修复了事件跳转状态跳转的问题,但是目前事件跳转仍然不完善,返回使用指针跳转的状态

data/msg/uPower_currentState_st.json

@@ -1,47 +1,47 @@
 {
-  "HVABFTDev123Cur_uint16": 0,
-  "HVABactCur_uint16": 0,
-  "HVABbowRudCur_uint16": 0,
-  "HVABbusBCur_uint16": 0,
-  "HVABbusBVol_uint16": 255,
-  "HVABmastSteGeaCur_uint16": 0,
-  "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 0,
-  "HVBBCCUCur_uint16": 276,
-  "HVBBFCSSecurSysCur_uint16": 43016,
-  "HVBBbatInsCur_uint16": 275,
-  "HVBBbowLowVolDisBoxCur_uint16": 275,
-  "HVBBdcC1InsCur_uint16": 43016,
-  "HVBBemer2BusVol_uint16": 6144,
-  "HVBBemerBatCur_uint16": 61440,
-  "HVBBinsBusVol_uint16": 47104,
+  "HVABFTDev123Cur_uint16": 24953,
+  "HVABactCur_uint16": 42982,
+  "HVABbowRudCur_uint16": 31,
+  "HVABbusBCur_uint16": 24576,
+  "HVABbusBVol_uint16": 0,
+  "HVABmastSteGeaCur_uint16": 127,
+  "HVABopenWaterCur_uint16": 65280,
+  "HVABxczCur_uint16": 32768,
+  "HVBBCCUCur_uint16": 24851,
+  "HVBBFCSSecurSysCur_uint16": 42982,
+  "HVBBbatInsCur_uint16": 24851,
+  "HVBBbowLowVolDisBoxCur_uint16": 0,
+  "HVBBdcC1InsCur_uint16": 0,
+  "HVBBemer2BusVol_uint16": 47104,
+  "HVBBemerBatCur_uint16": 36864,
+  "HVBBinsBusVol_uint16": 0,
   "HVBBplcCur_uint16": 127,
-  "HVBBreservedCur1_uint16": 127,
+  "HVBBreservedCur1_uint16": 0,
   "HVBBreservedCur2_uint16": 127,
-  "HVBBunit4Cur_uint16": 43016,
-  "HVBFTDev45Cur_uint16": 32680,
-  "HVBbatGroupCur_uint16": 5104,
-  "HVBbowHVolDisBoxCur_uint16": 2049,
+  "HVBBunit4Cur_uint16": 42982,
+  "HVBFTDev45Cur_uint16": 32679,
+  "HVBbatGroupCur_uint16": 48760,
+  "HVBbowHVolDisBoxCur_uint16": 58976,
   "HVBbusACur_uint16": 0,
-  "HVBbusAVol_uint16": 2049,
+  "HVBbusAVol_uint16": 58943,
   "HVBdcDc5Cur_uint16": 0,
-  "HVBfbCur_uint16": 51236,
-  "HVBmotorCur_uint16": 32680,
-  "HVBpowerBusCur_uint16": 5048,
-  "HVBpowerBusVol_uint16": 32680,
-  "HVBreservedCur1_uint16": 2049,
+  "HVBfbCur_uint16": 5144,
+  "HVBmotorCur_uint16": 32679,
+  "HVBpowerBusCur_uint16": 7264,
+  "HVBpowerBusVol_uint16": 32679,
+  "HVBreservedCur1_uint16": 58977,
   "HVBreservedCur2_uint16": 0,
-  "HVBreservedCur3_uint16": 2041,
-  "HVBsternRud1Cur_uint16": 5144,
-  "HVBsternRud2Cur_uint16": 32680,
+  "HVBreservedCur3_uint16": 58977,
+  "HVBsternRud1Cur_uint16": 5048,
+  "HVBsternRud2Cur_uint16": 32679,
   "HVBtyzCur_uint16": 0,
-  "LVBBbowPZDevCur_uint16": 0,
-  "LVBBemerBatCur_uint16": 0,
-  "LVBBemerBusVol_uint16": 0,
-  "LVBBinsBusCur_uint16": 43016,
+  "LVBBbowPZDevCur_uint16": 127,
+  "LVBBemerBatCur_uint16": 6144,
+  "LVBBemerBusVol_uint16": 24852,
+  "LVBBinsBusCur_uint16": 42982,
   "LVBBunit1Cur_uint16": 127,
-  "LVBBunit2Cur_uint16": 0,
-  "LVBBunit3Cur_uint16": 0,
-  "LVBBunit5Cur_uint16": 0,
-  "LVBinsBusVol_uint16": 276
+  "LVBBunit2Cur_uint16": 61440,
+  "LVBBunit3Cur_uint16": 24851,
+  "LVBBunit5Cur_uint16": 42982,
+  "LVBinsBusVol_uint16": 24852
 }

data/msg/uPower_disSysState_st.json

@@ -1,7 +1,7 @@
 {
   "HVolABusBreaker_unit16": 0,
   "HVolBBusBreaker_unit16": 0,
-  "HVolBusBreaker_uint16": 0,
+  "HVolBusBreaker_uint16": 512,
   "LVolBusBreaker_uint16": 0,
   "faultCode_array": 
   [

data/msg/uPower_fcsState_st.json

@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": -5.4051763149612203e-28,
-  "backpressure2_fp32": 7.0480565570603022e-25,
-  "ch4oConcent1_fp32": 5.7198690228688065e-12,
-  "ch4oConcent2_fp32": 1.172338626680628e-38,
+  "backpressure1_fp32": -9.0950115693742826e-30,
+  "backpressure2_fp32": 1.1723338622658493e-38,
+  "ch4oConcent1_fp32": 0.0,
+  "ch4oConcent2_fp32": 0.0,
   "ch4o_fp32": 0.0,
-  "excTemp_fp32": 7.8389743120117084e-39,
-  "faultCode1_uint16": 22608,
-  "faultCode2_uint16": 34680,
-  "faultCode3_uint16": 32767,
-  "fcuCurIns_fp32": 3.5873240686715317e-43,
-  "fcuCurPower_fp32": 0.0,
-  "fcuCur_fp32": 1.7600060933568737e+34,
-  "fcuFaultLeve_uint8": 43,
-  "fcuOutIns_fp32": 1.172338626680628e-38,
-  "fcuOutPower_fp32": 5.8264504332328215e-11,
-  "fcuState_uint8": 84,
-  "fcuVolIns_fp32": 3.1653568655087838e-12,
-  "fcuVolPower_fp32": 1.172338626680628e-38,
-  "fcuVol_fp32": 1.1723384865507816e-38,
-  "flameDet_uint8": 170,
-  "h2Concent1_fp32": 0.0,
-  "h2Concent2_fp32": 0.0,
-  "o2Concent1_fp32": 8.2589490801865395e-13,
-  "o2Concent2_fp32": 1.172338626680628e-38,
-  "o2Level_fp32": 1.1754773951108692e-38,
-  "o2_fp32": -1.049113533195957e+19,
-  "powLimit_fp32": 1.172338626680628e-38,
-  "powerGen_fp32": 4.6635212892729912e-42
+  "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,
+  "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
 }

data/msg/uPower_liBatState_st.json

@@ -1,38 +1,38 @@
 {
-  "fcuCurToInsLimit1_uint8": 85,
+  "fcuCurToInsLimit1_uint8": 127,
   "fcuCurToinsLimit2_uint8": 0,
-  "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 0,
-  "insBatSoc_uint8": 0,
-  "insBatTotalElect_uint16": 0,
-  "insChargeState_uint8": 240,
-  "insCurSocHold1_uint8": 23,
-  "insCurSocHold2_uint8": 223,
-  "insCurSocHold3_uint8": 91,
+  "insBatCurElect_uint16": 32765,
+  "insBatLimit_uint16": 39552,
+  "insBatSoc_uint8": 97,
+  "insBatTotalElect_uint16": 47744,
+  "insChargeState_uint8": 2,
+  "insCurSocHold1_uint8": 144,
+  "insCurSocHold2_uint8": 230,
+  "insCurSocHold3_uint8": 167,
   "insCurrent_uint16": 0,
-  "insLinkVol_uint16": 34680,
+  "insLinkVol_uint16": 0,
   "insNegRelayState_uint8": 0,
-  "insNegRes_uint16": 2092,
-  "insPackVol_uint16": 32767,
+  "insNegRes_uint16": 0,
+  "insPackVol_uint16": 0,
   "insPosRelayState_uint8": 0,
-  "insPosRes_uint16": 33210,
-  "insfaultCode_uint8": 80,
+  "insPosRes_uint16": 0,
+  "insfaultCode_uint8": 186,
   "powBatCurElect_uint16": 0,
-  "powBatSoc_uint8": 0,
-  "powBatTotalElect_uint16": 0,
-  "powChargeState_uint8": 88,
+  "powBatSoc_uint8": 175,
+  "powBatTotalElect_uint16": 10981,
+  "powChargeState_uint8": 0,
   "powCurSocHold1_uint8": 0,
-  "powCurSocHold2_uint8": 76,
-  "powCurSocHold3_uint8": 43,
-  "powCurToInsLimit1_uint8": 146,
-  "powCurToinsLimit2_uint8": 117,
-  "powCur_uint16": 55776,
-  "powLinkVol_uint16": 32680,
-  "powNegRelayState_uint8": 0,
-  "powNegRes_uint16": 21851,
-  "powPosRelayState_uint8": 2,
-  "powPosRes_uint16": 57111,
-  "powerBatLimit_uint16": 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,
   "powerPackVol_uint16": 0,
-  "powfaultCode_uint8": 175
+  "powfaultCode_uint8": 81
 }

src/pPowerManger/PowerManger.cpp

@@ -46,7 +46,15 @@ PowerManger::PowerManger()
   m_fsm.RegisterHandleFunction(&m_state3,handleState3);
 
   // 注册状态机转换条件
-  // m_fsm.RegisterEvent()
+  // 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;
@@ -108,6 +116,13 @@ 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
   updatePmState();
@@ -785,6 +800,7 @@ 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)
@@ -792,6 +808,7 @@ 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)
@@ -799,5 +816,6 @@ 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/fsm.cpp

@@ -1,5 +1,5 @@
 #include "fsm.h"
-
+#include <iostream>
 
 
 FSM::FSM(/* args */)
@@ -61,34 +61,43 @@ FSM_State FSM::getState(std::string name)
 }
 
 
-// int FSM::RegisterEvent(FSM_State* fsm, std::string event, FSM_State state)
-// {
-//     if(fsm == NULL)
-//         return -1;
-//     fsm->event[event] = state;
-//     return 0;
-// }
+int FSM::RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state)
+{
+    if(fsm == NULL)
+        return -1;
+    fsm->event[event] = state;
+    return 0;
+}
 
-// int FSM::unRegisterEvent(FSM_State* fsm, std::string event)
-// {
-//     if(fsm == NULL)
-//         return -1;
-//     if(fsm->event.count(event) <= 0)
-//         return -1;
-//     fsm->event.erase(event);
-//     return 0;
-// }
+int FSM::unRegisterEvent(FSM_State* fsm, std::string event)
+{
+    if(fsm == NULL)
+        return -1;
+    if(fsm->event.count(event) <= 0)
+        return -1;
+    fsm->event.erase(event);
+    return 0;
+}
 
-// int FSM::run(FSM_State &fsm,void* data, std::string event)
-// {
-//     if(fsm.event.count(event) <= 0)
-//     {
-//         return run(fsm,data);
-//     }
-//     else
-//     {
-//         fsm = fsm.event[event];
-//         return run(fsm,data);
-//     }    
+int FSM::run(FSM_State *fsm,void* data, std::string event)
+{
+    if(fsm->event.count(event) <= 0)
+    {
+        std::cout << "no event" << std::endl;
+        return run(*(fsm),data);
+    }
+    else
+    {   
+        int r = run(*(fsm),data);
+        // fsm = fsm->event[event];
+        *fsm = *fsm->event[event];
+        // std::cout << "event  " << event <<std::endl;
+        // std::cout << "fsm" << fsm->name << std::endl;
+        return r;
+    }    
+}
 
+// int FSM::run(FSM_State *fsm,void* data)
+// {
+//     return run(*fsm,data);
 // }

src/pPowerManger/fsm.h

@@ -25,10 +25,10 @@ public:
     std::map<unsigned int, FSM_State> idStateMap;
 
     int run(FSM_State &fsm,void* data);
-    int run(FSM_State &fsm,void* data, std::string event);
+    int run(FSM_State *fsm,void* data, std::string event);
 
     //TODO: 事件注册机制实现
-    int RegisterEvent(FSM_State* fsm, std::string event, FSM_State &state);
+    int RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state);
     int unRegisterEvent(FSM_State* fsm, std::string event);
 
     int RegisterState(std::string name, unsigned int id,FSM_State &state);