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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

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This commit is contained in:
zjk
2025-01-02 18:28:47 +08:00
parent d9d715326a
commit d2961cf005
19 changed files with 1085 additions and 196 deletions
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.vscode/settings.json
Vendored
+2 -1
View File
@@ -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
+36 -36
View File
@@ -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
}
data/msg/uPower_disSysState_st.json
+4 -4
View File
@@ -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
data/msg/uPower_fcsState_st.json
+27 -27
View File
@@ -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
}
data/msg/uPower_liBatState_st.json
+28 -28
View File
@@ -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
}
data/msg/uPower_pmState_st.json
+1 -1
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@@ -7,6 +7,6 @@
],
"powerState_uint8": 0,
"soc_uint32": 0,
"sustainableTime_obj": 0,
"sustainableTime_uint32": 0,
"workCondition_uint8": 0
}
src/pPowerManger/PowerManger.cpp
+105 -49
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@@ -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("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;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;
int PowerManger::handleState1(FSM_State &fsm,void* pData)
// default:
// break;
// }
}
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;
PowerManger* pm = (PowerManger*)pData;
fsm = pm->m_fsm.getState("PM_STATE");
// pm->m_pmEvent = "c";
return 0;
}
// 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;
// }
src/pPowerManger/PowerManger.h
+29 -11
View File
@@ -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);
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);
};
src/pPowerManger/ccuUdpMsg.h
+70 -37
View File
@@ -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 {
src/pPowerManger/fsm.h
+1 -1
View File
@@ -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
+97
View File
@@ -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
+102
View File
@@ -367,3 +367,105 @@ bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m)
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
+15
View File
@@ -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
+42
View File
@@ -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
+255
View File
@@ -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
+121
View File
@@ -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
+2
View File
@@ -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
+42
View File
@@ -482,6 +482,48 @@ class msg_disLowBusFbMsg:
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
+105
View File
@@ -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