优化了上位机的通信函数
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@@ -130,6 +130,105 @@ void LowerCommManager::clearMsgQueue(){
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m_udpComm->clearMsgQueue();
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}
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bool LowerCommManager::updatePoweSystemStates(){
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// std::cout << "updatePoweSystemStates" << std::endl;
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if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
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{
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double time;
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m_udpComm->popMsgFormQueue(time,m_CcuCurrentState);
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m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
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// m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
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msg_CcuStateFbMsg_Update_time = time;
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}
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if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
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{
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double time;
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m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
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m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
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// m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
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msg_disHighVolBusFbMsg_Update_time = time;
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disBus1Breaker* pdis1=new disBus1Breaker;
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(m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
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pdis1 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
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delete pdis1;
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}
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if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
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{
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double time;
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m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState);
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m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
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// m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
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msg_disHighAVolBusFbMsg_Update_time = time;
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disBus2Breaker* pdis2=new disBus2Breaker;
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(m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
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pdis2 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
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delete pdis2;
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}
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if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
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{
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double time;
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m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState);
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m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
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// m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
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msg_disHighBVolBusFbMsg_Update_time = time;
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disBus3Breaker* pdis3=new disBus3Breaker;
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(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
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(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
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(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
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pdis3->paceholder = 0;
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m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
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delete pdis3;
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}
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if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
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{
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double time;
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m_udpComm->popMsgFormQueue(time,m_disLowBusState);
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m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
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// m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
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msg_disLowBusFbMsg_Update_time = time;
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disBus4Breaker* pdis4=new disBus4Breaker;
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(m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
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(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
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(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
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(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
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pdis4 -> paceholder = 0;
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m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
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delete pdis4;
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}
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return true;
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}
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bool LowerCommManager::listenThreadFunc()
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{
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cout<<MOOS::ConsoleColours::green()<< "LowerCommManager::listenThreadFunc" << MOOS::ConsoleColours::reset() << endl;
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@@ -150,6 +249,11 @@ bool LowerCommManager::listenThreadFunc()
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cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
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}
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}
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//更新当前状态
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if(!updatePoweSystemStates())
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{
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std::cerr << "Error updating power system states" << std::endl;
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}
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}
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catch(const std::exception& e) {
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cerr << "Error processing message: " << e.what() << endl;
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@@ -201,6 +305,7 @@ void LowerCommManager::stopListenThread()
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if(m_ListenThread.IsThreadRunning())
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{
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m_ListenThread.Stop();
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std::cout << "LowerCommManager::stopListenThread" << std::endl;
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}
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}
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