使用tinyfsm
This commit is contained in:
@@ -0,0 +1,52 @@
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{
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"protocol_name": "CCU参数设置反馈",
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"message_id": "0x0040",
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||||
"length": 10,
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||||
"checksum": {
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||||
"start_offset": 0,
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||||
"end_offset": 6,
|
||||
"algorithm": "sum"
|
||||
},
|
||||
"fields": [
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||||
{
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||||
"name": "start1",
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||||
"offset": 0,
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||||
"type": "uint8",
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||||
"value": "0x20",
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||||
"description": "起始字节1"
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||||
},
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||||
{
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||||
"name": "start2",
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||||
"offset": 1,
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||||
"type": "uint8",
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||||
"value": "0x20",
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||||
"description": "起始字节2"
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||||
},
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||||
{
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||||
"name": "id",
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||||
"offset": 2,
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||||
"type": "uint16",
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||||
"value": "0x0040",
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||||
"description": "消息ID"
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||||
},
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||||
{
|
||||
"name": "length",
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||||
"offset": 4,
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||||
"type": "uint16",
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||||
"value": 10,
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||||
"description": "消息长度"
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||||
},
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||||
{
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||||
"name": "flag",
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||||
"offset": 6,
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||||
"type": "uint8",
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"description": "设置标志位"
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},
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{
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"name": "failvreCode",
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"offset": 7,
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"type": "uint8",
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"description": "故障代码"
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}
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]
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}
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@@ -0,0 +1,637 @@
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{
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"message_name": "CCUStateFbMsg",
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"protocol_id": "0x0041",
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"endianness": "little",
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"fields": [
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{
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||||
"name": "start1",
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||||
"offset": 0,
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||||
"length": 1,
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||||
"type": "uint8",
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"value": "0x20",
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"description": "起始字节1"
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},
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{
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"name": "start2",
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"offset": 1,
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||||
"length": 1,
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||||
"type": "uint8",
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"value": "0x20",
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"description": "起始字节2"
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},
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{
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"name": "id",
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"offset": 2,
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"length": 2,
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"type": "uint16",
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"value": "0x0041",
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"description": "消息ID"
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},
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{
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"name": "length",
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"offset": 4,
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"length": 2,
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"type": "uint16",
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"dynamic": true,
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"description": "数据长度（自动计算）"
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},
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{
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"name": "currentWorkCondition",
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"offset": 6,
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"length": 1,
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"type": "uint8",
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"enum": {"0x00":"待机","0x01":"运行","0x02":"故障"},
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"description": "当前工作状态"
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},
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{
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"name": "fcuState",
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"offset": 7,
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"length": 1,
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"type": "uint8",
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"unit": "%",
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"description": "燃料电池状态"
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},
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{
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"name": "fcuFaultLeve",
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"offset": 8,
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"length": 1,
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"type": "uint8",
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"description": "故障等级"
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},
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{
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"name": "powerLimit",
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"offset": 9,
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"length": 4,
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"type": "float32",
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"unit": "kW",
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"description": "功率限制值"
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},
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{
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"name": "totalPowerGeneration",
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"offset": 13,
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"length": 4,
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||||
"type": "float32",
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"unit": "kWh",
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"description": "总发电量"
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},
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{
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"name": "ch4o",
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"offset": 17,
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||||
"length": 4,
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||||
"type": "float32",
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"unit": "ppm",
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||||
"description": "甲醇浓度"
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},
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||||
{
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||||
"name": "o2",
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"offset": 21,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "%",
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||||
"description": "氧气浓度"
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||||
},
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{
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"name": "fcuVoltage",
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"offset": 25,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "V",
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"description": "燃料电池电压"
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},
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{
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"name": "fcuCurrent",
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"offset": 29,
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"length": 4,
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"type": "float32",
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"unit": "A",
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"description": "燃料电池电流"
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},
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{
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"name": "o2Level",
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"offset": 33,
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"length": 4,
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"type": "float32",
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"unit": "%",
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"description": "氧气含量"
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},
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{
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"name": "placeholder1",
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"offset": 37,
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"length": 4,
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"type": "float32",
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"description": "预留字段1"
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},
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{
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"name": "exchangerTemperature",
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"offset": 41,
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"length": 4,
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"type": "float32",
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"unit": "°C",
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"description": "换热器温度"
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},
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{
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"name": "fcuOutPower",
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"offset": 45,
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"length": 4,
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"type": "float32",
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||||
"unit": "kW",
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||||
"description": "燃料电池输出功率"
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},
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{
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"name": "fcuOutIns",
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"offset": 49,
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||||
"length": 4,
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||||
"type": "float32",
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"unit": "kΩ",
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"description": "绝缘电阻"
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},
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{
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"name": "fcuVoltageIns",
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"offset": 53,
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"length": 4,
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||||
"type": "float32",
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||||
"unit": "V",
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||||
"description": "绝缘监测电压"
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},
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{
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"name": "fcuVoltagePower",
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"offset": 57,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "V",
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||||
"description": "功率电压"
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||||
},
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||||
{
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||||
"name": "fcuCurrentIns",
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"offset": 61,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "A",
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||||
"description": "绝缘监测电流"
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||||
},
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{
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||||
"name": "fcuCurrentPower",
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||||
"offset": 65,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "A",
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||||
"description": "功率电流"
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},
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{
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"name": "h2Concentration1",
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||||
"offset": 69,
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"length": 4,
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||||
"type": "float32",
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"unit": "ppm",
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||||
"description": "氢气浓度1"
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},
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{
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"name": "h2Concentration2",
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||||
"offset": 73,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "ppm",
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||||
"description": "氢气浓度2"
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||||
},
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||||
{
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||||
"name": "o2Concentration1",
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||||
"offset": 77,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "%",
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||||
"description": "氧气浓度1"
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||||
},
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||||
{
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||||
"name": "o2Concentration2",
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||||
"offset": 81,
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"length": 4,
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||||
"type": "float32",
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||||
"unit": "%",
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||||
"description": "氧气浓度2"
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||||
},
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||||
{
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"name": "ch4oConcentration1",
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||||
"offset": 85,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "ppm",
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||||
"description": "甲醇浓度1"
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||||
},
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||||
{
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||||
"name": "ch4oConcentration2",
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||||
"offset": 89,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "ppm",
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||||
"description": "甲醇浓度2"
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||||
},
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||||
{
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||||
"name": "backpressure1",
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||||
"offset": 93,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "kPa",
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||||
"description": "背压1"
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||||
},
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||||
{
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||||
"name": "backpressure2",
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||||
"offset": 97,
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||||
"length": 4,
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||||
"type": "float32",
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||||
"unit": "kPa",
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||||
"description": "背压2"
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||||
},
|
||||
{
|
||||
"name": "flameDetection",
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||||
"offset": 101,
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||||
"length": 1,
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||||
"type": "uint8",
|
||||
"description": "火焰检测状态"
|
||||
},
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||||
{
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||||
"name": "fcuGZ_1L",
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||||
"offset": 102,
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||||
"length": 1,
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||||
"type": "uint8",
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||||
"description": "故障字1低字节"
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||||
},
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||||
{
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||||
"name": "fcuGZ_1H",
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||||
"offset": 103,
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||||
"length": 1,
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||||
"type": "uint8",
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||||
"description": "故障字1高字节"
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||||
},
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||||
{
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||||
"name": "fcuGZ_2L",
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||||
"offset": 104,
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||||
"length": 1,
|
||||
"type": "uint8",
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||||
"description": "故障字2低字节"
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||||
},
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||||
{
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||||
"name": "fcuGZ_2H",
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||||
"offset": 105,
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||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字2高字节"
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||||
},
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||||
{
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||||
"name": "fcuGZ_3L",
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||||
"offset": 106,
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||||
"length": 1,
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||||
"type": "uint8",
|
||||
"description": "故障字3低字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_3H",
|
||||
"offset": 107,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字3高字节"
|
||||
},
|
||||
{
|
||||
"name": "insPosRelayState",
|
||||
"offset": 108,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘正极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "insNegRelayState",
|
||||
"offset": 109,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘负极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "powerPosRelayState",
|
||||
"offset": 110,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率正极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "powerNegRelayState",
|
||||
"offset": 111,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率负极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "insBatLimit",
|
||||
"offset": 112,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电池电流限制"
|
||||
},
|
||||
{
|
||||
"name": "powerBatLimit",
|
||||
"offset": 114,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电池电流限制"
|
||||
},
|
||||
{
|
||||
"name": "insBatSoc",
|
||||
"offset": 116,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电池SOC"
|
||||
},
|
||||
{
|
||||
"name": "powerBatSoc",
|
||||
"offset": 117,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电池SOC"
|
||||
},
|
||||
{
|
||||
"name": "insBatTotalElectricity",
|
||||
"offset": 118,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kWh",
|
||||
"description": "绝缘电池总电量"
|
||||
},
|
||||
{
|
||||
"name": "powerBatTotalElectricity",
|
||||
"offset": 120,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kWh",
|
||||
"description": "功率电池总电量"
|
||||
},
|
||||
{
|
||||
"name": "insBatCurrentElectricity",
|
||||
"offset": 122,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电池当前电流"
|
||||
},
|
||||
{
|
||||
"name": "powerBatCurrentElectricity",
|
||||
"offset": 124,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电池当前电流"
|
||||
},
|
||||
{
|
||||
"name": "insChargeState",
|
||||
"offset": 126,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘电池充电状态"
|
||||
},
|
||||
{
|
||||
"name": "powerChargeState",
|
||||
"offset": 127,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率电池充电状态"
|
||||
},
|
||||
{
|
||||
"name": "insLinkVoltage",
|
||||
"offset": 128,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "绝缘链路电压"
|
||||
},
|
||||
{
|
||||
"name": "insPackVoltage",
|
||||
"offset": 130,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "绝缘电池组电压"
|
||||
},
|
||||
{
|
||||
"name": "insCurrent",
|
||||
"offset": 132,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电流"
|
||||
},
|
||||
{
|
||||
"name": "insPosInsulationResistance",
|
||||
"offset": 134,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "正极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "insNegInsulationResistance",
|
||||
"offset": 136,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "负极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "powerLinkVoltage",
|
||||
"offset": 138,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "功率链路电压"
|
||||
},
|
||||
{
|
||||
"name": "powerPackVoltage",
|
||||
"offset": 140,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "功率电池组电压"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrent",
|
||||
"offset": 142,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电流"
|
||||
},
|
||||
{
|
||||
"name": "powerPosInsulationResistance",
|
||||
"offset": 144,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "功率正极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "powerNegInsulationResistance",
|
||||
"offset": 146,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "功率负极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "insEmergencyStatusWord",
|
||||
"offset": 148,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘紧急状态字"
|
||||
},
|
||||
{
|
||||
"name": "powerEmergencyStatusWord",
|
||||
"offset": 149,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率紧急状态字"
|
||||
},
|
||||
{
|
||||
"name": "insAlarmIdentificationWord",
|
||||
"offset": 150,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘报警标识字"
|
||||
},
|
||||
{
|
||||
"name": "powerAlarmIdentificationWord",
|
||||
"offset": 151,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率报警标识字"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold1",
|
||||
"offset": 152,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持1"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold2",
|
||||
"offset": 153,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持2"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold3",
|
||||
"offset": 154,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持3"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentToInsLimit1",
|
||||
"offset": 155,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "FCU到绝缘限制1"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentToinsLimit2",
|
||||
"offset": 156,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "FCU到绝缘限制2"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold1",
|
||||
"offset": 157,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持1"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold2",
|
||||
"offset": 158,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持2"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold3",
|
||||
"offset": 159,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持3"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentToInsLimit1",
|
||||
"offset": 160,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "功率到绝缘限制1"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentToinsLimit2",
|
||||
"offset": 161,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "功率到绝缘限制2"
|
||||
},
|
||||
{
|
||||
"name": "placeholder2",
|
||||
"offset": 162,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段2"
|
||||
},
|
||||
{
|
||||
"name": "placeholder3",
|
||||
"offset": 166,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段3"
|
||||
},
|
||||
{
|
||||
"name": "placeholder4",
|
||||
"offset": 170,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段4"
|
||||
},
|
||||
{
|
||||
"name": "placeholder5",
|
||||
"offset": 174,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段5"
|
||||
},
|
||||
{
|
||||
"name": "checkCode",
|
||||
"offset": 178,
|
||||
"length": 4,
|
||||
"type": "uint32",
|
||||
"description": "校验码（从start1到placeholder5的字节累加和）"
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"total_length": 182,
|
||||
"data_section_start": 6,
|
||||
"data_section_end": 178,
|
||||
"checksum_range": "0-178",
|
||||
"float_precision": "IEEE-754单精度",
|
||||
"reserved_fields": [
|
||||
"placeholder1",
|
||||
"placeholder2",
|
||||
"placeholder3",
|
||||
"placeholder4",
|
||||
"placeholder5"
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,142 @@
|
||||
{
|
||||
"protocol_name": "高压A母线状态反馈",
|
||||
"message_id": "0x0006",
|
||||
"length": 10,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 30,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0006",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 10,
|
||||
"description": "消息长度"
|
||||
},
|
||||
{
|
||||
"name": "bowFTDevice123CircuitBreaker",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "艏部FT设备123断路器"
|
||||
},
|
||||
{
|
||||
"name": "actuatorCircuitBreaker",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "执行机构断路器"
|
||||
},
|
||||
{
|
||||
"name": "mastSteeringGearControlBoxCircuitBreaker",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "桅杆舵机控制箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "xczCircuitBreaker",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "XCZ断路器"
|
||||
},
|
||||
{
|
||||
"name": "bowRudderControlBoxCircuitBreaker",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "艏舵控制箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "openWaterCoverStartCylinderCircuitBreaker",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "开盖启动气缸断路器"
|
||||
},
|
||||
{
|
||||
"name": "instrumentPowerFailureSignal",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "仪表电源失效信号"
|
||||
},
|
||||
{
|
||||
"name": "emergencyPowerFailureSignal",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "应急电源失效信号"
|
||||
},
|
||||
{
|
||||
"name": "waterIngressionAlarm",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "进水报警"
|
||||
},
|
||||
{
|
||||
"name": "busbarBVoltage",
|
||||
"offset": 15,
|
||||
"type": "uint16",
|
||||
"description": "B排电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "busbarBCurrent",
|
||||
"offset": 17,
|
||||
"type": "uint16",
|
||||
"description": "B排电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowFTDevice123Current",
|
||||
"offset": 19,
|
||||
"type": "uint16",
|
||||
"description": "艏部FT设备123电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "actuatorCurrent",
|
||||
"offset": 21,
|
||||
"type": "uint16",
|
||||
"description": "执行机构电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "mastSteeringGearControlBoxCurrent",
|
||||
"offset": 23,
|
||||
"type": "uint16",
|
||||
"description": "桅杆舵机控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "xczCurrent",
|
||||
"offset": 25,
|
||||
"type": "uint16",
|
||||
"description": "XCZ电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowRudderControlBoxCurrent",
|
||||
"offset": 27,
|
||||
"type": "uint16",
|
||||
"description": "艏舵控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "openWaterCoverStartCylinderCurrent",
|
||||
"offset": 29,
|
||||
"type": "uint16",
|
||||
"description": "开盖启动气缸电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,154 @@
|
||||
{
|
||||
"protocol_name": "高压B母线状态反馈",
|
||||
"message_id": "0x0007",
|
||||
"length": 36,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 34,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0007",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 36,
|
||||
"description": "消息长度（包含校验码）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupInstrumentCircuitBreaker",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "锂电池组仪表断路器"
|
||||
},
|
||||
{
|
||||
"name": "bowLowVoltageDistributionBoxCircuitBreaker",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "艏部低压配电箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "unit4InstrumentDC48VCircuitBreaker",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "单元4仪表DC48V断路器"
|
||||
},
|
||||
{
|
||||
"name": "dcC1DCDistributionPanelCircuitBreaker",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "DC C1直流配电板断路器"
|
||||
},
|
||||
{
|
||||
"name": "reservedCircuitBreaker1",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "备用断路器1"
|
||||
},
|
||||
{
|
||||
"name": "reservedCircuitBreaker2",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "备用断路器2"
|
||||
},
|
||||
{
|
||||
"name": "emergencyLithiumBatteryGroup2CircuitBreaker",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "应急锂电池组2断路器"
|
||||
},
|
||||
{
|
||||
"name": "instrumentPowerFailureSignal",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "仪表电源故障信号"
|
||||
},
|
||||
{
|
||||
"name": "emergencyPowerFailureSignal",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "应急电源故障信号"
|
||||
},
|
||||
{
|
||||
"name": "instrumentBusbarVoltage",
|
||||
"offset": 15,
|
||||
"type": "uint16",
|
||||
"description": "仪表母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "bowLowVoltageDistributionBoxCurrent",
|
||||
"offset": 17,
|
||||
"type": "uint16",
|
||||
"description": "艏部低压配电箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "dcC1InstrumentDC48VCurrent",
|
||||
"offset": 19,
|
||||
"type": "uint16",
|
||||
"description": "DC C1仪表DC48V电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "reservedCurrent1",
|
||||
"offset": 21,
|
||||
"type": "uint16",
|
||||
"description": "备用电流1（A）"
|
||||
},
|
||||
{
|
||||
"name": "emergencyLithiumBatteryGroup2Current",
|
||||
"offset": 23,
|
||||
"type": "uint16",
|
||||
"description": "应急锂电池组2电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupInstrumentCurrent",
|
||||
"offset": 25,
|
||||
"type": "uint16",
|
||||
"description": "锂电池组仪表电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "unit4InstrumentDC48VCurrent",
|
||||
"offset": 27,
|
||||
"type": "uint16",
|
||||
"description": "单元4仪表DC48V电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "reservedCurrent2",
|
||||
"offset": 29,
|
||||
"type": "uint16",
|
||||
"description": "备用电流2（A）"
|
||||
},
|
||||
{
|
||||
"name": "emergency2BusbarVoltage",
|
||||
"offset": 31,
|
||||
"type": "uint16",
|
||||
"description": "应急2母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "compositeEnergyManagementSystemEmergencyDC48VCurrent",
|
||||
"offset": 33,
|
||||
"type": "uint16",
|
||||
"description": "综合能源管理系统应急DC48V电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,184 @@
|
||||
{
|
||||
"protocol_name": "高压母线状态反馈",
|
||||
"message_id": "0x0005",
|
||||
"length": 38,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 37,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0005",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 38,
|
||||
"description": "消息长度"
|
||||
},
|
||||
{
|
||||
"name": "DCB1",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "直流断路器1状态"
|
||||
},
|
||||
{
|
||||
"name": "DCB2",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "直流断路器2状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK1",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器1状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK2",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器2状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK3",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器3状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK4",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器4状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK5",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器5状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK6",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器6状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK7",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器7状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK8",
|
||||
"offset": 15,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器8状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK9",
|
||||
"offset": 16,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器9状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK10",
|
||||
"offset": 17,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器10状态"
|
||||
},
|
||||
{
|
||||
"name": "busInsulationLow",
|
||||
"offset": 18,
|
||||
"type": "uint8",
|
||||
"description": "母线绝缘低报警"
|
||||
},
|
||||
{
|
||||
"name": "busAInsulationHigh",
|
||||
"offset": 19,
|
||||
"type": "uint8",
|
||||
"description": "A母线绝缘高报警"
|
||||
},
|
||||
{
|
||||
"name": "lostPower",
|
||||
"offset": 20,
|
||||
"type": "uint8",
|
||||
"description": "失电信号"
|
||||
},
|
||||
{
|
||||
"name": "lostEmerPower",
|
||||
"offset": 21,
|
||||
"type": "uint8",
|
||||
"description": "应急失电信号"
|
||||
},
|
||||
{
|
||||
"name": "powerBusVoltage",
|
||||
"offset": 22,
|
||||
"type": "uint16",
|
||||
"description": "动力母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "dcDc5ModuleCurrent",
|
||||
"offset": 24,
|
||||
"type": "uint16",
|
||||
"description": "DC/DC5模块电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "powerBusCurrent",
|
||||
"offset": 26,
|
||||
"type": "uint16",
|
||||
"description": "动力母线电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "busbarAVoltage",
|
||||
"offset": 28,
|
||||
"type": "uint16",
|
||||
"description": "A排电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "propulsionMotorControlBoxCurrent",
|
||||
"offset": 30,
|
||||
"type": "uint16",
|
||||
"description": "推进电机控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "busbarACurrent",
|
||||
"offset": 32,
|
||||
"type": "uint16",
|
||||
"description": "A排电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupMeterCurrent",
|
||||
"offset": 34,
|
||||
"type": "uint16",
|
||||
"description": "锂电池组表计电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowHighVoltageDistributionBoxCurrent",
|
||||
"offset": 36,
|
||||
"type": "uint16",
|
||||
"description": "艏部高压配电箱电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
{
|
||||
"powerCMD":0,
|
||||
"modCMD":0,
|
||||
"workCMD":0
|
||||
}
|
||||
@@ -22,10 +22,10 @@ SET(SRC
|
||||
PowerManger.cpp
|
||||
PowerManger_Info.cpp
|
||||
udpComm.cpp
|
||||
fsm.cpp
|
||||
main.cpp
|
||||
SQLiteDB.cpp
|
||||
driver.cpp
|
||||
PowerManagerFsm.cpp
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(pPowerManger ${SRC})
|
||||
@@ -51,7 +51,7 @@ SET(SQLITEDB_SRC
|
||||
)
|
||||
|
||||
SET(FSMLIB_SRC
|
||||
fsm.cpp)
|
||||
PowerManagerFsm.cpp)
|
||||
|
||||
SET(DRIVER_SRC
|
||||
driver.cpp)
|
||||
@@ -60,9 +60,9 @@ SET(POWERMANGE_SRC
|
||||
PowerManger.cpp
|
||||
PowerManger_Info.cpp
|
||||
udpComm.cpp
|
||||
fsm.cpp
|
||||
SQLiteDB.cpp
|
||||
driver.cpp)
|
||||
driver.cpp
|
||||
PowerManagerFsm.cpp)
|
||||
|
||||
ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
|
||||
ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
|
||||
|
||||
@@ -0,0 +1,29 @@
|
||||
#include "PowerManagerFsm.hpp"
|
||||
#include "PowerManger.h"
|
||||
|
||||
// 初始化静态成员
|
||||
PowerManger* PowerManagerFsm::pm = nullptr;
|
||||
|
||||
// 状态实例化
|
||||
InitState initState;
|
||||
StandbyState standbyState;
|
||||
FaultState faultState;
|
||||
|
||||
// 状态机初始化
|
||||
void PowerManagerFsm::init(PowerManger* powerManager) {
|
||||
pm = powerManager;
|
||||
start();
|
||||
}
|
||||
|
||||
// 状态转换接口实现
|
||||
void PowerManagerFsm::triggerInitEvent() {
|
||||
dispatch(InitEvent());
|
||||
}
|
||||
|
||||
void PowerManagerFsm::triggerStandbyEvent() {
|
||||
dispatch(StandbyEvent());
|
||||
}
|
||||
|
||||
void PowerManagerFsm::triggerFaultEvent(unsigned int faultCode) {
|
||||
dispatch(FaultEvent(faultCode));
|
||||
}
|
||||
@@ -0,0 +1,153 @@
|
||||
#ifndef POWER_MANAGER_FSM_HPP
|
||||
#define POWER_MANAGER_FSM_HPP
|
||||
|
||||
#include "PowerManger.h"
|
||||
#include "tinyfsm.hpp"
|
||||
|
||||
// 前向声明
|
||||
class PowerManger;
|
||||
|
||||
// 定义事件类型
|
||||
struct InitEvent : tinyfsm::Event { };
|
||||
struct StandbyEvent : tinyfsm::Event { };
|
||||
struct FaultEvent : tinyfsm::Event {
|
||||
unsigned int faultCode;
|
||||
FaultEvent(unsigned int code) : faultCode(code) {}
|
||||
};
|
||||
|
||||
// 定义状态机基类
|
||||
class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
|
||||
protected:
|
||||
static PowerManger* pm;
|
||||
|
||||
public:
|
||||
// 初始化状态机
|
||||
static void init(PowerManger* powerManager) {
|
||||
pm = powerManager;
|
||||
}
|
||||
|
||||
// 响应事件默认实现
|
||||
virtual void react(tinyfsm::Event const &) { }
|
||||
|
||||
// 状态转换接口
|
||||
void triggerInitEvent() { dispatch(InitEvent()); }
|
||||
void triggerStandbyEvent() { dispatch(StandbyEvent()); }
|
||||
void triggerFaultEvent(unsigned int faultCode) { dispatch(FaultEvent(faultCode)); }
|
||||
};
|
||||
|
||||
// 初始化静态成员
|
||||
PowerManger* PowerManagerFsm::pm = nullptr;
|
||||
|
||||
// 定义状态类
|
||||
class InitState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() {
|
||||
PowerManagerFsm::pm->m_pmEvent = "初始化状态";
|
||||
PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
|
||||
}
|
||||
|
||||
void react(InitEvent const &) {
|
||||
// 1. 检查通信是否正常
|
||||
double StartTime = PowerManagerFsm::pm->GetAppStartTime();
|
||||
while (PowerManagerFsm::pm->connectState < 5) {
|
||||
MOOSPause(1000);
|
||||
PowerManagerFsm::pm->updateTime();
|
||||
double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
|
||||
if(dft > 10) {
|
||||
transit<FaultState>();
|
||||
PowerManagerFsm::pm->m_faultNum = 1;
|
||||
return;
|
||||
}
|
||||
string desp = "等待复合管控消息 : " + to_string(10-dft);
|
||||
PowerManagerFsm::pm->printState("InitState", desp);
|
||||
}
|
||||
|
||||
// 2. 检查复合管控器是否上报故障
|
||||
if(PowerManagerFsm::pm->checkError() < 0) {
|
||||
transit<FaultState>();
|
||||
PowerManagerFsm::pm->m_faultNum = 2;
|
||||
return;
|
||||
}
|
||||
|
||||
// 3. 初始化系统为待机状态
|
||||
PowerManagerFsm::pm->initControlCmd();
|
||||
|
||||
// 4. 判断关键断路器是否闭合
|
||||
while (true) {
|
||||
if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
|
||||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
|
||||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
|
||||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
|
||||
PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
|
||||
transit<StandbyState>();
|
||||
return;
|
||||
}
|
||||
PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
|
||||
MOOSPause(1000);
|
||||
PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class StandbyState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() {
|
||||
PowerManagerFsm::pm->m_stateData.note = "待机状态";
|
||||
PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
|
||||
}
|
||||
|
||||
void react(StandbyEvent const &) {
|
||||
while (true) {
|
||||
// 1. 检查当前是否存在故障
|
||||
if(PowerManagerFsm::pm->checkError() < 0) {
|
||||
transit<FaultState>();
|
||||
return;
|
||||
}
|
||||
|
||||
// 2. 处理上位机控制指令
|
||||
handlePowerCommands();
|
||||
MOOSPause(1000);
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
void handlePowerCommands() {
|
||||
switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
|
||||
case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
|
||||
case 1: handlePowerOn(); break;
|
||||
// 其他处理函数省略...
|
||||
}
|
||||
}
|
||||
|
||||
void handlePowerOn() {
|
||||
PowerManagerFsm::pm->m_pmEvent = "动力电上电";
|
||||
PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
|
||||
if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
|
||||
PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
|
||||
}
|
||||
};
|
||||
|
||||
class FaultState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() {
|
||||
PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
|
||||
}
|
||||
|
||||
void react(FaultEvent const & e) {
|
||||
switch (e.faultCode) {
|
||||
case 1:
|
||||
PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
|
||||
PowerManagerFsm::pm->printState("FaultState", "通信故障");
|
||||
break;
|
||||
case 2:
|
||||
PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
|
||||
PowerManagerFsm::pm->printState("FaultState", "能源故障");
|
||||
break;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
// 设置初始状态
|
||||
FSM_INITIAL_STATE(PowerManagerFsm, InitState);
|
||||
|
||||
#endif // POWER_MANAGER_FSM_HPP
|
||||
@@ -71,17 +71,9 @@ PowerManger::PowerManger()
|
||||
m_db->createDriversTables(VAR_TO_STR(m_subDisSysCmd));
|
||||
m_db->createDriversTables(VAR_TO_STR(m_MSDriverCmd));
|
||||
|
||||
//注册状态机
|
||||
m_fsm.RegisterState("Init", 1, m_Inite_s1);
|
||||
m_fsm.RegisterState("Stady", 2, m_Standby_s2);
|
||||
m_fsm.RegisterState("Fault", 99, m_Fault_s99);
|
||||
|
||||
m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1);
|
||||
m_fsm.RegisterHandleFunction(&m_Standby_s2, handleStandby_s2);
|
||||
m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99);
|
||||
|
||||
// 初始化状态机
|
||||
m_pmState = m_Inite_s1;
|
||||
m_fsm.init(this);
|
||||
PowerManagerFsm::start();
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
@@ -344,7 +336,14 @@ bool PowerManger::FsmLoop()
|
||||
//状态机循环
|
||||
while (!m_FsmThread.IsQuitRequested())
|
||||
{
|
||||
m_fsm.run(m_pmState,this);
|
||||
// 检查故障并触发事件
|
||||
if(int error = checkError()) {
|
||||
triggerFaultEvent(error);
|
||||
} else {
|
||||
// 自动状态转换由状态机内部处理
|
||||
MOOSPause(1000);
|
||||
}
|
||||
|
||||
//延时1s
|
||||
usleep(1000000);
|
||||
}
|
||||
@@ -599,7 +598,22 @@ int PowerManger::checkError()
|
||||
}
|
||||
|
||||
|
||||
void PowerManger::printState(FSM_State st, string desp){
|
||||
void PowerManger::triggerInitEvent()
|
||||
{
|
||||
PowerManagerFsm::dispatch(InitEvent());
|
||||
}
|
||||
|
||||
void PowerManger::triggerStandbyEvent()
|
||||
{
|
||||
PowerManagerFsm::dispatch(StandbyEvent());
|
||||
}
|
||||
|
||||
void PowerManger::triggerFaultEvent(unsigned int faultCode)
|
||||
{
|
||||
PowerManagerFsm::dispatch(FaultEvent(faultCode));
|
||||
}
|
||||
|
||||
void PowerManger::printState(const std::string& stateName, const std::string& desp){
|
||||
cout << MOOS::ConsoleColours::Yellow() << "STATE " << st.id << " [" << st.name << "] " << MOOS::ConsoleColours::reset();
|
||||
cout << MOOS::ConsoleColours::Blue() << " -> " << MOOS::ConsoleColours::reset();
|
||||
// 检查desp是否有“故障”
|
||||
@@ -610,214 +624,6 @@ void PowerManger::printState(FSM_State st, string desp){
|
||||
cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
|
||||
}
|
||||
|
||||
int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
|
||||
{
|
||||
PowerManger* pm = (PowerManger*)pData;
|
||||
bool ok = true;
|
||||
//1. 检查通信是否正常 如果超时则进入故障状态
|
||||
double StartTime = pm->GetAppStartTime();
|
||||
while (pm->connectState < 5)
|
||||
{
|
||||
MOOSPause(1000);
|
||||
pm->updateTime();
|
||||
double dft = abs(pm->m_current_time - StartTime);
|
||||
if(dft > 10)
|
||||
{
|
||||
pm->m_pmState = pm->m_Fault_s99;
|
||||
pm->m_faultNum = 1; //通信故障
|
||||
ok = false;
|
||||
break;
|
||||
}
|
||||
string desp = "等待复合管控消息 : " + to_string(10-dft);
|
||||
pm->printState(fsm,desp);
|
||||
}
|
||||
//2. 检查复合管控器是否上报故障 如果故障则进入故障状态
|
||||
if(pm->checkError() < 0)
|
||||
{
|
||||
ok = false;
|
||||
pm->m_faultNum = 2; //能源故障
|
||||
}
|
||||
//3. 初始化系统为待机状态
|
||||
pm->initControlCmd();
|
||||
//4.判断关键断路器是否闭合
|
||||
ok = false;
|
||||
while (!ok)
|
||||
{
|
||||
if(pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
|
||||
pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
|
||||
pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
|
||||
pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
|
||||
pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1)
|
||||
{
|
||||
ok = true;
|
||||
}
|
||||
pm->m_pmEvent = "等待关键断路器闭合";
|
||||
MOOSPause(1000);
|
||||
pm->printState(fsm,pm->m_pmEvent);
|
||||
}
|
||||
//5. 进入下一状态
|
||||
if(ok)
|
||||
{
|
||||
pm->m_pmState = pm->m_Standby_s2;
|
||||
}
|
||||
if(!ok)
|
||||
{
|
||||
pm->m_pmState = pm->m_Fault_s99;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
|
||||
{
|
||||
PowerManger* pm = (PowerManger*)pData;
|
||||
pm->m_stateData.note = "待机状态";
|
||||
while (true)
|
||||
{
|
||||
string desp = "待机状态";
|
||||
pm->printState(fsm,desp);
|
||||
//1. 检查当前是否存在故障
|
||||
if(pm->checkError() < 0)
|
||||
{
|
||||
pm->m_pmState = pm->m_Fault_s99;
|
||||
break;
|
||||
}
|
||||
//2. 检查上位机上电控制指令
|
||||
switch (pm->m_msCmd.powerCMD)
|
||||
{
|
||||
case 0:
|
||||
pm->m_pmEvent = "收到上位机控制指令:关机";
|
||||
// pm->shutdown();
|
||||
break;
|
||||
case 1:
|
||||
pm->m_pmEvent = "动力电上电";
|
||||
// pm->powerOn();
|
||||
//1.先上动力锂电池
|
||||
pm->m_CcuColCmd.powerBatCmd = 0x10;
|
||||
//2.检查燃料电池是否就绪，如果就绪则启动
|
||||
if(pm->m_pmCurrentState.ccustate.fcuState = 0x04)
|
||||
pm->m_CcuColCmd.fcuCmd = 0x02;
|
||||
break;
|
||||
case 2:
|
||||
pm->m_pmEvent = "锂动力电启动";
|
||||
pm->m_CcuColCmd.powerBatCmd = 0x10;
|
||||
break;
|
||||
case 3:
|
||||
pm->m_pmEvent = "燃料电池启动";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x02;
|
||||
break;
|
||||
case 4:
|
||||
pm->m_pmEvent = "锂动力电关闭";
|
||||
pm->m_CcuColCmd.powerBatCmd = 0x20;
|
||||
case 5:
|
||||
pm->m_pmEvent = "燃料电池停机";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x03;
|
||||
break;
|
||||
case 6:
|
||||
pm->m_pmEvent = "燃料电池预热指令";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x07;
|
||||
break;
|
||||
case 7:
|
||||
pm->m_pmEvent = "燃料电池自检指令";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x01;
|
||||
break;
|
||||
case 8:
|
||||
pm->m_pmEvent = "燃料电池紧急停机";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x05;
|
||||
break;
|
||||
case 9:
|
||||
pm->m_pmEvent = "燃料电池复位指令";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x04;
|
||||
break;
|
||||
case 10:
|
||||
pm->m_pmEvent = "燃料电池补给指令";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x06;
|
||||
break;
|
||||
case 11:
|
||||
pm->m_pmEvent = "燃料电池停机维护";
|
||||
pm->m_CcuColCmd.fcuCmd = 0x08;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
//2. 检查上位机模式切换指令
|
||||
switch (pm->m_msCmd.modCMD)
|
||||
{
|
||||
case 0:
|
||||
//无效
|
||||
break;
|
||||
case 1:
|
||||
pm->m_pmEvent = "待机工况";
|
||||
break;
|
||||
case 2:
|
||||
pm->m_pmEvent = "岸基备航";
|
||||
break;
|
||||
case 3:
|
||||
pm->m_pmEvent = "水中备航";
|
||||
break;
|
||||
case 4:
|
||||
pm->m_pmEvent = "遥控工况";
|
||||
break;
|
||||
case 5:
|
||||
pm->m_pmEvent = "巡航模式";
|
||||
break;
|
||||
case 6:
|
||||
pm->m_pmEvent = "高速模式";
|
||||
break;
|
||||
case 7:
|
||||
pm->m_pmEvent = "上浮下潜";
|
||||
break;
|
||||
case 8:
|
||||
pm->m_pmEvent = "浮调模式";
|
||||
break;
|
||||
case 9:
|
||||
pm->m_pmEvent = "水下侦查";
|
||||
break;
|
||||
case 10:
|
||||
pm->m_pmEvent = "水面侦查";
|
||||
break;
|
||||
case 11:
|
||||
pm->m_pmEvent = "DJ模式";
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
//3. 检查上位机工作模式切换控制指令
|
||||
switch (pm->m_msCmd.workCMD)
|
||||
{
|
||||
case 0:
|
||||
pm->m_pmEvent = "正常模式（默认）";
|
||||
break;
|
||||
case 1:
|
||||
pm->m_pmEvent = "试验模式";
|
||||
pm->currentMod = 1;
|
||||
break;
|
||||
case 2:
|
||||
pm->m_pmEvent = "调试模式";
|
||||
pm->currentMod = 2;
|
||||
break;
|
||||
}
|
||||
MOOSPause(1000);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
|
||||
{
|
||||
// cout << fsm.name << endl;
|
||||
PowerManger* pm = (PowerManger*)pData;
|
||||
switch (pm->m_faultNum)
|
||||
{
|
||||
case 1:
|
||||
pm->printState(fsm,"通信故障");
|
||||
pm->m_pmEvent = "复合管控连接超时";
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
pm->printState(fsm,"故障");
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//==============================系统操作函数====================
|
||||
|
||||
@@ -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();
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
+13
-7
@@ -27,14 +27,20 @@ public:
|
||||
int run(FSM_State &fsm,void* data);
|
||||
int run(FSM_State *fsm,void* data, std::string event);
|
||||
|
||||
//TODO: 事件注册机制实现
|
||||
int RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state);
|
||||
int unRegisterEvent(FSM_State* fsm, std::string event);
|
||||
|
||||
int RegisterState(std::string name, unsigned int id,FSM_State &state);
|
||||
FSM_State getState(std::string name);
|
||||
unsigned int getStateId(std::string name);
|
||||
// 事件处理机制
|
||||
int RegisterEvent(FSM_State* fsm, const std::string& event, FSM_State *state);
|
||||
int unRegisterEvent(FSM_State* fsm, const std::string& event);
|
||||
|
||||
// 状态管理
|
||||
int RegisterState(const std::string& name, unsigned int id, FSM_State &state);
|
||||
FSM_State getState(const std::string& name) const;
|
||||
unsigned int getStateId(const std::string& name) const;
|
||||
|
||||
// 处理函数管理
|
||||
int RegisterHandleFunction(FSM_State* fsm, FSM_Handle handle);
|
||||
int unRegisterHandleFunction(FSM_State* fsm);
|
||||
|
||||
// 事件触发
|
||||
int triggerEvent(FSM_State* currentState, const std::string& event, void* data);
|
||||
};
|
||||
#endif
|
||||
@@ -0,0 +1,251 @@
|
||||
/*
|
||||
* TinyFSM - Tiny Finite State Machine Processor
|
||||
*
|
||||
* Copyright (c) 2012-2022 Axel Burri
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
* THE SOFTWARE.
|
||||
*/
|
||||
|
||||
/* ---------------------------------------------------------------------
|
||||
* Version: 0.3.3
|
||||
*
|
||||
* API documentation: see "../doc/50-API.md"
|
||||
*
|
||||
* The official TinyFSM website is located at:
|
||||
* https://digint.ch/tinyfsm/
|
||||
*
|
||||
* Author:
|
||||
* Axel Burri <axel@tty0.ch>
|
||||
* ---------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef TINYFSM_HPP_INCLUDED
|
||||
#define TINYFSM_HPP_INCLUDED
|
||||
|
||||
#ifndef TINYFSM_NOSTDLIB
|
||||
#include <type_traits>
|
||||
#endif
|
||||
|
||||
// #include <iostream>
|
||||
// #define DBG(str) do { std::cerr << str << std::endl; } while( false )
|
||||
// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__);
|
||||
|
||||
namespace tinyfsm
|
||||
{
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
struct Event { };
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
#ifdef TINYFSM_NOSTDLIB
|
||||
// remove dependency on standard library (silent fail!).
|
||||
// useful in conjunction with -nostdlib option, e.g. if your compiler
|
||||
// does not provide a standard library.
|
||||
// NOTE: this silently disables all static_assert() calls below!
|
||||
template<typename F, typename S>
|
||||
struct is_same_fsm { static constexpr bool value = true; };
|
||||
#else
|
||||
// check if both fsm and state class share same fsmtype
|
||||
template<typename F, typename S>
|
||||
struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { };
|
||||
#endif
|
||||
|
||||
template<typename S>
|
||||
struct _state_instance
|
||||
{
|
||||
using value_type = S;
|
||||
using type = _state_instance<S>;
|
||||
static S value;
|
||||
};
|
||||
|
||||
template<typename S>
|
||||
typename _state_instance<S>::value_type _state_instance<S>::value;
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename F>
|
||||
class Fsm
|
||||
{
|
||||
public:
|
||||
|
||||
using fsmtype = Fsm<F>;
|
||||
using state_ptr_t = F *;
|
||||
|
||||
static state_ptr_t current_state_ptr;
|
||||
|
||||
// public, leaving ability to access state instance (e.g. on reset)
|
||||
template<typename S>
|
||||
static constexpr S & state(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
|
||||
return _state_instance<S>::value;
|
||||
}
|
||||
|
||||
template<typename S>
|
||||
static constexpr bool is_in_state(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
|
||||
return current_state_ptr == &_state_instance<S>::value;
|
||||
}
|
||||
|
||||
/// state machine functions
|
||||
public:
|
||||
|
||||
// explicitely specialized in FSM_INITIAL_STATE macro
|
||||
static void set_initial_state();
|
||||
|
||||
static void reset() { };
|
||||
|
||||
static void enter() {
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
static void start() {
|
||||
set_initial_state();
|
||||
enter();
|
||||
}
|
||||
|
||||
template<typename E>
|
||||
static void dispatch(E const & event) {
|
||||
current_state_ptr->react(event);
|
||||
}
|
||||
|
||||
|
||||
/// state transition functions
|
||||
protected:
|
||||
|
||||
template<typename S>
|
||||
void transit(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
|
||||
current_state_ptr->exit();
|
||||
current_state_ptr = &_state_instance<S>::value;
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
template<typename S, typename ActionFunction>
|
||||
void transit(ActionFunction action_function) {
|
||||
static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
|
||||
current_state_ptr->exit();
|
||||
// NOTE: do not send events in action_function definisions.
|
||||
action_function();
|
||||
current_state_ptr = &_state_instance<S>::value;
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
template<typename S, typename ActionFunction, typename ConditionFunction>
|
||||
void transit(ActionFunction action_function, ConditionFunction condition_function) {
|
||||
if(condition_function()) {
|
||||
transit<S>(action_function);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
template<typename F>
|
||||
typename Fsm<F>::state_ptr_t Fsm<F>::current_state_ptr;
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename... FF>
|
||||
struct FsmList;
|
||||
|
||||
template<> struct FsmList<> {
|
||||
static void set_initial_state() { }
|
||||
static void reset() { }
|
||||
static void enter() { }
|
||||
template<typename E>
|
||||
static void dispatch(E const &) { }
|
||||
};
|
||||
|
||||
template<typename F, typename... FF>
|
||||
struct FsmList<F, FF...>
|
||||
{
|
||||
using fsmtype = Fsm<F>;
|
||||
|
||||
static void set_initial_state() {
|
||||
fsmtype::set_initial_state();
|
||||
FsmList<FF...>::set_initial_state();
|
||||
}
|
||||
|
||||
static void reset() {
|
||||
F::reset();
|
||||
FsmList<FF...>::reset();
|
||||
}
|
||||
|
||||
static void enter() {
|
||||
fsmtype::enter();
|
||||
FsmList<FF...>::enter();
|
||||
}
|
||||
|
||||
static void start() {
|
||||
set_initial_state();
|
||||
enter();
|
||||
}
|
||||
|
||||
template<typename E>
|
||||
static void dispatch(E const & event) {
|
||||
fsmtype::template dispatch<E>(event);
|
||||
FsmList<FF...>::template dispatch<E>(event);
|
||||
}
|
||||
};
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename... SS> struct StateList;
|
||||
template<> struct StateList<> {
|
||||
static void reset() { }
|
||||
};
|
||||
template<typename S, typename... SS>
|
||||
struct StateList<S, SS...>
|
||||
{
|
||||
static void reset() {
|
||||
_state_instance<S>::value = S();
|
||||
StateList<SS...>::reset();
|
||||
}
|
||||
};
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename F>
|
||||
struct MooreMachine : tinyfsm::Fsm<F>
|
||||
{
|
||||
virtual void entry(void) { }; /* entry actions in some states */
|
||||
void exit(void) { }; /* no exit actions */
|
||||
};
|
||||
|
||||
template<typename F>
|
||||
struct MealyMachine : tinyfsm::Fsm<F>
|
||||
{
|
||||
// input actions are modeled in react():
|
||||
// - conditional dependent of event type or payload
|
||||
// - transit<>(ActionFunction)
|
||||
void entry(void) { }; /* no entry actions */
|
||||
void exit(void) { }; /* no exit actions */
|
||||
};
|
||||
|
||||
} /* namespace tinyfsm */
|
||||
|
||||
|
||||
#define FSM_INITIAL_STATE(_FSM, _STATE) \
|
||||
namespace tinyfsm { \
|
||||
template<> void Fsm< _FSM >::set_initial_state(void) { \
|
||||
current_state_ptr = &_state_instance< _STATE >::value; \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* TINYFSM_HPP_INCLUDED */
|
||||
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Reference in New Issue
Block a user