From d2961cf005159507b4fe0ecfe1a8921a71186c57 Mon Sep 17 00:00:00 2001 From: zhaojingkui <1553836110@qq.com> Date: Thu, 2 Jan 2025 18:28:47 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BD=BF=E7=94=A8=E7=8A=B6=E6=80=81=E6=9C=BA?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=88=9D=E5=A7=8B=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=92=8C=E6=95=85=E9=9A=9C=E7=8A=B6=E6=80=81,=E7=BC=96?= =?UTF-8?q?=E5=86=99=E4=BA=86gui=E8=B0=83=E8=AF=95=E7=A8=8B=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 3 +- data/msg/uPower_currentState_st.json | 72 ++++---- data/msg/uPower_disSysState_st.json | 8 +- data/msg/uPower_fcsState_st.json | 54 +++--- data/msg/uPower_liBatState_st.json | 56 +++--- data/msg/uPower_pmState_st.json | 2 +- src/pPowerManger/PowerManger.cpp | 154 +++++++++++----- src/pPowerManger/PowerManger.h | 40 +++-- src/pPowerManger/ccuUdpMsg.h | 107 +++++++---- src/pPowerManger/fsm.h | 2 +- src/pPowerManger/pmSysvariable.h | 97 ++++++++++ src/pPowerManger/udpComm.cpp | 102 +++++++++++ src/pPowerManger/udpComm.h | 15 ++ test/scripts/gui.py | 42 +++++ test/scripts/guiEle.py | 255 +++++++++++++++++++++++++++ test/scripts/guiInput.py | 121 +++++++++++++ test/scripts/test.py | 2 + test/scripts/udpmsg.py | 44 ++++- test/scripts/until.py | 105 +++++++++++ 19 files changed, 1085 insertions(+), 196 deletions(-) create mode 100644 test/scripts/gui.py create mode 100644 test/scripts/guiEle.py create mode 100644 test/scripts/guiInput.py create mode 100644 test/scripts/until.py diff --git a/.vscode/settings.json b/.vscode/settings.json index fcebba8..369f06d 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -52,7 +52,8 @@ "stdexcept": "cpp", "streambuf": "cpp", "cinttypes": "cpp", - "typeinfo": "cpp" + "typeinfo": "cpp", + "queue": "cpp" }, "C_Cpp.errorSquiggles": "disabled", "marscode.chatLanguage": "cn" diff --git a/data/msg/uPower_currentState_st.json b/data/msg/uPower_currentState_st.json index afe1901..a8a0701 100644 --- a/data/msg/uPower_currentState_st.json +++ b/data/msg/uPower_currentState_st.json @@ -1,47 +1,47 @@ { - "HVABFTDev123Cur_uint16": 24953, - "HVABactCur_uint16": 42982, - "HVABbowRudCur_uint16": 31, - "HVABbusBCur_uint16": 24576, + "HVABFTDev123Cur_uint16": 0, + "HVABactCur_uint16": 0, + "HVABbowRudCur_uint16": 0, + "HVABbusBCur_uint16": 0, "HVABbusBVol_uint16": 0, - "HVABmastSteGeaCur_uint16": 127, - "HVABopenWaterCur_uint16": 65280, - "HVABxczCur_uint16": 32768, - "HVBBCCUCur_uint16": 24851, - "HVBBFCSSecurSysCur_uint16": 42982, - "HVBBbatInsCur_uint16": 24851, + "HVABmastSteGeaCur_uint16": 0, + "HVABopenWaterCur_uint16": 0, + "HVABxczCur_uint16": 1, + "HVBBCCUCur_uint16": 0, + "HVBBFCSSecurSysCur_uint16": 0, + "HVBBbatInsCur_uint16": 0, "HVBBbowLowVolDisBoxCur_uint16": 0, "HVBBdcC1InsCur_uint16": 0, - "HVBBemer2BusVol_uint16": 47104, - "HVBBemerBatCur_uint16": 36864, + "HVBBemer2BusVol_uint16": 0, + "HVBBemerBatCur_uint16": 0, "HVBBinsBusVol_uint16": 0, - "HVBBplcCur_uint16": 127, + "HVBBplcCur_uint16": 0, "HVBBreservedCur1_uint16": 0, - "HVBBreservedCur2_uint16": 127, - "HVBBunit4Cur_uint16": 42982, - "HVBFTDev45Cur_uint16": 32679, - "HVBbatGroupCur_uint16": 48760, - "HVBbowHVolDisBoxCur_uint16": 58976, + "HVBBreservedCur2_uint16": 0, + "HVBBunit4Cur_uint16": 0, + "HVBFTDev45Cur_uint16": 0, + "HVBbatGroupCur_uint16": 0, + "HVBbowHVolDisBoxCur_uint16": 0, "HVBbusACur_uint16": 0, - "HVBbusAVol_uint16": 58943, + "HVBbusAVol_uint16": 0, "HVBdcDc5Cur_uint16": 0, - "HVBfbCur_uint16": 5144, - "HVBmotorCur_uint16": 32679, - "HVBpowerBusCur_uint16": 7264, - "HVBpowerBusVol_uint16": 32679, - "HVBreservedCur1_uint16": 58977, + "HVBfbCur_uint16": 0, + "HVBmotorCur_uint16": 0, + "HVBpowerBusCur_uint16": 0, + "HVBpowerBusVol_uint16": 0, + "HVBreservedCur1_uint16": 0, "HVBreservedCur2_uint16": 0, - "HVBreservedCur3_uint16": 58977, - "HVBsternRud1Cur_uint16": 5048, - "HVBsternRud2Cur_uint16": 32679, + "HVBreservedCur3_uint16": 0, + "HVBsternRud1Cur_uint16": 0, + "HVBsternRud2Cur_uint16": 0, "HVBtyzCur_uint16": 0, - "LVBBbowPZDevCur_uint16": 127, - "LVBBemerBatCur_uint16": 6144, - "LVBBemerBusVol_uint16": 24852, - "LVBBinsBusCur_uint16": 42982, - "LVBBunit1Cur_uint16": 127, - "LVBBunit2Cur_uint16": 61440, - "LVBBunit3Cur_uint16": 24851, - "LVBBunit5Cur_uint16": 42982, - "LVBinsBusVol_uint16": 24852 + "LVBBbowPZDevCur_uint16": 0, + "LVBBemerBatCur_uint16": 0, + "LVBBemerBusVol_uint16": 0, + "LVBBinsBusCur_uint16": 0, + "LVBBunit1Cur_uint16": 0, + "LVBBunit2Cur_uint16": 0, + "LVBBunit3Cur_uint16": 0, + "LVBBunit5Cur_uint16": 0, + "LVBinsBusVol_uint16": 0 } \ No newline at end of file diff --git a/data/msg/uPower_disSysState_st.json b/data/msg/uPower_disSysState_st.json index 940a773..af47382 100644 --- a/data/msg/uPower_disSysState_st.json +++ b/data/msg/uPower_disSysState_st.json @@ -1,8 +1,8 @@ { - "HVolABusBreaker_unit16": 0, - "HVolBBusBreaker_unit16": 0, - "HVolBusBreaker_uint16": 512, - "LVolBusBreaker_uint16": 0, + "HVolABusBreaker_unit16": 63, + "HVolBBusBreaker_unit16": 113, + "HVolBusBreaker_uint16": 4090, + "LVolBusBreaker_uint16": 113, "faultCode_array": [ 0 diff --git a/data/msg/uPower_fcsState_st.json b/data/msg/uPower_fcsState_st.json index a268b59..d23d9f2 100644 --- a/data/msg/uPower_fcsState_st.json +++ b/data/msg/uPower_fcsState_st.json @@ -1,30 +1,30 @@ { - "backpressure1_fp32": -9.0950115693742826e-30, - "backpressure2_fp32": 1.1723338622658493e-38, - "ch4oConcent1_fp32": 0.0, - "ch4oConcent2_fp32": 0.0, - "ch4o_fp32": 0.0, - "excTemp_fp32": 1.1723338622658493e-38, - "faultCode1_uint16": 39232, - "faultCode2_uint16": 59024, - "faultCode3_uint16": 32679, - "fcuCurIns_fp32": -6.5672670359649233e-28, - "fcuCurPower_fp32": 1.1723338622658493e-38, - "fcuCur_fp32": 4.6635212892729912e-42, - "fcuFaultLeve_uint8": 144, - "fcuOutIns_fp32": 1.1753926165537775e-38, - "fcuOutPower_fp32": -1.104591035133728e+23, - "fcuState_uint8": 46, - "fcuVolIns_fp32": -410840465408.0, - "fcuVolPower_fp32": 7.8490804765364189e-39, - "fcuVol_fp32": 1.1723338622658493e-38, + "backpressure1_fp32": -1.6155215737897056e+25, + "backpressure2_fp32": 1.9618178500547439e-44, + "ch4oConcent1_fp32": 3.7196912217041245e-12, + "ch4oConcent2_fp32": 1.1664828806579075e-38, + "ch4o_fp32": 1.1754855226419623e-38, + "excTemp_fp32": 1.1664828806579075e-38, + "faultCode1_uint16": 29888, + "faultCode2_uint16": 49624, + "faultCode3_uint16": 0, + "fcuCurIns_fp32": -1775767650304.0, + "fcuCurPower_fp32": 7.894814654516588e-39, + "fcuCur_fp32": 1.7755460477889746e-38, + "fcuFaultLeve_uint8": 194, + "fcuOutIns_fp32": 0.0, + "fcuOutPower_fp32": 2.152394441202919e-42, + "fcuState_uint8": 124, + "fcuVolIns_fp32": 0.0, + "fcuVolPower_fp32": 1.1664542941692352e-38, + "fcuVol_fp32": 1.1754855226419623e-38, "flameDet_uint8": 0, - "h2Concent1_fp32": -3.4461820052887443e-29, - "h2Concent2_fp32": 1.1723338622658493e-38, - "o2Concent1_fp32": 3.5873240686715317e-43, - "o2Concent2_fp32": 0.0, - "o2Level_fp32": 0.0, - "o2_fp32": -8.1197206455365864e-30, - "powLimit_fp32": 1.1723338622658493e-38, - "powerGen_fp32": 3.5873240686715317e-43 + "h2Concent1_fp32": 3.8200553831302386e-12, + "h2Concent2_fp32": 1.1664828806579075e-38, + "o2Concent1_fp32": 4.5144443738820428e-14, + "o2Concent2_fp32": 1.1664828806579075e-38, + "o2Level_fp32": 1.1664542941692352e-38, + "o2_fp32": -1075184933011456.0, + "powLimit_fp32": 1.166482740528061e-38, + "powerGen_fp32": -1075322371964928.0 } \ No newline at end of file diff --git a/data/msg/uPower_liBatState_st.json b/data/msg/uPower_liBatState_st.json index 7365d33..1f59671 100644 --- a/data/msg/uPower_liBatState_st.json +++ b/data/msg/uPower_liBatState_st.json @@ -1,38 +1,38 @@ { "fcuCurToInsLimit1_uint8": 127, "fcuCurToinsLimit2_uint8": 0, - "insBatCurElect_uint16": 32765, - "insBatLimit_uint16": 39552, - "insBatSoc_uint8": 97, - "insBatTotalElect_uint16": 47744, - "insChargeState_uint8": 2, - "insCurSocHold1_uint8": 144, - "insCurSocHold2_uint8": 230, - "insCurSocHold3_uint8": 167, + "insBatCurElect_uint16": 0, + "insBatLimit_uint16": 0, + "insBatSoc_uint8": 0, + "insBatTotalElect_uint16": 2, + "insChargeState_uint8": 71, + "insCurSocHold1_uint8": 41, + "insCurSocHold2_uint8": 204, + "insCurSocHold3_uint8": 4, "insCurrent_uint16": 0, - "insLinkVol_uint16": 0, + "insLinkVol_uint16": 52163, "insNegRelayState_uint8": 0, - "insNegRes_uint16": 0, - "insPackVol_uint16": 0, + "insNegRes_uint16": 52265, + "insPackVol_uint16": 32516, "insPosRelayState_uint8": 0, - "insPosRes_uint16": 0, - "insfaultCode_uint8": 186, + "insPosRes_uint16": 18488, + "insfaultCode_uint8": 176, "powBatCurElect_uint16": 0, - "powBatSoc_uint8": 175, - "powBatTotalElect_uint16": 10981, - "powChargeState_uint8": 0, + "powBatSoc_uint8": 0, + "powBatTotalElect_uint16": 0, + "powChargeState_uint8": 241, "powCurSocHold1_uint8": 0, - "powCurSocHold2_uint8": 224, - "powCurSocHold3_uint8": 233, - "powCurToInsLimit1_uint8": 210, - "powCurToinsLimit2_uint8": 11, - "powCur_uint16": 47904, - "powLinkVol_uint16": 0, - "powNegRelayState_uint8": 115, - "powNegRes_uint16": 32765, - "powPosRelayState_uint8": 238, - "powPosRes_uint16": 10981, - "powerBatLimit_uint16": 42026, + "powCurSocHold2_uint8": 228, + "powCurSocHold3_uint8": 85, + "powCurToInsLimit1_uint8": 48, + "powCurToinsLimit2_uint8": 0, + "powCur_uint16": 15376, + "powLinkVol_uint16": 32516, + "powNegRelayState_uint8": 0, + "powNegRes_uint16": 32516, + "powPosRelayState_uint8": 0, + "powPosRes_uint16": 52247, + "powerBatLimit_uint16": 0, "powerPackVol_uint16": 0, - "powfaultCode_uint8": 81 + "powfaultCode_uint8": 68 } \ No newline at end of file diff --git a/data/msg/uPower_pmState_st.json b/data/msg/uPower_pmState_st.json index 43fa2ff..863f2eb 100644 --- a/data/msg/uPower_pmState_st.json +++ b/data/msg/uPower_pmState_st.json @@ -7,6 +7,6 @@ ], "powerState_uint8": 0, "soc_uint32": 0, - "sustainableTime_obj": 0, + "sustainableTime_uint32": 0, "workCondition_uint8": 0 } \ No newline at end of file diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp index 0cd877e..9fcabfc 100644 --- a/src/pPowerManger/PowerManger.cpp +++ b/src/pPowerManger/PowerManger.cpp @@ -9,7 +9,6 @@ #include "MBUtils.h" #include "ACTable.h" #include "PowerManger.h" -#include "MOOS/libMOOS/Utils/ConsoleColours.h" #include using namespace std; @@ -32,33 +31,18 @@ PowerManger::PowerManger() falutLevel = 0; soc = 0; sustainableTime = 0; + m_connected = false; faultCode.push_back(0); - - //注册状态机 - m_fsm.RegisterState("PM_STATE", 1, m_state1); - m_fsm.RegisterState("PM_STATE2", 2, m_state2); - m_fsm.RegisterState("PM_STATE3", 3, m_state3); + m_fsm.RegisterState("Init", 1, m_Inite_s1); + m_fsm.RegisterState("Fault", 99, m_Fault_s99); - m_fsm.RegisterHandleFunction(&m_state1,handleState1); - m_fsm.RegisterHandleFunction(&m_state2,handleState2); - m_fsm.RegisterHandleFunction(&m_state3,handleState3); - - // 注册状态机转换条件 - // m_fsm.RegisterEvent(&m_state1, "a", &m_state2); - // m_fsm.RegisterEvent(&m_state2, "b", &m_state3); - // m_fsm.RegisterEvent(&m_state3, "c", &m_state1); - - // cout << m_state1.event["a"]->name << endl; - // cout << m_state2.event["b"]->name << endl; - // cout << m_state1.event["a"]->id << endl; - - // m_pmEvent = "a"; + m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1); + m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99); // 初始化状态机 - m_pmState = m_state1; - + m_pmState = m_Inite_s1; } //--------------------------------------------------------- @@ -115,20 +99,17 @@ bool PowerManger::OnConnectToServer() bool PowerManger::Iterate() { - m_fsm.run(m_pmState,this); - // m_fsm.run(&m_pmState,this,m_pmEvent); - - cout <<"CURRENT STATE:" << m_pmState.name << " | CURRENT EVENT :" << m_pmEvent << endl; - // cout <<"____________________________________-" << m_pmState.event[m_pmEvent]->name << endl; - - // cout << m_pmState.name << endl; - // cout << m_pmEvent << endl; - AppCastingMOOSApp::Iterate(); - // 更新当前状态 + //1. 更新当前状态 updatePmState(); updateTime(); + //2. 运行状态机 + m_fsm.run(m_pmState,this); + cout <<"CURRENT STATE:" << m_pmState.name << " | CURRENT EVENT :" << m_pmEvent << endl; + + AppCastingMOOSApp::Iterate(); + //3. 输出报告 buildPowerSysReport(); - //输出错误信息 + //4. 打印错误信息 if(!m_udpComm.sError.empty()) { for(int i=0;im_fsm.getState("PM_STATE2"); - // pm->m_pmEvent = "a"; + + //1. 检查复合管控器连接 + double StartTime = pm->GetAppStartTime(); + while (!pm->m_connected) + { + pm->updateTime(); + double dft = abs(pm->m_current_time - StartTime); + if(dft > 1) + { + pm->m_pmState = pm->m_Fault_s99; + break; + } + string desp = "等待复合管控消息 : 超时 : " + to_string(10-dft); + pm->printState(fsm,desp); + usleep(1000000); + } + //2. 检查复合管控器是否上报故障 如果故障则进入故障状态 + bool ok = true; + if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 || + pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 || + pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 || + pm->m_pmCurrentState.ccustate.fcuGZ_2L != 0 || + pm->m_pmCurrentState.ccustate.fcuGZ_3H != 0 || + pm->m_pmCurrentState.ccustate.fcuGZ_3L != 0 || + pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0) + { + ok = false; + } + if(!ok) + { + pm->m_pmState = pm->m_Fault_s99; + } + //3. 检查当前配电装置状态 + // 首先闭合应急电源开关 + //TODO 检查并配置当前配电装置状态 + disHighVolBusCmd a; + a.fuelCellCircuitBreaker = 0xAA; + a.propulsionMotorCircuitBreaker = 0xAA; + pm->m_udpComm.sendDisSysCmd(a); + MOOSPause(1000); + + // pm->workCondition = ""; return 0; } -int PowerManger::handleState2(FSM_State &fsm,void* pData) + +int PowerManger::handleFault_s99(FSM_State &fsm, void* pData) { cout << fsm.name << endl; - PowerManger* pm = (PowerManger*)pData; - fsm = pm->m_fsm.getState("PM_STATE3"); - // pm->m_pmEvent = "b"; return 0; } -int PowerManger::handleState3(FSM_State &fsm,void* pData) -{ - cout << fsm.name << endl; - PowerManger* pm = (PowerManger*)pData; - fsm = pm->m_fsm.getState("PM_STATE"); - // pm->m_pmEvent = "c"; - return 0; -} \ No newline at end of file + + +// int PowerManger::handleState1(FSM_State &fsm,void* pData) +// { +// cout << fsm.name << endl; +// PowerManger* pm = (PowerManger*)pData; +// fsm = pm->m_fsm.getState("PM_STATE2"); +// // pm->m_pmEvent = "a"; +// return 0; +// } +// int PowerManger::handleState2(FSM_State &fsm,void* pData) +// { +// cout << fsm.name << endl; +// PowerManger* pm = (PowerManger*)pData; +// fsm = pm->m_fsm.getState("PM_STATE3"); +// // pm->m_pmEvent = "b"; +// return 0; +// } +// int PowerManger::handleState3(FSM_State &fsm,void* pData) +// { +// cout << fsm.name << endl; +// PowerManger* pm = (PowerManger*)pData; +// fsm = pm->m_fsm.getState("PM_STATE"); +// // pm->m_pmEvent = "c"; +// return 0; +// } \ No newline at end of file diff --git a/src/pPowerManger/PowerManger.h b/src/pPowerManger/PowerManger.h index de23318..16af5cb 100644 --- a/src/pPowerManger/PowerManger.h +++ b/src/pPowerManger/PowerManger.h @@ -24,6 +24,7 @@ #include "MOOS/libMOOS/Utils/MOOSThread.h" #include "MOOS/libMOOS/Comms/XPCUdpSocket.h" #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h" +#include "MOOS/libMOOS/Utils/ConsoleColours.h" #include "ccuUdpMsg.h" #include "json/json.h" #include "udpComm.h" @@ -33,6 +34,8 @@ #define VAR_TO_STR(var) #var #define IPORT 5000 +#define CCUPORT 5001 +#define CCUHOST "127.0.0.1" #define MAX_UDP_PKT_SIZE 65535 #define SKEW_TOLERANCE 5 @@ -61,17 +64,17 @@ class PowerManger : public AppCastingMOOSApp protected: // app function // bool _ListenCB(); - XPCUdpSocket* setUdpScoket(long lPort); - - bool updatePmState(); + bool updatePmState(); void updateTime(){m_current_time = MOOSTime();} bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL); string getTypeName(const string typeName); + + + //通信相关 + XPCUdpSocket* setUdpScoket(long lPort); + bool disSystemOperation(disBreaker optBreaker, disBreakerOpt); bool buildPowerSysReport(); - bool buildDisributionReport(); - bool buildSubDistributionReport(); - bool buildPredictionReport(); protected: // app variables //系统状态 @@ -81,8 +84,9 @@ class PowerManger : public AppCastingMOOSApp unsigned char falutLevel; vector faultCode; unsigned int soc; - unsigned long int sustainableTime; + unsigned int sustainableTime; pmState m_pmCurrentState; + bool m_connected; // 当前传输状态 msg_CcuStateFbMsg m_CcuCurrentState; msg_disHighVolBusFbMsg m_disHighVolBusCurrentState; @@ -105,16 +109,30 @@ class PowerManger : public AppCastingMOOSApp public: //状态实现 - FSM_State m_pmState; + + void printState(FSM_State st, string desp){ + cout << MOOS::ConsoleColours::Yellow() << "STATE " << st.id << " [" << st.name << "] " << MOOS::ConsoleColours::reset(); + cout << MOOS::ConsoleColours::Blue() << " -> " << MOOS::ConsoleColours::reset(); + cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl; + } + + FSM_State m_pmState; //当前状态 string m_pmEvent; FSM m_fsm; + //系统状态定义 FSM_State m_state1; FSM_State m_state2; FSM_State m_state3; - static int handleState1(FSM_State &fsm, void* pData); - static int handleState2(FSM_State &fsm, void* pData); - static int handleState3(FSM_State &fsm, void* pData); + FSM_State startState; + FSM_State stopState; + //初始化状态 + FSM_State m_Inite_s1; + static int handleInite_s1(FSM_State &fsm, void* pData); + + //故障处理 + FSM_State m_Fault_s99; + static int handleFault_s99(FSM_State &fsm, void* pData); }; diff --git a/src/pPowerManger/ccuUdpMsg.h b/src/pPowerManger/ccuUdpMsg.h index 9b2074c..20f7f47 100644 --- a/src/pPowerManger/ccuUdpMsg.h +++ b/src/pPowerManger/ccuUdpMsg.h @@ -16,10 +16,15 @@ #define DIS_HVBUSB_FB_ID 0x0007 #define DIS_LVBUS_FB_ID 0x0008 -#pragma pack (1) +#define DIS_HVBUS_CMD_ID 0x0001 +#define DIS_HVBUSA_CMD_ID 0x0002 +#define DIS_HVBUSB_CMD_ID 0x0003 +#define DIS_LVBUS_CMD_ID 0x0004 + typedef unsigned int Checksum; typedef unsigned char cChecksum; +#pragma pack (1) typedef struct { unsigned char start1; unsigned char start2; @@ -68,43 +73,71 @@ typedef struct { } msg_CcuSetParmMsg; // 配电指令 -typedef struct { + +typedef struct +{ m_header header; - unsigned char dcb1; - unsigned char dcb2; - unsigned char dcb3; - unsigned char dcb4; - unsigned char dcb5; - unsigned char sw1; - unsigned char sw2; - unsigned char qf1; - unsigned char qf2; - unsigned char qf3; - unsigned char qf4; - unsigned char qf5; - unsigned char qf6; - unsigned char qf7; - unsigned char qf8; - unsigned char qf9; - unsigned char qf10; - unsigned char qf11; - unsigned char qf12; - unsigned char qf13; - unsigned char qf14; - unsigned char qf15; - unsigned char qf16; - unsigned char qf17; - unsigned char qf18; - unsigned char qf19; - unsigned char qf20; - unsigned char qf21; - unsigned char qf22; - unsigned char qf23; - unsigned char qf24; - unsigned char qf25; - unsigned char qf26; - Checksum checkCode; -} msg_disSysCmdMsg; + disHighVolBusCmd data; + cChecksum checkCode; +}msg_disHVBCmd; + +typedef struct +{ + m_header header; + disHighAVolBusCmd data; + cChecksum checkCode; +}msg_disHVBACmd; + +typedef struct +{ + m_header header; + disHighBVolBusCmd data; + cChecksum checkCode; +}msg_disHVBBCmd; + +typedef struct +{ + m_header header; + disLowBusCmd data; + cChecksum checkCode; +}msg_disLVBCmd; +// typedef struct { +// m_header header; +// unsigned char dcb1; +// unsigned char dcb2; +// unsigned char dcb3; +// unsigned char dcb4; +// unsigned char dcb5; +// unsigned char sw1; +// unsigned char sw2; +// unsigned char qf1; +// unsigned char qf2; +// unsigned char qf3; +// unsigned char qf4; +// unsigned char qf5; +// unsigned char qf6; +// unsigned char qf7; +// unsigned char qf8; +// unsigned char qf9; +// unsigned char qf10; +// unsigned char qf11; +// unsigned char qf12; +// unsigned char qf13; +// unsigned char qf14; +// unsigned char qf15; +// unsigned char qf16; +// unsigned char qf17; +// unsigned char qf18; +// unsigned char qf19; +// unsigned char qf20; +// unsigned char qf21; +// unsigned char qf22; +// unsigned char qf23; +// unsigned char qf24; +// unsigned char qf25; +// unsigned char qf26; +// Checksum checkCode; +// } msg_disSysCmdMsg; // 复合管控参数设定反馈指令 typedef struct { diff --git a/src/pPowerManger/fsm.h b/src/pPowerManger/fsm.h index f40a6e2..491b19a 100644 --- a/src/pPowerManger/fsm.h +++ b/src/pPowerManger/fsm.h @@ -10,7 +10,7 @@ typedef struct FSM_State std::string name; unsigned int id; std::map event; -}; +}FSM_State; typedef int (*FSM_Handle)(FSM_State &fsm, void *data); // typedef int (*FSM_EventHandle)(FSM_State &fsm,std::string event,void *data); diff --git a/src/pPowerManger/pmSysvariable.h b/src/pPowerManger/pmSysvariable.h index 3a3ca42..19604d2 100644 --- a/src/pPowerManger/pmSysvariable.h +++ b/src/pPowerManger/pmSysvariable.h @@ -196,6 +196,57 @@ typedef struct disLowBusState unsigned short emergencyLithiumBatteryGroup1Current; unsigned short emergency1BusbarVoltage; }disLowBusState; + +typedef struct disHighVolBusCmd +{ + unsigned char fuelCellCircuitBreaker; + unsigned char powerLithiumBatteryCircuitBreaker; + unsigned char propulsionMotorCircuitBreaker; + unsigned char lithiumBatteryGroupInstrumentCircuitBreaker; + unsigned char dcDc5ModuleCircuitBreaker; + unsigned char bowHighVoltageDistributionBoxCircuitBreaker; + unsigned char sternFTDevice45CircuitBreaker; + unsigned char sternRudderSwitch1CircuitBreaker; + unsigned char sternRudderSwitch2CircuitBreaker; + unsigned char fbReservedCircuitBreaker; + unsigned char tyzReservedCircuitBreaker; + unsigned char reservedCircuitBreaker; +}disHighVolBusCmd; + +typedef struct disHighAVolBusCmd +{ + unsigned char bowFTDevice123CircuitBreaker; + unsigned char actuatorCircuitBreaker; + unsigned char mastSteeringGearControlBoxCircuitBreaker; + unsigned char xczCircuitBreaker; + unsigned char bowRudderControlBoxCircuitBreaker; + unsigned char openWaterCoverStartCylinderCircuitBreaker; +}disHighAVolBusCmd; + +typedef struct disHighBVolBusCmd +{ + unsigned char lithiumBatteryGroupInstrumentCircuitBreaker; + unsigned char bowLowVoltageDistributionBoxCircuitBreaker; + unsigned char unit4InstrumentDC48VCircuitBreaker; + unsigned char dcC1DCDistributionPanelCircuitBreaker; + unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀 + unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀 + unsigned char emergencyLithiumBatteryGroup2CircuitBreaker; +}disHighBVolBusCmd; + +typedef struct disLowBusCmd +{ + unsigned char unit1CircuitBreaker; + unsigned char unit2CircuitBreaker; + unsigned char unit3CircuitBreaker; + unsigned char unit5CircuitBreaker; + unsigned char bowPZDeviceCircuitBreaker; + unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀 + unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀 + unsigned char emergencyLithiumBatteryGroup1CircuitBreaker; +}disLowBusCmd; + + #pragma pack (0) @@ -270,4 +321,50 @@ typedef struct pmState /* data */ } disBus4Breaker; + +enum disBreaker{ + bus1_fuelCellCircuitBreaker, + bus1_powerLithiumBatteryCircuitBreaker, + bus1_propulsionMotorCircuitBreaker, + bus1_lithiumBatteryGroupInstrumentCircuitBreaker, + bus1_dcDc5ModuleCircuitBreaker, + bus1_bowHighVoltageDistributionBoxCircuitBreaker, + bus1_sternFTDevice45CircuitBreaker, + bus1_sternRudderSwitch1CircuitBreaker, + bus1_sternRudderSwitch2CircuitBreaker, + bus1_fbReservedCircuitBreaker, + bus1_tyzReservedCircuitBreaker, + bus1_reservedCircuitBreaker, + + bus2_bowFTDevice123CircuitBreaker, + bus2_actuatorCircuitBreaker, + bus2_mastSteeringGearControlBoxCircuitBreaker, + bus2_xczCircuitBreaker, + bus2_bowRudderControlBoxCircuitBreaker, + bus2_openWaterCoverStartCylinderCircuitBreaker, + + bus3_lithiumBatteryGroupInstrumentCircuitBreaker, + bus3_bowLowVoltageDistributionBoxCircuitBreaker, + bus3_unit4InstrumentDC48VCircuitBreaker, + bus3_dcC1DCDistributionPanelCircuitBreaker, + bus3_reservedCircuitBreaker1, + bus3_reservedCircuitBreaker2, + bus3_emergencyLithiumBatteryGroup2CircuitBreaker, + + bus4_unit1CircuitBreaker, + bus4_unit2CircuitBreaker, + bus4_unit3CircuitBreaker, + bus4_unit5CircuitBreaker, + bus4_bowPZDeviceCircuitBreaker, + bus4_reservedCircuitBreaker1, + bus4_reservedCircuitBreaker2 +}; + +enum disBreakerOpt{ + hold, + turn_off, + turn_on +}; + + #endif \ No newline at end of file diff --git a/src/pPowerManger/udpComm.cpp b/src/pPowerManger/udpComm.cpp index b08ecdb..e78e4c4 100644 --- a/src/pPowerManger/udpComm.cpp +++ b/src/pPowerManger/udpComm.cpp @@ -366,4 +366,106 @@ bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m) m = m_qReceiveDisLowBusBuffer.front().second; m_qReceiveDisLowBusBuffer.pop(); return true; +} + + +bool udpComm::sendDisSysCmd(const disHighVolBusCmd cmd) +{ + unsigned char* msgBuf; + Checksum cc; + msg_disHVBCmd* msg = new msg_disHVBCmd; + msg->header.id = DIS_HVBUS_CMD_ID; + msg->header.start1 = DIS_MSG_HEAD1; + msg->header.start2 = DIS_MSG_HEAD2; + msg->header.length = sizeof(disHighVolBusCmd); + msg->data = cmd; + msgBuf = reinterpret_cast(msg); + cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd)); + msg->checkCode = static_cast(cc & 0xFF); + std::cout << (int)sizeof(msg_disHVBCmd) << endl; + try + { + sendMsg(msgBuf,sizeof(msg_disHVBCmd)); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + delete msg; + return true; +} + +bool udpComm::snedDisSysCmd(const disHighAVolBusCmd cmd) +{ + unsigned char* msgBuf; + Checksum cc; + msg_disHVBACmd* msg = new msg_disHVBACmd; + msg->header.id = DIS_HVBUS_CMD_ID; + msg->header.start1 = DIS_MSG_HEAD1; + msg->header.start2 = DIS_MSG_HEAD2; + msg->header.length = sizeof(disHighAVolBusCmd); + msg->data = cmd; + msgBuf = reinterpret_cast(msg); + cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd)); + msg->checkCode = static_cast(cc & 0xFF); + try + { + sendMsg(msgBuf,sizeof(msg_disHVBACmd)); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + delete msg; + return true; +} + +bool udpComm::snedDisSysCmd(const disHighBVolBusCmd cmd) +{ + unsigned char* msgBuf; + Checksum cc; + msg_disHVBBCmd* msg = new msg_disHVBBCmd; + msg->header.id = DIS_HVBUS_CMD_ID; + msg->header.start1 = DIS_MSG_HEAD1; + msg->header.start2 = DIS_MSG_HEAD2; + msg->header.length = sizeof(disHighBVolBusCmd); + msg->data = cmd; + msgBuf = reinterpret_cast(msg); + cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd)); + msg->checkCode = static_cast(cc & 0xFF); + try + { + sendMsg(msgBuf,sizeof(msg_disHVBBCmd)); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + delete msg; + return true; +} + +bool udpComm::sendDisSysCmd(const disLowBusCmd cmd) +{ + unsigned char* msgBuf; + Checksum cc; + msg_disLVBCmd* msg = new msg_disLVBCmd; + msg->header.id = DIS_HVBUS_CMD_ID; + msg->header.start1 = DIS_MSG_HEAD1; + msg->header.start2 = DIS_MSG_HEAD2; + msg->header.length = sizeof(disLowBusCmd); + msg->data = cmd; + msgBuf = reinterpret_cast(msg); + cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd)); + msg->checkCode = static_cast(cc & 0xFF); + try + { + sendMsg(msgBuf,sizeof(msg_disLVBCmd)); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + delete msg; + return true; } \ No newline at end of file diff --git a/src/pPowerManger/udpComm.h b/src/pPowerManger/udpComm.h index f4fc134..3a5bfeb 100644 --- a/src/pPowerManger/udpComm.h +++ b/src/pPowerManger/udpComm.h @@ -1,11 +1,15 @@ #ifndef UDPCOMM__H #define UDPCOMM__H +#define UNIX + #include "ccuUdpMsg.h" #include #include #include #include #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h" +#include "MOOS/libMOOS/Comms/XPCUdpSocket.h" + #include #include // for std::pair @@ -18,6 +22,10 @@ private: public: udpComm(); ~udpComm(); + XPCUdpSocket *udpScoket; + string ccuHost; + long int ccuPort; + bool pushMsgToQueue(unsigned char *m); bool clearMsgQueue(); @@ -38,6 +46,13 @@ public: bool sendCcuColCmd(const msg_CcuColCmdMsg m); bool sendCcuSetParmCmd(const msg_CcuSetParmMsg m); + bool sendDisSysCmd(const disHighVolBusCmd cmd); + bool snedDisSysCmd(const disHighAVolBusCmd cmd); + bool snedDisSysCmd(const disHighBVolBusCmd cmd); + bool sendDisSysCmd(const disLowBusCmd cmd); + bool sendMsg(const unsigned char* msg,unsigned int size){ + udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost); + } bool getMsgId(char *m,unsigned short &id); Checksum calculateChecksum(const unsigned char* data, int size); diff --git a/test/scripts/gui.py b/test/scripts/gui.py new file mode 100644 index 0000000..aa61e40 --- /dev/null +++ b/test/scripts/gui.py @@ -0,0 +1,42 @@ +import socket +import struct +import tkinter as tk +import threading +from udpmsg import * +from datetime import datetime +from tkinter import font +from guiEle import ElementDisplayApp +from until import * +from guiInput import InputGUI + +# 创建UDP套接字 +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +server_address = ('localhost', 5001) +sock.bind(server_address) + +# 创建主窗口 +root = tk.Tk() +root.title("UDP消息显示") +eleplay = ElementDisplayApp(root) +inp = InputGUI(root) + +# 创建一个文本框用于显示消息 +custom_font = font.Font(family="Arial", size=12, weight="normal") +text_box = tk.Text(root, height=10, width=50, font=custom_font) +# .pack(side='left', fill='y', expand=True) +text_box.grid(row=0, column=4, sticky='ne') + +# 创建并启动接收和发送消息的线程 +thread = threading.Thread(target=receive_messages, args=(sock, text_box,eleplay)) +thread.daemon = True +thread.start() + +thread2 = threading.Thread(target=send_messages, args=(sock, eleplay)) +thread2.daemon = True +thread2.start() + +# 运行主循环 +root.mainloop() + +# 关闭套接字 +sock.close() diff --git a/test/scripts/guiEle.py b/test/scripts/guiEle.py new file mode 100644 index 0000000..62638ac --- /dev/null +++ b/test/scripts/guiEle.py @@ -0,0 +1,255 @@ +import tkinter as tk +from tkinter import font +from udpmsg import * + +class ElementDisplayApp: + def __init__(self, root): + self.root = root + + self.disHVB = msg_disHighVolBusFbMsg() + self.disHVBA = msg_disHighAVolBusFbMsg() + self.disHVBB = msg_disHighBVolBusFbMsg() + self.disLVB = msg_disLowBusFbMsg() + + # 定义每组的颜色 + self.colors = ["#FFC0CB", "#ADD8E6", "#90EE90", "#FFD700"] + + # 创建自定义字体 + self.custom_font = font.Font(family="Arial", size=12, weight='bold') + + # 创建4个Frame来分组显示元素的值 + self.frames = [] + for i in range(4): + frame = tk.Frame(self.root, bg=self.colors[i], padx=10, pady=10) + # frame.pack(padx=10, pady=10, expand=True, fill='both') + frame.grid(row=0, column=i, sticky='nsew') # 使用 grid 布局管理器 + self.frames.append(frame) + + # 定义四个字典来存储元素的值 + # self.dict1 = {f"元素{i+1}": f"Value {i+1}" for i in range(16)} + self.dict1={'燃料电池断路器':'闭合','动力锂电池断路器':'闭合','推进电机断路器':'闭合','仪表锂电池断路器':'闭合','DC/DC5模块断路器':'闭合', + '艏部高压配电断路器':'闭合','艏部FT4/5断路器':'闭合','艉舵1/2断路器':'闭合','艉舵3/4断路器':'闭合', + 'FB预留断路器':'闭合','TYZ预留断路器':'闭合','预留断路器':'闭合'} + # self.dict2 = {f"元素{i+17}": f"Value {i+17}" for i in range(16)} + self.dict2 = {'艏部FT1-3断路器':'闭合','启闭机构断路器':'闭合','桅杆舵机断路器':'闭合','XCZ断路器':'闭合', + '艏舵断路器':'闭合','敞开电缸断路器':'闭合'} + # self.dict3 = {f"元素{i+33}": f"Value {i+33}" for i in range(16)} + self.dict3 = {'仪表锂电池断路器':'闭合','艏部低压断路器':'闭合','UNIT4断路器':'闭合','DC/DC1断路器':'闭合', + '预留断路器1':'闭合', '预留断路器2':'闭合','艉部应急电池开关':'闭合'} + # self.dict4 = {f"元素{i+49}": f"Value {i+49}" for i in range(16)} + self.dict4 = {'UNIT1断路器':'闭合','UNIT2断路器':'闭合','UNIT3断路器':'闭合','UNIT5断路器':'闭合','艏部抛载断路器':'闭合', + '预留断路器1':'闭合','预留断路器2':'断开','艏部应急电池开关':'闭合'} + + # 创建Label来显示每个字典中的元素值，并应用自定义字体 + self.labels = [] + for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]): + for j, (key, value) in enumerate(dictionary.items()): + # 根据元素的值选择颜色 + if value == "闭合": + color = "green" + else: + color = "red" + label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w") + label.grid(row=j//2, column=j%2, padx=5, pady=5) + # self.labels.append(label) + + def update_disp(self): + # 更新Label的文本 + for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]): + for j, (key, value) in enumerate(dictionary.items()): + # 根据元素的值选择颜色 + if value == "闭合": + color = "green" + else: + color = "red" + # self.labels[i + j].config(text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w") + label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w") + label.grid(row=j//2, column=j%2, padx=5, pady=5) + + def updata_data(self): + if (self.dict1['燃料电池断路器']=='闭合'): + self.disHVB.DCB1 = 0x55 + else: + self.disHVB.DCB1 = 0xAA + + if (self.dict1['动力锂电池断路器']=='闭合'): + self.disHVB.DCB2 = 0x55 + else: + self.disHVB.DCB2 = 0xAA + + if (self.dict1['推进电机断路器']=='闭合'): + self.disHVB.ZK1 = 0x55 + else: + self.disHVB.ZK1 = 0xAA + + if (self.dict1['仪表锂电池断路器']=='闭合'): + self.disHVB.ZK2 = 0x55 + else: + self.disHVB.ZK2 = 0xAA + + if (self.dict1['DC/DC5模块断路器']=='闭合'): + self.disHVB.ZK3 = 0x55 + else: + self.disHVB.ZK3 = 0xAA + + if (self.dict1['艏部高压配电断路器']=='闭合'): + self.disHVB.ZK4 = 0x55 + else: + self.disHVB.ZK4 = 0xAA + + if (self.dict1['艏部FT4/5断路器']=='闭合'): + self.disHVB.ZK5 = 0x55 + else: + self.disHVB.ZK5 = 0xAA + + if (self.dict1['艉舵1/2断路器']=='闭合'): + self.disHVB.ZK6 = 0x55 + else: + self.disHVB.ZK6 = 0xAA + + if (self.dict1['艉舵3/4断路器']=='闭合'): + self.disHVB.ZK7 = 0x55 + else: + self.disHVB.ZK7 = 0xAA + + if (self.dict1['FB预留断路器']=='闭合'): + self.disHVB.ZK8 = 0x55 + else: + self.disHVB.ZK8 = 0xAA + + if (self.dict1['TYZ预留断路器']=='闭合'): + self.disHVB.ZK9 = 0x55 + else: + self.disHVB.ZK9 = 0xAA + + if (self.dict1['预留断路器']=='闭合'): + self.disHVB.ZK10 = 0x55 + else: + self.disHVB.ZK10 = 0xAA + ###################################################### + if (self.dict2['艏部FT1-3断路器']=='闭合'): + self.disHVBA.bowFTDevice123CircuitBreaker = 0x55 + else: + self.disHVBA.bowFTDevice123CircuitBreaker = 0xAA + + if (self.dict2['启闭机构断路器']=='闭合'): + self.disHVBA.actuatorCircuitBreaker = 0x55 + else: + self.disHVBA.actuatorCircuitBreaker = 0xAA + + if (self.dict2['桅杆舵机断路器']=='闭合'): + self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0x55 + else: + self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0xAA + + if (self.dict2['XCZ断路器']=='闭合'): + self.disHVBA.xczCircuitBreaker = 0x55 + else: + self.disHVBA.xczCircuitBreaker = 0xAA + + if (self.dict2['艏舵断路器']=='闭合'): + self.disHVBA.bowRudderControlBoxCircuitBreaker = 0x55 + else: + self.disHVBA.bowRudderControlBoxCircuitBreaker = 0xAA + + if (self.dict2['敞开电缸断路器']=='闭合'): + self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0x55 + else: + self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0xAA + + #################################################################### + if (self.dict3['仪表锂电池断路器']=='闭合'): + self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55 + else: + self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0xAA + + if (self.dict3['艏部低压断路器']=='闭合'): + self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0x55 + else: + self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0xAA + + if (self.dict3['UNIT4断路器']=='闭合'): + self.disHVBB.unit4CircuitBreaker = 0x55 + else: + self.disHVBB.unit4CircuitBreaker = 0xAA + + if (self.dict3['DC/DC1断路器']=='闭合'): + self.disHVBB.dcdc1CircuitBreaker = 0x55 + else: + self.disHVBB.dcdc1CircuitBreaker = 0xAA + + if (self.dict3['预留断路器1']=='闭合'): + self.disHVBB.reservedCircuitBreaker1 = 0x55 + else: + self.disHVBB.reservedCircuitBreaker1 = 0xAA + + if (self.dict3['预留断路器2']=='闭合'): + self.disHVBB.reservedCircuitBreaker2 = 0x55 + else: + self.disHVBB.reservedCircuitBreaker2 = 0xAA + + if (self.dict3['艉部应急电池开关']=='闭合'): + self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55 + else: + self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA + + ###################################################################### + if (self.dict4['UNIT1断路器']=='闭合'): + self.disLVB.unit1CircuitBreaker = 0x55 + else: + self.disLVB.unit1CircuitBreaker = 0xAA + + if (self.dict4['UNIT2断路器']=='闭合'): + self.disLVB.unit2CircuitBreaker = 0x55 + else: + self.disLVB.unit2CircuitBreaker = 0xAA + + if (self.dict4['UNIT3断路器']=='闭合'): + self.disLVB.unit3CircuitBreaker = 0x55 + else: + self.disLVB.unit3CircuitBreaker = 0xAA + + if (self.dict4['UNIT5断路器']=='闭合'): + self.disLVB.unit5CircuitBreaker = 0x55 + else: + self.disLVB.unit5CircuitBreaker = 0xAA + + if (self.dict4['预留断路器1']=='闭合'): + self.disLVB.reservedCircuitBreaker1 = 0x55 + else: + self.disLVB.reservedCircuitBreaker1 = 0xAA + + if (self.dict4['预留断路器2']=='闭合'): + self.disLVB.reservedCircuitBreaker2 = 0x55 + else: + self.disLVB.reservedCircuitBreaker2 = 0xAA + + if (self.dict4['艏部抛载断路器']=='闭合'): + self.disLVB.bowPZDeviceCircuitBreaker = 0x55 + else: + self.disLVB.bowPZDeviceCircuitBreaker = 0xAA + + if (self.dict4['艏部应急电池开关']=='闭合'): + self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55 + else: + self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0xAA + + a = self.disHVB.pack() + b = self.disHVBA.pack() + c = self.disHVBB.pack() + d = self.disLVB.pack() + return a,b,c,d + +if __name__ == "__main__": + root = tk.Tk() + app = ElementDisplayApp(root) + root.mainloop() + +# # 创建主窗口 +# root = tk.Tk() + +# # 创建应用实例并在root中显示 +# app = ElementDisplayApp(root) + +# # 运行主循环 +# root.mainloop() diff --git a/test/scripts/guiInput.py b/test/scripts/guiInput.py new file mode 100644 index 0000000..2b51325 --- /dev/null +++ b/test/scripts/guiInput.py @@ -0,0 +1,121 @@ +import tkinter as tk +from tkinter import messagebox +from udpmsg import msg_CcuStateFbMsg + +class msg_CcuStateFbMsg: + def __init__(self): + self.start1 = 0x40 + self.start2 = 0x40 + self.id = 0x0001 + self.length = 0x0000 + self.flag = 0x00 + self.failvreCode = 0x00 + + def pack(self): + # 初始化数据 + pass # function body is omitted + +class InputGUI: + def __init__(self, master): + self.master = master + self.printing = False + self.msg_instance = msg_CcuStateFbMsg() + + # 创建一个Frame来包含所有的输入框和标签 + row = 0 + column = 0 + + self.input_frame = tk.Frame(master, bg='lightgray') + self.input_frame.grid(row=1, column=0, sticky='nsew') + + self.title_label = tk.Label(self.input_frame, text="复合管控消息交互", font=("Arial", 16, "bold")) + self.title_label.grid(row=0, column=0, columnspan=2, pady=(10, 20), sticky="nsew") # 调整标题的上下边距并居中显示 + + # 创建输入框和标签 + self.start1_label = tk.Label(self.input_frame, text="Start1:") + self.start1_label.grid(row=1, column=0) + self.start1_entry = tk.Entry(self.input_frame) + self.start1_entry.grid(row=1, column=1) + + self.start2_label = tk.Label(self.input_frame, text="Start2:") + self.start2_label.grid(row=2, column=0) + self.start2_entry = tk.Entry(self.input_frame) + self.start2_entry.grid(row=2, column=1) + + self.id_label = tk.Label(self.input_frame, text="ID:") + self.id_label.grid(row=3, column=0) + self.id_entry = tk.Entry(self.input_frame) + self.id_entry.grid(row=3, column=1) + + self.length_label = tk.Label(self.input_frame, text="Length:") + self.length_label.grid(row=4, column=0) + self.length_entry = tk.Entry(self.input_frame) + self.length_entry.grid(row=4, column=1) + + self.flag_label = tk.Label(self.input_frame, text="Flag:") + self.flag_label.grid(row=5, column=0) + self.flag_entry = tk.Entry(self.input_frame) + self.flag_entry.grid(row=5, column=1) + + self.failvreCode_label = tk.Label(self.input_frame, text="Failvre Code:") + self.failvreCode_label.grid(row=6, column=0) + self.failvreCode_entry = tk.Entry(self.input_frame) + self.failvreCode_entry.grid(row=6, column=1) + + # 创建更新按钮 + self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg) + self.update_button.grid(row=7, column=0, columnspan=2) + + # 创建打印按钮 + self.print_button = tk.Button(self.input_frame, text="Print", command=self.start_printing) + self.print_button.grid(row=8, column=0) + + # 创建停止打印按钮 + self.stop_button = tk.Button(self.input_frame, text="Stop", command=self.stop_printing, state=tk.DISABLED) + self.stop_button.grid(row=8, column=1) + + # 创建显示打印消息数量的标签 + self.print_count_label = tk.Label(self.input_frame, text="Print Count: 0", font=("Arial", 12)) + self.print_count_label.grid(row=9, column=0, columnspan=2) + # 创建更新按钮 + self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg) + self.update_button.grid(row=7, column=0, columnspan=2) + + def update_msg(self): + try: + self.msg_instance.start1 = int(self.start1_entry.get(), 16) + self.msg_instance.start2 = int(self.start2_entry.get(), 16) + self.msg_instance.id = int(self.id_entry.get(), 16) + self.msg_instance.length = int(self.length_entry.get(), 16) + self.msg_instance.flag = int(self.flag_entry.get(), 16) + self.msg_instance.failvreCode = int(self.failvreCode_entry.get(), 16) + messagebox.showinfo("Success", "msg_CcuStateFbMsg updated successfully!") + except ValueError: + messagebox.showerror("Error", "Invalid input. Please enter valid hexadecimal values.") + + def start_printing(self): + self.printing = True + self.print_count = 0 + self.print_count_label.config(text="Print Count: 0") + self.print_button.config(state=tk.DISABLED) + self.stop_button.config(state=tk.NORMAL) + self.print_message() + + def stop_printing(self): + self.printing = False + self.print_button.config(state=tk.NORMAL) + self.stop_button.config(state=tk.DISABLED) + + def print_message(self, callback=None): + if self.printing: + print("Printing message...") + self.print_count += 1 + self.print_count_label.config(text=f"Print Count: {self.print_count}") + if callback: + callback() + self.master.after(1000, self.print_message, callback) # 每秒打印一次 + +if __name__ == "__main__": + root = tk.Tk() + gui = InputGUI(root) + root.mainloop() diff --git a/test/scripts/test.py b/test/scripts/test.py index 070a8df..6a64744 100644 --- a/test/scripts/test.py +++ b/test/scripts/test.py @@ -20,6 +20,8 @@ print(valid_msg) # 创建UDP套接字 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +server_address = ('localhost', 5001) +sock.bind(server_address) # 要发送的信息 # message = "Hello, this is a test message." diff --git a/test/scripts/udpmsg.py b/test/scripts/udpmsg.py index 0ed1047..62a780f 100644 --- a/test/scripts/udpmsg.py +++ b/test/scripts/udpmsg.py @@ -81,7 +81,7 @@ class msg_CcuStateFbMsg: self.placeholder3 = 0x00 self.placeholder4 = 0x00 self.placeholder5 = 0x00 - self.checkCode = 0x00 + self.checkCode = 0x00 def pack(self): # 初始化数据 @@ -481,7 +481,49 @@ class msg_disLowBusFbMsg: checkCode_L = self.checkCode & 0xFF data += struct.pack('接收到来自 {address} | 高压母线配电指令:\n") + if(msg.fuelCellCircuitBreaker==0x55): + eleplay.dict1['燃料电池断路器']='闭合' + elif(msg.fuelCellCircuitBreaker==0xAA): + eleplay.dict1['燃料电池断路器']='断开' + + if(msg.powerLithiumBatteryCircuitBreaker==0x55): + eleplay.dict1['动力锂电池断路器']='闭合' + elif(msg.powerLithiumBatteryCircuitBreaker==0xAA): + eleplay.dict1['动力锂电池断路器']='断开' + + if(msg.propulsionMotorCircuitBreaker==0x55): + eleplay.dict1['推进电机断路器']='闭合' + elif(msg.propulsionMotorCircuitBreaker==0xAA): + eleplay.dict1['推进电机断路器']='断开' + + if(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0x55): + eleplay.dict1['仪表锂电池断路器']='闭合' + elif(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0xAA): + eleplay.dict1['仪表锂电池断路器']='断开' + + if(msg.dcDc5ModuleCircuitBreaker==0x55): + eleplay.dict1['DC/DC5模块断路器']='闭合' + elif(msg.dcDc5ModuleCircuitBreaker==0xAA): + eleplay.dict1['DC/DC5模块断路器']='断开' + + if(msg.bowHighVoltageDistributionBoxCircuitBreaker==0x55): + eleplay.dict1['艏部高压配电断路器']='闭合' + elif(msg.bowHighVoltageDistributionBoxCircuitBreaker==0xAA): + eleplay.dict1['艏部高压配电断路器']='断开' + + if(msg.sternFTDevice45CircuitBreaker==0x55): + eleplay.dict1['艏部FT4/5断路器']='闭合' + elif(msg.sternFTDevice45CircuitBreaker==0xAA): + eleplay.dict1['艏部FT4/5断路器']='断开' + + if(msg.sternRudderSwitch1CircuitBreaker==0x55): + eleplay.dict1['艉舵1/2断路器']='闭合' + elif(msg.sternRudderSwitch1CircuitBreaker==0xAA): + eleplay.dict1['艉舵1/2断路器']='断开' + + if(msg.sternRudderSwitch2CircuitBreaker==0x55): + eleplay.dict1['艉舵3/4断路器']='闭合' + elif(msg.sternRudderSwitch2CircuitBreaker==0xAA): + eleplay.dict1['艉舵3/4断路器']='断开' + + if(msg.fbReservedCircuitBreaker==0x55): + eleplay.dict1['FB预留断路器']='闭合' + elif(msg.fbReservedCircuitBreaker==0xAA): + eleplay.dict1['FB预留断路器']='断开' + + if(msg.tyzReservedCircuitBreaker==0x55): + eleplay.dict1['TYZ预留断路器']='闭合' + elif(msg.tyzReservedCircuitBreaker==0xAA): + eleplay.dict1['TYZ预留断路器']='断开' + + if(msg.reservedCircuitBreaker==0x55): + eleplay.dict1['预留断路器']='闭合' + elif(msg.reservedCircuitBreaker==0xAA): + eleplay.dict1['预留断路器']='断开' + eleplay.update_disp() + text_box.see(tk.END) + + +def send_messages(sock, eleplay:ElementDisplayApp): + while True: + # 配电消息反馈 + a,b,c,d = eleplay.updata_data() + sock.sendto(a, (target_ip, target_port)) + sock.sendto(b, (target_ip, target_port)) + sock.sendto(c, (target_ip, target_port)) + sock.sendto(d, (target_ip, target_port)) + + #TODO复合管控消息反馈 + + + threading.Event().wait(1) # 每隔1秒发送一次消息