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使用tinyfsm

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zjk
2025-04-06 20:16:37 +08:00
parent 811fbf2924
commit c51eb7073a
18 changed files with 1720 additions and 322 deletions
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src/pPowerManger/PowerManger.h
+75 -86
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@@ -30,7 +30,7 @@
#include "json/json.h"
#include "udpComm.h"
#include "pmSysvariable.h"
#include "fsm.h"
#include "PowerManagerFsm.hpp"
#include "SQLiteDB.h"
#include "driver.h"
@@ -96,92 +96,81 @@ class PowerManger : public AppCastingMOOSApp
double msg_disHighAVolBusFbMsg_Update_time;
double msg_disHighBVolBusFbMsg_Update_time;
double msg_disLowBusFbMsg_Update_time;
protected:
//===========================交互状态变量==================================
Driver m_driver; //设备驱动
pmState m_pmCurrentState; //能源系统的当前状态
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
disSysBreakerList m_targetDisBreakerState;
DriverTable m_currentDriverState;
DriverTable m_MSDriverCmd;
DriverTable m_subDisSysCmd;
DriverTable m_subDisSysState;
//===========================================================================
//系统运行状态
unsigned char workCondition;
unsigned char currentMod;
unsigned char powerState;
unsigned char falutLevel;
vector<unsigned int> faultCode;
unsigned int soc;
unsigned int sustainableTime;
// 配电和CCU的反馈状态
msg_CcuStateFbMsg m_CcuCurrentState;
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
msg_disLowBusFbMsg m_disLowBusState;
//下位机操作函数
ccuColCmd m_CcuColCmd;
void disSysOption();
void ccuOption();
char getBreakerOption(char cmd);
void initControlCmd();
//上位机操作函数
MSControlCmd m_msCmd;
bool buildPowerSysReport();
bool getMsCmdFromJson(MSControlCmd &cmd,const string &strJson);
private:
udpComm m_udpComm;
XPCUdpSocket *m_pCcuUdpComm;
CMOOSThread m_ListenThread;
CMOOSThread m_FsmThread;
long m_lPort;
unsigned int m_nReceiveBufferSizeKB;
unsigned int m_nSendBufferSizeKB;
double m_current_time;
unsigned int m_faultNum;
unsigned int m_ticker;
public:
//===========================状态机实现==============================================
void printState(FSM_State st, string desp);
protected:
//===========================交互状态变量==================================
Driver m_driver; //设备驱动
pmState m_pmCurrentState; //能源系统的当前状态
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
disSysBreakerList m_targetDisBreakerState;
DriverTable m_currentDriverState;
DriverTable m_MSDriverCmd;
DriverTable m_subDisSysCmd;
DriverTable m_subDisSysState;
//===========================================================================
//系统运行状态
unsigned char workCondition;
unsigned char currentMod;
unsigned char powerState;
unsigned char falutLevel;
vector<unsigned int> faultCode;
unsigned int soc;
unsigned int sustainableTime;
// 配电和CCU的反馈状态
msg_CcuStateFbMsg m_CcuCurrentState;
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
msg_disLowBusFbMsg m_disLowBusState;
//下位机操作函数
ccuColCmd m_CcuColCmd;
void disSysOption();
void ccuOption();
char getBreakerOption(char cmd);
void initControlCmd();
//上位机操作函数
MSControlCmd m_msCmd;
bool buildPowerSysReport();
bool getMsCmdFromJson(MSControlCmd &cmd,const string &strJson);
private:
udpComm m_udpComm;
XPCUdpSocket *m_pCcuUdpComm;
CMOOSThread m_ListenThread;
CMOOSThread m_FsmThread;
long m_lPort;
unsigned int m_nReceiveBufferSizeKB;
unsigned int m_nSendBufferSizeKB;
double m_current_time;
unsigned int m_faultNum;
unsigned int m_ticker;
// 状态机实例
PowerManagerFsm m_fsm;
public:
//===========================状态机接口=======================================
void printState(const std::string& stateName, const std::string& desp);
bool FSM_RUN_IS_OK = true;
StateData m_stateData;
FSM_State m_pmState; //当前状态
string m_pmEvent;
FSM m_fsm;
//初始化状态
FSM_State m_Inite_s1;
static int handleInite_s1(FSM_State &fsm, void* pData);
//待机状态
FSM_State m_Standby_s2;
static int handleStandby_s2(FSM_State &fsm, void* pData);
//岸基备航
// FSM_State m_ShoreReady_s3;
//水中备航
//自动工况
//故障处理
FSM_State m_Fault_s99;
static int handleFault_s99(FSM_State &fsm, void* pData);
//======================================================================================
int checkError();
bool shutdown();
bool powerOn();
bool powerOff();
// 初始化状态机
void initFsm() {
m_fsm.init(this);
}
// 状态机事件触发接口
void triggerInitEvent() { m_fsm.triggerInitEvent(); }
void triggerStandbyEvent() { m_fsm.triggerStandbyEvent(); }
void triggerFaultEvent(unsigned int faultCode) { m_fsm.triggerFaultEvent(faultCode); }
//==================================================================================
int checkError();
bool shutdown();
bool powerOn();
bool powerOff();
};