Merge pull request 'refactor-power-manager' (#1) from refactor-power-manager into main

Reviewed-on: https://gitea.zhaojingkui.xyz/zjk/H100PowerManger/pulls/1

a.puml

@@ -0,0 +1,26 @@
+@startuml PowerManagerFsm状态图
+[*] --> InitState
+
+state InitState {
+  [*] --> 等待复合管控消息
+  等待复合管控消息 --> 等待关键断路器闭合: 连接成功
+  等待复合管控消息 --> FaultState: 超时(10秒)
+  等待关键断路器闭合 --> StandbyState: 关键断路器闭合
+  等待关键断路器闭合 --> FaultState: 系统错误
+}
+
+state StandbyState {
+  [*] --> 待机
+  待机 --> FaultState: 检测到错误
+  待机 --> 处理电源命令: 收到命令
+  处理电源命令 --> 待机: 完成处理
+}
+
+state FaultState {
+  [*] --> 故障处理
+}
+
+InitState --> FaultState : FaultEvent(faultCode=1/2)
+StandbyState --> FaultState : FaultEvent(faultCode)
+InitState --> StandbyState : StandbyEvent
+@enduml

bin/pPowerManger.moos

@@ -1,8 +1,5 @@
-//------------------------------------------------
-// pPowerManger config block
-
 ProcessConfig = pPowerManger
 {
-   AppTick   = 5
+   AppTick   = 4
    CommsTick = 4
 }

data/msg/uDevice_depth_st.json

@@ -0,0 +1,3 @@
+{
+    "value_array_uint16" :[2,1,3]
+}

data/msg/uPower_currentState_st.json

@@ -6,7 +6,7 @@
   "HVABbusBVol_uint16": 0,
   "HVABmastSteGeaCur_uint16": 0,
   "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 0,
+  "HVABxczCur_uint16": 1,
   "HVBBCCUCur_uint16": 0,
   "HVBBFCSSecurSysCur_uint16": 0,
   "HVBBbatInsCur_uint16": 0,

data/msg/uPower_disSysState_st.json

@@ -1,8 +1,8 @@
 {
   "HVolABusBreaker_unit16": 0,
-  "HVolBBusBreaker_unit16": 0,
+  "HVolBBusBreaker_unit16": 79,
-  "HVolBusBreaker_uint16": 0,
+  "HVolBusBreaker_uint16": 58,
-  "LVolBusBreaker_uint16": 0,
+  "LVolBusBreaker_uint16": 159,
   "faultCode_array": 
   [
     0

data/msg/uPower_fcsState_st.json

@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": 0.0,
+  "backpressure1_fp32": 1.0,
-  "backpressure2_fp32": 0.0,
+  "backpressure2_fp32": 2.0,
-  "ch4oConcent1_fp32": 0.0,
+  "ch4oConcent1_fp32": 29.0,
-  "ch4oConcent2_fp32": 0.0,
+  "ch4oConcent2_fp32": 96.0,
   "ch4o_fp32": 0.0,
-  "excTemp_fp32": 0.0,
+  "excTemp_fp32": 23.0,
   "faultCode1_uint16": 0,
   "faultCode2_uint16": 0,
   "faultCode3_uint16": 0,
   "fcuCurIns_fp32": 0.0,
   "fcuCurPower_fp32": 0.0,
-  "fcuCur_fp32": 0.0,
+  "fcuCur_fp32": 84.0,
   "fcuFaultLeve_uint8": 0,
-  "fcuOutIns_fp32": 0.0,
+  "fcuOutIns_fp32": 53.0,
-  "fcuOutPower_fp32": 0.0,
+  "fcuOutPower_fp32": 100.0,
   "fcuState_uint8": 0,
   "fcuVolIns_fp32": 0.0,
   "fcuVolPower_fp32": 0.0,
-  "fcuVol_fp32": 0.0,
+  "fcuVol_fp32": 377.0,
-  "flameDet_uint8": 0,
+  "flameDet_uint8": 1,
-  "h2Concent1_fp32": 0.0,
+  "h2Concent1_fp32": 89.0,
-  "h2Concent2_fp32": 0.0,
+  "h2Concent2_fp32": 62.0,
-  "o2Concent1_fp32": 0.0,
+  "o2Concent1_fp32": 74.0,
-  "o2Concent2_fp32": 0.0,
+  "o2Concent2_fp32": 21.0,
   "o2Level_fp32": 0.0,
   "o2_fp32": 0.0,
-  "powLimit_fp32": 0.0,
+  "powLimit_fp32": 88.0,
-  "powerGen_fp32": 0.0
+  "powerGen_fp32": 622.0
 }

data/msg/uPower_liBatState_st.json

@@ -2,37 +2,37 @@
   "fcuCurToInsLimit1_uint8": 0,
   "fcuCurToinsLimit2_uint8": 0,
   "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 0,
+  "insBatLimit_uint16": 41,
-  "insBatSoc_uint8": 0,
+  "insBatSoc_uint8": 42,
-  "insBatTotalElect_uint16": 0,
+  "insBatTotalElect_uint16": 617,
   "insChargeState_uint8": 0,
   "insCurSocHold1_uint8": 0,
   "insCurSocHold2_uint8": 0,
   "insCurSocHold3_uint8": 0,
-  "insCurrent_uint16": 0,
+  "insCurrent_uint16": 2,
   "insLinkVol_uint16": 0,
   "insNegRelayState_uint8": 0,
   "insNegRes_uint16": 0,
   "insPackVol_uint16": 0,
-  "insPosRelayState_uint8": 0,
+  "insPosRelayState_uint8": 1,
   "insPosRes_uint16": 0,
   "insfaultCode_uint8": 0,
   "powBatCurElect_uint16": 0,
-  "powBatSoc_uint8": 0,
+  "powBatSoc_uint8": 31,
-  "powBatTotalElect_uint16": 0,
+  "powBatTotalElect_uint16": 763,
   "powChargeState_uint8": 0,
   "powCurSocHold1_uint8": 0,
   "powCurSocHold2_uint8": 0,
   "powCurSocHold3_uint8": 0,
   "powCurToInsLimit1_uint8": 0,
   "powCurToinsLimit2_uint8": 0,
-  "powCur_uint16": 0,
+  "powCur_uint16": 21,
   "powLinkVol_uint16": 0,
-  "powNegRelayState_uint8": 0,
+  "powNegRelayState_uint8": 1,
   "powNegRes_uint16": 0,
-  "powPosRelayState_uint8": 0,
+  "powPosRelayState_uint8": 1,
   "powPosRes_uint16": 0,
-  "powerBatLimit_uint16": 0,
+  "powerBatLimit_uint16": 13,
   "powerPackVol_uint16": 0,
   "powfaultCode_uint8": 0
 }

docs/PowerManager_Optimization_Design.md

@@ -0,0 +1,128 @@
+# PowerManager系统架构优化设计方案
+
+## 1. 总体架构
+```mermaid
+classDiagram
+    class PowerManagerCore {
+        +startup()
+        +shutdown()
+        +getSystemState()
+    }
+
+    class StateMachineService {
+        +triggerEvent()
+        +getCurrentState()
+        +addStateListener()
+    }
+
+    class CommunicationMediator {
+        +registerHandler()
+        +sendMessage()
+        +addMessageListener()
+    }
+
+    PowerManagerCore --> StateMachineService
+    PowerManagerCore --> CommunicationMediator
+```
+
+## 2. 状态机重构方案
+
+### 2.1 状态设计模式
+```cpp
+class IPowerState {
+public:
+    virtual void onEntry(PowerContext&) = 0;
+    virtual void handleEvent(PowerContext&, const Event&) = 0;
+    virtual void onExit(PowerContext&) = 0;
+};
+```
+
+### 2.2 状态转换规则
+```yaml
+# states_config.yaml
+transitions:
+  - from: STANDBY
+    event: START_CMD
+    to: OPERATING
+  - from: OPERATING
+    event: STOP_CMD
+    to: STANDBY
+```
+
+## 3. 通信中介者设计
+
+### 3.1 核心架构
+```mermaid
+sequenceDiagram
+    participant Upper as 上位机
+    participant Mediator as 通信中介者
+    participant Lower as 下位机
+    
+    Upper->>Mediator: 控制命令(JSON)
+    Mediator->>Lower: 设备指令(ProtocolBuffer)
+    Lower->>Mediator: 状态更新
+    Mediator->>Upper: 系统报告
+```
+
+### 3.2 关键实现
+```cpp
+class CommunicationMediator {
+    // 线程安全消息队列
+    moodycamel::ConcurrentQueue<Message> queue;
+    
+    // 消息处理线程
+    void processMessages() {
+        while (running) {
+            Message msg;
+            if (queue.try_dequeue(msg)) {
+                handlers[msg.type]->handle(msg);
+            }
+        }
+    }
+};
+```
+
+## 4. 数据库服务设计
+
+### 4.1 日志策略模式
+```cpp
+class ILogStrategy {
+public:
+    virtual bool log(const SystemLog& log) = 0;
+};
+
+class SQLiteLogStrategy : public ILogStrategy {
+    // SQLite实现...
+};
+
+class FileLogStrategy : public ILogStrategy {
+    // 文件系统实现...
+};
+```
+
+## 5. 实施计划
+
+### 5.1 阶段划分
+```mermaid
+gantt
+    title 重构实施甘特图
+    section 核心框架
+    接口定义     :2025-04-08, 3d
+    基础实现     :2025-04-11, 5d
+    
+    section 模块重构
+    状态机      :2025-04-16, 5d
+    通信模块    :2025-04-21, 5d
+    
+    section 测试验证
+    单元测试    :2025-04-26, 3d
+    集成测试    :2025-04-29, 5d
+```
+
+## 6. 性能指标
+
+| 模块           | 当前QPS | 目标QPS | 优化手段               |
+|----------------|---------|---------|-----------------------|
+| 状态机处理     | 100     | 500     | 无锁状态转换          |
+| 消息处理       | 200     | 1000    | 批量处理+线程池       |
+| 数据库写入     | 50      | 300     | 异步写入+批量提交     |

missions/pPowerManger.moos

@@ -0,0 +1,5 @@
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}

src/pPowerManger/CMakeLists.txt

@@ -19,13 +19,15 @@ endif (${WIN32})
 find_package(SQLite3 REQUIRED)
 
 SET(SRC
+  PowerManagerFsm.cpp
   PowerManger.cpp
   PowerManger_Info.cpp
   udpComm.cpp
   main.cpp
   SQLiteDB.cpp
   driver.cpp
-  PowerManagerFsm.cpp
+  LowerCommManager.cpp
+  UpperCommManager.cpp
 )
 
 ADD_EXECUTABLE(pPowerManger ${SRC})
@@ -56,17 +58,18 @@ SET(FSMLIB_SRC
 SET(DRIVER_SRC
   driver.cpp)
 
-SET(POWERMANGE_SRC
+# SET(POWERMANGE_SRC
-  PowerManger.cpp
+#   PowerManger.cpp
-  PowerManger_Info.cpp
+#   PowerManger_Info.cpp
-  udpComm.cpp
+#   udpComm.cpp
-  SQLiteDB.cpp
+#   SQLiteDB.cpp
-  driver.cpp
+#   driver.cpp
-  PowerManagerFsm.cpp)
+#   PowerManagerFsm.cpp)
 
 ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
 ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
 ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
 ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
-ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
+# ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
+
 

src/pPowerManger/LowerCommManager.cpp

@@ -0,0 +1,326 @@
+#include "LowerCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+#include "udpComm.h"
+
+bool _ListenCB(void * pParam)
+{
+    LowerCommManager* pMe = (LowerCommManager* )pParam;
+    return pMe->listenThreadFunc();
+}
+
+LowerCommManager::LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost){
+    m_pm = pm;
+    m_udpComm = new udpComm();
+    m_port = myPort;
+    m_udpComm->ccuHost = cccHost;
+    m_udpComm->ccuPort = ccuPort;
+    m_udpComm->udpScoket = new XPCUdpSocket(m_port);
+
+    std::cout << "PORT = " << m_port << std::endl;
+    std::cout << "CCUHOST = " << m_udpComm->ccuHost << std::endl;
+    std::cout << "CCUPORT = " << m_udpComm->ccuPort << std::endl;
+}
+
+LowerCommManager::~LowerCommManager(){
+    try {
+        stopListenThread();
+        if (m_udpComm) {
+            delete m_udpComm;
+            m_udpComm = nullptr;
+        }
+    } catch (...) {
+        cerr << "Error during cleanup" << endl;
+    }
+}
+bool LowerCommManager::initUdpComm(){
+  //设置UDP监听端口
+  if(m_udpComm->udpScoket)
+  {
+    try
+    {
+        m_udpComm->udpScoket->vBindSocket();
+        cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
+    }
+    catch(const std::exception& e)
+    {
+        std::cerr << e.what() << '\n';
+        cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
+
+        return false;
+    }
+  }
+  else
+  {
+    cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
+    return false;
+  }
+  return true;
+}
+void LowerCommManager::processPeriodicTasks() {
+    sendCcuCommand(m_pm->m_CcuColCmd);
+    sendDisSysCommand(m_pm->m_targetDisBreakerState);
+    m_udpComm->clearMsgQueue();
+}
+
+bool LowerCommManager::sendCcuCommand(const ccuColCmd cmd){
+    // m_pm->m_db->insertCcuSysCmd(cmd);
+    if(!m_udpComm->sendCcuColCmd(cmd))
+        cout << "send ccu command failed!" << endl;
+    return true;
+}
+
+bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){
+    //根据目标状态进行断路器操作
+    //a. 高压母线的断路器
+    disHighVolBusCmd a;
+    a.fuelCellCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fuelCellCircuitBreaker);
+    a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
+    a.dcDc5ModuleCircuitBreaker = getBreakerOption(cmd.bus1Breaker.dcDc5ModuleCircuitBreaker);
+    a.powerLithiumBatteryCircuitBreaker = getBreakerOption(cmd.bus1Breaker.powerLithiumBatteryCircuitBreaker);
+    a.propulsionMotorCircuitBreaker = getBreakerOption(cmd.bus1Breaker.propulsionMotorCircuitBreaker);
+    a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
+    a.tyzReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.tyzReservedCircuitBreaker);
+    a.sternFTDevice45CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternFTDevice45CircuitBreaker);
+    a.sternRudderSwitch1CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch1CircuitBreaker);
+    a.sternRudderSwitch2CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch2CircuitBreaker);
+    a.reservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.reservedCircuitBreaker);
+    a.fbReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fbReservedCircuitBreaker);
+    m_udpComm->sendDisSysCmd(a);
+    //b. 高压汇流排A断路器
+    disHighAVolBusCmd b;
+    b.bowFTDevice123CircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowFTDevice123CircuitBreaker);
+    b.actuatorCircuitBreaker = getBreakerOption(cmd.bus2Breaker.actuatorCircuitBreaker);
+    b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
+    b.xczCircuitBreaker = getBreakerOption(cmd.bus2Breaker.xczCircuitBreaker);
+    b.bowRudderControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowRudderControlBoxCircuitBreaker);
+    b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(cmd.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
+    m_udpComm->sendDisSysCmd(b);
+    //c. 高压汇流排B断路器
+    disHighBVolBusCmd c;
+    c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
+    c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
+    c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(cmd.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
+    c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(cmd.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
+    c.reservedCircuitBreaker1 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker1);
+    c.reservedCircuitBreaker2 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker2);
+    c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(cmd.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
+    m_udpComm->sendDisSysCmd(c);
+    //d. 闭合低压汇流排断路器
+    disLowBusCmd d;
+    d.unit1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit1CircuitBreaker);
+    d.unit2CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit2CircuitBreaker);
+    d.unit3CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit3CircuitBreaker);
+    d.unit5CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit5CircuitBreaker);
+    d.bowPZDeviceCircuitBreaker = getBreakerOption(cmd.bus4Breaker.bowPZDeviceCircuitBreaker);
+    d.reservedCircuitBreaker1 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker1);
+    d.reservedCircuitBreaker2 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker2);
+    d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
+    m_udpComm->sendDisSysCmd(d);
+    //将指令写入数据库
+    m_pm->m_db->insertDisSysCmd(a);
+    m_pm->m_db->insertDisSysCmd(b);
+    m_pm->m_db->insertDisSysCmd(c);
+    m_pm->m_db->insertDisSysCmd(d);
+    return true;
+}
+
+
+void LowerCommManager::clearMsgQueue(){
+    m_udpComm->clearMsgQueue();
+}
+
+
+bool LowerCommManager::updatePoweSystemStates(){
+    // std::cout << "updatePoweSystemStates" << std::endl;
+  if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_CcuCurrentState);
+    m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
+    // m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
+    msg_CcuStateFbMsg_Update_time = time;
+  }
+  if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
+    // m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
+    msg_disHighVolBusFbMsg_Update_time = time;
+
+    disBus1Breaker* pdis1=new disBus1Breaker;
+    (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
+    pdis1 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
+    delete pdis1;
+  }
+  if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
+    // m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
+    msg_disHighAVolBusFbMsg_Update_time = time;
+
+    disBus2Breaker* pdis2=new disBus2Breaker;
+    (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
+    pdis2 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
+    delete pdis2;
+  }
+  if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
+    // m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
+    msg_disHighBVolBusFbMsg_Update_time = time;
+
+    disBus3Breaker* pdis3=new disBus3Breaker;
+    (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
+    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
+    (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
+    pdis3->paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
+    delete pdis3;
+  } 
+  if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disLowBusState);
+    m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
+    // m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
+    msg_disLowBusFbMsg_Update_time = time;
+
+    disBus4Breaker* pdis4=new disBus4Breaker;
+    (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
+    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
+    (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
+    pdis4 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
+    delete pdis4;
+  }
+  return true;
+}
+
+bool LowerCommManager::listenThreadFunc()
+{
+    cout<<MOOS::ConsoleColours::green()<< "LowerCommManager::listenThreadFunc" << MOOS::ConsoleColours::reset() << endl;
+    unsigned char Buff[1024];
+    while(!m_ListenThread.IsQuitRequested())
+    {
+        try
+        {
+            int nRead = m_udpComm->udpScoket->iRecieveMessage(Buff, sizeof(Buff));
+            //cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
+            if(nRead > 0)
+            {
+                try {
+                    if(!m_udpComm->pushMsgToQueue(Buff))
+                    {
+                        for(int i=0; i<m_udpComm->sError.size(); i++)
+                        {
+                            cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
+                        }
+                    }
+                    //更新当前状态
+                    if(!updatePoweSystemStates())
+                    {
+                        std::cerr << "Error updating power system states" << std::endl;
+                    }
+                }
+                catch(const std::exception& e) {
+                    cerr << "Error processing message: " << e.what() << endl;
+                }
+            }
+            
+            // 打印通信错误信息
+            if(!m_udpComm->sError.empty())
+            {
+                for(int i=0; i<m_udpComm->sError.size(); i++)
+                {
+                    cout<<MOOS::ConsoleColours::red() << m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
+                }
+                m_udpComm->sError.clear();
+            }
+        }
+        catch(const XPCException& e)
+        {
+            cerr << "XPCException in listenThreadFunc" << endl;
+            // 短暂休眠后继续尝试
+            MOOSPause(100);
+        }
+        catch(const std::exception& e)
+        {
+            cerr << "Exception in listenThreadFunc: " << e.what() << endl;
+            MOOSPause(100);
+        }
+        catch(...)
+        {
+            cerr << "Unknown exception in listenThreadFunc" << endl;
+            MOOSPause(100);
+        }
+    }
+    return true;
+}
+
+void LowerCommManager::startListenThread()
+{
+    if(!m_ListenThread.IsThreadRunning())
+    {
+        m_ListenThread.Initialise(_ListenCB,this);
+        m_ListenThread.Start();
+        std::cout << "LowerCommManager::startListenThread" << std::endl;
+    }
+}
+
+void LowerCommManager::stopListenThread()
+{
+    if(m_ListenThread.IsThreadRunning())
+    {
+        m_ListenThread.Stop();
+        std::cout << "LowerCommManager::stopListenThread" << std::endl;
+    }
+}
+
+char LowerCommManager::getBreakerOption(char cmd)
+{
+    if(cmd ==1)
+        return 0x55;
+    else if(cmd ==0)
+        return 0xAA;
+    else 
+        return 0x00;
+}
+
+//TODO:根据心跳检查连接状态
+bool LowerCommManager::checkConnection()
+{
+    m_pm->connectState =5;
+}

src/pPowerManger/LowerCommManager.h

@@ -0,0 +1,82 @@
+#ifndef LOWER_COMM_MANAGER_H
+#define LOWER_COMM_MANAGER_H
+#define UNIX
+
+#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include "MOOS/libMOOS/Utils/MOOSThread.h"
+#include "MOOS/libMOOS/Utils/MOOSLock.h"
+#include "ccuUdpMsg.h"
+#include "pmSysvariable.h"
+#include <queue>
+#include <map>
+#include <functional>
+#include <atomic>
+#include <vector>
+#include "udpComm.h"
+
+class PowerManger; // 前向声明
+
+class LowerCommManager {
+public:
+    LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost);
+    ~LowerCommManager();
+
+    //processPeriodicTasks
+    void processPeriodicTasks();
+    //clearMsgQueue
+    void clearMsgQueue();
+    
+public:
+    // 初始化UDP通信
+    bool initUdpComm();
+
+    // TODO:实现连接检查功能
+    bool checkConnection();
+        
+    // 更新设备状态
+    bool updatePoweSystemStates();
+    
+    // 发送CCU控制命令
+    bool sendCcuCommand(const ccuColCmd cmd);
+    bool sendDisSysCommand(const disSysBreakerList& cmd);
+
+    // 获取通信状态
+    int getConnectionState() const { return m_connectState; }
+    
+    // 启动/停止监听线程
+    void startListenThread();
+    void stopListenThread();
+
+    //转换函数
+    char getBreakerOption(char cmd);
+
+    // 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;
+    // 配电和CCU的反馈状态时间戳
+    double msg_CcuStateFbMsg_Update_time;
+    // double msg_CcuSetParmFbMsg_Update_time;
+    double msg_disHighVolBusFbMsg_Update_time;
+    double msg_disHighAVolBusFbMsg_Update_time;
+    double msg_disHighBVolBusFbMsg_Update_time;
+    double msg_disLowBusFbMsg_Update_time;
+public:
+    long m_port;
+    long m_ccuPort;
+    std::string m_ccuHost;
+    std::string m_host;
+
+    PowerManger* m_pm;
+    udpComm* m_udpComm;
+
+    CMOOSThread m_ListenThread;
+    int m_connectState;
+    
+    // UDP监听线程函数
+    bool listenThreadFunc();
+};
+
+#endif // LOWER_COMM_MANAGER_H

src/pPowerManger/PowerManagerFsm.cpp

@@ -1,29 +1,65 @@
 #include "PowerManagerFsm.hpp"
 #include "PowerManger.h"
+#include <string>
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 
-// 初始化静态成员
+// 定义静态成员
 PowerManger* PowerManagerFsm::pm = nullptr;
 
-// 状态实例化
+// InitState实现
-InitState initState;
+void InitState::entry() {
-StandbyState standbyState;
+    PowerManagerFsm::entry();
-FaultState faultState;
+    std::cout << "初始化配电指令" << std::endl;
-
+    pm->initControlCmd();
-// 状态机初始化
+    // PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
-void PowerManagerFsm::init(PowerManger* powerManager) {
+    transit<StandbyState>();
-    pm = powerManager;
-    start();
 }
 
-// 状态转换接口实现
+// StandbyState实现
-void PowerManagerFsm::triggerInitEvent() {
+void StandbyState::entry() {
-    dispatch(InitEvent());
+    PowerManagerFsm::entry();
+    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);  
+    pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
+    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
 }
 
-void PowerManagerFsm::triggerStandbyEvent() {
+void StandbyState::react(StandbyEvent const &) {
-    dispatch(StandbyEvent());
+    transit<StandbyState>();
 }
 
-void PowerManagerFsm::triggerFaultEvent(unsigned int faultCode) {
+
-    dispatch(FaultEvent(faultCode));
+void StandbyState::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;
+    }
+}
+
+void StandbyState::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;
+}
+
+// FaultState实现
+void FaultState::entry() {
+    PowerManagerFsm::entry();
+    PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
+}
+
+void FaultState::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);

src/pPowerManger/PowerManagerFsm.hpp

@@ -1,157 +1,106 @@
 #ifndef POWER_MANAGER_FSM_HPP
 #define POWER_MANAGER_FSM_HPP
-
 #include "tinyfsm.hpp"
-
+#include <iostream>
+#include <chrono>      // 新增头文件
+#include <iomanip>     // 新增头文件
+#include <ctime>       // 新增头文件，用于localtime函数
+#include <cxxabi.h>  // 新增头文件，用于demangle功能
+#include "pmSysvariable.h"
+#include "driver.h"
 // 前向声明
 class PowerManger;
 
-// 定义事件类型
+enum class PowerSystemState {
+    INIT,
+    STANDBY,
+    FAULT,
+};
+
+//==================状态切换事件=============================
 struct InitEvent : tinyfsm::Event { };
 struct StandbyEvent : tinyfsm::Event { };
-struct FaultEvent : tinyfsm::Event {
+struct FaultEvent : tinyfsm::Event { 
     unsigned int faultCode;
     FaultEvent(unsigned int code) : faultCode(code) {}
 };
+//==================状态流程事件============================
+struct MasterCommandEvent : tinyfsm::Event {};
+struct TaskStart : tinyfsm::Event { };
+struct DeviceCmd : tinyfsm::Event { };
 
-// 定义状态机基类
 class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
 protected:
-    static void* pm;
+    static PowerManger* pm;
-
+    static DriverTable m_currentDriver;
+    
 public:
-    // 初始化状态机
+    static void init(PowerManger* powerManager) {
-    static void init(void* powerManager) {
         pm = powerManager;
     }
-
-    // 类型安全转换接口
-    static PowerManger* getPowerManager() {
-        return static_cast<PowerManger*>(pm);
-    }
-
     // 响应事件默认实现
-    virtual void react(tinyfsm::Event const &) { }
+    virtual void react(tinyfsm::Event const &) { std::cout << "[ Reseve Envt ] " << "No Idear" << std::endl; }
+    virtual void react(InitEvent const &) {};
+    virtual void react(StandbyEvent const &) {};
+    virtual void react(FaultEvent const &) {};
+    virtual void react(MasterCommandEvent const &) {};
+    virtual void react(TaskStart const &) {};
+    virtual void react(DeviceCmd const &) {};
 
-    // 状态转换接口
+    // 状态机生命周期方法
-    void triggerInitEvent() { dispatch(InitEvent()); }
+    virtual void entry() {
-    void triggerStandbyEvent() { dispatch(StandbyEvent()); }
+        auto now = std::chrono::system_clock::now();
-    void triggerFaultEvent(unsigned int faultCode) { dispatch(FaultEvent(faultCode)); }
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;51m╭──────────────────────────────────────────────────────\n"
+                  << "│ \033[1;38;5;226m⮞⮞⮞ \033[0;38;5;51m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m进入状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "│                                                      \033[0m" << std::endl;
+    }
+    
+    virtual void exit() {
+        auto now = std::chrono::system_clock::now();
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;203m│                                                      \n"
+                  << "│ \033[1;38;5;208m⮜⮜⮜ \033[0;38;5;203m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m离开状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "╰──────────────────────────────────────────────────────\033[0m" << std::endl;
+    }
 };
 
-// 初始化静态成员
-void* PowerManagerFsm::pm = nullptr;
 
-// 定义状态类
 class InitState : public PowerManagerFsm {
 public:
-    void entry() {
+    void entry() override;
-        PowerManagerFsm::getPowerManager()->m_pmEvent = "初始化状态";
-        PowerManagerFsm::getPowerManager()->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::getPowerManager()->GetAppStartTime();
-        while (PowerManagerFsm::getPowerManager()->connectState < 5) {
-            MOOSPause(1000);
-            PowerManagerFsm::getPowerManager()->updateTime();
-            double dft = abs(PowerManagerFsm::getPowerManager()->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::getPowerManager()->checkError() < 0) {
-            transit<FaultState>();
-            PowerManagerFsm::getPowerManager()->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::getPowerManager()->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
-               PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
-               PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
-               PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
-               PowerManagerFsm::getPowerManager()->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
-                transit<StandbyState>();
-                return;
-            }
-            PowerManagerFsm::getPowerManager()->m_pmEvent = "等待关键断路器闭合";
-            MOOSPause(1000);
-            PowerManagerFsm::getPowerManager()->printState("InitState", PowerManagerFsm::getPowerManager()->m_pmEvent);
-        }
-    }
 };
 
 class StandbyState : public PowerManagerFsm {
 public:
-    void entry() {
+    void entry() override;
-        PowerManagerFsm::getPowerManager()->m_stateData.note = "待机状态";
+    void react(StandbyEvent const &) override;
-        PowerManagerFsm::getPowerManager()->printState("StandbyState", "进入待机状态");
+    // void react(MasterCommandEvent const &) override;
-    }
+    // void react(DeviceCmd const &) override;
-
-    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() {
+    void handlePowerCommands();
-        switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
+    void handlePowerOn();
-            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() {
+    void entry() override;
-        PowerManagerFsm::getPowerManager()->printState("FaultState", "进入故障状态");
+    void react(FaultEvent const &);
-    }
-
-    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

src/pPowerManger/PowerManger.cpp

@@ -14,12 +14,6 @@
 using namespace std;
 
 
-bool _ListenCB(void * pParam)
-{
-    PowerManger* pMe = (PowerManger* )pParam;
-    return pMe->ListenLoopUDP();
-}
-
 bool _FsmCB(void * pParam)
 {
     PowerManger* pMe = (PowerManger* )pParam;
@@ -41,15 +35,6 @@ PowerManger::PowerManger()
   m_ticker = 0;
   faultCode.push_back(0);
 
-  msg_CcuStateFbMsg_Update_time = 0;
-  // msg_CcuSetParmFbMsg_Update_time = 0;
-  msg_disHighVolBusFbMsg_Update_time = 0;
-  msg_disHighAVolBusFbMsg_Update_time = 0;
-  msg_disHighBVolBusFbMsg_Update_time = 0;
-  msg_disLowBusFbMsg_Update_time = 0;
-
-  connectState = 0;
-  
   m_pmCurrentState = {};
   m_currentDisBreakerState = {};
   m_targetDisBreakerState = {};
@@ -57,7 +42,7 @@ PowerManger::PowerManger()
   m_MSDriverCmd = {};
   m_subDisSysCmd = {};
   m_subDisSysState = {};
-  //初始化断路器状态
+  //初始化控制指令
   initControlCmd();
 
   //初始化数据库
@@ -70,10 +55,7 @@ PowerManger::PowerManger()
   m_db->createDriversTables(VAR_TO_STR(m_subDisSysState));
   m_db->createDriversTables(VAR_TO_STR(m_subDisSysCmd));
   m_db->createDriversTables(VAR_TO_STR(m_MSDriverCmd));
-    
+
-  // 初始化状态机
-  m_fsm.init(this);
-  PowerManagerFsm::start();
 }
 
 //---------------------------------------------------------
@@ -81,6 +63,8 @@ PowerManger::PowerManger()
 
 PowerManger::~PowerManger()
 {
+  delete m_db;
+  delete m_lowerCommManager;
 }
 
 //---------------------------------------------------------
@@ -97,32 +81,9 @@ bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
     string key    = msg.GetKey();
     string strJson = msg.GetString();
     //处理上位机发送的控制指令
-    if(key == DB_TO_PM_MSCMD)
+    if(!m_upperCommManager->processUpperMsg(key,strJson))
     {
-      if(getMsCmdFromJson(m_msCmd,strJson))
+      cout << "processUpperMsg failed" << endl;
-      {
-        cout <<  "get ms cmd:" << strJson << endl;
-      }
-      else
-      {
-        cout << MOOS::ConsoleColours::Red << "get ms cmd error:" << strJson  << MOOS::ConsoleColours::reset << endl;
-      }
-    }
-    //处理设备上电指令
-    if (key == DB_TO_PM_EQUIPMENTCMD)
-    {
-      if(m_driver.loadDriverTableFromJson(strJson,m_subDisSysCmd) < 0)
-      {
-        cout << MOOS::ConsoleColours::Red  << "get sub dis cmd error:" << strJson << MOOS::ConsoleColours::reset << endl;
-      }
-    }
-    //处理设备状态反馈
-    if(key == DB_TO_PM_SUBDISSTATE)
-    {
-      if(m_driver.loadDriverTableFromJson(strJson,m_subDisSysState) < 0)
-      {
-        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << strJson << MOOS::ConsoleColours::reset << endl;
-      }
     }
     
 #if 0 // Keep these around just for template
@@ -161,42 +122,15 @@ bool PowerManger::OnConnectToServer()
 bool PowerManger::Iterate()
 {
   AppCastingMOOSApp::Iterate();
-  //1. 更新当前状态
+  // 打印当前状态
-  updatePmState();
+  // cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState();
-  updateConnectState();
-  //2. 运行状态机
-  if (FSM_RUN_IS_OK)
-    m_FsmThread.Start();
-  else
-    m_FsmThread.Stop();
-  //3. 进行操作 每秒执行一次
   if (m_ticker++ % 5 == 0)
   {
-    //a. 配电系统操作
+    m_CcuColCmd.heartbeat++;
-    disSysOption();
+    m_lowerCommManager->processPeriodicTasks();
-    //b. ccu操作
+    m_upperCommManager->processPeriodicTasks();
-    ccuOption();
-    //c. 上位机反馈
-    buildPowerSysReport();
-    Notify(PM_TO_DB_SUBDISCMD,m_driver.saveDriverTableToJson(&m_subDisSysCmd));
-    Notify(PM_TO_DB_EQUIPMENTSTATE,m_driver.saveDriverTableToJson(&m_currentDriverState));
-    //d.保存到数据库
     writeDataToDB();
   }
-  ///////////////////////
-  // string a = m_driver.getSubDisCmdJson(&m_subDisSysCmd);
-  // saveStringToJsonFile(a,"/home/zjk/project/H100/H100PowerManger/data/subDisSysCmd.json");
-  ///////////////////////
-  //4. 写状态信息到数据库
-  m_stateData.state_id = m_pmState.id;
-  m_stateData.state_name = m_pmState.name;
-  m_stateData.event = m_pmEvent;
-  m_stateData.fault_code = m_faultNum;
-  if(!m_db->insertStateData(m_stateData))
-    return false;
-  //AppCastingMOOSApp::PostReport();
-  //5. 清空UDP消息队列
-  m_udpComm.clearMsgQueue(); 
   return(true);
 }
 
@@ -234,23 +168,19 @@ bool PowerManger::OnStartUp()
   }
 
   registerVariables();	
-  //启动UDP监听线程
+  //初始化UDP通信
-  if(m_pCcuUdpComm = setUdpScoket(IPORT))
+  m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
-  {
+  m_lowerCommManager->initUdpComm();
-    cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
+  m_lowerCommManager->startListenThread();
-    m_udpComm.ccuHost = CCUHOST;
+
-    m_udpComm.ccuPort = CCUPORT;
+  //初始化上位机通信
-    m_udpComm.udpScoket = m_pCcuUdpComm;
+  m_upperCommManager = new UpperCommManager(this);
-    MOOSTrace("UDP set succeed");
+    
-  }
+  // 初始化状态机
-  else
+  PowerManagerFsm::init(this);
-  {
+  PowerManagerFsm::start();
-    cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
+  InitEvent initEvent;
-    MOOSTrace("UDP set faile");
+  PowerManagerFsm::dispatch(initEvent);
-  }
-  m_ListenThread.Initialise(_ListenCB,this);
-  m_ListenThread.Start();
-  m_FsmThread.Initialise(_FsmCB,this);
   return(true);
 }
 
@@ -284,291 +214,29 @@ bool PowerManger::buildReport()
   return(true);
 }
 
-//------------------------------------------------------------
-// Procedure: setUdpScoket()
-XPCUdpSocket* PowerManger::setUdpScoket(long lPort)
-{
-  XPCUdpSocket* pUdpSocket = new XPCUdpSocket(lPort);
-  try
-  {
-    pUdpSocket->vBindSocket();
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-    return NULL;
-  }
-  return pUdpSocket;
-}
 
-bool PowerManger::ListenLoopUDP()
-{
-  unsigned char Buff[MAX_UDP_PKT_SIZE];
-  while(!m_ListenThread.IsQuitRequested())
-  {
-    int nRead = m_pCcuUdpComm->iRecieveMessage(Buff,sizeof(Buff));      
-    cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
-    if(nRead > 0)
-    {
-      if(!m_udpComm.pushMsgToQueue(Buff))
-      {
-        for(int i=0;i<m_udpComm.sError.size();i++)
-        {
-          cout<<MOOS::ConsoleColours::red()<< m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
-        }
-      }
-    }
-    // 打印通信错误信息
-    if(!m_udpComm.sError.empty())
-    {
-      for(int i=0;i<m_udpComm.sError.size();i++)
-      {
-        cout<<MOOS::ConsoleColours::red() << m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
-      }
-      m_udpComm.sError.clear();
-    }
-  }
-  return true;
-}
 
 bool PowerManger::FsmLoop()
 {
   //状态机循环
-  while (!m_FsmThread.IsQuitRequested())
+  // while (!m_FsmThread.IsQuitRequested())
-  {
+  // {
-    // 检查故障并触发事件
+  //   // // 检查故障并触发事件
-    if(int error = checkError()) {
+  //   // if(int error = checkError()) {
-      triggerFaultEvent(error);
+  //   //   m_fsm.triggerFaultEvent(error);
-    } else {
+  //   // } else {
-      // 自动状态转换由状态机内部处理
+  //   //   // 自动状态转换由状态机内部处理
-      MOOSPause(1000);
+  //   //   MOOSPause(1000);
-    }
+  //   // }
     
-    //延时1s
+  //   //延时1s
-    usleep(1000000);
+  //   usleep(1000000);
-  }
+  // }
   return true;
 }
 
-bool PowerManger::updateConnectState()
-{
-  double seck = 0;
-  updateTime();
-  connectState = 0;
-  if(!IsSkewed(msg_CcuStateFbMsg_Update_time,&seck))
-    connectState++;
-  // cout << "seck:" << seck << endl;
-  if(!IsSkewed(msg_disHighVolBusFbMsg_Update_time,&seck))
-    connectState++;
-  // cout << "seck:" << seck << endl;
-  if(!IsSkewed(msg_disHighAVolBusFbMsg_Update_time,&seck))
-    connectState++;
-  // cout << "seck:" << seck << endl;
-  if(!IsSkewed(msg_disHighBVolBusFbMsg_Update_time,&seck))
-    connectState++;
-  // cout << "seck:" << seck << endl;
-  if(!IsSkewed(msg_disLowBusFbMsg_Update_time,&seck))
-    connectState++;
-  // cout << "seck:" << seck << endl;
-  return true;
-
-}
-
-
-bool PowerManger::updatePmState()
-{
-  //1. 更新下位机状态
-  if(!m_udpComm.m_qReceiveCcuStateBuffer.empty())
-  {
-    double time;
-    m_udpComm.popMsgFormQueue(time,m_CcuCurrentState);
-    m_pmCurrentState.ccustate = m_CcuCurrentState.data;
-    m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
-    msg_CcuStateFbMsg_Update_time = time;
-  }
-  if(!m_udpComm.m_qReceiveDisHighVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm.popMsgFormQueue(time,m_disHighVolBusCurrentState);
-    m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
-    m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
-    msg_disHighVolBusFbMsg_Update_time = time;
-
-    disBus1Breaker* pdis1=new disBus1Breaker;
-    (m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
-    (m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
-    pdis1 -> paceholder = 0;
-    m_currentDisBreakerState.bus1Breaker = *pdis1;
-    delete pdis1;
-  }
-  if(!m_udpComm.m_qReceiveDisHighAVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm.popMsgFormQueue(time,m_disHighAVolBusCurrentState);
-    m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
-    m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
-    msg_disHighAVolBusFbMsg_Update_time = time;
-
-    disBus2Breaker* pdis2=new disBus2Breaker;
-    (m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
-    (m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
-    (m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
-    (m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
-    (m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
-    (m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
-    pdis2 -> paceholder = 0;
-    m_currentDisBreakerState.bus2Breaker = *pdis2;
-    delete pdis2;
-  }
-  if(!m_udpComm.m_qReceiveDisHighBVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm.popMsgFormQueue(time,m_disHighBVolBusCurrentState);
-    m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
-    m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
-    msg_disHighBVolBusFbMsg_Update_time = time;
-
-    disBus3Breaker* pdis3=new disBus3Breaker;
-    (m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
-    (m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
-    (m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
-    (m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
-    (m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
-    pdis3->paceholder = 0;
-    m_currentDisBreakerState.bus3Breaker = *pdis3;
-    delete pdis3;
-  } 
-  if(!m_udpComm.m_qReceiveDisLowBusBuffer.empty())
-  {
-    double time;
-    m_udpComm.popMsgFormQueue(time,m_disLowBusState);
-    m_pmCurrentState.bus4State = m_disLowBusState.data;
-    m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
-    msg_disLowBusFbMsg_Update_time = time;
-
-    disBus4Breaker* pdis4=new disBus4Breaker;
-    (m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
-    (m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
-    (m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
-    (m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
-    (m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
-    (m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
-    (m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
-    (m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
-    pdis4 -> paceholder = 0;
-    m_currentDisBreakerState.bus4Breaker = *pdis4;
-    delete pdis4;
-  }
-  return true;
-}
-
-
-bool PowerManger::IsSkewed(double dfTimeNow, double * pdfSkew)
-{
-    double dfSkew = fabs(dfTimeNow - m_current_time);
-    if(pdfSkew != NULL)
-    {
-        *pdfSkew = dfSkew;
-    }
-    return (dfSkew > SKEW_TOLERANCE) ? true : false;
-}
-
-void PowerManger::ccuOption()
-{
-  m_db->insertCcuSysCmd(m_CcuColCmd);
-  if(!m_udpComm.sendCcuColCmd(m_CcuColCmd))
-    cout << "send ccu col cmd failed!" << endl;
-}
-void PowerManger::disSysOption()
-{
-
-  //根据目标状态进行断路器操作
-  //a. 高压母线的断路器
-  disHighVolBusCmd a;
-  a.fuelCellCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker);
-  a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
-  a.dcDc5ModuleCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker);
-  a.powerLithiumBatteryCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker);
-  a.propulsionMotorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker);
-  a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
-  a.tyzReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker);
-  a.sternFTDevice45CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker);
-  a.sternRudderSwitch1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker);
-  a.sternRudderSwitch2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker);
-  a.reservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker);
-  a.fbReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker);
-  m_udpComm.sendDisSysCmd(a);
-//b. 高压汇流排A断路器
-  disHighAVolBusCmd b;
-  b.bowFTDevice123CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker);
-  b.actuatorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker);
-  b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
-  b.xczCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker);
-  b.bowRudderControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker);
-  b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
-  m_udpComm.sendDisSysCmd(b);
-//c. 高压汇流排B断路器
-  disHighBVolBusCmd c;
-  c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
-  c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
-  c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
-  c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
-  c.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1);
-  c.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2);
-  c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
-  m_udpComm.sendDisSysCmd(c);
-//d. 闭合低压汇流排断路器
-  disLowBusCmd d;
-  d.unit1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker);
-  d.unit2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker);
-  d.unit3CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker);
-  d.unit5CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker);
-  d.bowPZDeviceCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker);
-  d.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1);
-  d.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2);
-  d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
-  m_udpComm.sendDisSysCmd(d);
-  //将指令写入数据库
-  m_db->insertDisSysCmd(a);
-  m_db->insertDisSysCmd(b);
-  m_db->insertDisSysCmd(c);
-  m_db->insertDisSysCmd(d);
-  
-}
-
-
-bool PowerManger::saveStringToJsonFile(const string &strJson, const string &filePath)
-{
-  std::ofstream file(filePath, std::ios::trunc);
-  if (file.is_open()) {
-      file << strJson;
-      file.close();
-      // std::cout << "字符串已成功保存到文件中。" << std::endl;
-      return true;
-  } else {
-      std::cerr << "无法打开文件！" << std::endl;
-      return false;
-  }
-}
-
 bool PowerManger::writeDataToDB()
 {
-
-  // //写入配电系统状态
-  // if(!m_db->insertDisCcuData(m_pmCurrentState))
-  //   return false;
   //写入设备状态
   if(!m_db->insertDriverTables(m_currentDriverState,VAR_TO_STR(m_currentDriverState)))
     return false;
@@ -597,25 +265,9 @@ int PowerManger::checkError()
   //2.检查断路器状态
 }
 
-
-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::Yellow() << "STATE " << stateName << " " << MOOS::ConsoleColours::reset();
-  cout << MOOS::ConsoleColours::Blue() <<  " -> " << MOOS::ConsoleColours::reset(); 
+  cout << MOOS::ConsoleColours::Blue() <<  " -> " << MOOS::ConsoleColours::reset();
   // 检查desp是否有“故障”
   if (desp.find("故障") != string::npos) {
     cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
@@ -625,7 +277,6 @@ void PowerManger::printState(const std::string& stateName, const std::string& de
 }
 
 
-
 //==============================系统操作函数====================
 bool PowerManger::shutdown()
 {
@@ -689,486 +340,4 @@ void PowerManger::initControlCmd()
   m_msCmd.workCMD = 99;
   //================初始化设备驱动指令========================
 
-} 
+} 
-
-char PowerManger::getBreakerOption(char cmd)
-{
-  if(cmd ==1)
-    return 0x55;
-  else if(cmd ==0)
-    return 0xAA;
-  else 
-    return 0x00;
-}
-
-
-
-bool PowerManger::getMsCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
-{
-  Json::CharReaderBuilder builder;
-  Json::Value root;
-  std::string errs;
-
-  // 解析JSON字符串
-  std::istringstream s(strJson);
-  if (!Json::parseFromStream(builder, s, &root, &errs))
-  {
-      std::cerr << "JSON解析失败: " << errs << std::endl;
-      return false; // 解析失败
-  }
-  if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
-  {
-      cmd.powerCMD = root["powerCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
-
-  if (root.isMember("modCMD") && root["modCMD"].isUInt())
-  {
-      cmd.modCMD = root["modCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
-
-  if (root.isMember("workCMD") && root["workCMD"].isUInt())
-  {
-      cmd.workCMD = root["workCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
-  return true; // 成功
-}
-
-string PowerManger::getTypeName(const string typeName)
-{
-    // 映射类型名称到指定的字符串
-    if (typeName == "i" || typeName == "c") {
-        return "_int8";
-    } else if (typeName == "h" || typeName == "C") {
-        return "_uint8";
-    } else if (typeName == "s" || typeName == "S") {
-        return "_int16";
-    } else if (typeName == "t" || typeName == "T") {
-        return "_uint16";
-    } else if (typeName == "i" || typeName == "I") {
-        return "_int32";
-    } else if (typeName == "j" || typeName == "J") {
-        return "_uint32";
-    } else if (typeName == "x" || typeName == "X") {
-        return "_int64";
-    } else if (typeName == "f" || typeName == "F") {
-        return "_fp32";
-    } else if (typeName == "d" || typeName == "D") {
-        return "_fp64";
-    } else if (typeName == "b" || typeName == "B") {
-        return "_bool";
-    } else if (typeName == "NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE") {
-        return "_str";
-    } else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") {
-        return "_array";
-    } else {
-        // 默认情况
-        return "_obj";
-    }
-}
-
-
-bool PowerManger::buildPowerSysReport()
-{
-  //TODO： 构建能源系统报告
-  string suffix;
-  Json::Value pms;
-  Json::Value fcs;
-  Json::Value lbs;
-  Json::Value dis;
-  // 构建能源系统报告
-  //1.构建系统状态报告
-  suffix = getTypeName(typeid(workCondition).name());
-  pms[VAR_TO_STR(workCondition)+suffix] = workCondition;
-
-  suffix = getTypeName(typeid(currentMod).name());
-  pms[VAR_TO_STR(currentMod)+suffix] = currentMod;
-
-  suffix = getTypeName(typeid(powerState).name());
-  pms[VAR_TO_STR(powerState)+suffix] = powerState;
-
-  suffix = getTypeName(typeid(falutLevel).name());
-  pms[VAR_TO_STR(falutLevel)+suffix] = falutLevel;
-
-  Json::Value faultCode_array;
-  for(auto val : faultCode)
-  {
-    faultCode_array.append(val);
-  }
-  pms[VAR_TO_STR(faultCode_array)] = faultCode_array;
-
-  suffix = getTypeName(typeid(soc).name());
-  pms[VAR_TO_STR(soc)+suffix] = soc;
-
-  suffix = getTypeName(typeid(sustainableTime).name());
-  pms[VAR_TO_STR(sustainableTime)+suffix] = sustainableTime;
-  
-  //2.构建燃料电池状态报告
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuState).name());
-  fcs[VAR_TO_STR(fcuState)+suffix] = m_pmCurrentState.ccustate.fcuState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuFaultLeve).name());
-  fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pmCurrentState.ccustate.fcuFaultLeve;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerLimit).name());
-  fcs[VAR_TO_STR(powLimit)+suffix] = m_pmCurrentState.ccustate.powerLimit;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.totalPowerGeneration).name());
-  fcs[VAR_TO_STR(powerGen)+suffix] = m_pmCurrentState.ccustate.totalPowerGeneration;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4o).name());
-  fcs[VAR_TO_STR(ch4o)+suffix] = m_pmCurrentState.ccustate.ch4o;
- 
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2).name());
-  fcs[VAR_TO_STR(o2)+suffix] = m_pmCurrentState.ccustate.o2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltage).name());
-  fcs[VAR_TO_STR(fcuVol)+suffix] = m_pmCurrentState.ccustate.fcuVoltage;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrent).name());
-  fcs[VAR_TO_STR(fcuCur)+suffix] = m_pmCurrentState.ccustate.fcuCurrent;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Level).name());
-  fcs[VAR_TO_STR(o2Level)+suffix] = m_pmCurrentState.ccustate.o2Level;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.exchangerTemperature).name());
-  fcs[VAR_TO_STR(excTemp)+suffix] = m_pmCurrentState.ccustate.exchangerTemperature;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuOutPower).name());
-  fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pmCurrentState.ccustate.fcuOutPower;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuOutIns).name());
-  fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pmCurrentState.ccustate.fcuOutIns;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltageIns).name());
-  fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pmCurrentState.ccustate.fcuVoltageIns;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltagePower).name());
-  fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pmCurrentState.ccustate.fcuVoltagePower;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentIns).name());
-  fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pmCurrentState.ccustate.fcuCurrentIns;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentPower).name());
-  fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pmCurrentState.ccustate.fcuCurrentPower;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.h2Concentration1).name());
-  fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pmCurrentState.ccustate.h2Concentration1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.h2Concentration2).name());
-  fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pmCurrentState.ccustate.h2Concentration2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Concentration1).name());
-  fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pmCurrentState.ccustate.o2Concentration1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Concentration2).name());
-  fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pmCurrentState.ccustate.o2Concentration2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4oConcentration1).name());
-  fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pmCurrentState.ccustate.ch4oConcentration1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4oConcentration2).name());
-  fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pmCurrentState.ccustate.ch4oConcentration2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.backpressure1).name());
-  fcs[VAR_TO_STR(backpressure1)+suffix] = m_pmCurrentState.ccustate.backpressure1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.backpressure2).name());
-  fcs[VAR_TO_STR(backpressure2)+suffix] = m_pmCurrentState.ccustate.backpressure2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.flameDetection).name());
-  fcs[VAR_TO_STR(flameDet)+suffix] = m_pmCurrentState.ccustate.flameDetection;
-
-  unsigned short faultCode1;
-  unsigned short faultCode2;
-  unsigned short faultCode3;
-  faultCode1 = (m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pmCurrentState.ccustate.fcuGZ_1L;
-  faultCode2 = (m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pmCurrentState.ccustate.fcuGZ_2L;
-  faultCode3 = (m_pmCurrentState.ccustate.fcuGZ_3H << 8) | m_pmCurrentState.ccustate.fcuGZ_3L;
-
-  suffix = getTypeName(typeid(faultCode1).name());
-  fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1;
-  suffix = getTypeName(typeid(faultCode2).name());
-  fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2;
-  suffix = getTypeName(typeid(faultCode3).name());
-  fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3;
-
-  //4.构建动力锂电池状态报告
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insPosRelayState).name());
-  lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pmCurrentState.ccustate.insPosRelayState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insNegRelayState).name());
-  lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pmCurrentState.ccustate.insNegRelayState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPosRelayState).name());
-  lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pmCurrentState.ccustate.powerPosRelayState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerNegRelayState).name());
-  lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pmCurrentState.ccustate.powerNegRelayState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatLimit).name());
-  lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pmCurrentState.ccustate.insBatLimit;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatLimit).name());
-  lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pmCurrentState.ccustate.powerBatLimit;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatSoc).name());
-  lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pmCurrentState.ccustate.insBatSoc;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatSoc).name());
-  lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pmCurrentState.ccustate.powerBatSoc;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatTotalElectricity).name());
-  lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pmCurrentState.ccustate.insBatTotalElectricity;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
-  lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pmCurrentState.ccustate.powerBatTotalElectricity;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
-  lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pmCurrentState.ccustate.insBatCurrentElectricity;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
-  lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pmCurrentState.ccustate.powerBatCurrentElectricity;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insChargeState).name());
-  lbs[VAR_TO_STR(insChargeState)+suffix] = m_pmCurrentState.ccustate.insChargeState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerChargeState).name());
-  lbs[VAR_TO_STR(powChargeState)+suffix] = m_pmCurrentState.ccustate.powerChargeState;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insLinkVoltage).name());
-  lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pmCurrentState.ccustate.insLinkVoltage;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insPackVoltage).name());
-  lbs[VAR_TO_STR(insPackVol)+suffix] = m_pmCurrentState.ccustate.insPackVoltage;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrent).name());
-  lbs[VAR_TO_STR(insCurrent)+suffix] = m_pmCurrentState.ccustate.insCurrent;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insPosInsulationResistance).name());
-  lbs[VAR_TO_STR(insPosRes)+suffix] = m_pmCurrentState.ccustate.insPosInsulationResistance;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insNegInsulationResistance).name());
-  lbs[VAR_TO_STR(insNegRes)+suffix] = m_pmCurrentState.ccustate.insNegInsulationResistance;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerLinkVoltage).name());
-  lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pmCurrentState.ccustate.powerLinkVoltage;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPackVoltage).name());
-  lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pmCurrentState.ccustate.powerPackVoltage;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrent).name());
-  lbs[VAR_TO_STR(powCur)+suffix] = m_pmCurrentState.ccustate.powerCurrent;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
-  lbs[VAR_TO_STR(powPosRes)+suffix] = m_pmCurrentState.ccustate.powerPosInsulationResistance;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
-  lbs[VAR_TO_STR(powNegRes)+suffix] = m_pmCurrentState.ccustate.powerNegInsulationResistance;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold1).name());
-  lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold2).name());
-  lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold3).name());
-  lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold3;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
-  lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
-  lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
-  lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
-  lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
-  lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold3;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
-  lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pmCurrentState.ccustate.powerCurrentToInsLimit1;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
-  lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pmCurrentState.ccustate.powerCurrentToinsLimit2;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
-  lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pmCurrentState.ccustate.insAlarmIdentificationWord;
-  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
-  lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
-
-  //5.构建配电系统状态报告
-  disBus1Breaker* pdis1=new disBus1Breaker;
-  disBus2Breaker* pdis2=new disBus2Breaker;
-  disBus3Breaker* pdis3=new disBus3Breaker;
-  disBus4Breaker* pdis4=new disBus4Breaker;
-
-  *pdis1 = m_currentDisBreakerState.bus1Breaker;
-  *pdis2 = m_currentDisBreakerState.bus2Breaker;
-  *pdis3 = m_currentDisBreakerState.bus3Breaker;
-  *pdis4 = m_currentDisBreakerState.bus4Breaker;
-
-  dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
-  dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
-  dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
-  dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
-  
-  //TODO: 构建配电系统故障码
-  Json::Value faultCodeDis_array;
-  for(auto val : faultCode)
-  {
-    faultCodeDis_array.append(val);
-  }
-  dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;
-
-
-  Json::Value currentBusState;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.powerBusVoltage).name());
-  currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pmCurrentState.bus1State.powerBusVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name());
-  currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pmCurrentState.bus1State.dcDc5ModuleCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.powerBusCurrent).name());
-  currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pmCurrentState.bus1State.powerBusCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.busbarAVoltage).name());
-  currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pmCurrentState.bus1State.busbarAVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name());
-  currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.busbarACurrent).name());
-  currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pmCurrentState.bus1State.busbarACurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name());
-  currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name());
-  currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternFTDevice45Current).name());
-  currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pmCurrentState.bus1State.sternFTDevice45Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name());
-  currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pmCurrentState.bus1State.tyzReservedSwitchCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternRudderSwitch1Current).name());
-  currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pmCurrentState.bus1State.sternRudderSwitch1Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent1).name());
-  currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pmCurrentState.bus1State.reservedCurrent1;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternRudderSwitch2Current).name());
-  currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pmCurrentState.bus1State.sternRudderSwitch2Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent2).name());
-  currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pmCurrentState.bus1State.reservedCurrent2;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name());
-  currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pmCurrentState.bus1State.fbReservedSwitchCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent3).name());
-  currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pmCurrentState.bus1State.reservedCurrent3;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.busbarBVoltage).name());
-  currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pmCurrentState.bus2State.busbarBVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.busbarBCurrent).name());
-  currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pmCurrentState.bus2State.busbarBCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.bowFTDevice123Current).name());
-  currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pmCurrentState.bus2State.bowFTDevice123Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.actuatorCurrent).name());
-  currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pmCurrentState.bus2State.actuatorCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name());
-  currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.xczCurrent).name());
-  currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pmCurrentState.bus2State.xczCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name());
-  currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pmCurrentState.bus2State.bowRudderControlBoxCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name());
-  currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.instrumentBusbarVoltage).name());
-  currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pmCurrentState.bus3State.instrumentBusbarVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.reservedCurrent1).name());
-  currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pmCurrentState.bus3State.reservedCurrent1;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name());
-  currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.reservedCurrent2).name());
-  currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pmCurrentState.bus3State.reservedCurrent2;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.emergency2BusbarVoltage).name());
-  currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pmCurrentState.bus3State.emergency2BusbarVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.plcControlPowerCurrent).name());
-  currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pmCurrentState.bus3State.plcControlPowerCurrent;
-
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.instrumentBusbarVoltage).name());
-  currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pmCurrentState.bus4State.instrumentBusbarVoltage;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.instrumentBusbarCurrent).name());
-  currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pmCurrentState.bus4State.instrumentBusbarCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit1Current).name());
-  currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pmCurrentState.bus4State.unit1Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit2Current).name());
-  currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pmCurrentState.bus4State.unit2Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit3Current).name());
-  currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pmCurrentState.bus4State.unit3Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit5Current).name());
-  currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pmCurrentState.bus4State.unit5Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.bowPZDeviceCurrent).name());
-  currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pmCurrentState.bus4State.bowPZDeviceCurrent;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name());
-  currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current;
-  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.emergency1BusbarVoltage).name());
-  currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = m_pmCurrentState.bus4State.emergency1BusbarVoltage;
-
-  // dis["currentBusState"] = currentBusState;
-
-  // pms[VAR_TO_STR(fcs_obj)] = fcs;
-  // pms[VAR_TO_STR(lbs_obj)] = lbs;
-  // pms[VAR_TO_STR(dis_obj)] = dis;
-
-  Notify(PM_TO_DB_STATE,    pms.toStyledString());
-  Notify(PM_TO_DB_FCSSTATE, fcs.toStyledString());
-  Notify(PM_TO_DB_LIBATSTATE, lbs.toStyledString());
-  Notify(PM_TO_DB_DISSTATE, dis.toStyledString());
-  Notify(PM_TO_DB_CURRENTSTATE, currentBusState.toStyledString());
-  
-  // 使用StreamWriterBuilder来设置保持插入顺序
-  Json::StreamWriterBuilder builder;
-  builder["indentation"] = "  "; // 设置不缩进，保持紧凑格式
-  builder["enableYAMLCompatibility"] = true; // 保持插入顺序
-
-  // 将Json::Value对象转换为字符串
-  string pathFile = "/home/zjk/project/H100/H100PowerManger/data/msg/";
-  string jsonStr = Json::writeString(builder, pms);
-
-  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_STATE+".json");
-
-  jsonStr = Json::writeString(builder, fcs);
-  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_FCSSTATE+".json");
-
-  jsonStr = Json::writeString(builder, lbs);
-  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_LIBATSTATE+".json");
-
-  jsonStr = Json::writeString(builder, dis);
-  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_DISSTATE + ".json");
-
-  jsonStr = Json::writeString(builder, currentBusState);
-  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_CURRENTSTATE + ".json");
-
-  return true;
-}

src/pPowerManger/PowerManger.h

@@ -23,7 +23,7 @@
 #include <queue>
 #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
-#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+// #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 #include "MOOS/libMOOS/Utils/ConsoleColours.h"
 #include "ccuUdpMsg.h"
@@ -33,8 +33,9 @@
 #include "PowerManagerFsm.hpp"
 #include "SQLiteDB.h"
 #include "driver.h"
+#include "LowerCommManager.h"
+#include "UpperCommManager.h"
 
-#define VAR_TO_STR(var) #var
 
 #define IPORT 5000
 #define CCUPORT 5001
@@ -42,29 +43,12 @@
 #define MAX_UDP_PKT_SIZE 65535
 #define SKEW_TOLERANCE 5
 
-//能源管理反馈的消息
-#define PM_TO_DB_STATE "uPower_pmState_st"
-#define PM_TO_DB_CURRENTSTATE "uPower_currentState_st"
-#define PM_TO_DB_DISSTATE "uPower_disSysState_st"
-#define PM_TO_DB_LIBATSTATE "uPower_liBatState_st"
-#define PM_TO_DB_FCSSTATE "uPower_fcsState_st"
-
-#define PM_TO_DB_SUBDISCMD "uPower_secdistState_cmd"
-#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb"
-
-//控制消息
-//TODO:实现上位机交互控制功能
-#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
-#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
-#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
-
 class PowerManger : public AppCastingMOOSApp
 {
  public:
    PowerManger();
    ~PowerManger();
  public:
-   bool ListenLoopUDP();
    bool FsmLoop();
 
  protected: // Standard MOOSApp functions to overload  
@@ -75,103 +59,78 @@ class PowerManger : public AppCastingMOOSApp
    bool buildReport();
    void registerVariables();
 
- protected: 
+  public: 
   void updateTime(){m_current_time = MOOSTime();}
-  bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL);
-  string getTypeName(const string typeName);
-  bool inline saveStringToJsonFile(const string &strJson, const string &strFileName);
   //数据库
   SQLiteDB* m_db;
   bool writeDataToDB();
 
-  //通信状态变量及操作函数
+  /************************************************************/
-  XPCUdpSocket* setUdpScoket(long lPort);
+  /*       |<------------FEEDBACK--------<--                  */
-  bool updatePmState();
+  /*       |                               |                  */
-  bool updateConnectState();
+  /*  IN-->+-------[STATE CONTROL]---------+--->OUT           */
-
+  /*                                                          */
-  int connectState;
+  /************************************************************/  
-  double msg_CcuStateFbMsg_Update_time;
+  public:
-  // double msg_CcuSetParmFbMsg_Update_time;
+  //===========================IN============================================
-  double msg_disHighVolBusFbMsg_Update_time;
+  DriverTable m_MSDriverCmd;
-  double msg_disHighAVolBusFbMsg_Update_time;
+  MSControlCmd m_msCmd;
-  double msg_disHighBVolBusFbMsg_Update_time;
+  //===========================OUT===========================================
-  double msg_disLowBusFbMsg_Update_time;
+  DriverTable m_subDisSysCmd;
-  protected:
+  ccuColCmd m_CcuColCmd;
-  //===========================交互状态变量==================================
+  disSysBreakerList m_targetDisBreakerState;
-  Driver m_driver; //设备驱动
+  //===========================FEEDBACK======================================
   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
+  int m_depth;
-   unsigned char workCondition;
+  int m_missionCode;
-   unsigned char currentMod;
+  //===========================STATE=========================================
-   unsigned char powerState;
+  unsigned char workCondition;
-   unsigned char falutLevel;
+  unsigned char currentMod;
-   vector<unsigned int> faultCode;
+  unsigned char powerState;
-   unsigned int soc;
+  unsigned char falutLevel;
-   unsigned int sustainableTime;
+  vector<unsigned int> faultCode;
- 
+  unsigned int soc;
-   // 配电和CCU的反馈状态
+  unsigned int sustainableTime;
-   msg_CcuStateFbMsg       m_CcuCurrentState;
+  unsigned int  m_faultNum;
-   msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
+  Driver m_driver; //设备表处理
-   msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
+  std::string m_pmEvent;  // 状态机事件描述
-   msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
+  //===========================CONFIG========================================
-   msg_disLowBusFbMsg      m_disLowBusState;
+  long          m_lPort;
- 
+  unsigned int  m_nReceiveBufferSizeKB;
-   //下位机操作函数
+  unsigned int  m_nSendBufferSizeKB;
-   ccuColCmd m_CcuColCmd;
+  double        m_current_time; 
-   void disSysOption();
+  unsigned int  m_ticker;
-   void ccuOption();
+  int  connectState;
- 
+
-   char getBreakerOption(char cmd);
+  //=============================过程函数======================================
-   void initControlCmd();
+  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;
+  //  CMOOSThread   m_FsmThread;
-   XPCUdpSocket *m_pCcuUdpComm;
+   LowerCommManager* m_lowerCommManager;
-   CMOOSThread   m_ListenThread;
+   UpperCommManager* m_upperCommManager;
-   CMOOSThread   m_FsmThread;
+    
-   long          m_lPort;
+  //  // 状态机实例
-   unsigned int  m_nReceiveBufferSizeKB;
+  //  PowerManagerFsm m_fsm;
-   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;
- 
+
-  // 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();
- 
+   
-
+   bool sendNotification(const std::string& key, const std::string& value) {
+       return Notify(key, value);
+   }
 };
 
 #endif

src/pPowerManger/UpperCommManager.cpp

@@ -0,0 +1,586 @@
+#include "UpperCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+
+UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}
+
+bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
+    if(key == DB_TO_PM_MSCMD) {
+        m_pm->m_msCmd = getMasterControlCmd(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_EQUIPMENTCMD) {
+        m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_SUBDISSTATE) {
+        m_pm->m_subDisSysState = getSubDisState(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_DEEPTH) {
+        m_pm->m_depth = getDeepth(key, strJson);
+        return true;
+    }
+    std::cout << "Unknown key: " << key << std::endl;
+    return false;
+}
+
+const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
+{
+    MSControlCmd cmd;
+    if (parseControlCmdFromJson(cmd, msg)) {
+        
+        return cmd;
+    }
+    else
+    {
+        cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
+{
+    DriverTable cmd;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+    return cmd;
+}
+
+const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
+{
+    DriverTable state;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const int UpperCommManager::getDeepth(const std::string& key, const std::string& msg){
+    int deepth;
+    Json::Value root;
+    Json::CharReaderBuilder builder;
+    JSONCPP_STRING errs;
+    
+    // 解析JSON字符串
+    std::istringstream stream(msg);
+    if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+        std::cerr << "JSON解析失败: " << errs << std::endl;
+        return -1;
+    }
+
+    // 检查并读取深度数组
+    if (root.isMember("value_array_uint16") && root["value_array_uint16"].isArray()) {
+        const Json::Value& array = root["value_array_uint16"];
+        if (array.size() >= 3) {
+            // 计算三个深度值的平均值
+            deepth = (array[0].asInt() + array[1].asInt() + array[2].asInt()) / 3;
+        } else {
+            std::cerr << "深度数组元素不足3个" << std::endl;
+            return -1;
+        }
+    } else {
+        std::cerr << "JSON格式错误" << std::endl;
+        return -1;
+    }
+    
+    return deepth;
+}
+
+const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
+const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
+void UpperCommManager::processPeriodicTasks() {
+    buildSystemReport();
+    std::string strJson;
+    strJson = getCurrentEquState(m_pm->m_currentDriverState);
+    m_pm->sendNotification(PM_TO_DB_EQUIPMENTSTATE, strJson);
+    strJson = getSubDisCmd(m_pm->m_subDisSysCmd);
+    m_pm->sendNotification(PM_TO_DB_SUBDISCMD, strJson);
+}
+bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+{
+  Json::CharReaderBuilder builder;
+  Json::Value root;
+  std::string errs;
+
+  // 解析JSON字符串
+  std::istringstream s(strJson);
+  if (!Json::parseFromStream(builder, s, &root, &errs))
+  {
+      std::cerr << "JSON解析失败: " << errs << std::endl;
+      return false; // 解析失败
+  }
+  if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+  {
+      cmd.powerCMD = root["powerCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("modCMD") && root["modCMD"].isUInt())
+  {
+      cmd.modCMD = root["modCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("workCMD") && root["workCMD"].isUInt())
+  {
+      cmd.workCMD = root["workCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+  return true; // 成功
+}
+void UpperCommManager::buildSystemReport() {
+  string suffix;
+  Json::Value pms;
+  Json::Value fcs;
+  Json::Value lbs;
+  Json::Value dis;
+  // 构建能源系统报告
+  //1.构建系统状态报告
+  suffix = getTypeName(typeid(m_pm->workCondition).name());
+  pms[VAR_TO_STR(workCondition)+suffix] = m_pm->workCondition;
+
+  suffix = getTypeName(typeid(m_pm->currentMod).name());
+  pms[VAR_TO_STR(currentMod)+suffix] = m_pm->currentMod;
+
+  suffix = getTypeName(typeid(m_pm->powerState).name());
+  pms[VAR_TO_STR(powerState)+suffix] = m_pm->powerState;
+
+  suffix = getTypeName(typeid(m_pm->falutLevel).name());
+  pms[VAR_TO_STR(falutLevel)+suffix] = m_pm->falutLevel;
+
+  Json::Value faultCode_array;
+  for(auto val : m_pm->faultCode)
+  {
+    faultCode_array.append(val);
+  }
+  pms[VAR_TO_STR(faultCode_array)] = faultCode_array;
+
+  suffix = getTypeName(typeid(m_pm->soc).name());
+  pms[VAR_TO_STR(soc)+suffix] = m_pm->soc;
+
+  suffix = getTypeName(typeid(m_pm->sustainableTime).name());
+  pms[VAR_TO_STR(sustainableTime)+suffix] = m_pm->sustainableTime;
+  
+  //2.构建燃料电池状态报告
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuState).name());
+  fcs[VAR_TO_STR(fcuState)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuFaultLeve).name());
+  fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuFaultLeve;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLimit).name());
+  fcs[VAR_TO_STR(powLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.totalPowerGeneration).name());
+  fcs[VAR_TO_STR(powerGen)+suffix] = m_pm->m_pmCurrentState.ccustate.totalPowerGeneration;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4o).name());
+  fcs[VAR_TO_STR(ch4o)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4o;
+ 
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2).name());
+  fcs[VAR_TO_STR(o2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltage).name());
+  fcs[VAR_TO_STR(fcuVol)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrent).name());
+  fcs[VAR_TO_STR(fcuCur)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Level).name());
+  fcs[VAR_TO_STR(o2Level)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Level;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.exchangerTemperature).name());
+  fcs[VAR_TO_STR(excTemp)+suffix] = m_pm->m_pmCurrentState.ccustate.exchangerTemperature;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutPower).name());
+  fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutPower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutIns).name());
+  fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltageIns).name());
+  fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltageIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltagePower).name());
+  fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltagePower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentIns).name());
+  fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentPower).name());
+  fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentPower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration1).name());
+  fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration2).name());
+  fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration1).name());
+  fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration2).name());
+  fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration1).name());
+  fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration2).name());
+  fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure1).name());
+  fcs[VAR_TO_STR(backpressure1)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure2).name());
+  fcs[VAR_TO_STR(backpressure2)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.flameDetection).name());
+  fcs[VAR_TO_STR(flameDet)+suffix] = m_pm->m_pmCurrentState.ccustate.flameDetection;
+
+  unsigned short faultCode1;
+  unsigned short faultCode2;
+  unsigned short faultCode3;
+  faultCode1 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_1L;
+  faultCode2 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_2L;
+  faultCode3 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_3H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_3L;
+
+  suffix = getTypeName(typeid(faultCode1).name());
+  fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1;
+  suffix = getTypeName(typeid(faultCode2).name());
+  fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2;
+  suffix = getTypeName(typeid(faultCode3).name());
+  fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3;
+
+  //4.构建动力锂电池状态报告
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name());
+  lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name());
+  lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name());
+  lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name());
+  lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name());
+  lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name());
+  lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name());
+  lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name());
+  lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name());
+  lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
+  lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
+  lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
+  lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name());
+  lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name());
+  lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name());
+  lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name());
+  lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name());
+  lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name());
+  lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name());
+  lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name());
+  lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name());
+  lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name());
+  lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
+  lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
+  lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name());
+  lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name());
+  lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name());
+  lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
+  lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
+  lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
+  lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
+  lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
+  lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
+  lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
+  lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
+  lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
+  lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
+
+  //5.构建配电系统状态报告
+  disBus1Breaker* pdis1=new disBus1Breaker;
+  disBus2Breaker* pdis2=new disBus2Breaker;
+  disBus3Breaker* pdis3=new disBus3Breaker;
+  disBus4Breaker* pdis4=new disBus4Breaker;
+
+  *pdis1 = m_pm->m_currentDisBreakerState.bus1Breaker;
+  *pdis2 = m_pm->m_currentDisBreakerState.bus2Breaker;
+  *pdis3 = m_pm->m_currentDisBreakerState.bus3Breaker;
+  *pdis4 = m_pm->m_currentDisBreakerState.bus4Breaker;
+
+  dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
+  dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
+  dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
+  dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
+  
+  //TODO: 构建配电系统故障码
+  Json::Value faultCodeDis_array;
+  for(auto val : m_pm->faultCode)
+  {
+    faultCodeDis_array.append(val);
+  }
+  dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;
+
+
+  Json::Value currentBusState;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusVoltage).name());
+  currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name());
+  currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusCurrent).name());
+  currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarAVoltage).name());
+  currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarAVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarACurrent).name());
+  currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarACurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name());
+  currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current).name());
+  currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name());
+  currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current).name());
+  currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent1).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent1;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current).name());
+  currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent2).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent2;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name());
+  currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent3).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBVoltage).name());
+  currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBCurrent).name());
+  currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current).name());
+  currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.actuatorCurrent).name());
+  currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pm->m_pmCurrentState.bus2State.actuatorCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.xczCurrent).name());
+  currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pm->m_pmCurrentState.bus2State.xczCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name());
+  currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage).name());
+  currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent1).name());
+  currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent1;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name());
+  currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent2).name());
+  currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent2;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage).name());
+  currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage).name());
+  currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent).name());
+  currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit1Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit2Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit3Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit3Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit5Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit5Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent).name());
+  currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name());
+  currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage).name());
+  currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage;
+
+  // dis["currentBusState"] = currentBusState;
+
+  // pms[VAR_TO_STR(fcs_obj)] = fcs;
+  // pms[VAR_TO_STR(lbs_obj)] = lbs;
+  // pms[VAR_TO_STR(dis_obj)] = dis;
+
+  m_pm->sendNotification(PM_TO_DB_STATE,    pms.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_FCSSTATE, fcs.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_LIBATSTATE, lbs.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_DISSTATE, dis.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_CURRENTSTATE, currentBusState.toStyledString());
+  
+  // 使用StreamWriterBuilder来设置保持插入顺序
+  Json::StreamWriterBuilder builder;
+  builder["indentation"] = "  "; // 设置不缩进，保持紧凑格式
+  builder["enableYAMLCompatibility"] = true; // 保持插入顺序
+
+  // 将Json::Value对象转换为字符串
+  string pathFile = "/home/zjk/project/H100/H100PowerManger/data/msg/";
+  string jsonStr = Json::writeString(builder, pms);
+
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_STATE+".json");
+
+  jsonStr = Json::writeString(builder, fcs);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_FCSSTATE+".json");
+
+  jsonStr = Json::writeString(builder, lbs);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_LIBATSTATE+".json");
+
+  jsonStr = Json::writeString(builder, dis);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_DISSTATE + ".json");
+
+  jsonStr = Json::writeString(builder, currentBusState);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_CURRENTSTATE + ".json");
+
+//   return true;
+}
+bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath)
+{
+  std::ofstream file(filePath, std::ios::trunc);
+  if (file.is_open()) {
+      file << strJson;
+      file.close();
+      // std::cout << "字符串已成功保存到文件中。" << std::endl;
+      return true;
+  } else {
+      std::cerr << "无法打开文件！" << std::endl;
+      return false;
+  }
+}
+string UpperCommManager::getTypeName(const string typeName)
+{
+    // 映射类型名称到指定的字符串
+    if (typeName == "i" || typeName == "c") {
+        return "_int8";
+    } else if (typeName == "h" || typeName == "C") {
+        return "_uint8";
+    } else if (typeName == "s" || typeName == "S") {
+        return "_int16";
+    } else if (typeName == "t" || typeName == "T") {
+        return "_uint16";
+    } else if (typeName == "i" || typeName == "I") {
+        return "_int32";
+    } else if (typeName == "j" || typeName == "J") {
+        return "_uint32";
+    } else if (typeName == "x" || typeName == "X") {
+        return "_int64";
+    } else if (typeName == "f" || typeName == "F") {
+        return "_fp32";
+    } else if (typeName == "d" || typeName == "D") {
+        return "_fp64";
+    } else if (typeName == "b" || typeName == "B") {
+        return "_bool";
+    } else if (typeName == "NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE") {
+        return "_str";
+    } else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") {
+        return "_array";
+    } else {
+        // 默认情况
+        return "_obj";
+    }
+}

src/pPowerManger/UpperCommManager.h

@@ -0,0 +1,70 @@
+#ifndef UPPER_COMM_MANAGER_H
+#define UPPER_COMM_MANAGER_H
+
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "pmSysvariable.h"
+#include "driver.h"
+#include "json/json.h"
+#include <string>
+#include <vector>
+#include <map>
+using namespace std;
+#define VAR_TO_STR(var) #var
+//能源管理反馈的消息
+#define PM_TO_DB_STATE "uPower_pmState_st"
+#define PM_TO_DB_CURRENTSTATE "uPower_currentState_st"
+#define PM_TO_DB_DISSTATE "uPower_disSysState_st"
+#define PM_TO_DB_LIBATSTATE "uPower_liBatState_st"
+#define PM_TO_DB_FCSSTATE "uPower_fcsState_st"
+
+#define PM_TO_DB_SUBDISCMD "uPower_secdistState_cmd"
+#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb"
+
+//控制消息
+#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
+#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
+#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
+
+//决策消息
+#define DB_TO_PM_DEEPTH "uDevice_depth_st"
+#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+
+class PowerManger; // 前向声明
+
+class UpperCommManager {
+public:
+    UpperCommManager(PowerManger* powerManager);
+    ~UpperCommManager();
+
+    // 周期调用
+    void processPeriodicTasks();
+
+    // 处理上位机消息
+    bool processUpperMsg(const std::string& key, const std::string& msg);
+    
+    // 生成系统报告
+    void buildSystemReport();
+    
+    // 消息处理函数
+    const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
+    const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
+    const DriverTable getSubDisState(const std::string& key, const std::string& msg);
+    const int getDeepth(const std::string& key, const std::string& msg);
+
+
+    const std::string getCurrentEquState(DriverTable& driver);
+    const std::string getSubDisCmd(DriverTable& driver);
+    // 其他公共函数
+    string getTypeName(const string typeName);
+    bool saveStringToJsonFile(const string &strJson, const string &filePath);
+
+private:
+    PowerManger* m_pm;
+    MSControlCmd m_msCmd;
+    Driver m_driver;
+    
+    // 从JSON解析控制命令
+    bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
+};
+
+#endif // UPPER_COMM_MANAGER_H

src/pPowerManger/driver.cpp

@@ -59,72 +59,72 @@ int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
 void Driver::getSTANDBYTable(DriverTable* driverTable)
 {
     //打开所有传感器
-    driverTable->depth1 = DRIVER_FULL_POWER_ON;
+    driverTable->depth1 = 1;
-    driverTable->depth2 = DRIVER_FULL_POWER_ON;
+    driverTable->depth2 = 1;
-    driverTable->depth3 = DRIVER_FULL_POWER_ON;
+    driverTable->depth3 = 1;
-    driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
+    driverTable->overDeep1 = 1;
-    driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
+    driverTable->overDeep2 = 1;
-    driverTable->ctd1 = DRIVER_FULL_POWER_ON;
+    driverTable->ctd1 = 1;
-    driverTable->ctd2 = DRIVER_FULL_POWER_ON;
+    driverTable->ctd2 = 1;
-    driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
+    driverTable->soundVeloc = 1;
-    driverTable->commMast = DRIVER_FULL_POWER_ON;
+    driverTable->commMast = 1;
-    driverTable->ins = DRIVER_FULL_POWER_ON;
+    driverTable->ins = 1;
-    driverTable->ntp = DRIVER_FULL_POWER_ON;
+    driverTable->ntp = 1;
-    driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
+    driverTable->inputWaterSensor1 = 1;
-    driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
+    driverTable->inputWaterSensor2 = 1;
-    driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
+    driverTable->inputWaterSensor3 = 1;
 
     //关闭所有负载
-    driverTable->photoSensor = DRIVER_STANDBY;
+    driverTable->photoSensor = 0;
-    driverTable->electSensor = DRIVER_STANDBY;
+    driverTable->electSensor = 0;
-    driverTable->launchControler = DRIVER_STANDBY;
+    driverTable->launchControler = 0;
-    driverTable->sideSonar = DRIVER_POWER_OFF;
+    driverTable->sideSonar = 0;
-    driverTable->buoyage = DRIVER_POWER_OFF;
+    driverTable->buoyage = 0;
     //关闭所有水声设备
-    driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar1 = 0;
-    driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar2 = 0;
-    driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar3 = 0;
-    driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar4 = 0;
-    driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar5 = 0;
-    driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar6 = 0;
-    driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar7 = 0;
-    driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar8 = 0;
-    driverTable->DVL = DRIVER_POWER_OFF;
+    driverTable->DVL = 0;
-    driverTable->forwardSonar = DRIVER_POWER_OFF;
+    driverTable->forwardSonar = 0;
-    driverTable->lowFreqSonar = DRIVER_POWER_OFF;
+    driverTable->lowFreqSonar = 0;
-    driverTable->USBL = DRIVER_POWER_OFF;
+    driverTable->USBL = 0;
     //关闭所有执行机构
-    driverTable->bowCover1 = DRIVER_POWER_OFF;
+    driverTable->bowCover1 = 0;
-    driverTable->bowCover2 = DRIVER_POWER_OFF;
+    driverTable->bowCover2 = 0;
-    driverTable->bowCover3 = DRIVER_POWER_OFF;
+    driverTable->bowCover3 = 0;
-    driverTable->bowCover4 = DRIVER_POWER_OFF;
+    driverTable->bowCover4 = 0;
-    driverTable->bowCover5 = DRIVER_POWER_OFF;
+    driverTable->bowCover5 = 0;
-    driverTable->bowCover6 = DRIVER_POWER_OFF;
+    driverTable->bowCover6 = 0;
-    driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
+    driverTable->bowRudderDeploy = 0;
-    driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
+    driverTable->bowRudderServo1 = 0;
-    driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
+    driverTable->bowRudderServo2 = 0;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet1 = 0;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet2 = 0;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet3 = 0;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet4 = 0;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet5 = 0;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet6 = 0;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet7 = 0;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterlnet8 = 0;
-    driverTable->waterInject = DRIVER_POWER_OFF;
+    driverTable->waterInject = 0;
-    driverTable->mastLiftingServo = DRIVER_POWER_OFF;
+    driverTable->mastLiftingServo = 0;
-    driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
+    driverTable->buoyancyAdjust1 = 0;
-    driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
+    driverTable->buoyancyAdjust2 = 0;
-    driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
+    driverTable->buoyancyAdjust3 = 0;
-    driverTable->buoyancyAdjust4 = DRIVER_POWER_OFF;
+    driverTable->buoyancyAdjust4 = 0;
-    driverTable->buoyancyAdjust5 = DRIVER_POWER_OFF;
+    driverTable->buoyancyAdjust5 = 0;
-    driverTable->sternRudderServo1 = DRIVER_POWER_OFF;
+    driverTable->sternRudderServo1 = 0;
-    driverTable->sternRudderServo2 = DRIVER_POWER_OFF;
+    driverTable->sternRudderServo2 = 0;
-    driverTable->sternRudderServo3 = DRIVER_POWER_OFF;
+    driverTable->sternRudderServo3 = 0;
-    driverTable->sternRudderServo4 = DRIVER_POWER_OFF;
+    driverTable->sternRudderServo4 = 0;
-    driverTable->thruster = DRIVER_POWER_OFF;
+    driverTable->thruster = 0;
-    driverTable->bowThrow = DRIVER_POWER_OFF;
+    driverTable->bowThrow = 0;
-    driverTable->sternThrow = DRIVER_POWER_OFF;
+    driverTable->sternThrow = 0;
 }
 
 void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)

src/pPowerManger/fsm.cpp

@@ -1,103 +0,0 @@
-#include "fsm.h"
-#include <iostream>
-
-
-FSM::FSM(/* args */)
-{
-    idStateMap.clear();
-    handleMap.clear();
-    stateMap.clear();
-};
-
-FSM::~FSM()
-{
-};
-
-int FSM::run(FSM_State &fsm,void* data)
-{
-    FSM_Handle handle = handleMap[fsm.id];
-    return handle(fsm,data);
-}
-int FSM::RegisterHandleFunction(FSM_State* fsm, FSM_Handle handle)
-{
-    if(fsm == NULL)
-        return -1;
-    if(handleMap.count(fsm->id) > 0)
-        return -1;
-    handleMap[fsm->id] = handle;
-    return 0;
-}
-int FSM::unRegisterHandleFunction(FSM_State* fsm)
-{
-    if(fsm == NULL)
-        return -1;
-    if(handleMap.count(fsm->id) <= 0)
-        return -1;
-    handleMap.erase(fsm->id);
-    return 0;
-}
-
-int FSM::RegisterState(std::string name, unsigned int id,FSM_State &state)
-{
-    if(stateMap.count(name) > 0)
-        return -1;
-    if(idStateMap.count(id) > 0)
-        return -1;
-    state.name = name;
-    state.id = id;
-    stateMap[name] = state;
-    idStateMap[id] = state;
-    return 0;
-}
-
-unsigned int FSM::getStateId(std::string name)
-{
-    return stateMap[name].id;
-}
-
-FSM_State FSM::getState(std::string name)
-{
-    return stateMap[name];
-}
-
-
-int FSM::RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state)
-{
-    if(fsm == NULL)
-        return -1;
-    fsm->event[event] = state;
-    return 0;
-}
-
-int FSM::unRegisterEvent(FSM_State* fsm, std::string event)
-{
-    if(fsm == NULL)
-        return -1;
-    if(fsm->event.count(event) <= 0)
-        return -1;
-    fsm->event.erase(event);
-    return 0;
-}
-
-int FSM::run(FSM_State *fsm,void* data, std::string event)
-{
-    if(fsm->event.count(event) <= 0)
-    {
-        std::cout << "no event" << std::endl;
-        return run(*(fsm),data);
-    }
-    else
-    {   
-        int r = run(*(fsm),data);
-        // fsm = fsm->event[event];
-        *fsm = *fsm->event[event];
-        // std::cout << "event  " << event <<std::endl;
-        // std::cout << "fsm" << fsm->name << std::endl;
-        return r;
-    }    
-}
-
-// int FSM::run(FSM_State *fsm,void* data)
-// {
-//     return run(*fsm,data);
-// }

src/pPowerManger/fsm.h

@@ -1,46 +0,0 @@
-#ifndef FSM_H
-#define FSM_H
-
-#include <string>
-#include <map>
-
-
-typedef struct FSM_State
-{
-    std::string name;
-    unsigned int id;
-    std::map<std::string,FSM_State*> event;
-}FSM_State;
-
-typedef int (*FSM_Handle)(FSM_State &fsm, void *data);
-// typedef int (*FSM_EventHandle)(FSM_State &fsm,std::string event,void *data);
-
-class FSM
-{
-public:
-    FSM();
-    ~FSM();
-    std::map<unsigned int, FSM_Handle> handleMap;
-    std::map<std::string, FSM_State> stateMap;
-    std::map<unsigned int, FSM_State> idStateMap;
-
-    int run(FSM_State &fsm,void* data);
-    int run(FSM_State *fsm,void* data, std::string event);
-
-    // 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

src/pPowerManger/pmSysvariable.h

@@ -360,5 +360,54 @@ typedef struct pmState
     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
+  };
+}
 
 #endif

src/pPowerManger/udpComm.cpp

@@ -4,10 +4,17 @@
 
 udpComm::udpComm() 
 {
-
+  udpScoket = nullptr;
+  ccuHost = "";
+  ccuPort = 0;
 }
 
-udpComm::~udpComm() {}
+udpComm::~udpComm() {
+  if (udpScoket) {
+    delete udpScoket;
+    udpScoket = nullptr;
+  }
+}
 
 
 Checksum udpComm::calculateChecksum(const unsigned char* data, int size) 
@@ -490,6 +497,12 @@ bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
   msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
   try
   {
+    if(udpScoket == nullptr) {
+        throw std::runtime_error("UDP socket not initialized");
+    }
+    if(ccuHost.empty() || ccuPort <= 0 || ccuPort > 65535) {
+        throw std::runtime_error("Invalid CCU address: " + ccuHost + ":" + std::to_string(ccuPort));
+    }
     sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
   }
   catch(const std::exception& e)

src/pPowerManger/udpComm.h

@@ -50,6 +50,7 @@ public:
   bool sendDisSysCmd(const disHighBVolBusCmd cmd);
   bool sendDisSysCmd(const disLowBusCmd cmd);
   bool sendMsg(const unsigned char* msg,unsigned int size){
+    // cout << "sendMsgTo" <<  ccuHost << ":" << ccuPort << endl;
     udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
     return true;
   }