已完成上位机通信代码结构优化

2025-05-14 21:01:57 +08:00
parent 18f00d70d4
commit b7a624334e
24 changed files with 647 additions and 309 deletions
@@ -107,7 +107,7 @@ public:
        auto checkField = [&root](const std::string& field) -> bool {
            if(!root.isMember(field) || !root[field].isUInt()) {
                // std::cerr << "Missing or invalid field: " << field << std::endl;
-                LOG_F(ERROR, "Missing or invalid field: %s", field.c_str());
+                // LOG_F(ERROR, "Missing or invalid field: %s", field.c_str());
                return false;
            }
            return true;
@@ -188,6 +188,8 @@ public:
        if(!checkField("sternThrow_uint8")) ok=false; state.sternThrow = root["sternThrow_uint8"].asUInt();
        if(!checkField("mainINS_uint8")) ok=false; state.mainINS = root["mainINS_uint8"].asUInt();

+        //不检查字段缺失
+        ok = true;
        return ok;
    };
    std::string buildSecdistStateToJson(DeviceSecdistState &state){
@@ -433,6 +435,8 @@ public:
    std::string buildMsg(DriverTable &driver){
        DeviceSecdistState s;
        converFromDriverTable(s,driver);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
        return buildSecdistStateToJson(s);
    };

@@ -0,0 +1,43 @@
+#ifndef UEXTERNCOMM_SETDEVICESWITCH_CMD_H
+#define UEXTERNCOMM_SETDEVICESWITCH_CMD_H
+#include <string>
+
+class uExternComm_setDeviceSwitchMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uExternComm_setDeviceSwitch_cmd";
+
+    uExternComm_setDeviceSwitchMsg(/* args */){};
+    ~uExternComm_setDeviceSwitchMsg(){};
+    DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg)
+    {
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        DeviceSwitchCmd cmd;
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            cmd.id = -1;
+        }
+    
+        // 检查并读取设备开关状态
+        if (root.isMember("id_uint8") && root["id_uint8"].isUInt()) {
+            cmd.id = root["id_uint8"].asUInt();
+        } else {
+            cmd.id = -1;
+            LOG_F(WARNING, "缺少或类型不匹配: id_uint8");
+        }
+        if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
+            cmd.cmd = root["cmd_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: state_bool");
+        }
+        return cmd;
+    };
+};
+
+#endif
@@ -1,7 +0,0 @@
-#ifndef UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#define UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#include <string>
-
-
-
-#endif
@@ -0,0 +1,46 @@
+#ifndef UEXTERCOMM_SETOPMODE_CMD_H
+#define UEXTERCOMM_SETOPMODE_CMD_H
+#include <string>
+#include "../loguru.hpp"
+
+//外部通信消息
+#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
+
+class uExternComm_setOpModeMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uExternComm_setOpMode_cmd";
+    uExternComm_setOpModeMsg(/* args */){};
+    ~uExternComm_setOpModeMsg(){};
+
+    int getSetOpMode(const std::string& msgkey, const std::string& msg){
+        if (msgkey!= key)
+        {
+            LOG_F(WARNING, "消息类型错误 %s", msgkey.c_str());
+            return 0;
+        }
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return -1;
+        }
+    
+        // 检查并读取操作模式
+        if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
+            return root["state_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: opMode");
+            return -1;
+        }
+    };
+};
+
+
+#endif
@@ -1,2 +0,0 @@
-//外部通信消息
-#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
@@ -0,0 +1,39 @@
+#ifndef UEXTERNCONM_SETPMSYS_H
+#define UEXTERNCONM_SETPMSYS_H
+#include <string>
+#include "../loguru.hpp"
+#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
+class uExternComm_setPowerSystemMsg
+{
+private:
+
+public:
+    std::string key = "uExternComm_setPowerSystem_cmd";
+    uExternComm_setPowerSystemMsg(/* args */){};
+    ~uExternComm_setPowerSystemMsg(){};
+
+    int getSetPMSys(const std::string& key, const std::string& msg)
+    {
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            std::cerr << "JSON解析失败: " << errs << std::endl;
+            return -1;
+        }
+
+        // 检查并读取电源系统设置
+        if (root.isMember("powerCmd_uint8") && root["powerCmd_uint8"].isUInt()) {
+            return root["powerCmd_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: powerCmd_uint8");
+            return -1;
+        }
+    }
+};
+
+#endif
+
@@ -1,2 +0,0 @@
-//外部通信消息
-#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
@@ -0,0 +1,35 @@
+#ifndef UPLAN_PLANSTOP_CMD_H
+#define UPLAN_PLANSTOP_CMD_H
+#include <string>
+#include "../loguru.hpp"
+#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
+class uPlan_planStopMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uPlan_planStop_cmd";
+    uPlan_planStopMsg(/* args */){};
+    ~uPlan_planStopMsg(){};
+    bool getTaskStop(const std::string& key, const std::string& msg) {
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return false;
+        }
+    
+        // 检查op_int32字段
+        if (root.isMember("op_int32") && root["op_int32"].isInt()) {
+            return root["op_int32"].asInt() == 1;
+        }
+        return false;
+    };
+};
+
+#endif
+
@@ -1,2 +0,0 @@
-//决策消息
-#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
@@ -0,0 +1,55 @@
+#ifndef UPPERCOMMMANAGER_H
+#define UPPERCOMMMANAGER_H
+#include <string>
+#include "../pmSysvariable.h"
+#include "../loguru.hpp"
+//决策消息
+#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+
+class uPlan_taskStartMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uPlan_taskStart_cmd";
+    uPlan_taskStartMsg(/* args */){};
+    ~uPlan_taskStartMsg(){};
+
+    MissionState getMission(const std::string& key, const std::string& msg) {
+        MissionState mission;
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            std::cerr << "JSON解析失败: " << errs << std::endl;
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return mission;
+        }
+        
+        // 提取taskType_str
+        if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
+            mission.type = TaskType::fromString(root["taskType_str"].asString());
+            LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
+        }
+    
+        // 提取balanceEnabled_bool
+        if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
+            mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
+            LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
+        }
+        
+        // 提取bowRudderUnfold_bool
+        if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
+            mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
+            LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
+        }
+    
+        
+        return mission;
+    };
+};
+
+#endif
@@ -1,2 +0,0 @@
-//决策消息
-#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
@@ -14,6 +14,7 @@ public:
    };
    ~uPower_equStateMsg() {};
    std::string key = "uPower_equState_fb";
+    std::string key_cmd = "uPower_equState_cmd";

    Driver driver;

@@ -21,6 +22,16 @@ public:
    {
        return driver.saveDriverTableToJson(&s);
    }
+
+    const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg)
+    {
+        DriverTable cmd;
+        if (driver.loadDriverTableFromJson(msg, cmd) < 0) 
+        {
+            LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str());
+        }
+        return cmd;
+    }
 };

 #endif
@@ -1,2 +0,0 @@
-//控制消息
-#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
@@ -0,0 +1,75 @@
+#ifndef U_POWER_SYSSTATE_FB_H
+#define U_POWER_SYSSTATE_FB_H
+#include "../driver.h"
+#include "string"
+#include "json/json.h"
+#include <bitset>
+#include "../loguru.hpp"
+class uPower_sysStateMsg
+{
+private:
+    /* data */
+public:
+    uPower_sysStateMsg() {
+    };
+    ~uPower_sysStateMsg() {};   
+    std::string key = "uPower_sysState_cmd";
+    const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg)
+    {
+        MSControlCmd cmd;
+        if (parseControlCmdFromJson(cmd, msg)) {
+            
+            return cmd;
+        }
+        else
+        {
+            LOG_F(WARNING, "get master control cmd error:%s", msg.c_str());
+        }
+    };
+    bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+    {
+        Json::CharReaderBuilder builder;
+        Json::Value root;
+        std::string errs;
+
+        // 解析JSON字符串
+        std::istringstream s(strJson);
+        if (!Json::parseFromStream(builder, s, &root, &errs))
+        {
+            std::cerr << "JSON解析失败: " << errs << std::endl;
+            return false; // 解析失败
+        }
+        if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+        {
+            cmd.powerCMD = root["powerCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+
+        if (root.isMember("modCMD") && root["modCMD"].isUInt())
+        {
+            cmd.modCMD = root["modCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+
+        if (root.isMember("workCMD") && root["workCMD"].isUInt())
+        {
+            cmd.workCMD = root["workCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+        return true; // 成功
+    };
+};
+
+#endif 
@@ -1,2 +0,0 @@
-//控制消息
-#define DB_TO_PM_MSCMD "uPower_sysState_cmd"