
+    case 0:
+    //无效
+      break;
+    case 1:
+      pm->m_pmEvent = "待机工况";
+      break;
+    case 2:
+      pm->m_pmEvent = "岸基备航";
+      break;
+    case 3:
+      pm->m_pmEvent = "水中备航";
+      break;
+    case 4:
+      pm->m_pmEvent = "遥控工况";
+      break;
+    case 5:
+      pm->m_pmEvent = "巡航模式";
+      break;
+    case 6:
+      pm->m_pmEvent = "高速模式";
+      break;
+    case 7:
+      pm->m_pmEvent = "上浮下潜";
+      break;
+    case 8:
+      pm->m_pmEvent = "浮调模式";
+      break; 
+    case 9:
+      pm->m_pmEvent = "水下侦查";
+      break;
+    case 10:
+      pm->m_pmEvent = "水面侦查";
+      break;
+    case 11:
+      pm->m_pmEvent = "DJ模式";
+      break;
+    default:
+      break;
+    }
+    //3. 检查上位机工作模式切换控制指令
+    switch (pm->m_msCmd.workCMD)
+    {
+    case 0:
+      pm->m_pmEvent = "正常模式（默认）";
+      break;
+    case 1:
+      pm->m_pmEvent = "试验模式";
+      break;
+    case 2:
+      pm->m_pmEvent = "调试模式";
+      break;
+    }
     MOOSPause(1000);
   }
   
@@ -673,6 +802,14 @@ int  PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
 }
 
 
+//==============================系统操作函数====================
+bool PowerManger::shutdown()
+{
+  m_CcuColCmd.masterState = 0xFF; //关机 
+  return true;
+}
+
+
 void PowerManger::initControlCmd()
 {
   //================初始化配电指令=============================
@@ -724,9 +861,9 @@ void PowerManger::initControlCmd()
   m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
 
   //================初始化上位机指令=========================
-  m_msCmd.modCMD = 0;
+  m_msCmd.modCMD = 99;
-  m_msCmd.powerCMD = 0;
+  m_msCmd.powerCMD = 99;
-  m_msCmd.workCMD = 0;
+  m_msCmd.workCMD = 99;
 
   //================初始化设备驱动指令========================
 

src/pPowerManger/PowerManger.h

@@ -129,7 +129,6 @@ class PowerManger : public AppCastingMOOSApp
   msg_disLowBusFbMsg      m_disLowBusState;
 
   //下位机操作函数
-  //断路器状态
   ccuColCmd m_CcuColCmd;
   void disSysOption();
   void ccuOption();
@@ -172,10 +171,22 @@ class PowerManger : public AppCastingMOOSApp
   FSM_State m_Standby_s2;
   static int handleStandby_s2(FSM_State &fsm, void* pData);
 
+  //岸基备航
+  // FSM_State m_ShoreReady_s3;
+
+  //水中备航
+
+  //自动工况
+
   //故障处理
   FSM_State m_Fault_s99;
   static int handleFault_s99(FSM_State &fsm, void* pData);
   //======================================================================================
+  int checkError();
+  bool shutdown();
+  bool powerOn();
+  bool powerOff();
+
 };
 
 #endif