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0702调试

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zjk
2025-07-02 16:20:36 +08:00
parent 16d4c25c77
commit ba8cd0383a
13 changed files with 1761 additions and 156 deletions
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src/pPMtest/ccuUdpMsg.h
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#ifndef CCUUDPMSG__H
#define CCUUDPMSG__H
#include "pmSysvariable.h"
#define CCU_UDPMSG_START1 0x20
#define CCU_UDPMSG_START2 0x20
#define DIS_MSG_HEAD1 0x40
#define DIS_MSG_HEAD2 0x40
#define CCU_CMD_ID 0x0040
#define CCU_SET_PARM_ID 0x0041
#define CCU_STATE_FB_ID 0x0051
#define CCU_SET_PARM_FB_ID 0x0040
#define DIS_HVBUS_FB_ID 0x0005
#define DIS_HVBUSA_FB_ID 0x0006
#define DIS_HVBUSB_FB_ID 0x0007
#define DIS_LVBUS_FB_ID 0x0008
#define DIS_HVBUS_CMD_ID 0x0001
#define DIS_HVBUSA_CMD_ID 0x0002
#define DIS_HVBUSB_CMD_ID 0x0003
#define DIS_LVBUS_CMD_ID 0x0004
#define DIS_BREAKER_ON 0x55
#define DIS_BREAKER_OFF 0xAA
#define DIS_FAULTOFF 0x5A
typedef unsigned int Checksum;
typedef unsigned char cChecksum;
#pragma pack (1)
typedef struct {
unsigned char start1;
unsigned char start2;
unsigned short id;
unsigned short length;
} m_header;
typedef struct {
unsigned short year;
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 {
m_header header;
m_date date;
ccuColCmd cmd;
Checksum checkCode;
} msg_CcuColCmdMsg;
// 复合管控器参数设定指令
typedef struct {
m_header header;
ccuSetParmCmd cmd;
Checksum checkCode;
} msg_CcuSetParmMsg;
// 配电指令
typedef struct
{
m_header header;
disHighVolBusCmd data;
cChecksum checkCode;
}msg_disHVBCmd;
typedef struct
{
m_header header;
disHighAVolBusCmd data;
cChecksum checkCode;
}msg_disHVBACmd;
typedef struct msg_disHVBBCmd
{
m_header header;
disHighBVolBusCmd data;
cChecksum checkCode;
}msg_disLVMBCmd;
typedef struct
{
m_header header;
disLowBusCmd data;
cChecksum checkCode;
}msg_disLVBCmd;
// 复合管控参数设定反馈指令
typedef struct {
m_header header;
unsigned char flag;
unsigned char failureCode;
Checksum checkCode;
} msg_CcuSetParmFbMsg;
// 复合管控状态反馈
typedef struct {
m_header header;
ccuState data;
Checksum checkCode;
} msg_CcuStateFbMsg;
//高压母线配电反馈
typedef struct {
m_header header;
disHighVolBusState data;
cChecksum checkCode;
} msg_disHighVolBusFbMsg;
// 高压母线A配电反馈
typedef struct {
m_header header;
disHighAVolBusState data;
cChecksum checkCode;
} msg_disHighAVolBusFbMsg;
// 仪表母线配电反馈
typedef struct {
m_header header;
disLowMainBusState data;
cChecksum checkCode;
} msg_disLowMainBusFbMsg;
//仪表汇流排配电反馈
typedef struct {
m_header header;
disLowBusState data;
cChecksum checkCode;
} msg_disLowBusFbMsg;
#pragma pack ()
#endif
src/pPMtest/pmSysvariable.h
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#ifndef PMSYSVARIABLE_H
#define PMSYSVARIABLE_H
//宏定义
#include<string>
#include <map>
#include <unordered_set>
#define BREAK_OFF 0xAA
#define BREAK_ON 0x55
#define BREAK_FALSE 0x5A
//消息结构体变量定义
#pragma pack (1)
typedef struct ccuState
{
uint8_t fc_mode; // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
uint8_t fc_status; // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成（详见协议）
uint8_t fc_fault_level; // 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
uint16_t output_power_limit; // 系统输出功率限制值，单位：W，范围：0~30000W
uint16_t total_generation_time; // 系统累计发电时间，单位：0.1小时，最大值6553.5小时
uint16_t total_generation_power; // 系统累计发电总功率，单位：W
uint16_t fault_level_1; // 一级故障位，按位表示不同的故障项
uint16_t fault_level_2; // 二级故障位
uint16_t fault_level_3; // 三级故障位
uint16_t fault_level_4; // 四级故障位
uint8_t hydrogen_capacity; // 储氢罐剩余容量百分比，单位：%，范围：0~100
uint8_t liquid_oxygen_capacity; // 液氧罐剩余容量百分比，单位：%，范围：0~100
uint16_t palladium_temp; // 钯膜最高温度，单位：℃
uint16_t main_pipe_pressure; // 主水路压力，单位：0.01kPa
uint16_t aux_pipe_pressure; // 辅水路压力，单位：0.01kPa
uint16_t cabin_pressure1; // 舱室1压力，单位：0.01kPa
uint16_t cabin_pressure2; // 舱室2压力，单位：0.01kPa
uint16_t cabin_temp1; // 舱室1温度，单位：0.01℃
uint16_t cabin_temp2; // 舱室2温度，单位：0.01℃
uint16_t cabin_humidity1; // 舱室1湿度，单位：0.01%RH
uint16_t cabin_humidity2; // 舱室2湿度，单位：0.01%RH
uint8_t flame_detector1; // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
uint8_t flame_detector2; // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
uint16_t h2_concentration1; // 舱室H2浓度1，单位：0.01% LEL
uint16_t h2_concentration2; // 舱室H2浓度2，单位：0.01% LEL
uint16_t h2_concentration3; // 舱室H2浓度3，单位：0.01% LEL
uint16_t o2_concentration1; // 舱室O2浓度1，单位：0.01% LEL
uint16_t o2_concentration2; // 舱室O2浓度2，单位：0.01% LEL
uint16_t ch3oh_concentration1; // 舱室甲醇气体浓度1，单位：0.01% LEL
uint16_t ch3oh_concentration2; // 舱室甲醇气体浓度2，单位：0.01% LEL
uint16_t reserved1[10]; // 保留字段，地址范围35~52，共18个uint16_t，协议预留
uint16_t cabin_ox_concentration; // 仪表舱内氧气浓度 [%]
uint16_t cabin_temperature; // 仪表舱内温度 [°C]
uint16_t cabin_humidity; // 仪表舱内湿度 [%RH]
uint16_t cabin_pressure; // 仪表舱内大气压 [kPa]
uint16_t power_cabin_ox_concentration; // 动力舱内氧气浓度 [%]
uint16_t power_cabin_temperature; // 动力舱内温度 [°C]
uint16_t power_cabin_humidity; // 动力舱内湿度 [%RH]
uint16_t power_cabin_pressure; // 动力舱内大气压 [kPa]
uint8_t reserved2[1]; // 保留字段，地址范围54~55，共2个uint8_t，协议预留
uint8_t dyn_alarm_flag[6]; // 动力锂电池报警标志字数组，共6字节，按位表示各类报警
uint8_t ins_alarm_flag[6]; // 仪表锂电池报警标志字数组，共6字节，按位表示各类报警
uint8_t ins_relay_status1; // 仪表电池继电器状态，高4位表示正极继电器，低4位表示充电继电器
uint8_t ins_relay_status2; // 仪表电池预充继电器和负极继电器状态
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
uint16_t ins_max_discharge_power; // 仪表电池最大允许放电功率，单位：kW，精度0.05kW
uint16_t dyn_max_discharge_power; // 动力电池最大允许放电功率，单位：kW，精度0.05kW
uint8_t ins_soc; // 仪表锂电池荷电状态SOC，范围：0~100
uint8_t dyn_soc; // 动力锂电池荷电状态SOC，范围：0~100
uint16_t ins_total_energy; // 仪表电池总能量，单位：kWh
uint16_t dyn_total_energy; // 动力电池总能量，单位：kWh
uint16_t ins_power_input; // 仪表电池输入功率，单位：kW
uint16_t dyn_power_input; // 动力电池输入功率，单位：kW
uint8_t ins_charge_status; // 仪表电池充放电状态：00H-无效，10H-充电，20H-放电
uint8_t dyn_charge_status; // 动力电池充放电状态：00H-无效，10H-充电，20H-放电
uint16_t ins_voltage_link; // 仪表电池LINK端电压，单位：0.01V
uint16_t ins_voltage_pack; // 仪表电池PACK端电压，单位：0.01V
uint16_t ins_current; // 仪表电池电流，单位：0.01A（正值放电）
uint16_t ins_resistance_pos; // 仪表电池正极绝缘电阻，单位：kΩ
uint16_t ins_resistance_neg; // 仪表电池负极绝缘电阻，单位：kΩ
uint16_t dyn_voltage_link; // 动力电池LINK端电压，单位：0.01V
uint16_t dyn_voltage_pack; // 动力电池PACK端电压，单位：0.01V
uint16_t dyn_current; // 动力电池电流，单位：0.01A（正值放电）
uint16_t dyn_resistance_pos; // 动力电池正极绝缘电阻，单位：kΩ
uint16_t dyn_resistance_neg; // 动力电池负极绝缘电阻，单位：kΩ
uint8_t ins_emergency_status; // 仪表电池紧急状态字，按位表示异常或告警状态
uint8_t dyn_emergency_status; // 动力电池紧急状态字，按位表示异常或告警状态
uint8_t reserved3[2]; // 保留字节，协议预留
uint8_t ins_soc_threshold1; // 仪表电池1 SOC门限，范围：0~100
uint8_t ins_soc_threshold2; // 仪表电池2 SOC门限，范围：0~100
uint8_t ins_soc_threshold3; // 仪表电池3 SOC门限，范围：0~100
uint8_t dyn_soc_threshold1; // 动力电池1 SOC门限，范围：0~100
uint8_t dyn_soc_threshold2; // 动力电池2 SOC门限，范围：0~100
uint8_t dyn_soc_threshold3; // 动力电池3 SOC门限，范围：0~100
uint8_t ins_power_limit1; // 仪表电池1功率限制值，单位：%
uint8_t ins_power_limit2; // 仪表电池2功率限制值，单位：%
uint8_t dyn_power_limit1; // 动力电池1功率限制值，单位：%
uint8_t dyn_power_limit2; // 动力电池2功率限制值，单位：%
uint32_t device_online_flag1; // 设备在线状态标志1，byte0：低压配电板在线标志位 byte1：复合管控主机在线标志位 byte2：复合管控备机在线标志位
uint32_t device_online_flag2; // 设备在线状态标志2，byte0：仪表锂电在线标志位 byte1：动力锂电在线标志位 byte2：燃电锂电在线标志位 byte3：高压配电板在线标志位
uint8_t dyn_charge_level; // 动力电池充电状态：01H-1级(不限), 02H-2级(限功率), 03H-3级(关闭)
uint8_t dyn_water_leak_status; // 动力漏水状态：0XH-正常, 1XH-异常漏水
uint8_t ins_water_leak_dcdc_status; // 仪表漏水状态与DCDC状态：低4位-漏水状态(0XH正常,1XH异常),高4位-DCDC状态(X0H正常,X1H故障)
uint8_t reserved4;
// uint32_t reserved4; // 保留字段，协议预留
uint32_t heartbeat; // 主机心跳计数器或标志值
} ccuState;
typedef struct {
unsigned char insSocHold1;
unsigned char insSocHold2;
unsigned char insSocHold3;
unsigned char fcuToInsLimit1;
unsigned char fcuToinsLimit2;
unsigned char powerSocHold1;
unsigned char powerSocHold2;
unsigned char powerSocHold3;
unsigned char fcuToPowerLimit1;
unsigned char fcuToPowerLimit2;
}ccuSetParmCmd;
typedef struct {
unsigned char fcmode;
unsigned char fcuCmd;
unsigned char fcuPowerEfficiency;
unsigned char insChargeEnable;
unsigned char insBatCmd;
unsigned char powerBatCmd;
unsigned short powerBatEfficiency;
unsigned char heartbeat;
unsigned char masterState;
unsigned int paceholder1;
unsigned int paceholder2;
}ccuColCmd;
typedef struct disHighVolBusState
{
//断路器状态
// 5: 燃料电池断路器
unsigned char fuelCellCircuitBreaker;
// 6: 动力锂电池断路器
unsigned char powerLithiumBatteryCircuitBreaker;
// 7: 推进电机断路器
unsigned char propulsionMotorCircuitBreaker;
// 8: 锂电池组仪表断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
// 9: DC/DC5模块断路器
unsigned char dcDc5ModuleCircuitBreaker;
// 10: 艏部高压配电箱断路器
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
// 11: 艉部FT装置4/5断路器
unsigned char sternFTDevice45CircuitBreaker;
// 14: FB预留断路器
unsigned char fbReservedCircuitBreaker;
// 12: 艉舵开关1断路器
unsigned char sternRudderSwitch1CircuitBreaker;
// 13: 艉舵开关2断路器
unsigned char sternRudderSwitch2CircuitBreaker;
// 15: TYZ预留断路器
unsigned char tyzReservedCircuitBreaker;
// 16: 预留断路器
unsigned char reservedCircuitBreaker;
// unsigned char busInsulationLow;
// unsigned char busAInsulationHigh;
// 17: DC/DC5故障字低
// 0x00: 正常状态
// Bit0: DC/DC模块过温关机
// Bit1: 输出过流
// Bit2: 输出过压
// Bit3: 输出欠压
// Bit4: 输入过压
// Bit5: 输入欠压
// Bit6: 输出短路保护
// Bit7: 内部故障
// 18: DC/DC5故障字高
unsigned char dcDcFaultWord1;
// 0x00: 正常状态
// Bit0: 通讯故障报警
// Bit1: 工作状态 1：启动，0：关闭
// Bit2: 冷却泵1故障 冷却泵1故障 ： 1故障， 0 正常
// Bit3: 冷却泵2故障 冷却泵2故障 ：1故障，0 正常
// Bit4: 冷却水泄露
// Bit5：冷却泵1运行状态 ：1 运行，0 停止
// Bit6：冷却泵2运行状态 ：1 运行，0 停止
unsigned char dcDcFaultWord2;
// 19: 动力母排绝缘状态（0x55 正常，0xAA 绝缘低）
unsigned char powerBusInsulationStatus;
// 20: A汇流排绝缘状态（0x55 正常，0xAA 绝缘低）
unsigned char aBusInsulationStatus;
// 21: 仪表电源状态 （0x55 正常，0xAA 故障）
unsigned char meterPowerLossSignal;
// 22: 应急电源状态 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerLossSignal;
// 22: dc/dc温度
unsigned char dcDcTemperature;
// 23: 动力汇流排电压
unsigned short powerBusVoltage;
// 24: DC/DC5模块电流
unsigned short dcDc5ModuleCurrent;
// 25: 动力汇流排电流
unsigned short powerBusCurrent;
// 26: A汇流排电压
unsigned short busbarAVoltage;
// 27: 推进电机控制箱电流
unsigned short propulsionMotorControlBoxCurrent;
// 28: A汇流排电流
unsigned short busbarACurrent;
// 29: 锂电池组(仪表)电流
unsigned short lithiumBatteryGroupMeterCurrent;
// 30: 艏部高压配电箱电流
unsigned short bowHighVoltageDistributionBoxCurrent;
// 31: 艉部FT装置4/5电流
unsigned short sternFTDevice45Current;
// 32: TYZ预留开关电流
unsigned short tyzReservedSwitchCurrent;
// 33: 艉舵开关1电流
unsigned short sternRudderSwitch1Current;
// 34: 预留电流
unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
// 35: 艉舵开关2电流
unsigned short sternRudderSwitch2Current;
// 36: 预留电流2
unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
// 37: FB预留电流
unsigned short fbReservedSwitchCurrent;
// 38: 预留电流3
unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
// 39: 冷却水压力
unsigned short coolWaterPressure;
}disHighVolBusState;
typedef struct disHighAVolBusState
{
//5. 艏部FT装置1/2/3断路器
unsigned char bowFTDevice123CircuitBreaker;
//6. 启闭机构断路器
unsigned char actuatorCircuitBreaker;
//7. 桅杆舵机控制箱断路器
unsigned char mastSteeringGearControlBoxCircuitBreaker;
//8. XCZ断路器
unsigned char xczCircuitBreaker;
//9. 艏舵控制箱断路器
unsigned char bowRudderControlBoxCircuitBreaker;
//10. 敞水盖启动电缸断路器
unsigned char openWaterCoverStartCylinderCircuitBreaker;
//11. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char instrumentPowerFailureSignal;
//12. 应急电源失电信号 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerFailureSignal;
//13. 浸水报警
// unsigned char busbarBInsulationStatus;
unsigned char waterIngressionAlarm;
//14. 汇流排B电压
unsigned short busbarBVoltage;
//15. 汇流排B电流
unsigned short busbarBCurrent;
//16. 艏部FT装置1/2/3电流
unsigned short bowFTDevice123Current;
//17. 启闭机构电流
unsigned short actuatorCurrent;
//18. 桅杆舵机控制箱电流
unsigned short mastSteeringGearControlBoxCurrent;
//19. XCZ电流
unsigned short xczCurrent;
//20. 艏舵控制箱电流
unsigned short bowRudderControlBoxCurrent;
//21. 敞水盖启动电缸电流
unsigned short openWaterCoverStartCylinderCurrent;
}disHighAVolBusState;
typedef struct disHighBVolBusState
{
//5. 锂电池组（仪表）断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
//6. 艏部低压配电箱断路器
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
//7. UNIT4仪表DC48V断路器
unsigned char unit4InstrumentDC48VCircuitBreaker;
//8. DC-C1直流配电板断路器
unsigned char dcC1DCDistributionPanelCircuitBreaker;
//9. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//10. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//11. 应急锂电池组2断路器
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
//12. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char instrumentPowerFailureSignal;
//13. 应急电源失电信号 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerFailureSignal;
//14. 仪表汇流排绝缘低 （0x55 正常，0xAA 绝缘低）
unsigned char instrumentBusbarInsulationLow;
//15. 仪表母排电压
unsigned short instrumentBusbarVoltage;
//16. 艏部低压配电箱电流
unsigned short bowLowVoltageDistributionBoxCurrent;
//17. DC-C1（直流配电板1）仪表DC48V电流
unsigned short dcC1InstrumentDC48VCurrent;
//18. 预留电流
unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
//19. 应急锂电池组2电流
unsigned short emergencyLithiumBatteryGroup2Current;
//20. 锂电池组（仪表）电流
unsigned short lithiumBatteryGroupInstrumentCurrent;
//21. UNIT4仪表DC48V电流
unsigned short unit4InstrumentDC48VCurrent;
//22. Ushort 预留电流
unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
//23. 应急2汇流排电压
unsigned short emergency2BusbarVoltage;
//24. 复合能源管控系统应急DC48V电流
unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
//25. 燃料电池安全系统应急DC48V电流
unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
//26. PLC控制电源电流
unsigned short plcControlPowerCurrent;
} disLowMainBusState;
typedef struct disLowBusState
{
//5. UNIT1断路器
unsigned char unit1CircuitBreaker;
//6. UNIT2断路器
unsigned char unit2CircuitBreaker;
//7. UNIT3断路器
unsigned char unit3CircuitBreaker;
//8. UNIT5断路器
unsigned char unit5CircuitBreaker;
//9. 艏部PZ装置断路器
unsigned char bowPZDeviceCircuitBreaker;
//10. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//11. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//12. 应急锂电池组1断路器
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
//13. 仪表电源失电信号 （0x55 正常，0xAA 故障）
unsigned char powerFailureSignal;
//14. 应急电源失电信号 （0x55 正常，0xAA 故障）
unsigned char emergencyPowerFailureSignal;
//15. 浸水报警 （0x55 正常，0xAA 故障）
unsigned char waterIngressionAlarm;
//16. 仪表母排电压
unsigned short instrumentBusbarVoltage;
//17. 仪表母排电流
unsigned short instrumentBusbarCurrent;
//18. UNIT1电流
unsigned short unit1Current;
//19. UNIT2电流
unsigned short unit2Current;
//20. UNIT3电流
unsigned short unit3Current;
//21. UNIT5电流
unsigned short unit5Current;
//22. 艏部PZ装置电流
unsigned short bowPZDeviceCurrent;
//23. 应急锂电池组1电流
unsigned short emergencyLithiumBatteryGroup1Current;
//24. 应急1汇流排电压
unsigned short emergency1BusbarVoltage;
}disLowBusState;
typedef struct disHighVolBusCmd
{
// 5: 燃料电池断路器
unsigned char fuelCellCircuitBreaker;
// 6: 动力锂电池断路器
unsigned char powerLithiumBatteryCircuitBreaker;
// 7: 推进电机断路器
unsigned char propulsionMotorCircuitBreaker;
// 8: 锂电池组仪表断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
// 9: DC/DC5模块断路器
unsigned char dcDc5ModuleCircuitBreaker;
// 10: 艏部高压配电箱断路器
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
// 11: 艉部FT装置4/5断路器
unsigned char sternFTDevice45CircuitBreaker;
// // 12: 艉舵开关1断路器
// unsigned char sternRudderSwitch1CircuitBreaker;
// // 13: 艉舵开关2断路器
// unsigned char sternRudderSwitch2CircuitBreaker;
// // 14: FB预留断路器
// unsigned char fbReservedCircuitBreaker;
// 12: FB预留断路器
unsigned char fbReservedCircuitBreaker;
// 13: 艉舵开关1断路器
unsigned char sternRudderSwitch1CircuitBreaker;
// 14: 艉舵开关2断路器
unsigned char sternRudderSwitch2CircuitBreaker;
// 15: TYZ预留断路器
unsigned char tyzReservedCircuitBreaker;
// 16: 预留断路器
unsigned char reservedCircuitBreaker;
// 17: DC/DC5模块启动
unsigned char dcdc5Module;
// 18: 冷却系统启动
unsigned char coolingSystem;
// unsigned char inputWater;
// unsigned char outputWater;
}disHighVolBusCmd;
typedef struct disHighAVolBusCmd
{
//5. 艏部FT装置1/2/3断路器
unsigned char bowFTDevice123CircuitBreaker;
//6. 启闭机构断路器
unsigned char actuatorCircuitBreaker;
//7. 桅杆舵机控制箱断路器
unsigned char mastSteeringGearControlBoxCircuitBreaker;
//8. XCZ断路器
unsigned char xczCircuitBreaker;
//9. 艏舵控制箱断路器
unsigned char bowRudderControlBoxCircuitBreaker;
//10. 敞水盖启动电缸断路器
unsigned char openWaterCoverStartCylinderCircuitBreaker;
}disHighAVolBusCmd;
typedef struct disHighBVolBusCmd
{
//5. 锂电池组（仪表）断路器
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
//6. 艏部低压配电箱断路器
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
//7. UNIT4仪表DC48V断路器
unsigned char unit4InstrumentDC48VCircuitBreaker;
//8. DC-C1直流配电板断路器
unsigned char dcC1DCDistributionPanelCircuitBreaker;
//9. 预留断路器1
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
//10. 预留断路器2
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
//11. 应急锂电池组2断路器
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
}disLowMainBusCmd;
typedef struct disLowBusCmd
{
unsigned char unit1CircuitBreaker;
unsigned char unit2CircuitBreaker;
unsigned char unit3CircuitBreaker;
unsigned char unit5CircuitBreaker;
unsigned char bowPZDeviceCircuitBreaker;
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
}disLowBusCmd;
#pragma pack (0)
//状态结构体定义
typedef struct pmState
{
ccuState ccustate;
disHighVolBusState bus1State;
disHighAVolBusState bus2State;
disLowMainBusState bus3State;
disLowBusState bus4State;
} PmState;
typedef struct disBus1Breaker
{
unsigned char fuelCellCircuitBreaker : 1;
unsigned char powerLithiumBatteryCircuitBreaker : 1;
unsigned char propulsionMotorCircuitBreaker : 1;
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
unsigned char dcDc5ModuleCircuitBreaker : 1;
unsigned char bowHighVoltageDistributionBoxCircuitBreaker : 1;
unsigned char sternFTDevice45CircuitBreaker : 1;
unsigned char sternRudderSwitch1CircuitBreaker : 1;
unsigned char sternRudderSwitch2CircuitBreaker : 1;
unsigned char fbReservedCircuitBreaker : 1;
unsigned char tyzReservedCircuitBreaker : 1;
unsigned char reservedCircuitBreaker : 1;
unsigned char dcdcmodel : 1;
unsigned char coolingSystem : 1;
unsigned short paceholder : 4;
} disBus1Breaker;
typedef struct disBus2Breaker
{
unsigned char bowFTDevice123CircuitBreaker : 1;
unsigned char actuatorCircuitBreaker : 1;
unsigned char mastSteeringGearControlBoxCircuitBreaker : 1;
unsigned char xczCircuitBreaker : 1;
unsigned char bowRudderControlBoxCircuitBreaker : 1;
unsigned char openWaterCoverStartCylinderCircuitBreaker : 1;
unsigned short paceholder : 10;
/* data */
} disBus2Breaker;
typedef struct disBus3Breaker
{
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
unsigned char bowLowVoltageDistributionBoxCircuitBreaker : 1;
unsigned char unit4InstrumentDC48VCircuitBreaker : 1;
unsigned char dcC1DCDistributionPanelCircuitBreaker : 1;
unsigned char reservedCircuitBreaker1 : 1;
unsigned char reservedCircuitBreaker2 : 1;
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker : 1;
unsigned short paceholder : 9;
/* data */
} disBus3Breaker;
typedef struct disBus4Breaker
{
unsigned char unit1CircuitBreaker : 1;
unsigned char unit2CircuitBreaker : 1;
unsigned char unit3CircuitBreaker : 1;
unsigned char unit5CircuitBreaker : 1;
unsigned char bowPZDeviceCircuitBreaker : 1;
unsigned char reservedCircuitBreaker1 : 1; // 为了区分，添加了数字后缀
unsigned char reservedCircuitBreaker2 : 1; // 为了区分，添加了数字后缀
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker : 1;
unsigned short paceholder : 8;
/* data */
} disBus4Breaker;
typedef struct disSysBreakerList
{
disBus1Breaker bus1Breaker;
disBus2Breaker bus2Breaker;
disBus3Breaker bus3Breaker;
disBus4Breaker bus4Breaker;
} disSysBreaker;
typedef struct MSControlCmd
{
unsigned int powerCMD;
unsigned int modCMD;
unsigned int workCMD;
}MSControlCmd;
namespace FcuCommand {
enum Type : unsigned char {
SelfCheck = 0x01,
Start = 0x02,
Stop = 0x03,
Reset = 0x04,
EmergencyStop = 0x05,
Supply = 0x06,
WarmUp = 0x07,
Maintenance = 0x08
};
}
enum class FcuState : unsigned char {
//初始化
Init = 0x01,
//待机
Standby = 0x02,
//自检异常
SelfCheckError = 0x03,
//就绪
Ready = 0x04,
//启动
Start = 0x05,
//运行
Running = 0x06,
//停机
Stop = 0x07,
//故障
Fault = 0x08,
//补给
Supply = 0x09,
//预热
WarmUp = 0x0A,
//预热完成
WarmUpComplete = 0x0B,
//维护
Maintenance = 0x0C,
//维护完成
MaintenanceComplete = 0x0D
};
namespace BatteryCommand {
enum Type : unsigned char {
Start = 0x10,
Stop = 0x20,
Hold = 0x00
};
};
namespace PMMode {
enum Type : unsigned char {
Normal = 0,
Test = 1,
Debug = 2
};
};
//工况定义
namespace WorkCondition {
enum Type : unsigned char {
CHANING = 0, // 工况切换中
STANDBY = 1, // 待机工况
SHORE_BASED_READY = 2, // 岸基备航
WATER_BASED_READY = 3, // 水中备航
REMOTE_CONTROL = 4, // 遥控工况
CRUISE_MODE = 5, // 巡航模式
HIGH_SPEED_MODE = 6, // 高速模式
ASCEND_DESCEND = 7, // 上浮下潜
BUOYANCY_ADJUST = 8, // 浮调模式
UNDERWATER_RECON = 9, // 水下侦查
SURFACE_RECON = 10, // 水面侦查
DJ_MODE = 11, // DJ模式
DEBUG_MODE = 12 // 调试模式
};
};
namespace RunMode {
enum Type : unsigned char {
//正常模式
Normal = 0,
//测试模式
Test = 1,
//调试模式
Debug = 2
};
};
namespace TaskType {
enum Type : unsigned char {
THROW_LOAD = 1, // 抛载
FLOAT_UP = 2, // 运动上浮
RECYCLE = 3, // 回收
HOVER = 4, // 悬停
SAT_COMM = 5, // 上浮通信
SAT_CALIBRATE = 6, // 上浮校准
TOUR = 7, // 游曳
SAIL = 8 // 航行
};
inline const std::string toString(Type type) {
static const std::map<Type, std::string> names = {
{THROW_LOAD, "throwLoad"},
{FLOAT_UP, "floatUp"},
{RECYCLE, "recycle"},
{HOVER, "hover"},
{SAT_COMM, "satComm"},
{SAT_CALIBRATE, "satCalibrate"},
{TOUR, "tour"},
{SAIL, "sail"}
};
auto it = names.find(type);
return it != names.end() ? it->second : "unknown";
}
inline Type fromString(const std::string& str) {
static const std::map<std::string, Type> stringToEnum = {
{"throwLoad", THROW_LOAD},
{"floatUp", FLOAT_UP},
{"recycle", RECYCLE},
{"hover", HOVER},
{"satComm", SAT_COMM},
{"satCalibrate", SAT_CALIBRATE},
{"tour", TOUR},
{"sail", SAIL}
};
auto it = stringToEnum.find(str);
return it != stringToEnum.end() ? it->second : static_cast<Type>(0); // 返回0表示无效类型
}
}
namespace EquipmentCommand {
enum Type : unsigned char {
OFF = 0, //断电
ON = 1, //上电
//仪表电上电
METER_ON = 2,
//动力电上电
POWER_ON = 3,
//仪表电断电
METER_OFF = 4,
//动力电断电
POWER_OFF = 5,
};
};
struct MissionState
{
int type;
bool enableBowRudder;
bool enableBuoyancyAdjustment;
};
struct DeviceSwitchCmd
{
int id;
int cmd;
};
namespace DeviceId {
enum Type : unsigned char {
singleBeamSonar1 = 0,
singleBeamSonar2 = 1,
singleBeamSonar3 = 2,
singleBeamSonar4 = 3,
singleBeamSonar5 = 4,
singleBeamSonar6 = 5,
singleBeamSonar7 = 6,
singleBeamSonar8 = 7,
forwardSonar = 8,
bowCover1 = 9,
bowCover2 = 10,
bowCover3 = 11,
bowCover4 = 12,
bowCover5 = 13,
bowCover6 = 14,
bowRudderDeploy = 15,
bowRudderServo1 = 16,
bowRudderServo2 = 17,
depth1 = 18,
depth2 = 19,
depth3 = 20,
overDeep1 = 21,
overDeep2 = 22,
ctd1 = 23,
ctd2 = 24,
soundVeloc = 25,
waterInject = 26,
bowWaterInet1 = 27,
bowWaterInet2 = 28,
bowWaterInet3 = 29,
bowWaterInet4 = 30,
bowWaterInet5 = 31,
bowWaterInet6 = 32,
bowWaterInet7 = 33,
bowWaterInet8 = 34,
sideSonar = 35,
lowFreqSonar = 36,
launchControler = 37,
photoSensor = 38,
electSensor = 39,
commMast = 40,
mastLiftingServo = 41,
USBL = 42,
DVL = 43,
buoyancyAdjust1 = 44,
buoyancyAdjust2 = 45,
buoyancyAdjust3 = 46,
buoyancyAdjust4 = 47,
buoyancyAdjust5 = 48,
sternRudderServo1 = 49,
sternRudderServo2 = 50,
sternRudderServo3 = 51,
sternRudderServo4 = 52,
thruster = 53,
bowThrow = 54,
sternThrow = 55,
buoyage = 56,
ins = 57,
ntp = 58,
inputWaterSensor1 = 59,
inputWaterSensor2 = 60,
inputWaterSensor3 = 61,
};
inline const std::string toString(Type type) {
static const std::map<Type, std::string> names = {
{singleBeamSonar1, "singleBeamSonar1"},
{singleBeamSonar2, "singleBeamSonar2"},
{singleBeamSonar3, "singleBeamSonar3"},
{singleBeamSonar4, "singleBeamSonar4"},
{singleBeamSonar5, "singleBeamSonar5"},
{singleBeamSonar6, "singleBeamSonar6"},
{singleBeamSonar7, "singleBeamSonar7"},
{singleBeamSonar8, "singleBeamSonar8"},
{forwardSonar, "forwardSonar"},
{bowCover1, "bowCover1"},
{bowCover2, "bowCover2"},
{bowCover3, "bowCover3"},
{bowCover4, "bowCover4"},
{bowCover5, "bowCover5"},
{bowCover6, "bowCover6"},
{bowRudderDeploy, "bowRudderDeploy"},
{bowRudderServo1, "bowRudderServo1"},
{bowRudderServo2, "bowRudderServo2"},
{depth1, "depth1"},
{depth2, "depth2"},
{depth3, "depth3"},
{overDeep1, "overDeep1"},
{overDeep2, "overDeep2"},
{ctd1, "ctd1"},
{ctd2, "ctd2"},
{soundVeloc, "soundVeloc"},
{waterInject, "waterInject"},
{bowWaterInet1, "bowWaterInet1"},
{bowWaterInet2, "bowWaterInet2"},
{bowWaterInet3, "bowWaterInet3"},
{bowWaterInet4, "bowWaterInet4"},
{bowWaterInet5, "bowWaterInet5"},
{bowWaterInet6, "bowWaterInet6"},
{bowWaterInet7, "bowWaterInet7"},
{bowWaterInet8, "bowWaterInet8"},
{sideSonar, "sideSonar"},
{lowFreqSonar, "lowFreqSonar"},
{launchControler, "launchControler"},
{photoSensor, "photoSensor"},
{electSensor, "electSensor"},
{commMast, "commMast"},
{mastLiftingServo, "mastLiftingServo"},
{USBL, "USBL"},
{DVL, "DVL"},
{buoyancyAdjust1, "buoyancyAdjust1"},
{buoyancyAdjust2, "buoyancyAdjust2"},
{buoyancyAdjust3, "buoyancyAdjust3"},
{buoyancyAdjust4, "buoyancyAdjust4"},
{buoyancyAdjust5, "buoyancyAdjust5"},
{sternRudderServo1, "sternRudderServo1"},
{sternRudderServo2, "sternRudderServo2"},
{sternRudderServo3, "sternRudderServo3"},
{sternRudderServo4, "sternRudderServo4"},
{thruster, "thruster"},
{bowThrow, "bowThrow"},
{sternThrow, "sternThrow"},
{buoyage, "buoyage"},
{ins, "ins"},
{ntp, "ntp"},
{inputWaterSensor1, "inputWaterSensor1"},
{inputWaterSensor2, "inputWaterSensor2"},
{inputWaterSensor3, "inputWaterSensor3"}
};
auto it = names.find(type);
return it != names.end() ? it->second : "unknown";
}
}
// 设备类id存储
static const std::unordered_set<int> underWterDevices = {
DeviceId::singleBeamSonar1,
DeviceId::singleBeamSonar2,
DeviceId::singleBeamSonar3,
DeviceId::singleBeamSonar4,
DeviceId::singleBeamSonar5,
DeviceId::singleBeamSonar6,
DeviceId::singleBeamSonar7,
DeviceId::singleBeamSonar8,
DeviceId::forwardSonar,
DeviceId::USBL,
DeviceId::DVL,
DeviceId::lowFreqSonar
};
static const std::unordered_set<int> noPowerDevices = {
DeviceId::depth1,
DeviceId::depth2,
DeviceId::depth3,
DeviceId::overDeep1,
DeviceId::overDeep2,
DeviceId::ctd1,
DeviceId::ctd2,
DeviceId::soundVeloc,
DeviceId::waterInject,
DeviceId::launchControler,
DeviceId::photoSensor,
DeviceId::electSensor,
DeviceId::commMast,
DeviceId::ntp,
DeviceId::bowThrow,
DeviceId::sternThrow,
DeviceId::ins,
DeviceId::inputWaterSensor1,
DeviceId::inputWaterSensor2,
DeviceId::inputWaterSensor3
};
namespace FaultEnable {
enum Type : bool {
BasicNavigationFault_1 = false, // 使能故障
BasicNavigationFault_2 = false,
BasicNavigationFault_3 = false,
BasicNavigationFault_4 = false,
BasicNavigationFault_5 = false,
BasicNavigationFault_6 = false,
BasicNavigationFault_7 = false,
BasicNavigationFault_8 = false,
BasicNavigationFault_9 = false,
BasicNavigationFault_10 = false,
ExtendedNavigationFault_1 = false, // 使能故障
ExtendedNavigationFault_2 = false,
ExtendedNavigationFault_3 = false,
ExtendedNavigationFault_4 = false,
ObstacleAvoidanceFault_1 = false, // 使能故障
ObstacleAvoidanceFault_2 = false,
ObstacleAvoidanceFault_3 = false,
BuoyancyControlFault_1 = false, // 使能故障
BuoyancyControlFault_2 = false,
BuoyancyControlFault_3 = false,
BuoyancyControlFault_4 = false,
CommunicationSystemFault_1 = false, // 使能故障
CommunicationSystemFault_2 = false,
CommunicationSystemFault_3 = false,
PayloadSystemFault_1 = false, // 使能故障
PayloadSystemFault_2 = false,
PayloadSystemFault_3 = false,
PayloadSystemFault_4 = false,
PayloadSystemFault_5 = false,
PayloadSystemFault_6 = false,
PayloadSystemFault_7 = false,
EmergencySystemFault_1 = false, // 使能故障
EmergencySystemFault_2 = false,
EmergencySystemFault_3 = false,
EmergencySystemFault_4 = false,
EmergencySystemFault_5 = false,
EmergencySystemFault_6 = false,
SensorSystemFault_1 = false, // 使能故障
SensorSystemFault_2 = false,
SensorSystemFault_3 = false,
};
}
#endif
src/pPowerManger/LowerCommManager.cpp
+6 -4
View File
@@ -600,11 +600,12 @@ bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt)
m_udpComm->sendDisSysCmd(cmd);
ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
// ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
ok = m_pm->m_systemData->m_dcdcStatus.workingStatus;
MOOSPause(100);
while ( !ok ) {
if( m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02) == 1 )
if( m_pm->m_systemData->m_dcdcStatus.workingStatus )
{
ok = true;
break;
@@ -651,11 +652,12 @@ bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt)
m_udpComm->sendDisSysCmd(cmd);
ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
// ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
ok = m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running;
MOOSPause(100);
while ( !ok ) {
if( m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60 )
if( (m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running) )
{
ok = true;
break;
src/pPowerManger/fsm/PowerManagerFsm.cpp
+55 -54
View File
@@ -6,7 +6,7 @@
#include "../faultCode.h"
// #define DEBUG
#define DEBUG_1
// #define DEBUG_1
// 定义静态成员
PowerManger* PowerManagerFsm::pm = nullptr;
void PowerManagerFsm::react(TaskStopEvent const &e) {
@@ -15,7 +15,7 @@ void PowerManagerFsm::react(TaskStopEvent const &e) {
};
void PowerManagerFsm::react(CycleTriggeredEvent const &){
// 更新当前设备状态
// 检测和更新状态
#ifdef DEBUG_1
pm->m_currentDriverState = pm->m_subDisSysState;
#else
@@ -33,10 +33,11 @@ void PowerManagerFsm::react(CycleTriggeredEvent const &){
//非调试模式下，对水声设备进行保护
if(pm->currentMod != PMMode::Debug)
{
if(pm->m_depth < 10)
if(pm->m_depth > 10)
{
if(pm->m_systemData->power_a_bus_status.xczCircuitBreaker == 1)
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
//舷侧阵自动下电
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_OFF);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sideSonar, 0);
//所有水声设备下电
@@ -82,7 +83,7 @@ void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
@@ -95,7 +96,7 @@ void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo2, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
}
}
}
@@ -112,7 +113,7 @@ void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
@@ -129,7 +130,7 @@ void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
}
}
}
@@ -149,7 +150,7 @@ void PowerManagerFsm::handleOpenWaterCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
@@ -170,7 +171,7 @@ void PowerManagerFsm::handleOpenWaterCmd(int id, int cmd)
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
}
}
}
@@ -186,8 +187,8 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(0);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
@@ -201,8 +202,8 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
}
}
}
@@ -216,14 +217,14 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
} else if(cmd == EquipmentCommand::ON)
{
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
}
}
}
@@ -239,7 +240,7 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
@@ -250,7 +251,7 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
}
}
}
@@ -262,7 +263,7 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
@@ -271,7 +272,7 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
}
}
}
@@ -285,14 +286,14 @@ void PowerManagerFsm::handleFBSystemCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
} else if(cmd == EquipmentCommand::ON)
{
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(1);
}
}
}
@@ -314,14 +315,14 @@ void PowerManagerFsm::handleSideSonarCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sideSonar, (unsigned char)cmd);
} else if(cmd == EquipmentCommand::ON)
{
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sideSonar, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(1);
}
}
}
@@ -336,14 +337,14 @@ void PowerManagerFsm::handleMastFoldingSystemCmd(int id, int cmd)
{
if(cmd == EquipmentCommand::OFF)
{
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
MOOSPause(10);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
} else if(cmd == EquipmentCommand::ON)
{
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
MOOSPause(10);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
}
}
}
@@ -3100,34 +3101,34 @@ void PowerManagerFsm::handelPowerCmd(){
LOG_F(INFO, "动力锂电池已下电");
//2. 断掉所有动力电断路器
//2.1 断开所有艏部高压断路器
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
//2.2 断开所有艉部高压设备断路器
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_tyzReserved_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_reserved_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(0);
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(0);
pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(0);
pm->m_lowerCommManager->operate_HV_tyzReserved_Breaker(0);
pm->m_lowerCommManager->operate_HV_reserved_Breaker(0);
pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(0);
pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(0);
//2.3 断开仪表预留断路器
pm->m_lowerCommManager->operate_LV_reservedCircuit1_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LV_reservedCircuit2_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LVA_reservedCircuit1_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LVA_reservedCircuit2_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LVA_bowPZDeviceCircuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LV_reservedCircuit1_Breaker(0);
pm->m_lowerCommManager->operate_LV_reservedCircuit2_Breaker(0);
pm->m_lowerCommManager->operate_LVA_reservedCircuit1_Breaker(0);
pm->m_lowerCommManager->operate_LVA_reservedCircuit2_Breaker(0);
pm->m_lowerCommManager->operate_LVA_bowPZDeviceCircuit_Breaker(0);
//2.4 断开应急电池断路器
pm->m_lowerCommManager->operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(BREAK_OFF);
pm->m_lowerCommManager->operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(0);
pm->m_lowerCommManager->operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(0);
//3. 次级配电系统恢复待机
pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
@@ -3140,7 +3141,7 @@ void PowerManagerFsm::handelPowerCmd(){
{
LOG_F(INFO, "收到上位机控制指令:动力电上电");
//闭合动力电断路器
if(pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(BREAK_ON))
if(pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1))
LOG_F(INFO,"动力锂电池断路器闭合成功");
else
LOG_F(INFO,"动力锂电池断路器闭合操作失败");
@@ -3153,7 +3154,7 @@ void PowerManagerFsm::handelPowerCmd(){
{
LOG_F(INFO, "收到上位机控制指令:锂动力电上电");
//1. 闭合动力电断路器
pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(BREAK_ON);
pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
//2. 动力锂电池上电
pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
break;
@@ -3299,7 +3300,7 @@ void PowerManagerFsm::react(TestEvent const &e)
pm->m_systemData->fc_fault_level_3 = 0;
pm->m_systemData->fc_fault_level_2 = 0;
pm->m_systemData->fc_fault_level_1 = 0;
pm->m_systemData->distributeFaultCode.clear();
pm->m_systemData->disSysFaultCode.clear();
cout << "清空故障代码" << endl;
};
// if(e.eventId == 0) return ;
@@ -3346,10 +3347,10 @@ void PowerManagerFsm::react(TestEvent const &e)
pm->m_leakage = 0x20; //艉应急
break;
case 3:
pm->m_leakage = 0x40;
pm->m_leakage = 0x40; //燃料电池舱漏水
break;
case 4:
pm->m_leakage = 0x80;
pm->m_leakage = 0x80; //艏部应急漏水
break;
case 5:
pm->m_leakage = 0x01; //艏部应急漏水
@@ -3406,7 +3407,7 @@ void PowerManagerFsm::react(TestEvent const &e)
{
LOG_F(INFO,"配电系统故障测试");
// pm->m_systemData->distributeFaultCode.push_back(disfaultMap[e.eventId].code);
pm->m_systemData->distributeFaultCode.insert(disfaultMap[e.eventId].code);
pm->m_systemData->disSysFaultCode.insert(disfaultMap[e.eventId].code);
}
default:
LOG_F(INFO, "测试消息类型错误");
src/pPowerManger/httpserver/httpserver.cpp
+3
View File
@@ -579,6 +579,9 @@ void HttpServer::pushSystemData() {
j["power_bus_status"]["reservedCurrent3"] = Json::Value(m_systemData->power_bus_status.reservedCurrent3); // 预留电流3
j["power_bus_status"]["coolWaterPressure"] = Json::Value(m_systemData->power_bus_status.coolWaterPressure); // 冷却水压力
j["power_bus_status"]["dcdcStatus1"] = Json::Value(m_systemData->m_dcdcStatus.lowFaultWord);
j["power_bus_status"]["dcdcStatus2"] = Json::Value(m_systemData->m_dcdcStatus.highFaultWord);
//动力母线A状态
j["power_a_bus_status"]["bowFTDevice123CircuitBreaker"] = Json::Value(m_systemData->power_a_bus_status.bowFTDevice123CircuitBreaker); // 艏部FT装置1/2/3断路器状态: 0-断开 1-闭合 2-故障
j["power_a_bus_status"]["actuatorCircuitBreaker"] = Json::Value(m_systemData->power_a_bus_status.actuatorCircuitBreaker); // 启闭机构断路器状态: 0-断开 1-闭合 2-故障
src/pPowerManger/pPowerManger.moos
+7
View File
@@ -0,0 +1,7 @@
//SERVERHOST = 192.168.0.223
//SERVERPORT = 9000
ProcessConfig = pPowerManger
{
AppTick = 4
CommsTick = 4
}
src/pPowerManger/systemData.h
+135 -83
View File
@@ -3,6 +3,7 @@
#include "pmSysvariable.h"
#include "sqlit3/SQLite.h"
#include <set>
#include <mutex>
#define DEBUFG
class SystemData
{
@@ -162,11 +163,47 @@ public:
unsigned char powfaultCode;
unsigned char insfaultCode;
//配电系统故障码
std::set<unsigned int> distributeFaultCode;
std::set<unsigned int> disSysFaultCode;
// MOOSD 状态
bool moosd_status;
//配电系统状态
//DC/DC状态字
struct DcdcStatus
{
// DC/DC5故障字低
union {
unsigned char lowFaultWord;
struct {
bool overTemperatureShutdown : 1; // Bit0: DC/DC模块过温关机
bool outputOverCurrent : 1; // Bit1: 输出过流
bool outputOverVoltage : 1; // Bit2: 输出过压
bool outputUnderVoltage : 1; // Bit3: 输出欠压
bool inputOverVoltage : 1; // Bit4: 输入过压
bool inputUnderVoltage : 1; // Bit5: 输入欠压
bool outputShortCircuit : 1; // Bit6: 输出短路保护
bool internalFault : 1; // Bit7: 内部故障
};
};
// DC/DC5故障字高
union {
unsigned char highFaultWord;
struct {
bool communicationFault : 1; // Bit0: 通讯故障报警
bool workingStatus : 1; // Bit1: 工作状态(1:启动, 0:关闭)
bool coolingPump1Fault : 1; // Bit2: 冷却泵1故障
bool coolingPump2Fault : 1; // Bit3: 冷却泵2故障
bool coolingWaterLeak : 1; // Bit4: 冷却水泄露
bool coolingPump1Running : 1; // Bit5: 冷却泵1运行状态
bool coolingPump2Running : 1; // Bit6: 冷却泵2运行状态
bool reserved : 1; // Bit7: 保留位
};
};
// 构造函数，初始化所有状态为正常
DcdcStatus() : lowFaultWord(0x00), highFaultWord(0x00) {}
} m_dcdcStatus;
//动力母线状态
struct POWER_BUS_STATUS
@@ -409,7 +446,33 @@ public:
uint8_t composite_online_state; //复合管控主机在线标志位
uint8_t composite_backup_online_state; //复合管控备机在线标志位
} device_online_status;
enum LeakageStatus {
LEAKAGE_BOW_EMERGENCY = 0, // 艏部应急漏水 (0x01)
LEAKAGE_BOW_HIGH_VOLTAGE, // 艏高压漏水 (0x02)
LEAKAGE_BOW_LOW_VOLTAGE, // 艏低压漏水 (0x04)
LEAKAGE_FUEL_CELL, // 燃电舱漏水 (0x08)
LEAKAGE_LI_BATTERY, // 锂电池舱漏水 (0x10)
LEAKAGE_STERN_EMERGENCY, // 艉应急漏水 (0x20)
LEAKAGE_FUEL_CELL_CABIN, // 燃料电池舱漏水 (0x40)
LEAKAGE_BOW_EMERGENCY2 // 艏部应急漏水2 (0x80)
};
unsigned char leakageCode = 0;
bool leakStatus[8] = {false};
unsigned char generateLeakageCode() {
unsigned char code = 0;
if(leakStatus[LEAKAGE_BOW_EMERGENCY]) code |= 0x01;
if(leakStatus[LEAKAGE_BOW_HIGH_VOLTAGE]) code |= 0x02;
if(leakStatus[LEAKAGE_BOW_LOW_VOLTAGE]) code |= 0x04;
if(leakStatus[LEAKAGE_FUEL_CELL]) code |= 0x08;
if(leakStatus[LEAKAGE_LI_BATTERY]) code |= 0x10;
if(leakStatus[LEAKAGE_STERN_EMERGENCY]) code |= 0x20;
if(leakStatus[LEAKAGE_FUEL_CELL_CABIN]) code |= 0x40;
if(leakStatus[LEAKAGE_BOW_EMERGENCY2]) code |= 0x80;
return code;
}
public:
SystemData(){
//初始化变量全部为0
@@ -441,10 +504,10 @@ public:
//故障信息
#ifdef DEBUG
fc_fault_level_1 = data.fault_level_1;
fc_fault_level_2 = data.fault_level_2;
fc_fault_level_3 = data.fault_level_3;
fc_fault_level_4 = data.fault_level_4;
fc_fault_level_1 = data.fault_level_1;
fc_fault_level_2 = data.fault_level_2;
fc_fault_level_3 = data.fault_level_3;
fc_fault_level_4 = data.fault_level_4;
#endif
//燃料容量
@@ -581,7 +644,6 @@ public:
device_online_status.composite_online_state = (data.device_online_flag2 >> 8) & 0xFF; // byte1：复合管控主机在线标志位
device_online_status.composite_backup_online_state = (data.device_online_flag2 >> 16) & 0xFF; // byte2：复合管控备机在线标志位
// 更新锂电池其他状态
dyn_water_leak_status = data.dyn_water_leak_status;
ins_water_leak_dcdc_status = data.ins_water_leak_dcdc_status;
@@ -591,53 +653,53 @@ public:
water_leak_status_from_dynbat = (data.dyn_water_leak_status >> 4) & 0x0F; // 00 正常，01 异常漏水
dcdc_status_from_insbat = (data.ins_water_leak_dcdc_status) & 0x0F; // 00 正常，01 故障
// std::cout << "dyn_charge_level: " << std::hex << static_cast<int>(dyn_charge_level) << std::endl;
// std::cout << "ins_water_leak_dcdc_status: " << std::hex << static_cast<int>(ins_water_leak_dcdc_status) << std::endl;
// std::cout << "dcdc_status_from_insbat: " << std::hex << static_cast<int>(dcdc_status_from_insbat) << std::endl;
// std::cout << "water_leak_status_from_insbat: " << std::hex << static_cast<int>(water_leak_status_from_insbat) << std::endl;
// std::cout << "water_leak_status_from_dynbat: " << std::hex << static_cast<int>(water_leak_status_from_dynbat) << std::endl;
//心跳计数器
heartbeat = data.heartbeat;
}
// std::mutex faultCodeMutex; // 添加互斥锁
void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus, unsigned int faultCode)
{
// std::lock_guard<std::mutex> lock(faultCodeMutex);
breakerStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
// if(breakerStatus == 2) {
// disSysFaultCode.insert(faultCode);
// } else {
// disSysFaultCode.erase(faultCode);
// }
}
void updateSystemData(disHighVolBusState data){
//断路器状态 (0x55 1 0xAA 0 0x5A 2)
power_bus_status.fuelCellCircuitBreaker = data.fuelCellCircuitBreaker == 0x55 ? 1 :
(data.fuelCellCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.powerLithiumBatteryCircuitBreaker = data.powerLithiumBatteryCircuitBreaker == 0x55 ? 1 :
(data.powerLithiumBatteryCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.propulsionMotorCircuitBreaker = data.propulsionMotorCircuitBreaker == 0x55 ? 1 :
(data.propulsionMotorCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker = data.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 ? 1 :
(data.lithiumBatteryGroupInstrumentCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.dcDc5ModuleCircuitBreaker = data.dcDc5ModuleCircuitBreaker == 0x55 ? 1 :
(data.dcDc5ModuleCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker = data.bowHighVoltageDistributionBoxCircuitBreaker == 0x55 ? 1 :
(data.bowHighVoltageDistributionBoxCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.sternFTDevice45CircuitBreaker = data.sternFTDevice45CircuitBreaker == 0x55 ? 1 :
(data.sternFTDevice45CircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.sternRudderSwitch1CircuitBreaker = data.sternRudderSwitch1CircuitBreaker == 0x55 ? 1 :
(data.sternRudderSwitch1CircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.sternRudderSwitch2CircuitBreaker = data.sternRudderSwitch2CircuitBreaker == 0x55 ? 1 :
(data.sternRudderSwitch2CircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.fbReservedCircuitBreaker = data.fbReservedCircuitBreaker == 0x55 ? 1 :
(data.fbReservedCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.tyzReservedCircuitBreaker = data.tyzReservedCircuitBreaker == 0x55 ? 1 :
(data.tyzReservedCircuitBreaker == 0xAA ? 0 : 2);
power_bus_status.reservedCircuitBreaker = data.reservedCircuitBreaker == 0x55 ? 1 :
(data.reservedCircuitBreaker == 0xAA ? 0 : 2);
updateBreakerFault(power_bus_status.fuelCellCircuitBreaker, data.fuelCellCircuitBreaker, 1);
updateBreakerFault(power_bus_status.powerLithiumBatteryCircuitBreaker, data.powerLithiumBatteryCircuitBreaker, 2);
updateBreakerFault(power_bus_status.propulsionMotorCircuitBreaker, data.propulsionMotorCircuitBreaker, 3);
updateBreakerFault(power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker, data.lithiumBatteryGroupInstrumentCircuitBreaker, 4);
updateBreakerFault(power_bus_status.dcDc5ModuleCircuitBreaker, data.dcDc5ModuleCircuitBreaker, 5);
updateBreakerFault(power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker, data.bowHighVoltageDistributionBoxCircuitBreaker, 6);
updateBreakerFault(power_bus_status.sternFTDevice45CircuitBreaker, data.sternFTDevice45CircuitBreaker, 7);
updateBreakerFault(power_bus_status.sternRudderSwitch1CircuitBreaker, data.sternRudderSwitch1CircuitBreaker, 8);
updateBreakerFault(power_bus_status.sternRudderSwitch2CircuitBreaker, data.sternRudderSwitch2CircuitBreaker, 9);
updateBreakerFault(power_bus_status.fbReservedCircuitBreaker, data.fbReservedCircuitBreaker, 10);
updateBreakerFault(power_bus_status.tyzReservedCircuitBreaker, data.tyzReservedCircuitBreaker, 11);
updateBreakerFault(power_bus_status.reservedCircuitBreaker, data.reservedCircuitBreaker, 12);
//模块状态
power_bus_status.dcDcModuleStatus = data.dcDcFaultWord1;
power_bus_status.coolingSystemStatus = data.dcDcFaultWord2;
m_dcdcStatus.lowFaultWord = data.dcDcFaultWord1;
m_dcdcStatus.highFaultWord = data.dcDcFaultWord2;
//绝缘状态
power_bus_status.powerBusInsulationStatus = data.powerBusInsulationStatus == 0x55 ? 0 : 1;
// if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
power_bus_status.aBusInsulationStatus = data.aBusInsulationStatus == 0x55 ? 0 : 1;
// if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
//电源状态
//电源状态
power_bus_status.meterPowerLossSignal = data.meterPowerLossSignal == 0x55 ? 0 : 1;
// if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
power_bus_status.emergencyPowerLossSignal = data.emergencyPowerLossSignal == 0x55 ? 0 : 1;
// if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
//温度
power_bus_status.dcDcTemperature = data.dcDcTemperature-40;
@@ -665,25 +727,23 @@ public:
};
void updateSystemData(disHighAVolBusState data){
//断路器状态 (0x55 1 0xAA 0 0x5A 2)
power_a_bus_status.bowFTDevice123CircuitBreaker = data.bowFTDevice123CircuitBreaker == 0x55 ? 1 :
(data.bowFTDevice123CircuitBreaker == 0xAA ? 0 : 2);
power_a_bus_status.actuatorCircuitBreaker = data.actuatorCircuitBreaker == 0x55 ? 1 :
(data.actuatorCircuitBreaker == 0xAA ? 0 : 2);
power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker = data.mastSteeringGearControlBoxCircuitBreaker == 0x55 ? 1 :
(data.mastSteeringGearControlBoxCircuitBreaker == 0xAA ? 0 : 2);
power_a_bus_status.xczCircuitBreaker = data.xczCircuitBreaker == 0x55 ? 1 :
(data.xczCircuitBreaker == 0xAA ? 0 : 2);
power_a_bus_status.bowRudderControlBoxCircuitBreaker = data.bowRudderControlBoxCircuitBreaker == 0x55 ? 1 :
(data.bowRudderControlBoxCircuitBreaker == 0xAA ? 0 : 2);
power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker = data.openWaterCoverStartCylinderCircuitBreaker == 0x55 ? 1 :
(data.openWaterCoverStartCylinderCircuitBreaker == 0xAA ? 0 : 2);
updateBreakerFault(power_a_bus_status.bowFTDevice123CircuitBreaker, data.bowFTDevice123CircuitBreaker, 13);
updateBreakerFault(power_a_bus_status.actuatorCircuitBreaker, data.actuatorCircuitBreaker, 14);
updateBreakerFault(power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker, data.mastSteeringGearControlBoxCircuitBreaker, 15);
updateBreakerFault(power_a_bus_status.xczCircuitBreaker, data.xczCircuitBreaker, 16);
updateBreakerFault(power_a_bus_status.bowRudderControlBoxCircuitBreaker, data.bowRudderControlBoxCircuitBreaker, 17);
updateBreakerFault(power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker, data.openWaterCoverStartCylinderCircuitBreaker, 18);
//电源状态
power_a_bus_status.instrumentPowerFailureSignal = data.instrumentPowerFailureSignal == 0x55 ? 0 : 1;
// if(power_a_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(38); else disSysFaultCode.erase(38);
power_a_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
// if(power_a_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(39); else disSysFaultCode.erase(39);
//浸水报警
power_a_bus_status.waterIngressionAlarm = data.waterIngressionAlarm;
//电压电流参数
power_a_bus_status.busbarBVoltage = data.busbarBVoltage * 0.1;
@@ -697,27 +757,24 @@ public:
};
void updateSystemData(disLowMainBusState data){
//断路器状态 (0x55 1 0xAA 0 0x5A 2)
instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker = data.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 ? 1 :
(data.lithiumBatteryGroupInstrumentCircuitBreaker == 0xAA ? 0 : 2);
instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker = data.bowLowVoltageDistributionBoxCircuitBreaker == 0x55 ? 1 :
(data.bowLowVoltageDistributionBoxCircuitBreaker == 0xAA ? 0 : 2);
instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker = data.unit4InstrumentDC48VCircuitBreaker == 0x55 ? 1 :
(data.unit4InstrumentDC48VCircuitBreaker == 0xAA ? 0 : 2);
instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker = data.dcC1DCDistributionPanelCircuitBreaker == 0x55 ? 1 :
(data.dcC1DCDistributionPanelCircuitBreaker == 0xAA ? 0 : 2);
instrument_main_bus_status.reservedCircuitBreaker1 = data.reservedCircuitBreaker1 == 0x55 ? 1 :
(data.reservedCircuitBreaker1 == 0xAA ? 0 : 2);
instrument_main_bus_status.reservedCircuitBreaker2 = data.reservedCircuitBreaker2 == 0x55 ? 1 :
(data.reservedCircuitBreaker2 == 0xAA ? 0 : 2);
instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker = data.emergencyLithiumBatteryGroup2CircuitBreaker == 0x55 ? 1 :
(data.emergencyLithiumBatteryGroup2CircuitBreaker == 0xAA ? 0 : 2);
updateBreakerFault(instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker, data.lithiumBatteryGroupInstrumentCircuitBreaker, 19);
updateBreakerFault(instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker,data.bowLowVoltageDistributionBoxCircuitBreaker, 20);
updateBreakerFault(instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker,data.unit4InstrumentDC48VCircuitBreaker, 21);
updateBreakerFault(instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker, data.dcC1DCDistributionPanelCircuitBreaker, 22);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1, 23);
updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2, 24);
updateBreakerFault(instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker, data.emergencyLithiumBatteryGroup2CircuitBreaker, 25);
//电源状态
instrument_main_bus_status.instrumentPowerFailureSignal = data.instrumentPowerFailureSignal == 0x55 ? 0 : 1;
// if(instrument_main_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(40); else disSysFaultCode.erase(41);
instrument_main_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
// if(instrument_main_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(41); else disSysFaultCode.erase(42);
//绝缘状态
instrument_main_bus_status.instrumentBusbarInsulationLow = data.instrumentBusbarInsulationLow == 0x55 ? 0 : 1;
// if(instrument_main_bus_status.instrumentBusbarInsulationLow == 1) disSysFaultCode.insert(42); else disSysFaultCode.erase(43);
//电压电流参数
instrument_main_bus_status.instrumentBusbarVoltage = data.instrumentBusbarVoltage * 0.1;
@@ -735,26 +792,21 @@ public:
}
void updateSystemData(disLowBusState data){
//断路器状态 (0x55 1 0xAA 0 0x5A 2)
instrument_bus_status.unit1CircuitBreaker = data.unit1CircuitBreaker == 0x55 ? 1 :
(data.unit1CircuitBreaker == 0xAA ? 0 : 2);
instrument_bus_status.unit2CircuitBreaker = data.unit2CircuitBreaker == 0x55 ? 1 :
(data.unit2CircuitBreaker == 0xAA ? 0 : 2);
instrument_bus_status.unit3CircuitBreaker = data.unit3CircuitBreaker == 0x55 ? 1 :
(data.unit3CircuitBreaker == 0xAA ? 0 : 2);
instrument_bus_status.unit5CircuitBreaker = data.unit5CircuitBreaker == 0x55 ? 1 :
(data.unit5CircuitBreaker == 0xAA ? 0 : 2);
instrument_bus_status.bowPZDeviceCircuitBreaker = data.bowPZDeviceCircuitBreaker == 0x55 ? 1 :
(data.bowPZDeviceCircuitBreaker == 0xAA ? 0 : 2);
instrument_bus_status.reservedCircuitBreaker1 = data.reservedCircuitBreaker1 == 0x55 ? 1 :
(data.reservedCircuitBreaker1 == 0xAA ? 0 : 2);
instrument_bus_status.reservedCircuitBreaker2 = data.reservedCircuitBreaker2 == 0x55 ? 1 :
(data.reservedCircuitBreaker2 == 0xAA ? 0 : 2);
instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker = data.emergencyLithiumBatteryGroup1CircuitBreaker == 0x55 ? 1 :
(data.emergencyLithiumBatteryGroup1CircuitBreaker == 0xAA ? 0 : 2);
updateBreakerFault(instrument_bus_status.unit1CircuitBreaker, data.unit1CircuitBreaker, 26);
updateBreakerFault(instrument_bus_status.unit2CircuitBreaker, data.unit2CircuitBreaker, 27);
updateBreakerFault(instrument_bus_status.unit3CircuitBreaker, data.unit3CircuitBreaker, 28);
updateBreakerFault(instrument_bus_status.unit5CircuitBreaker, data.unit5CircuitBreaker, 29);
updateBreakerFault(instrument_bus_status.bowPZDeviceCircuitBreaker, data.bowPZDeviceCircuitBreaker, 30);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1, 31);
updateBreakerFault(instrument_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2, 32);
updateBreakerFault(instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker, data.emergencyLithiumBatteryGroup1CircuitBreaker, 33);
//电源状态
instrument_bus_status.powerFailureSignal = data.powerFailureSignal == 0x55 ? 0 : 1;
// if(instrument_bus_status.powerFailureSignal == 1) disSysFaultCode.insert(44); else disSysFaultCode.erase(44);
instrument_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
// if(instrument_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(45); else disSysFaultCode.erase(45);
//浸水报警
instrument_bus_status.waterIngressionAlarm = data.waterIngressionAlarm;
src/pPowerManger/upmsg/uPower_disSysState.h
+160 -9
View File
@@ -12,28 +12,179 @@ private:
/* data */
public:
uPower_disSysStateMsg() {
// state_of_bus_hv = {};
// state_of_bus_hv_a = {};
// state_of_bus_lv = {};
// state_of_bus_lv_a = {};
};
~uPower_disSysStateMsg() {};
std::string key = "uPower_disSysState_st";
struct state_of_bus_hv
{
// 使用 std::bitset 存储 16 位继电器状态
std::bitset<16> relay_states;
// 燃料电池断路器
void set_fuel_cell_breaker(bool state) { relay_states[0] = state; }
// 动力锂电池断路器
void set_power_lithium_battery_breaker(bool state) { relay_states[1] = state; }
// 推进电机断路器
void set_propulsion_motor_breaker(bool state) { relay_states[2] = state; }
// 锂电池组仪表断路器
void set_lithium_battery_meter_breaker(bool state) { relay_states[3] = state; }
// DC/DC5模块断路器
void set_dc_dc5_module_breaker(bool state) { relay_states[4] = state; }
// 艏部高压配电箱断路器
void set_bow_high_voltage_box_breaker(bool state) { relay_states[5] = state; }
// 艉部FT装置4/5断路器
void set_stern_ft_device_breaker(bool state) { relay_states[6] = state; }
// 艉舵开关1断路器
void set_stern_rudder_switch1_breaker(bool state) { relay_states[7] = state; }
// 艉舵开关2断路器
void set_stern_rudder_switch2_breaker(bool state) { relay_states[8] = state; }
// FB预留断路器
void set_fb_reserved_breaker(bool state) { relay_states[9] = state; }
// TYZ预留断路器
void set_tyz_reserved_breaker(bool state) { relay_states[10] = state; }
// 预留断路器
void set_reserved_breaker(bool state) { relay_states[11] = state; }
// 初始化后 16 - 12 位为 0
state_of_bus_hv() {
relay_states.reset(12);
relay_states.reset(13);
relay_states.reset(14);
relay_states.reset(15);
}
} m_state_of_bus_hv;
struct state_of_bus_hv_a
{
std::bitset<16> relay_states;
// 艏部FT装置1 - 3 断路器
void set_bow_ft_device_1_3_breaker(bool state) { relay_states[0] = state; }
// 启闭机构断路器
void set_opening_closing_mechanism_breaker(bool state) { relay_states[1] = state; }
// 桅杆舵机控制箱断路器
void set_mast_servo_control_box_breaker(bool state) { relay_states[2] = state; }
// XCZ 断路器
void set_xcz_breaker(bool state) { relay_states[3] = state; }
// 艏舵控制箱断路器
void set_bow_rudder_control_box_breaker(bool state) { relay_states[4] = state; }
// 敞水盖启动电缸断路器
void set_open_water_cover_actuator_breaker(bool state) { relay_states[5] = state; }
// 初始化后 6 - 15 位为 0
state_of_bus_hv_a() {
for (int i = 6; i < 16; ++i) {
relay_states.reset(i);
}
}
}m_state_of_bus_hv_a;
struct state_of_bus_lv
{
std::bitset<16> relay_states;
// 锂电池组（仪表）断路器
void set_lithium_battery_group_meter_breaker(bool state) { relay_states[0] = state; }
// 艏部低压配电箱断路器
void set_bow_low_voltage_box_breaker(bool state) { relay_states[1] = state; }
// UNIT4仪表DC48V断路器
void set_unit4_meter_dc48v_breaker(bool state) { relay_states[2] = state; }
// DC - C1直流配电板断路器
void set_dc_c1_dc_distribution_board_breaker(bool state) { relay_states[3] = state; }
// 预留断路器
void set_reserved_breaker_1(bool state) { relay_states[4] = state; }
// 预留断路器
void set_reserved_breaker_2(bool state) { relay_states[5] = state; }
// 应急锂电池组2断路器
void set_emergency_lithium_battery_group_2_breaker(bool state) { relay_states[6] = state; }
// 初始化后 7 - 15 位为 0
state_of_bus_lv() {
for (int i = 7; i < 16; ++i) {
relay_states.reset(i);
}
}
}m_state_of_bus_lv;
struct state_of_bus_lv_a
{
// 使用 std::bitset 存储 16 位继电器状态
std::bitset<16> relay_states;
// UNIT1断路器
void set_unit1_breaker(bool state) { relay_states[0] = state; }
// UNIT2断路器
void set_unit2_breaker(bool state) { relay_states[1] = state; }
// UNIT3断路器
void set_unit3_breaker(bool state) { relay_states[2] = state; }
// UNIT5断路器
void set_unit5_breaker(bool state) { relay_states[3] = state; }
// 艏部PZ装置断路器
void set_bow_pz_device_breaker(bool state) { relay_states[4] = state; }
// 预留断路器
void set_reserved_breaker_1(bool state) { relay_states[5] = state; }
// 预留断路器
void set_reserved_breaker_2(bool state) { relay_states[6] = state; }
// 应急锂电池组1断路器
void set_emergency_lithium_battery_group_1_breaker(bool state) { relay_states[7] = state; }
// 初始化后 8 - 15 位为 0
state_of_bus_lv_a() {
for (int i = 8; i < 16; ++i) {
relay_states.reset(i);
}
}
}m_state_of_bus_lv_a;
std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
{
//构建配电系统状态报告
Json::Value dis;
disBus1Breaker dis1 = currentDisBreakerState.bus1Breaker;
disBus2Breaker dis2 = currentDisBreakerState.bus2Breaker;
disBus3Breaker dis3 = currentDisBreakerState.bus3Breaker;
disBus4Breaker dis4 = currentDisBreakerState.bus4Breaker;
// disBus1Breaker dis1 = currentDisBreakerState.bus1Breaker;
m_state_of_bus_hv.set_fuel_cell_breaker((data.power_bus_status.fuelCellCircuitBreaker == 1));
m_state_of_bus_hv.set_power_lithium_battery_breaker((data.power_bus_status.powerLithiumBatteryCircuitBreaker == 1));
m_state_of_bus_hv.set_propulsion_motor_breaker((data.power_bus_status.propulsionMotorCircuitBreaker == 1));
m_state_of_bus_hv.set_lithium_battery_meter_breaker((data.power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker == 1));
m_state_of_bus_hv.set_dc_dc5_module_breaker((data.power_bus_status.dcDc5ModuleCircuitBreaker == 1));
m_state_of_bus_hv.set_bow_high_voltage_box_breaker((data.power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker == 1));
m_state_of_bus_hv.set_stern_ft_device_breaker((data.power_bus_status.sternFTDevice45CircuitBreaker == 1));
m_state_of_bus_hv.set_stern_rudder_switch1_breaker((data.power_bus_status.sternRudderSwitch1CircuitBreaker == 1));
m_state_of_bus_hv.set_stern_rudder_switch2_breaker((data.power_bus_status.sternRudderSwitch2CircuitBreaker == 1));
m_state_of_bus_hv.set_fb_reserved_breaker((data.power_bus_status.fbReservedCircuitBreaker == 1));
m_state_of_bus_hv.set_tyz_reserved_breaker((data.power_bus_status.tyzReservedCircuitBreaker == 1));
m_state_of_bus_hv.set_reserved_breaker((data.power_bus_status.reservedCircuitBreaker == 1));
dis["HVolABusBreaker_uint16"] = m_state_of_bus_hv.relay_states.to_ulong();
dis["HVolBusBreaker_uint16"] = *(unsigned short*)&dis1;
dis["HVolABusBreaker_unit16"] = *(unsigned short*)&dis2;
dis["HVolBBusBreaker_unit16"] = *(unsigned short*)&dis3;
dis["LVolBusBreaker_uint16"] = *(unsigned short*)&dis4;
m_state_of_bus_hv_a.set_bow_ft_device_1_3_breaker((data.power_a_bus_status.bowFTDevice123CircuitBreaker == 1));
m_state_of_bus_hv_a.set_opening_closing_mechanism_breaker((data.power_a_bus_status.actuatorCircuitBreaker == 1));
m_state_of_bus_hv_a.set_mast_servo_control_box_breaker((data.power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker == 1));
m_state_of_bus_hv_a.set_xcz_breaker((data.power_a_bus_status.xczCircuitBreaker == 1));
m_state_of_bus_hv_a.set_bow_rudder_control_box_breaker((data.power_a_bus_status.bowRudderControlBoxCircuitBreaker == 1));
m_state_of_bus_hv_a.set_open_water_cover_actuator_breaker((data.power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker == 1));
dis["HVolBBusBreaker_uint16"] = m_state_of_bus_hv_a.relay_states.to_ulong();
m_state_of_bus_lv.set_bow_low_voltage_box_breaker((data.instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker == 1));
m_state_of_bus_lv.set_dc_c1_dc_distribution_board_breaker((data.instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker == 1));
m_state_of_bus_lv.set_unit4_meter_dc48v_breaker((data.instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker == 1));
m_state_of_bus_lv.set_lithium_battery_group_meter_breaker((data.instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker == 1));
m_state_of_bus_lv.set_emergency_lithium_battery_group_2_breaker((data.instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker == 1));
m_state_of_bus_lv.set_reserved_breaker_1((data.instrument_main_bus_status.reservedCircuitBreaker1 == 1));
m_state_of_bus_lv.set_reserved_breaker_2((data.instrument_main_bus_status.reservedCircuitBreaker2 == 1));
dis["HVolBusBreaker_uint16"] = m_state_of_bus_lv.relay_states.to_ulong();
m_state_of_bus_lv_a.set_unit1_breaker((data.instrument_bus_status.unit1CircuitBreaker == 1));
m_state_of_bus_lv_a.set_unit2_breaker((data.instrument_bus_status.unit2CircuitBreaker == 1));
m_state_of_bus_lv_a.set_unit3_breaker((data.instrument_bus_status.unit3CircuitBreaker == 1));
m_state_of_bus_lv_a.set_unit5_breaker((data.instrument_bus_status.unit5CircuitBreaker == 1));
m_state_of_bus_lv_a.set_bow_pz_device_breaker((data.instrument_bus_status.bowPZDeviceCircuitBreaker == 1));
m_state_of_bus_lv_a.set_reserved_breaker_1((data.instrument_bus_status.reservedCircuitBreaker1 == 1));
m_state_of_bus_lv_a.set_reserved_breaker_2((data.instrument_bus_status.reservedCircuitBreaker2 == 1));
m_state_of_bus_lv_a.set_emergency_lithium_battery_group_1_breaker((data.instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker == 1));
dis["LVolBusBreaker_uint16"] = m_state_of_bus_lv.relay_states.to_ulong();
//TODO: 构建配电系统故障码
Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
for(auto val : data.distributeFaultCode)
for(auto val : data.disSysFaultCode)
{
faultCodeDis_array.append(val);
}