增加了udp的测试代码,增加了时间获取函数,完善了ccu发送指令的函数

src/pPowerManger/PowerManger.cpp

@@ -37,10 +37,19 @@ PowerManger::PowerManger()
   falutLevel = 0;
   soc = 0;
   sustainableTime = 0;
-  m_connected = false;
   m_faultNum = 0;
+  m_ticker = 0;
   faultCode.push_back(0);
 
+  msg_CcuStateFbMsg_Update_time = 0;
+  // msg_CcuSetParmFbMsg_Update_time = 0;
+  msg_disHighVolBusFbMsg_Update_time = 0;
+  msg_disHighAVolBusFbMsg_Update_time = 0;
+  msg_disHighBVolBusFbMsg_Update_time = 0;
+  msg_disLowBusFbMsg_Update_time = 0;
+
+  connectState = 0;
+
   //初始化断路器状态
   initTargetDisBreakerState();
 
@@ -115,22 +124,27 @@ bool PowerManger::OnConnectToServer()
 //---------------------------------------------------------
 // Procedure: Iterate()
 //            happens AppTick times per second
-
+//固定为4Hz
 bool PowerManger::Iterate()
 {
   AppCastingMOOSApp::Iterate();
   //1. 更新当前状态
   updatePmState();
-  updateTime();
+  updateConnectState();
   //2. 运行状态机
   if (FSM_RUN_IS_OK)
     m_FsmThread.Start();
   else
     m_FsmThread.Stop();
-  //进行配电系统操作
-  disSysOption();
-  //3. 输出报告
-  buildPowerSysReport();
+  //3. 进行操作 每秒执行一次
+  if (m_ticker++ % 5 == 0)
+  {
+    //a. 配电系统操作
+    disSysOption();
+    //b. ccu操作 
+    //c. 输出报告
+    buildPowerSysReport();
+  }
   //4. 打印错误信息
   if(!m_udpComm.sError.empty())
   {
@@ -263,7 +277,6 @@ bool PowerManger::ListenLoopUDP()
           cout<<MOOS::ConsoleColours::red()<< m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
         }
       }
-      m_connected = true;
     }
     // updatePmState();
   }
@@ -281,6 +294,31 @@ bool PowerManger::FsmLoop()
   return true;
 }
 
+bool PowerManger::updateConnectState()
+{
+  double seck = 0;
+  updateTime();
+  connectState = 0;
+  IsSkewed(msg_CcuStateFbMsg_Update_time,&seck);
+  connectState++;
+  // cout << "seck:" << seck << endl;
+  IsSkewed(msg_disHighVolBusFbMsg_Update_time,&seck);
+  connectState++;
+  // cout << "seck:" << seck << endl;
+  IsSkewed(msg_disHighAVolBusFbMsg_Update_time,&seck);
+  connectState++;
+  // cout << "seck:" << seck << endl;
+  IsSkewed(msg_disHighBVolBusFbMsg_Update_time,&seck);
+  connectState++;
+  // cout << "seck:" << seck << endl;
+  IsSkewed(msg_disLowBusFbMsg_Update_time,&seck);
+  connectState++;
+  // cout << "seck:" << seck << endl;
+  return true;
+
+}
+
+
 bool PowerManger::updatePmState()
 {
   //1. 更新下位机状态
@@ -290,6 +328,7 @@ bool PowerManger::updatePmState()
     m_udpComm.popMsgFormQueue(time,m_CcuCurrentState);
     m_pmCurrentState.ccustate = m_CcuCurrentState.data;
     m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
+    msg_CcuStateFbMsg_Update_time = time;
   }
   if(!m_udpComm.m_qReceiveDisHighVolBusBuffer.empty())
   {
@@ -297,6 +336,7 @@ bool PowerManger::updatePmState()
     m_udpComm.popMsgFormQueue(time,m_disHighVolBusCurrentState);
     m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
     m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
+    msg_disHighVolBusFbMsg_Update_time = time;
   }
   if(!m_udpComm.m_qReceiveDisHighAVolBusBuffer.empty())
   {
@@ -304,6 +344,7 @@ bool PowerManger::updatePmState()
     m_udpComm.popMsgFormQueue(time,m_disHighAVolBusCurrentState);
     m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
     m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
+    msg_disHighAVolBusFbMsg_Update_time = time;
   }
   if(!m_udpComm.m_qReceiveDisHighBVolBusBuffer.empty())
   {
@@ -311,6 +352,7 @@ bool PowerManger::updatePmState()
     m_udpComm.popMsgFormQueue(time,m_disHighBVolBusCurrentState);
     m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
     m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
+    msg_disHighBVolBusFbMsg_Update_time = time;
   } 
   if(!m_udpComm.m_qReceiveDisLowBusBuffer.empty())
   {
@@ -318,6 +360,7 @@ bool PowerManger::updatePmState()
     m_udpComm.popMsgFormQueue(time,m_disLowBusState);
     m_pmCurrentState.bus4State = m_disLowBusState.data;
     m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
+    msg_disLowBusFbMsg_Update_time = time;
   }
   return true;
 }
@@ -396,6 +439,9 @@ void PowerManger::disSysOption()
   //a. 高压母线的断路器
   disHighVolBusCmd a;
   a.fuelCellCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker);
+  a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
+  a.dcDc5ModuleCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker);
+  a.powerLithiumBatteryCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker);
   a.propulsionMotorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker);
   a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
   a.tyzReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker);
@@ -485,9 +531,9 @@ void PowerManger::printState(FSM_State st, string desp){
 int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
 {
   PowerManger* pm = (PowerManger*)pData;
-  //1. 检查复合管控器连接 如果10S则进入故障状态
+  //1. 检查通信是否正常 如果超时则进入故障状态
   double StartTime = pm->GetAppStartTime();
-  while (!pm->m_connected)
+  while (!pm->connectState == 5)
   {
     MOOSPause(1000);
     pm->updateTime();
@@ -495,7 +541,7 @@ int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
     if(dft > 10)
     {
       pm->m_pmState = pm->m_Fault_s99;
-      pm->m_faultNum = 1; // 通信超时
+      pm->m_faultNum = 1; 
       break;
     }
     string desp = "等待复合管控消息 : " + to_string(10-dft);
@@ -536,7 +582,6 @@ int  PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
   
 }
 
-
 int  PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
 {
   // cout << fsm.name << endl;
@@ -561,7 +606,7 @@ void PowerManger::initTargetDisBreakerState()
   m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
   m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
   m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 0; //仪表锂电池默认接入
+  m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1; //仪表锂电池默认接入
   m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
   m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
   m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入

src/pPowerManger/PowerManger.h

@@ -65,18 +65,30 @@ class PowerManger : public AppCastingMOOSApp
    bool buildReport();
    void registerVariables();
 
- protected: // app function
-  // bool _ListenCB();
-  bool updatePmState();
+ protected: 
   void updateTime(){m_current_time = MOOSTime();}
   bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL);
   string getTypeName(const string typeName);
+  bool inline saveStringToJsonFile(const string &strJson, const string &strFileName);
+  //数据库
+  SQLiteDB* m_db;
+  bool writeDataToDB();
 
-  //通信相关
+  //通信状态变量及操作函数
   XPCUdpSocket* setUdpScoket(long lPort);
-  bool buildPowerSysReport();
+  bool updatePmState();
+  bool updateConnectState();
 
- protected: // app variables
+  int connectState;
+  double msg_CcuStateFbMsg_Update_time;
+  // double msg_CcuSetParmFbMsg_Update_time;
+  double msg_disHighVolBusFbMsg_Update_time;
+  double msg_disHighAVolBusFbMsg_Update_time;
+  double msg_disHighBVolBusFbMsg_Update_time;
+  double msg_disLowBusFbMsg_Update_time;
+  
+
+ protected: 
   //系统运行状态
   unsigned char workCondition;
   unsigned char currentMod;
@@ -85,9 +97,8 @@ class PowerManger : public AppCastingMOOSApp
   vector<unsigned int> faultCode;
   unsigned int soc;
   unsigned int sustainableTime;
-  bool m_connected;
   pmState m_pmCurrentState; //能源系统的当前状态
-  //配电系统状态
+  //断路器状态
   disSysBreakerList m_currentDisBreakerState;
   disSysBreakerList m_targetDisBreakerState;
 
@@ -98,11 +109,18 @@ class PowerManger : public AppCastingMOOSApp
   msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
   msg_disLowBusFbMsg      m_disLowBusState;
 
-  //操作函数
+  //下位机操作函数
   void disSysOption();
   char getBreakerOption(char cmd);
   void initTargetDisBreakerState();
 
+  void ccuOption();
+
+  
+
+  //上位机操作函数
+  bool buildPowerSysReport();
+
  private: 
   udpComm       m_udpComm;
   XPCUdpSocket *m_pCcuUdpComm;
@@ -113,16 +131,12 @@ class PowerManger : public AppCastingMOOSApp
   unsigned int  m_nSendBufferSizeKB;
   double        m_current_time;
   unsigned int  m_faultNum;
+  unsigned int  m_ticker;
 
-  //数据库
-  SQLiteDB* m_db;
-  bool writeDataToDB();
+ 
 
-  //  CMOOSThread m_SendThread;
- private: //
- bool inline saveStringToJsonFile(const string &strJson, const string &strFileName);
-
- public: //状态实现
+ public: 
+ //===========================状态机实现==============================================
   void printState(FSM_State st, string desp);
   bool FSM_RUN_IS_OK = true;
   
@@ -131,7 +145,6 @@ class PowerManger : public AppCastingMOOSApp
   string m_pmEvent;
   FSM m_fsm;
 
-  //系统状态定义
   //初始化状态
   FSM_State m_Inite_s1;
   static int handleInite_s1(FSM_State &fsm, void* pData);

src/pPowerManger/ccuUdpMsg.h

@@ -40,11 +40,12 @@ typedef struct {
 
 typedef struct {
   unsigned short year;
-  unsigned short month;
-  unsigned short day;
-  unsigned short hour;
-  unsigned short minute;
-  unsigned short second;
+  unsigned char month;
+  unsigned char day;
+  unsigned char hour;
+  unsigned char minute;
+  unsigned char second;
+  unsigned char milliseconds; //每10毫秒
 } m_date;
 // 复合管控器操作指令
 typedef struct {

src/pPowerManger/udpComm.cpp

@@ -2,7 +2,10 @@
 #include <iostream>
 #include <memory>
 
-udpComm::udpComm() {}
+udpComm::udpComm() 
+{
+
+}
 
 udpComm::~udpComm() {}
 
@@ -153,7 +156,8 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
   switch (id)
   {
   case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
-   { msg_CcuStateFbMsg s;
+   { 
+    msg_CcuStateFbMsg s;
     if(getMsgFromBuff((char *)Buff,s))
     {
       if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
@@ -169,7 +173,6 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     }
     else
     {
-      //sError.push_back();
       return false;
     }
     break;
@@ -480,6 +483,7 @@ bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
   msg->header.start1 = CCU_UDPMSG_START1;
   msg->header.start2 = CCU_UDPMSG_START2;
   msg->header.length = sizeof(ccuColCmd);
+  getDate(msg->date.year,msg->date.month,msg->date.day,msg->date.hour,msg->date.minute,msg->date.second,msg->date.milliseconds);
   msg->cmd = cmd;
   msgBuf = reinterpret_cast<unsigned char *>(msg);
   cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
@@ -517,5 +521,36 @@ bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
     std::cerr << e.what() << '\n';
   }
   delete msg;
+  return true;
+}
+
+bool udpComm::getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds) {
+  // 获取当前时间
+  std::time_t now = std::time(nullptr);
+  if (now == -1) {
+      return false; // 获取时间失败
+  }
+
+  // 转换为本地时间
+  std::tm *localTime = std::localtime(&now);
+  if (!localTime) {
+      return false; // 转换失败
+  }
+
+  // 获取年、月、日、时、分、秒
+  year = localTime->tm_year + 1900;  // tm_year 是从 1900 年开始的
+  month = localTime->tm_mon + 1;     // tm_mon 是从 0 开始的，0 对应 1 月
+  day = localTime->tm_mday;
+  hour = localTime->tm_hour;
+  minute = localTime->tm_min;
+  second = localTime->tm_sec;
+
+  // 获取毫秒，使用 std::chrono
+  auto now_ms = std::chrono::system_clock::now();
+  auto duration = now_ms.time_since_epoch();
+  auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count() % 1000; // 取毫秒部分
+  ms = ms/10;
+  milliseconds = static_cast<unsigned char>(ms);
+
   return true;
 }

src/pPowerManger/udpComm.h

@@ -9,7 +9,8 @@
 #include <string.h>
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
-
+#include <ctime>
+#include <chrono>
 #include <iostream>
 #include <utility> // for std::pair
 
@@ -17,8 +18,6 @@ using namespace std;
 #define QUENUE_SIZE 100
 
 class udpComm {
-private:
-  /* data */
 public:
   udpComm();
   ~udpComm();
@@ -26,7 +25,6 @@ public:
   string ccuHost;
   long int ccuPort;
   
-
   bool pushMsgToQueue(unsigned char *m);
   bool clearMsgQueue();
 
@@ -60,8 +58,9 @@ public:
   Checksum calculateChecksum(const unsigned char* data, int size);
   Checksum calculateChecksum(const unsigned char* data, int dataSize, int checkSize);
 
+  bool getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds);
+
   std::vector<std::string> sError;
-  std::pair<int, std::string> getError();
 
   // std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
   std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;