使用状态机增加了初始状态和故障状态,编写了gui调试程序

.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"

data/msg/uPower_currentState_st.json

@@ -1,47 +1,47 @@
 {
-  "HVABFTDev123Cur_uint16": 24953,
+  "HVABFTDev123Cur_uint16": 0,
-  "HVABactCur_uint16": 42982,
+  "HVABactCur_uint16": 0,
-  "HVABbowRudCur_uint16": 31,
+  "HVABbowRudCur_uint16": 0,
-  "HVABbusBCur_uint16": 24576,
+  "HVABbusBCur_uint16": 0,
   "HVABbusBVol_uint16": 0,
-  "HVABmastSteGeaCur_uint16": 127,
+  "HVABmastSteGeaCur_uint16": 0,
-  "HVABopenWaterCur_uint16": 65280,
+  "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 32768,
+  "HVABxczCur_uint16": 1,
-  "HVBBCCUCur_uint16": 24851,
+  "HVBBCCUCur_uint16": 0,
-  "HVBBFCSSecurSysCur_uint16": 42982,
+  "HVBBFCSSecurSysCur_uint16": 0,
-  "HVBBbatInsCur_uint16": 24851,
+  "HVBBbatInsCur_uint16": 0,
   "HVBBbowLowVolDisBoxCur_uint16": 0,
   "HVBBdcC1InsCur_uint16": 0,
-  "HVBBemer2BusVol_uint16": 47104,
+  "HVBBemer2BusVol_uint16": 0,
-  "HVBBemerBatCur_uint16": 36864,
+  "HVBBemerBatCur_uint16": 0,
   "HVBBinsBusVol_uint16": 0,
-  "HVBBplcCur_uint16": 127,
+  "HVBBplcCur_uint16": 0,
   "HVBBreservedCur1_uint16": 0,
-  "HVBBreservedCur2_uint16": 127,
+  "HVBBreservedCur2_uint16": 0,
-  "HVBBunit4Cur_uint16": 42982,
+  "HVBBunit4Cur_uint16": 0,
-  "HVBFTDev45Cur_uint16": 32679,
+  "HVBFTDev45Cur_uint16": 0,
-  "HVBbatGroupCur_uint16": 48760,
+  "HVBbatGroupCur_uint16": 0,
-  "HVBbowHVolDisBoxCur_uint16": 58976,
+  "HVBbowHVolDisBoxCur_uint16": 0,
   "HVBbusACur_uint16": 0,
-  "HVBbusAVol_uint16": 58943,
+  "HVBbusAVol_uint16": 0,
   "HVBdcDc5Cur_uint16": 0,
-  "HVBfbCur_uint16": 5144,
+  "HVBfbCur_uint16": 0,
-  "HVBmotorCur_uint16": 32679,
+  "HVBmotorCur_uint16": 0,
-  "HVBpowerBusCur_uint16": 7264,
+  "HVBpowerBusCur_uint16": 0,
-  "HVBpowerBusVol_uint16": 32679,
+  "HVBpowerBusVol_uint16": 0,
-  "HVBreservedCur1_uint16": 58977,
+  "HVBreservedCur1_uint16": 0,
   "HVBreservedCur2_uint16": 0,
-  "HVBreservedCur3_uint16": 58977,
+  "HVBreservedCur3_uint16": 0,
-  "HVBsternRud1Cur_uint16": 5048,
+  "HVBsternRud1Cur_uint16": 0,
-  "HVBsternRud2Cur_uint16": 32679,
+  "HVBsternRud2Cur_uint16": 0,
   "HVBtyzCur_uint16": 0,
-  "LVBBbowPZDevCur_uint16": 127,
+  "LVBBbowPZDevCur_uint16": 0,
-  "LVBBemerBatCur_uint16": 6144,
+  "LVBBemerBatCur_uint16": 0,
-  "LVBBemerBusVol_uint16": 24852,
+  "LVBBemerBusVol_uint16": 0,
-  "LVBBinsBusCur_uint16": 42982,
+  "LVBBinsBusCur_uint16": 0,
-  "LVBBunit1Cur_uint16": 127,
+  "LVBBunit1Cur_uint16": 0,
-  "LVBBunit2Cur_uint16": 61440,
+  "LVBBunit2Cur_uint16": 0,
-  "LVBBunit3Cur_uint16": 24851,
+  "LVBBunit3Cur_uint16": 0,
-  "LVBBunit5Cur_uint16": 42982,
+  "LVBBunit5Cur_uint16": 0,
-  "LVBinsBusVol_uint16": 24852
+  "LVBinsBusVol_uint16": 0
 }

data/msg/uPower_disSysState_st.json

@@ -1,8 +1,8 @@
 {
-  "HVolABusBreaker_unit16": 0,
+  "HVolABusBreaker_unit16": 63,
-  "HVolBBusBreaker_unit16": 0,
+  "HVolBBusBreaker_unit16": 113,
-  "HVolBusBreaker_uint16": 512,
+  "HVolBusBreaker_uint16": 4090,
-  "LVolBusBreaker_uint16": 0,
+  "LVolBusBreaker_uint16": 113,
   "faultCode_array": 
   [
     0

data/msg/uPower_fcsState_st.json

@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": -9.0950115693742826e-30,
+  "backpressure1_fp32": -1.6155215737897056e+25,
-  "backpressure2_fp32": 1.1723338622658493e-38,
+  "backpressure2_fp32": 1.9618178500547439e-44,
-  "ch4oConcent1_fp32": 0.0,
+  "ch4oConcent1_fp32": 3.7196912217041245e-12,
-  "ch4oConcent2_fp32": 0.0,
+  "ch4oConcent2_fp32": 1.1664828806579075e-38,
-  "ch4o_fp32": 0.0,
+  "ch4o_fp32": 1.1754855226419623e-38,
-  "excTemp_fp32": 1.1723338622658493e-38,
+  "excTemp_fp32": 1.1664828806579075e-38,
-  "faultCode1_uint16": 39232,
+  "faultCode1_uint16": 29888,
-  "faultCode2_uint16": 59024,
+  "faultCode2_uint16": 49624,
-  "faultCode3_uint16": 32679,
+  "faultCode3_uint16": 0,
-  "fcuCurIns_fp32": -6.5672670359649233e-28,
+  "fcuCurIns_fp32": -1775767650304.0,
-  "fcuCurPower_fp32": 1.1723338622658493e-38,
+  "fcuCurPower_fp32": 7.894814654516588e-39,
-  "fcuCur_fp32": 4.6635212892729912e-42,
+  "fcuCur_fp32": 1.7755460477889746e-38,
-  "fcuFaultLeve_uint8": 144,
+  "fcuFaultLeve_uint8": 194,
-  "fcuOutIns_fp32": 1.1753926165537775e-38,
+  "fcuOutIns_fp32": 0.0,
-  "fcuOutPower_fp32": -1.104591035133728e+23,
+  "fcuOutPower_fp32": 2.152394441202919e-42,
-  "fcuState_uint8": 46,
+  "fcuState_uint8": 124,
-  "fcuVolIns_fp32": -410840465408.0,
+  "fcuVolIns_fp32": 0.0,
-  "fcuVolPower_fp32": 7.8490804765364189e-39,
+  "fcuVolPower_fp32": 1.1664542941692352e-38,
-  "fcuVol_fp32": 1.1723338622658493e-38,
+  "fcuVol_fp32": 1.1754855226419623e-38,
   "flameDet_uint8": 0,
-  "h2Concent1_fp32": -3.4461820052887443e-29,
+  "h2Concent1_fp32": 3.8200553831302386e-12,
-  "h2Concent2_fp32": 1.1723338622658493e-38,
+  "h2Concent2_fp32": 1.1664828806579075e-38,
-  "o2Concent1_fp32": 3.5873240686715317e-43,
+  "o2Concent1_fp32": 4.5144443738820428e-14,
-  "o2Concent2_fp32": 0.0,
+  "o2Concent2_fp32": 1.1664828806579075e-38,
-  "o2Level_fp32": 0.0,
+  "o2Level_fp32": 1.1664542941692352e-38,
-  "o2_fp32": -8.1197206455365864e-30,
+  "o2_fp32": -1075184933011456.0,
-  "powLimit_fp32": 1.1723338622658493e-38,
+  "powLimit_fp32": 1.166482740528061e-38,
-  "powerGen_fp32": 3.5873240686715317e-43
+  "powerGen_fp32": -1075322371964928.0
 }

data/msg/uPower_liBatState_st.json

@@ -1,38 +1,38 @@
 {
   "fcuCurToInsLimit1_uint8": 127,
   "fcuCurToinsLimit2_uint8": 0,
-  "insBatCurElect_uint16": 32765,
+  "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 39552,
+  "insBatLimit_uint16": 0,
-  "insBatSoc_uint8": 97,
+  "insBatSoc_uint8": 0,
-  "insBatTotalElect_uint16": 47744,
+  "insBatTotalElect_uint16": 2,
-  "insChargeState_uint8": 2,
+  "insChargeState_uint8": 71,
-  "insCurSocHold1_uint8": 144,
+  "insCurSocHold1_uint8": 41,
-  "insCurSocHold2_uint8": 230,
+  "insCurSocHold2_uint8": 204,
-  "insCurSocHold3_uint8": 167,
+  "insCurSocHold3_uint8": 4,
   "insCurrent_uint16": 0,
-  "insLinkVol_uint16": 0,
+  "insLinkVol_uint16": 52163,
   "insNegRelayState_uint8": 0,
-  "insNegRes_uint16": 0,
+  "insNegRes_uint16": 52265,
-  "insPackVol_uint16": 0,
+  "insPackVol_uint16": 32516,
   "insPosRelayState_uint8": 0,
-  "insPosRes_uint16": 0,
+  "insPosRes_uint16": 18488,
-  "insfaultCode_uint8": 186,
+  "insfaultCode_uint8": 176,
   "powBatCurElect_uint16": 0,
-  "powBatSoc_uint8": 175,
+  "powBatSoc_uint8": 0,
-  "powBatTotalElect_uint16": 10981,
+  "powBatTotalElect_uint16": 0,
-  "powChargeState_uint8": 0,
+  "powChargeState_uint8": 241,
   "powCurSocHold1_uint8": 0,
-  "powCurSocHold2_uint8": 224,
+  "powCurSocHold2_uint8": 228,
-  "powCurSocHold3_uint8": 233,
+  "powCurSocHold3_uint8": 85,
-  "powCurToInsLimit1_uint8": 210,
+  "powCurToInsLimit1_uint8": 48,
-  "powCurToinsLimit2_uint8": 11,
+  "powCurToinsLimit2_uint8": 0,
-  "powCur_uint16": 47904,
+  "powCur_uint16": 15376,
-  "powLinkVol_uint16": 0,
+  "powLinkVol_uint16": 32516,
-  "powNegRelayState_uint8": 115,
+  "powNegRelayState_uint8": 0,
-  "powNegRes_uint16": 32765,
+  "powNegRes_uint16": 32516,
-  "powPosRelayState_uint8": 238,
+  "powPosRelayState_uint8": 0,
-  "powPosRes_uint16": 10981,
+  "powPosRes_uint16": 52247,
-  "powerBatLimit_uint16": 42026,
+  "powerBatLimit_uint16": 0,
   "powerPackVol_uint16": 0,
-  "powfaultCode_uint8": 81
+  "powfaultCode_uint8": 68
 }

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
 }

src/pPowerManger/PowerManger.cpp

@@ -9,7 +9,6 @@
 #include "MBUtils.h"
 #include "ACTable.h"
 #include "PowerManger.h"
-#include "MOOS/libMOOS/Utils/ConsoleColours.h"
 #include <memory>
 
 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("Init",  1, m_Inite_s1);
-  m_fsm.RegisterState("PM_STATE2", 2, m_state2);
+  m_fsm.RegisterState("Fault", 99, m_Fault_s99);
-  m_fsm.RegisterState("PM_STATE3", 3, m_state3);
 
-  m_fsm.RegisterHandleFunction(&m_state1,handleState1);
+  m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1);
-  m_fsm.RegisterHandleFunction(&m_state2,handleState2);
+  m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99);
-  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";
 
   // 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);
+  //1. 更新当前状态
-  // 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
   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;i<m_udpComm.sError.size();i++)
@@ -138,6 +119,7 @@ bool PowerManger::Iterate()
     m_udpComm.sError.clear();
   }
   //AppCastingMOOSApp::PostReport();
+  //5. 清空UDP消息队列
   m_udpComm.clearMsgQueue();
   return(true);
 }
@@ -176,10 +158,13 @@ bool PowerManger::OnStartUp()
   }
 
   registerVariables();	
-
+  //绑定UDP端口
   if(m_pCcuUdpComm = setUdpScoket(IPORT))
   {
     cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
+    m_udpComm.ccuHost = CCUHOST;
+    m_udpComm.ccuPort = CCUPORT;
+    m_udpComm.udpScoket = m_pCcuUdpComm;
     MOOSTrace("UDP set succeed");
   }
   else
@@ -253,7 +238,9 @@ bool PowerManger::ListenLoopUDP()
           cout<<MOOS::ConsoleColours::red()<< m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
         }
       }
+      m_connected = true;
     }
+    // updatePmState();
   }
   return true;
 }
@@ -794,28 +781,97 @@ bool PowerManger::saveStringToJsonFile(const string &strJson, const string &file
       return false;
   }
 }
+//TODO:配电系统操作函数
+bool PowerManger::disSystemOperation(disBreaker optBreaker, disBreakerOpt)
+{
+  // switch (disBreaker)
+  // {
+  // case bus1_fuelCellCircuitBreaker :
+  //   // send()
+  //   break;
+  
+  // default:
+  //   break;
+  // }
+}
 
-int PowerManger::handleState1(FSM_State &fsm,void* pData)
+int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
 {
   cout << fsm.name << endl;
   PowerManger* pm = (PowerManger*)pData;
-  fsm = pm->m_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;
+// int PowerManger::handleState1(FSM_State &fsm,void* pData)
-  PowerManger* pm = (PowerManger*)pData;
+// {
-  fsm = pm->m_fsm.getState("PM_STATE");
+//   cout << fsm.name << endl;
-  // pm->m_pmEvent = "c";
+//   PowerManger* pm = (PowerManger*)pData;
-  return 0;
+//   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;
+// }

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<unsigned int> 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);
+  FSM_State startState;
-  static int handleState2(FSM_State &fsm, void* pData);
+  FSM_State stopState;
-  static int handleState3(FSM_State &fsm, void* pData);
+  //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);
 
 };
 

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;
+  disHighVolBusCmd data;
-  unsigned char dcb2;
+  cChecksum checkCode;
-  unsigned char dcb3;
+}msg_disHVBCmd;
-  unsigned char dcb4;
+
-  unsigned char dcb5;
+typedef struct 
-  unsigned char sw1;
+{
-  unsigned char sw2;
+  m_header header;
-  unsigned char qf1;
+  disHighAVolBusCmd data;
-  unsigned char qf2;
+  cChecksum checkCode;
-  unsigned char qf3;
+}msg_disHVBACmd;
-  unsigned char qf4;
+
-  unsigned char qf5;
+typedef struct 
-  unsigned char qf6;
+{
-  unsigned char qf7;
+  m_header header;
-  unsigned char qf8;
+  disHighBVolBusCmd data;
-  unsigned char qf9;
+  cChecksum checkCode;
-  unsigned char qf10;
+}msg_disHVBBCmd;
-  unsigned char qf11;
+
-  unsigned char qf12;
+typedef struct
-  unsigned char qf13;
+{
-  unsigned char qf14;
+  m_header header;
-  unsigned char qf15;
+  disLowBusCmd data;
-  unsigned char qf16;
+  cChecksum checkCode;
-  unsigned char qf17;
+}msg_disLVBCmd;
-  unsigned char qf18;
+// typedef struct {
-  unsigned char qf19;
+//   m_header header;
-  unsigned char qf20;
+//   unsigned char dcb1;
-  unsigned char qf21;
+//   unsigned char dcb2;
-  unsigned char qf22;
+//   unsigned char dcb3;
-  unsigned char qf23;
+//   unsigned char dcb4;
-  unsigned char qf24;
+//   unsigned char dcb5;
-  unsigned char qf25;
+//   unsigned char sw1;
-  unsigned char qf26;
+//   unsigned char sw2;
-  Checksum checkCode;
+//   unsigned char qf1;
-} msg_disSysCmdMsg;
+//   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 {

src/pPowerManger/fsm.h

@@ -10,7 +10,7 @@ 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);

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

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<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd));
+  msg->checkCode = static_cast<cChecksum>(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<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd));
+  msg->checkCode = static_cast<cChecksum>(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<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd));
+  msg->checkCode = static_cast<cChecksum>(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<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    sendMsg(msgBuf,sizeof(msg_disLVBCmd));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
 }

src/pPowerManger/udpComm.h

@@ -1,11 +1,15 @@
 #ifndef UDPCOMM__H
 #define UDPCOMM__H
+#define UNIX
+
 #include "ccuUdpMsg.h"
 #include <string>
 #include <vector>
 #include <queue>
 #include <string.h>
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+
 #include <iostream>
 #include <utility> // 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);

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()

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()

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()

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."

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('<B', checkCode_L)
         return data
+
+class msg_disHVBCmd:
+    def __init__(self):
+        self.start1 = None
+        self.start2 = None
+        self.id = None
+        self.length = None
+        self.fuelCellCircuitBreaker = None
+        self.powerLithiumBatteryCircuitBreaker = None
+        self.propulsionMotorCircuitBreaker = None
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = None
+        self.dcDc5ModuleCircuitBreaker = None
+        self.bowHighVoltageDistributionBoxCircuitBreaker = None
+        self.sternFTDevice45CircuitBreaker = None
+        self.sternRudderSwitch1CircuitBreaker = None
+        self.sternRudderSwitch2CircuitBreaker = None
+        self.fbReservedCircuitBreaker = None
+        self.tyzReservedCircuitBreaker = None
+        self.reservedCircuitBreaker = None
+        self.checkCode = None
     
+    def unpack(self,data):
+        try:
+            unpacked_data = struct.unpack('<BBHHBBBBBBBBBBBBB',data)
+            self.start1 = unpacked_data[0]
+            self.start2 = unpacked_data[1]
+            self.id = unpacked_data[2]
+            self.length = unpacked_data[3]
+            self.fuelCellCircuitBreaker = unpacked_data[4]
+            self.powerLithiumBatteryCircuitBreaker = unpacked_data[5]
+            self.propulsionMotorCircuitBreaker = unpacked_data[6]
+            self.lithiumBatteryGroupInstrumentCircuitBreaker = unpacked_data[7]
+            self.dcDc5ModuleCircuitBreaker = unpacked_data[8]
+            self.bowHighVoltageDistributionBoxCircuitBreaker = unpacked_data[9]
+            self.sternFTDevice45CircuitBreaker = unpacked_data[10]
+            self.sternRudderSwitch1CircuitBreaker = unpacked_data[11]
+            self.sternRudderSwitch2CircuitBreaker = unpacked_data[12]
+            self.fbReservedCircuitBreaker = unpacked_data[13]
+            self.tyzReservedCircuitBreaker = unpacked_data[14]
+            self.reservedCircuitBreaker = unpacked_data[15]
+            self.checkCode = unpacked_data[16]
+        except struct.error as e:
+            print(f"Error unpacking data: {e}")
 
 if __name__ == "__main__":
     msg = msg_CcuStateFbMsg()

test/scripts/until.py

@@ -0,0 +1,105 @@
+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
+import threading
+
+target_ip = '127.0.0.1'
+target_port = 5000
+
+def receive_messages(sock, text_box,eleplay:ElementDisplayApp):
+    while True:
+        current_time = datetime.now()
+        formatted_time = current_time.strftime("%Y-%m-%d %H:%M:%S")
+        data, address = sock.recvfrom(4096)
+        headBuf = data[:6]
+        header = struct.unpack('<BBHH',headBuf)
+        start1 = data[0]
+        start2 = data[1]
+        msg_id = data[2]
+        msg_len = data[3]
+        if(start1==0x40 and start2==0x40):
+            if(msg_id==0x0001):
+                msg = msg_disHVBCmd()
+                msg.unpack(data)
+                text_box.insert(tk.END, f"{formatted_time}->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