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修复了程序在启动时偶尔崩溃的问题

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This commit is contained in:
zjk
2026-01-27 20:45:00 +08:00
parent b5ca051831
commit e5193bd7f7
9 changed files with 456 additions and 133 deletions
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src/pPowerManger/LowerCommManager.cpp
+103 -85
View File
@@ -189,111 +189,126 @@ bool LowerCommManager::updatePoweSystemStates(){
if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
{
double time;
m_udpComm->popMsgFormQueue(time,m_CcuCurrentState);
m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState));
{
m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
msg_CcuStateFbMsg_Update_time = time;
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
}
//DEBUG
//写入文件
// std::ofstream outFile("ccuState.txt", std::ios::app);
// coutMsg(m_CcuCurrentState, outFile);
// coutMsg(m_CcuCurrentState,std::cout);
msg_CcuStateFbMsg_Update_time = time;
}
if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
{
double time;
m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
msg_disHighVolBusFbMsg_Update_time = time;
if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState));
{
// m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
msg_disHighVolBusFbMsg_Update_time = time;
disBus1Breaker* pdis1=new disBus1Breaker;
(m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
pdis1 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
delete pdis1;
disBus1Breaker* pdis1=new disBus1Breaker;
(m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
pdis1 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
delete pdis1;
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
}
}
if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
{
double time;
m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState);
m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
msg_disHighAVolBusFbMsg_Update_time = time;
if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState));
{
m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
msg_disHighAVolBusFbMsg_Update_time = time;
disBus2Breaker* pdis2=new disBus2Breaker;
(m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
pdis2 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
delete pdis2;
disBus2Breaker* pdis2=new disBus2Breaker;
(m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
pdis2 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
delete pdis2;
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
}
}
if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
{
double time;
m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState);
m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
msg_disHighBVolBusFbMsg_Update_time = time;
if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState));
{
m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
msg_disHighBVolBusFbMsg_Update_time = time;
disBus3Breaker* pdis3=new disBus3Breaker;
(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
pdis3->paceholder = 0;
m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
delete pdis3;
disBus3Breaker* pdis3=new disBus3Breaker;
(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1 == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
(m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2 == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
pdis3->paceholder = 0;
m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
delete pdis3;
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
}
}
if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
{
double time;
m_udpComm->popMsgFormQueue(time,m_disLowBusState);
m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
msg_disLowBusFbMsg_Update_time = time;
if(m_udpComm->popMsgFormQueue(time,m_disLowBusState));
{
m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
msg_disLowBusFbMsg_Update_time = time;
disBus4Breaker* pdis4=new disBus4Breaker;
(m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
pdis4 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
delete pdis4;
disBus4Breaker* pdis4=new disBus4Breaker;
(m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1 == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
(m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2 == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
pdis4 -> paceholder = 0;
m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
delete pdis4;
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
}
}
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
return true;
}
@@ -310,18 +325,21 @@ bool LowerCommManager::listenThreadFunc()
if(nRead > 0)
{
try {
if(!m_udpComm->pushMsgToQueue(Buff))
if(m_udpComm->pushMsgToQueue(Buff))
{
//更新当前状态
if(!updatePoweSystemStates())
{
std::cerr << "Error updating power system states" << std::endl;
}
}
else
{
for(int i=0; i<m_udpComm->sError.size(); i++)
{
cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
}
}
//更新当前状态
if(!updatePoweSystemStates())
{
std::cerr << "Error updating power system states" << std::endl;
}
}
catch(const std::exception& e) {
cerr << "Error processing message: " << e.what() << endl;
src/pPowerManger/PowerManger.cpp
+4 -3
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@@ -55,6 +55,10 @@ PowerManger::PowerManger()
m_subDisSysCmd = {};
m_subDisSysState = {};
m_subDisSysFault = {};
//初始化系统数据
m_systemData = new SystemData();
//初始化控制指令
initControlCmd();
@@ -70,9 +74,6 @@ PowerManger::PowerManger()
m_db = new SQLite("power_data.db");
m_db->createTable();
//初始化系统数据
m_systemData = new SystemData();
//初始化http服务器
m_httpServer = new HttpServer(8090);
m_httpServer->setPowerManger(this);
src/pPowerManger/sqlit3/SQLite.zip
BIN
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src/pPowerManger/systemData.h
+75 -27
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@@ -36,7 +36,7 @@ public:
uint8_t maxLevel = 0;
// 遍历 sysFaultCodes 集合中的每个故障码
for (auto code : sysFaultCodes) {
// 提取0xabcd中的b位 (右移8位后取低4位)
// 提取0xabcd中的b位
uint8_t level = (code >> 8) & 0xF;
if (level > maxLevel) {
maxLevel = level;
@@ -46,9 +46,10 @@ public:
}
/**
* @brief 获取系统当前的故障码集合
* @return std::set<unsigned int>& 系统当前的故障码集合
* @return std::set<unsigned int> 系统当前的故障码集合
*/
const std::set<unsigned int>& getFaultCode() const {
std::set<unsigned int> getFaultCode() const {
std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
return sysFaultCodes;
}
//燃料电池系统参数
@@ -524,11 +525,70 @@ public:
return code;
}
public:
SystemData(){
//初始化变量全部为0
memset(this, 0, sizeof(SystemData));
disSysFaultCode.clear();
sysFaultCodes.clear();
SystemData() :
m_db(nullptr),
fc_mode(0), fc_status(0), fc_fault_level(0),
output_power_limit(0.0f), total_generation_time(0.0f), total_generation_power(0.0f),
fc_fault_level_1(0), fc_fault_level_2(0), fc_fault_level_3(0), fc_fault_level_4(0),
hydrogen_capacity(0.0f), liquid_oxygen_capacity(0.0f),
palladium_temp(0.0f), main_pipe_pressure(0.0f), aux_pipe_pressure(0.0f),
cabin_pressure1(0.0f), cabin_pressure2(0.0f), cabin_temp1(0.0f), cabin_temp2(0.0f),
cabin_humidity1(0.0f), cabin_humidity2(0.0f),
flame_detector1(0), flame_detector2(0),
h2_concentration1(0.0f), h2_concentration2(0.0f), h2_concentration3(0.0f),
o2_concentration1(0.0f), o2_concentration2(0.0f),
ch3oh_concentration1(0.0f), ch3oh_concentration2(0.0f),
cabin_ox_concentration(0.0f), cabin_temperature(0.0f), cabin_humidity(0.0f), cabin_pressure(0.0f),
power_cabin_ox_concentration(0.0f), power_cabin_temperature(0.0f), power_cabin_humidity(0.0f), power_cabin_pressure(0.0f),
ins_relay_status1(0), ins_relay_status2(0), dyn_relay_status1(0), dyn_relay_status2(0),
ins_pos_relay_status(0), ins_charge_relay_status(0), ins_precharge_relay_status(0), ins_neg_relay_status(0),
dyn_pos_relay_status(0), dyn_charge_relay_status(0), dyn_precharge_relay_status(0), dyn_neg_relay_status(0),
ins_max_discharge_power(0.0f), dyn_max_discharge_power(0.0f),
ins_soc(0), dyn_soc(0),
ins_total_energy(0.0f), dyn_total_energy(0.0f),
ins_power_input(0.0f), dyn_power_input(0.0f),
ins_charge_status(0), dyn_charge_status(0),
ins_voltage_link(0.0f), ins_voltage_pack(0.0f), ins_current(0.0f),
ins_resistance_pos(0.0f), ins_resistance_neg(0.0f),
dyn_voltage_link(0.0f), dyn_voltage_pack(0.0f), dyn_current(0.0f),
dyn_resistance_pos(0.0f), dyn_resistance_neg(0.0f),
ins_emergency_status(0), dyn_emergency_status(0),
ins_soc_threshold1(0.0f), ins_soc_threshold2(0.0f), ins_soc_threshold3(0.0f),
dyn_soc_threshold1(0.0f), dyn_soc_threshold2(0.0f), dyn_soc_threshold3(0.0f),
ins_power_limit1(0.0f), ins_power_limit2(0.0f),
dyn_power_limit1(0.0f), dyn_power_limit2(0.0f),
device_online_flag1(0), device_online_flag2(0),
dyn_charge_level(0), dyn_water_leak_status(0), ins_water_leak_dcdc_status(0), reserved4(0),
water_leak_status_from_insbat(0), water_leak_status_from_dynbat(0), dcdc_status_from_insbat(0),
heartbeat(0),
powfaultCode(0), insfaultCode(0),
emergency_battery1_voltage(0.0), emergency_battery1_current(0.0), emergency_battery1_max_temp(0.0),
emergency_battery1_fault_word(0),
emergency_battery2_voltage(0.0), emergency_battery2_current(0.0), emergency_battery2_max_temp(0.0),
emergency_battery2_fault_word(0),
moosd_status(false),
leakageCode(0)
{
// 初始化数组
for (int i = 0; i < 10; ++i) reserved1[i] = 0.0f;
for (int i = 0; i < 2; ++i) reserved2[i] = 0;
for (int i = 0; i < 6; ++i) { dyn_alarm_flag[i] = 0; ins_alarm_flag[i] = 0; }
for (int i = 0; i < 2; ++i) reserved3[i] = 0;
for (int i = 0; i < 8; ++i) leakStatus[i] = false;
// 初始化嵌套结构体（它们有自己的构造函数）
// m_dcdcStatus 有构造函数，会自动初始化
// power_bus_status 等 POD 结构体，使用 memset 局部初始化
memset(&power_bus_status, 0, sizeof(power_bus_status));
memset(&power_a_bus_status, 0, sizeof(power_a_bus_status));
memset(&instrument_main_bus_status, 0, sizeof(instrument_main_bus_status));
memset(&instrument_bus_status, 0, sizeof(instrument_bus_status));
memset(&device_common_status, 0, sizeof(device_common_status));
memset(&device_online_status, 0, sizeof(device_online_status));
// std::set 和 std::mutex 已经通过它们的默认构造函数正确初始化
// 默认构造的 std::set 已经是空的，不需要调用 clear()
// disSysFaultCode 和 sysFaultCodes 会在后续操作中被填充
};
~SystemData(){};
@@ -544,7 +604,6 @@ public:
};
void updateSystemData(ccuState data){
fc_mode = data.fc_mode;
fc_status = data.fc_status;
fc_fault_level = data.fc_fault_level;
@@ -592,10 +651,12 @@ public:
ch3oh_concentration1 = data.ch3oh_concentration1 * 0.01;
ch3oh_concentration2 = data.ch3oh_concentration2 * 0.01;
//保留字段
for(int i=0; i<10; i++) {
reserved1[i] = data.reserved1[i];
//保留字段 ：ccuState中的reserved1只有2个元素，但SystemData中的reserved1有10个元素
// 只复制前2个元素，其余保持原值
for(int i=0; i<2; i++) {
reserved1[i] = static_cast<float>(data.reserved1[i]);
}
// 注意：reserved1[2]到reserved1[9]保持原值（0.0f）
//仪表舱参数
cabin_ox_concentration = data.cabin_ox_concentration * 0.1;
@@ -705,15 +766,7 @@ public:
water_leak_status_from_dynbat = (data.dyn_water_leak_status >> 4) & 0x0F; // 00 正常，01 异常漏水
dcdc_status_from_insbat = (data.ins_water_leak_dcdc_status) & 0x0F; // 00 正常，01 故障
//更新漏水状态
if(water_leak_status_from_insbat == 0x01)
{
leakStatus[LEAKAGE_LI_BATTERY] = true;
}
else
{
leakStatus[LEAKAGE_LI_BATTERY] = false;
}
if(water_leak_status_from_dynbat == 0x01)
if(water_leak_status_from_insbat == 0x01 || water_leak_status_from_dynbat == 0x01)
{
leakStatus[LEAKAGE_LI_BATTERY] = true;
}
@@ -775,18 +828,13 @@ public:
//绝缘状态
power_bus_status.powerBusInsulationStatus = data.powerBusInsulationStatus == 0x55 ? 0 : 1;
// if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
power_bus_status.aBusInsulationStatus = data.aBusInsulationStatus == 0x55 ? 0 : 1;
// if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
//电源状态
power_bus_status.meterPowerLossSignal = data.meterPowerLossSignal == 0x55 ? 0 : 1;
// if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
power_bus_status.emergencyPowerLossSignal = data.emergencyPowerLossSignal == 0x55 ? 0 : 1;
// if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
// 所有对 disSysFaultCode 的访问都在锁保护下
{
std::lock_guard<std::mutex> lock(faultCodeMutex);
if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);