完成了网页控制断路器
This commit is contained in:
@@ -76,7 +76,7 @@ bool LowerCommManager::initUdpComm(){
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return true;
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}
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void LowerCommManager::processPeriodicTasks() {
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sendCcuCommand(m_pm->m_CcuColCmd);
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// sendCcuCommand(m_pm->m_CcuColCmd);
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//延时5ms
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usleep(5000);
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// sendDisSysCommand(m_pm->m_targetDisBreakerState);
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@@ -352,12 +352,6 @@ char LowerCommManager::getBreakerOption(char cmd)
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return 0x00;
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}
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//TODO:根据心跳检查连接状态
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bool LowerCommManager::checkConnection()
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{
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m_pm->connectState =5;
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}
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void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
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os << std::hex << std::setfill('0') << std::uppercase;
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@@ -476,4 +470,332 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
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os << "校验和 (checksum): 0x" << p.checkCode << "\n";
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os << std::dec;
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}
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}
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//================================================================================================================
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// 高电压母线断路器操作函数
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bool LowerCommManager::operate_HV_fuelCellCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.fuelCellCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_powerLithiumBattery_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_powerLithiumBattery_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.powerLithiumBatteryCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_propulsionMotor_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_propulsionMotor_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.propulsionMotorCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_lithiumBatteryMeter_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_lithiumBatteryMeter_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_dcDc5Module_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_dcDc5Module_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.dcDc5ModuleCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_bowHighVoltageBox_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_bowHighVoltageBox_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_sternFt45_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_sternFt45_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.sternFTDevice45CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_sternRudder1_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_sternRudder1_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.sternRudderSwitch1CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_sternRudder2_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_sternRudder2_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.sternRudderSwitch2CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_fbReserved_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_fbReserved_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.fbReservedCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_tyzReserved_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_tyzReserved_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.tyzReservedCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_reserved_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_reserved_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.reservedCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_dcDc5_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.dcdc5Module = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02); }
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);
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}
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bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt){
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return operateBreakerGeneric<disHighVolBusCmd, char>(
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"HV_coolingSystem_Breaker",
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opt,
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[&](disHighVolBusCmd& c){ c.coolingSystem = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x20); }
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);
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}
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// 高压汇流排断路器操作函数
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bool LowerCommManager::operate_HVA_bowFTDevice123Circuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_bowFTDevice123Circuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.bowFTDevice123CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HVA_actuatorCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_actuatorCircuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.actuatorCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_mastSteeringGearControlBoxCircuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HVA_xczCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_xczCircuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.xczCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_bowRudderControlBoxCircuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.bowRudderControlBoxCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt){
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return operateBreakerGeneric<disHighAVolBusCmd, char>(
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"HVA_openWaterCoverStartCylinderCircuit_Breaker",
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opt,
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[&](disHighAVolBusCmd& c){ c.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker; }
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);
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}
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// 仪表汇流排断路器操作函数
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bool LowerCommManager::operate_LVA_unit1Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_unit1Circuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.unit1CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LVA_unit2Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_unit2Circuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.unit2CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LVA_unit3Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_unit3Circuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.unit3CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LVA_unit5Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_unit5Circuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.unit5CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LVA_bowPZDeviceCircuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_bowPZDeviceCircuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.bowPZDeviceCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LVA_reservedCircuit1_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_reservedCircuit1_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1; }
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);
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}
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bool LowerCommManager::operate_LVA_reservedCircuit2_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_reservedCircuit2_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2; }
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);
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}
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bool LowerCommManager::operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowBusCmd, char>(
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"LVA_mergencyLithiumBatteryGroup1Circuit_Breaker",
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opt,
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[&](disLowBusCmd& c){ c.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker; }
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);
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}
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// 仪表母线断路器操作函数
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bool LowerCommManager::operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LV_unit4Dc48V_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LV_dcC1Panel_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker; }
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);
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}
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bool LowerCommManager::operate_LV_reservedCircuit1_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1; }
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);
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}
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bool LowerCommManager::operate_LV_reservedCircuit2_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2; }
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);
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}
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bool LowerCommManager::operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt){
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return operateBreakerGeneric<disLowMainBusCmd, char>(
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"HV_fuelCellCircuit_Breaker",
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opt,
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[&](disLowMainBusCmd& c){ c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(opt); },
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[&](){ return m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker; }
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);
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}
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// 通用模板
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template<typename CmdT, typename StateT>
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bool LowerCommManager::operateBreakerGeneric(
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char const* name,
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char opt,
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std::function<void(CmdT&)> fillCmd, // 填 cmd 对应字段
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std::function<StateT()> readState // 读 pmCurrentState 对应字段
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) {
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CmdT cmd{}; // 默认全零
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double t0 = MOOSTime();
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LOG_F(INFO, "operate %s: opt=%d", name, opt);
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// 第一次发包
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fillCmd(cmd);
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m_udpComm->sendDisSysCmd(cmd);
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MOOSPause(100);
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// 等待状态变更
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while ( readState() != getBreakerOption(opt) ) {
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if (!m_udpComm->sendDisSysCmd(cmd)) {
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LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
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return false;
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}
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if (MOOSTime() > t0 + 5) {
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LOG_F(ERROR, "operate %s: timeout", name);
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return false;
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}
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MOOSPause(1000);
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}
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// 清零再发三次
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CmdT clr{};
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for (int i = 0; i < 3; ++i)
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{
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m_udpComm->sendDisSysCmd(clr);
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MOOSPause(100);
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}
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return true;
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}
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