优化udp通信代码,增加配电系统通信解析,增加能源系统状态定义

data/msg/uPower_pmState_st.json

@@ -0,0 +1,105 @@
+{
+    "workCondition_unit8" : "idel", 
+    "currentMod_uint8" : "test",        
+    "powerState_uint8" : 1, 
+    "faultLevel_uint8" : 0, 
+    "faultCode_uint16" : [0,1,2], 
+    "soc_uint16" : 10000, 
+    "sustainableTime_uint64" : 10000, 
+    "fcs_obj":
+    {
+        "state_uint8" : 1,       
+        "faultLevel_uint8" : 0,  
+        "faultCode_uint16" : 0, 
+        "soc" : 1000,    
+        "output": 20000,   
+        "powerGen" : 30000, 
+        "outputLimit" : 30000, 
+        "ch4o":1000,
+        "o2":1000,
+        "temp":1000
+    },
+    "InsBat_obj":
+    {
+        "state" : 1, 
+        "faultLevel" : 0, 
+        "faultCode" : 0, 
+        "soc" : 1000,
+        "threshold1": 70, 
+        "threshold2": 80, 
+        "threshold3": 90
+    },
+    "powBat_obj":
+    {
+        "state" : 1, 
+        "faultLevel" : 0, 
+        "faultCode" : 0, 
+        "soc" : 1000, 
+        "threshold1": 70, 
+        "threshold2": 80,
+        "threshold3": 90
+    },
+    "powDisSys_obj":
+    {
+        "state" : 1, 
+        "faultLevel" : 0, 
+        "faultCode" : [0,1,2],
+        "currentHigVolBusState" :
+        {
+            "powerBusVoltage" : 10000, 
+            "dc5ModuleCurrent" : 10000, 
+            "powerBusCurrent" : 10000, 
+            "aBusVoltage" : 10000, 
+            "propMotorCurrent" : 10000, 
+            "aBusCurrent" : 10000, 
+            "batteryGroupCurrent" : 10000, 
+            "bowHigVolDisCurrent" : 10000, 
+            "ftDev45Current" : 10000,
+            "tyzCurrent" : 10000, 
+            "sternRudder1Current" : 10000, 
+            "reservedCurrent1" : 10000, 
+            "sternRudder2Current" : 10000, 
+            "reservedCurrent2" : 10000, 
+            "fbCurrent" : 10000,
+            "reservedCurrent3" : 10000
+        },
+        "currentHigVolBusAState" :
+        {
+            "busBVoltage":10000,
+            "busBCurrent":10000, 
+            "ftDev123Current":10000, 
+            "closureMechCurrent":10000, 
+            "mastSteerCurrent":10000, 
+            "xczCurrent":10000,
+            "bowRudderCurrent":10000, 
+            "coverActorCurrent":10000
+        },
+        "currentHigVolBusBState" :
+        {
+            "insBusVoltage" : 10000, 
+            "bowLowVoltageDisCurrent" : 10000, 
+            "dcc1Current" : 10000, 
+            "reservedCurrent1" : 10000, 
+            "emerBatGroup2Current" : 10000,
+            "batGroupInsCurrent" : 10000,
+            "unit4Current" : 10000,
+            "reservedCurrent2" : 10000,
+            "emer2BusVoltage" : 10000, 
+            "ccuEmerCurrent" : 10000, 
+            "fcsSecurityCurrent" : 10000, 
+            "plcCurrent" : 10000
+        },
+        "currentLowVolBusBState" :
+        {
+            "insBusVoltage":10000, 
+            "insBusCurrent":10000, 
+            "unit1Current":10000, 
+            "unit2Current":10000, 
+            "unit3Current":10000, 
+            "unit5Current":10000, 
+            "bowPzDeviceCurrent":10000, 
+            "emerBatGroup1Current":10000, 
+            "emer1BusVoltage":10000 
+        }
+    }
+}

src/pPowerManger/PowerManger.cpp

@@ -18,7 +18,7 @@ using namespace std;
 bool _ListenCB(void * pParam)
 {
     PowerManger* pMe = (PowerManger* )pParam;
-    return pMe->ListenLoopCCU();
+    return pMe->ListenLoopUDP();
 }
 
 //---------------------------------------------------------
@@ -84,7 +84,23 @@ bool PowerManger::Iterate()
 {
   AppCastingMOOSApp::Iterate();
   // Do your thing here!
+  if(!m_udpComm.m_qReceiveCcuStateBuffer.empty())
+  {
+    m_CcuCurrentState = m_udpComm.m_qReceiveCcuStateBuffer.front();
+    cout << m_CcuCurrentState.checkCode << endl;
+    m_udpComm.m_qReceiveCcuStateBuffer.pop();
+  }
+
+  if(!m_udpComm.sError.empty())
+  {
+    for(int i=0;i<m_udpComm.sError.size();i++)
+    {
+      cout<<MOOS::ConsoleColours::red()<< m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
+    }
+    m_udpComm.sError.clear();
+  }
   //AppCastingMOOSApp::PostReport();
+  m_udpComm.clearMsgQueue();
   return(true);
 }
 
@@ -124,9 +140,15 @@ bool PowerManger::OnStartUp()
   registerVariables();	
 
   if(m_pCcuUdpComm = setUdpScoket(IPORT))
+  {
+    cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
     MOOSTrace("UDP set succeed");
+  }
   else
+  {
+    cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
     MOOSTrace("UDP set faile");
+  }
   m_ListenThread.Initialise(_ListenCB,this);
   m_ListenThread.Start();
   return(true);
@@ -177,71 +199,35 @@ XPCUdpSocket* PowerManger::setUdpScoket(long lPort)
   return pUdpSocket;
 }
 
-bool PowerManger::ListenLoopCCU()
+bool PowerManger::ListenLoopUDP()
 {
   unsigned char Buff[MAX_UDP_PKT_SIZE];
-  cout << "------------------" << endl;
-  cout << "SIZEOF" << sizeof(msg_CcuStateFbMsg) << endl;
   while(!m_ListenThread.IsQuitRequested())
   {
     int nRead = m_pCcuUdpComm->iRecieveMessage(Buff,sizeof(Buff));      
     cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
     if(nRead > 0)
     {
-      //判断消息
+      if(!m_udpComm.pushMsgToQueue(Buff))
-      char *header = new char[sizeof(m_header)];
-      unsigned short id;
-      memcpy(header,Buff,sizeof(m_header));
-      if(!m_udpComm.getMsgId(header,id))
       {
-        cout << "------------------" << endl;
+        for(int i=0;i<m_udpComm.sError.size();i++)
-        cout << "id:" << id << endl;
+        {
-        cout << "getMsgId faile" << endl;
+          cout<<MOOS::ConsoleColours::red()<< m_udpComm.sError[i] << MOOS::ConsoleColours::reset() << endl;
+        }
       }
-      delete []header;
-      //处理消息
-      switch (id)
-      {
-      case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
-        msg_CcuStateFbMsg s;
-        if(m_udpComm.getCcuState((char *)Buff,s))
-        {
-          cout << "------------------" << endl;
-          // cout << "id:" << s.header.id << endl;
-          cout << "currentWorkCondition:" << (double)s.currentWorkCondition << endl;
-          cout << "fcuState:" << (double)s.fcuState << endl;
-          cout << "fcuFaultLeve:" << (double)s.fcuFaultLeve << endl;
-          cout << "powerLimit:" << (double)s.powerLimit << endl;
-          cout << "checkCode:" << (double)s.checkCode << endl;
-        }
-        else
-        {
-          for(int i = 0;i < m_udpComm.sError.size();i++)
-            cout << m_udpComm.sError[i] << endl;
-          m_udpComm.sError.clear();
-        }
-        break;
-      case CCU_SET_PARM_FB_ID: //CCU_SET_PARM_FB 0x0040
-        msg_CcuSetParmFbMsg p;
-        if(m_udpComm.getCcuSetParmFb((char *)Buff,p))
-        {
-          cout << "------------------" << endl;
-          cout << "id:" << p.header.id << endl;
-          cout << "Flas:" << p.flag << endl;
-          cout << "FailCode" << p.failureCode << endl;
-        }
-        else
-        {
-          for(int i = 0;i < m_udpComm.sError.size();i++)
-            cout << m_udpComm.sError[i] << endl;
-          m_udpComm.sError.clear();
-        }
-        break;
-      default:
-        break;
-      }
-
     }
   }
   return true;
 }
+
+
+bool PowerManger::updatePmState()
+{
+  m_pmCurrentState.ccustate = m_CcuCurrentState.data;
+  m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
+  m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
+  m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
+  m_pmCurrentState.bus4State = m_disLowBusState.data;
+  
+  return true;
+}

src/pPowerManger/PowerManger.h

@@ -19,22 +19,25 @@
 #define PowerManger_HEADER
 #define UNIX
 
+#include <queue>
 #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
 #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
 #include "ccuUdpMsg.h"
 #include "json/json.h"
 #include "udpComm.h"
+#include "pmSysvariable.h"
 
 #define IPORT 5000
 #define MAX_UDP_PKT_SIZE 65535
+
 class PowerManger : public AppCastingMOOSApp
 {
  public:
    PowerManger();
    ~PowerManger();
  public:
-   bool ListenLoopCCU();
+   bool ListenLoopUDP();
 
  protected: // Standard MOOSApp functions to overload  
    bool OnNewMail(MOOSMSG_LIST &NewMail);
@@ -47,24 +50,30 @@ class PowerManger : public AppCastingMOOSApp
  protected: // app function
   // bool _ListenCB();
   XPCUdpSocket* setUdpScoket(long lPort);
-  //
+
-  bool buildStateReport();
+  bool updatePmState();
+
   bool buildEquipmentReport();
   bool buildDisributionReport();
   bool buildSubDistributionReport();
-  bool buildPredictionReport(); 
+  bool buildPredictionReport();
 
  protected: // app variables
-   long m_lPort;
+  pmState m_pmCurrentState;
-   unsigned int m_nReceiveBufferSizeKB;
-   unsigned int m_nSendBufferSizeKB;
-
-   udpComm m_udpComm;
-   
-   XPCUdpSocket *m_pCcuUdpComm;
 
+  msg_CcuStateFbMsg       m_CcuCurrentState;
+  msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
+  msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
+  msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
+  msg_disLowBusFbMsg      m_disLowBusState;
  private: // Configuration variables
-   CMOOSThread m_ListenThread;
+  udpComm       m_udpComm;
+  XPCUdpSocket *m_pCcuUdpComm;
+  CMOOSThread   m_ListenThread;
+  long          m_lPort;
+  unsigned int  m_nReceiveBufferSizeKB;
+  unsigned int  m_nSendBufferSizeKB;
+
   //  CMOOSThread m_SendThread;
  private: // State variables
 };

src/pPowerManger/ccuUdpMsg.h

@@ -1,10 +1,15 @@
 #ifndef CCUUDPMSG__H
 #define CCUUDPMSG__H
+#include "pmSysvariable.h"
+
 #define CCU_UDPMSG_START1 0x20
 #define CCU_UDPMSG_START2 0x20
 #define CCU_STATE_FB_ID 0x0051
-#define CCU_SET_PARM_ID 0x0040
+#define CCU_SET_PARM_FB_ID 0x0040
-#define CCU_SET_PARM_FB_ID 0x0041
+#define DIS_HVBUS_FB_ID 0x0005
+#define DIS_HVBUSA_FB_ID 0x0006
+#define DIS_HVBUSB_FB_ID 0x0007
+#define DIS_LVBUS_FB_ID 0x0008
 
 #pragma pack (1)
 typedef unsigned int Checksum;
@@ -106,83 +111,202 @@ typedef struct {
 // 复合管控状态反馈
 typedef struct {
   m_header header;
-  unsigned char currentWorkCondition;
+  ccuState data;
-  unsigned char fcuState;
+  // unsigned char currentWorkCondition;
-  unsigned char fcuFaultLeve;
+  // unsigned char fcuState;
-  float powerLimit;
+  // unsigned char fcuFaultLeve;
-  float totalPowerGeneration;
+  // float powerLimit;
-  float ch4o;
+  // float totalPowerGeneration;
-  float o2;
+  // float ch4o;
-  float fcuVoltage;
+  // float o2;
-  float fcuCurrent;
+  // float fcuVoltage;
-  float o2Level;
+  // float fcuCurrent;
-  float placeholder1;
+  // float o2Level;
-  float exchangerTemperature;
+  // float placeholder1;
-  float fcuOutPower;
+  // float exchangerTemperature;
-  float fcuOutIns;
+  // float fcuOutPower;
-  float fcuVoltageIns;
+  // float fcuOutIns;
-  float fcuVoltagePower;
+  // float fcuVoltageIns;
-  float fcuCurrentIns;
+  // float fcuVoltagePower;
-  float fcuCurrentPower;
+  // float fcuCurrentIns;
-  float h2Concentration1;
+  // float fcuCurrentPower;
-  float h2Concentration2;
+  // float h2Concentration1;
-  float o2Concentration1;
+  // float h2Concentration2;
-  float o2Concentration2;
+  // float o2Concentration1;
-  float ch4oConcentration1;
+  // float o2Concentration2;
-  float ch4oConcentration2;
+  // float ch4oConcentration1;
-  float backpressure1;
+  // float ch4oConcentration2;
-  float backpressure2;
+  // float backpressure1;
-  unsigned char flameDetection;
+  // float backpressure2;
-  unsigned char fcuGZ_1L;
+  // unsigned char flameDetection;
-  unsigned char fcuGZ_1H;
+  // unsigned char fcuGZ_1L;
-  unsigned char fcuGZ_2L;
+  // unsigned char fcuGZ_1H;
-  unsigned char fcuGZ_2H;
+  // unsigned char fcuGZ_2L;
-  unsigned char fcuGZ_3L;
+  // unsigned char fcuGZ_2H;
-  unsigned char fcuGZ_3H;
+  // unsigned char fcuGZ_3L;
-  unsigned char insPosRelayState;
+  // unsigned char fcuGZ_3H;
-  unsigned char insNegRelayState;
+  // unsigned char insPosRelayState;
-  unsigned char powerPosRelayState;
+  // unsigned char insNegRelayState;
-  unsigned char powerNegRelayState;
+  // unsigned char powerPosRelayState;
-  unsigned short insBatLimit;
+  // unsigned char powerNegRelayState;
-  unsigned short powerBatLimit;
+  // unsigned short insBatLimit;
-  unsigned char insBatSoc;
+  // unsigned short powerBatLimit;
-  unsigned char powerBatSoc;
+  // unsigned char insBatSoc;
-  unsigned short insBatTotalElectricity;
+  // unsigned char powerBatSoc;
-  unsigned short powerBatTotalElectricity;
+  // unsigned short insBatTotalElectricity;
-  unsigned short insBatCurrentElectricity;
+  // unsigned short powerBatTotalElectricity;
-  unsigned short powerBatCurrentElectricity;
+  // unsigned short insBatCurrentElectricity;
-  unsigned char insChargeState;
+  // unsigned short powerBatCurrentElectricity;
-  unsigned char powerChargeState;
+  // unsigned char insChargeState;
-  unsigned short insLinkVoltage;
+  // unsigned char powerChargeState;
-  unsigned short insPackVoltage;
+  // unsigned short insLinkVoltage;
-  unsigned short insCurrent;
+  // unsigned short insPackVoltage;
-  unsigned short insPosInsulationResistance;
+  // unsigned short insCurrent;
-  unsigned short insNegInsulationResistance;
+  // unsigned short insPosInsulationResistance;
-  unsigned short powerLinkVoltage;
+  // unsigned short insNegInsulationResistance;
-  unsigned short powerPackVoltage;
+  // unsigned short powerLinkVoltage;
-  unsigned short powerCurrent;
+  // unsigned short powerPackVoltage;
-  unsigned short powerPosInsulationResistance;
+  // unsigned short powerCurrent;
-  unsigned short powerNegInsulationResistance;
+  // unsigned short powerPosInsulationResistance;
-  unsigned char insEmergencyStatusWord;
+  // unsigned short powerNegInsulationResistance;
-  unsigned char powerEmergencyStatusWord;
+  // unsigned char insEmergencyStatusWord;
-  unsigned char insAlarmIdentificationWord;
+  // unsigned char powerEmergencyStatusWord;
-  unsigned char powerAlarmIdentificationWord;
+  // unsigned char insAlarmIdentificationWord;
-  unsigned char insCurrentSocHold1;
+  // unsigned char powerAlarmIdentificationWord;
-  unsigned char insCurrentSocHold2;
+  // unsigned char insCurrentSocHold1;
-  unsigned char insCurrentSocHold3;
+  // unsigned char insCurrentSocHold2;
-  unsigned char fcuCurrentToInsLimit1;
+  // unsigned char insCurrentSocHold3;
-  unsigned char fcuCurrentToinsLimit2;
+  // unsigned char fcuCurrentToInsLimit1;
-  unsigned char powerCurrentSocHold1;
+  // unsigned char fcuCurrentToinsLimit2;
-  unsigned char powerCurrentSocHold2;
+  // unsigned char powerCurrentSocHold1;
-  unsigned char powerCurrentSocHold3;
+  // unsigned char powerCurrentSocHold2;
-  unsigned char powerCurrentToInsLimit1;
+  // unsigned char powerCurrentSocHold3;
-  unsigned char powerCurrentToinsLimit2;
+  // unsigned char powerCurrentToInsLimit1;
-  float placeholder2;
+  // unsigned char powerCurrentToinsLimit2;
-  float placeholder3;
+  // float placeholder2;
-  float placeholder4;
+  // float placeholder3;
-  float placeholder5;
+  // float placeholder4;
+  // float placeholder5;
   Checksum checkCode;
 } msg_CcuStateFbMsg;
-#pragma pack ()
 
+//高压母线配电反馈
+typedef struct {
+  m_header header;
+  disHighVolBusState data;
+  // 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;
+  // unsigned char busInsulationLow;
+  // unsigned char busAInsulationHigh;
+  // unsigned char lostPower;
+  // unsigned char lostEmerPower;
+  // unsigned short powerBusVoltage;
+  // unsigned short dcDc5ModuleCurrent;
+  // unsigned short powerBusCurrent;
+  // unsigned short busbarAVoltage;
+  // unsigned short propulsionMotorControlBoxCurrent;
+  // unsigned short busbarACurrent;
+  // unsigned short lithiumBatteryGroupMeterCurrent;
+  // unsigned short bowHighVoltageDistributionBoxCurrent;
+  // unsigned short sternFTDevice45Current;
+  // unsigned short tyzReservedSwitchCurrent;
+  // unsigned short sternRudderSwitch1Current;
+  // unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
+  // unsigned short sternRudderSwitch2Current;
+  // unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
+  // unsigned short fbReservedSwitchCurrent;
+  // unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
+  Checksum checkCode;
+} msg_disHighVolBusFbMsg;
+
+// 高压母线A配电反馈
+typedef struct {
+  m_header header;
+  disHighAVolBusState data;
+  // unsigned char bowFTDevice123CircuitBreaker;
+  // unsigned char actuatorCircuitBreaker;
+  // unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  // unsigned char xczCircuitBreaker;
+  // unsigned char bowRudderControlBoxCircuitBreaker;
+  // unsigned char openWaterCoverStartCylinderCircuitBreaker;
+  // unsigned char instrumentPowerFailureSignal;
+  // unsigned char emergencyPowerFailureSignal;
+  // unsigned char waterIngressionAlarm;
+  // unsigned short busbarBVoltage;
+  // unsigned short busbarBCurrent;
+  // unsigned short bowFTDevice123Current;
+  // unsigned short actuatorCurrent;
+  // unsigned short mastSteeringGearControlBoxCurrent;
+  // unsigned short xczCurrent;
+  // unsigned short bowRudderControlBoxCurrent;
+  // unsigned short openWaterCoverStartCylinderCurrent;
+  Checksum checkCode;
+} msg_disHighAVolBusFbMsg;
+
+// 高压母线B配电反馈
+typedef struct {
+  m_header header;
+  disHighBVolBusState data;
+  // 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;
+  // unsigned char instrumentPowerFailureSignal;
+  // unsigned char emergencyPowerFailureSignal;
+  // unsigned char instrumentBusbarInsulationLow;
+  // unsigned short instrumentBusbarVoltage;
+  // unsigned short bowLowVoltageDistributionBoxCurrent;
+  // unsigned short dcC1InstrumentDC48VCurrent;
+  // unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
+  // unsigned short emergencyLithiumBatteryGroup2Current;
+  // unsigned short lithiumBatteryGroupInstrumentCurrent;
+  // unsigned short unit4InstrumentDC48VCurrent;
+  // unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
+  // unsigned short emergency2BusbarVoltage;
+  // unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
+  // unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
+  // unsigned short plcControlPowerCurrent;
+  Checksum checkCode;
+} msg_disHighBVolBusFbMsg;
+
+//仪表汇流排配电反馈
+typedef struct {
+  m_header header;
+  disLowBusState data;
+  // 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;
+  // unsigned char powerFailureSignal;
+  // unsigned char waterIngressionAlarm;
+  // unsigned short instrumentBusbarVoltage;
+  // unsigned short instrumentBusbarCurrent;
+  // unsigned short unit1Current;
+  // unsigned short unit2Current;
+  // unsigned short unit3Current;
+  // unsigned short unit5Current;
+  // unsigned short bowPZDeviceCurrent;
+  // unsigned short emergencyLithiumBatteryGroup1Current;
+  // unsigned short emergency1BusbarVoltage;
+  Checksum checkCode;
+} msg_disLowBusFbMsg;
+
+#pragma pack ()
 #endif

src/pPowerManger/pmSysvariable.h

@@ -0,0 +1,201 @@
+#ifndef PMSYSVARIABLE_H
+#define PMSYSVARIABLE_H
+#pragma pack (1)
+typedef struct ccuState
+{
+  unsigned char currentWorkCondition;
+  unsigned char fcuState;
+  unsigned char fcuFaultLeve;
+  float powerLimit;
+  float totalPowerGeneration;
+  float ch4o;
+  float o2;
+  float fcuVoltage;
+  float fcuCurrent;
+  float o2Level;
+  float placeholder1;
+  float exchangerTemperature;
+  float fcuOutPower;
+  float fcuOutIns;
+  float fcuVoltageIns;
+  float fcuVoltagePower;
+  float fcuCurrentIns;
+  float fcuCurrentPower;
+  float h2Concentration1;
+  float h2Concentration2;
+  float o2Concentration1;
+  float o2Concentration2;
+  float ch4oConcentration1;
+  float ch4oConcentration2;
+  float backpressure1;
+  float backpressure2;
+  unsigned char flameDetection;
+  unsigned char fcuGZ_1L;
+  unsigned char fcuGZ_1H;
+  unsigned char fcuGZ_2L;
+  unsigned char fcuGZ_2H;
+  unsigned char fcuGZ_3L;
+  unsigned char fcuGZ_3H;
+  unsigned char insPosRelayState;
+  unsigned char insNegRelayState;
+  unsigned char powerPosRelayState;
+  unsigned char powerNegRelayState;
+  unsigned short insBatLimit;
+  unsigned short powerBatLimit;
+  unsigned char insBatSoc;
+  unsigned char powerBatSoc;
+  unsigned short insBatTotalElectricity;
+  unsigned short powerBatTotalElectricity;
+  unsigned short insBatCurrentElectricity;
+  unsigned short powerBatCurrentElectricity;
+  unsigned char insChargeState;
+  unsigned char powerChargeState;
+  unsigned short insLinkVoltage;
+  unsigned short insPackVoltage;
+  unsigned short insCurrent;
+  unsigned short insPosInsulationResistance;
+  unsigned short insNegInsulationResistance;
+  unsigned short powerLinkVoltage;
+  unsigned short powerPackVoltage;
+  unsigned short powerCurrent;
+  unsigned short powerPosInsulationResistance;
+  unsigned short powerNegInsulationResistance;
+  unsigned char insEmergencyStatusWord;
+  unsigned char powerEmergencyStatusWord;
+  unsigned char insAlarmIdentificationWord;
+  unsigned char powerAlarmIdentificationWord;
+  unsigned char insCurrentSocHold1;
+  unsigned char insCurrentSocHold2;
+  unsigned char insCurrentSocHold3;
+  unsigned char fcuCurrentToInsLimit1;
+  unsigned char fcuCurrentToinsLimit2;
+  unsigned char powerCurrentSocHold1;
+  unsigned char powerCurrentSocHold2;
+  unsigned char powerCurrentSocHold3;
+  unsigned char powerCurrentToInsLimit1;
+  unsigned char powerCurrentToinsLimit2;
+  float placeholder2;
+  float placeholder3;
+  float placeholder4;
+  float placeholder5;  
+} ccuState;
+
+typedef struct disHighVolBusState
+{
+  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;
+  unsigned char busInsulationLow;
+  unsigned char busAInsulationHigh;
+  unsigned char lostPower;
+  unsigned char lostEmerPower;
+  unsigned short powerBusVoltage;
+  unsigned short dcDc5ModuleCurrent;
+  unsigned short powerBusCurrent;
+  unsigned short busbarAVoltage;
+  unsigned short propulsionMotorControlBoxCurrent;
+  unsigned short busbarACurrent;
+  unsigned short lithiumBatteryGroupMeterCurrent;
+  unsigned short bowHighVoltageDistributionBoxCurrent;
+  unsigned short sternFTDevice45Current;
+  unsigned short tyzReservedSwitchCurrent;
+  unsigned short sternRudderSwitch1Current;
+  unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
+  unsigned short sternRudderSwitch2Current;
+  unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
+  unsigned short fbReservedSwitchCurrent;
+  unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
+}disHighVolBusState;
+
+typedef struct disHighAVolBusState
+{
+  unsigned char bowFTDevice123CircuitBreaker;
+  unsigned char actuatorCircuitBreaker;
+  unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  unsigned char xczCircuitBreaker;
+  unsigned char bowRudderControlBoxCircuitBreaker;
+  unsigned char openWaterCoverStartCylinderCircuitBreaker;
+  unsigned char instrumentPowerFailureSignal;
+  unsigned char emergencyPowerFailureSignal;
+  unsigned char waterIngressionAlarm;
+  unsigned short busbarBVoltage;
+  unsigned short busbarBCurrent;
+  unsigned short bowFTDevice123Current;
+  unsigned short actuatorCurrent;
+  unsigned short mastSteeringGearControlBoxCurrent;
+  unsigned short xczCurrent;
+  unsigned short bowRudderControlBoxCurrent;
+  unsigned short openWaterCoverStartCylinderCurrent;
+}disHighAVolBusState;
+
+typedef struct disHighBVolBusState
+{
+    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;
+    unsigned char instrumentPowerFailureSignal;
+    unsigned char emergencyPowerFailureSignal;
+    unsigned char instrumentBusbarInsulationLow;
+    unsigned short instrumentBusbarVoltage;
+    unsigned short bowLowVoltageDistributionBoxCurrent;
+    unsigned short dcC1InstrumentDC48VCurrent;
+    unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
+    unsigned short emergencyLithiumBatteryGroup2Current;
+    unsigned short lithiumBatteryGroupInstrumentCurrent;
+    unsigned short unit4InstrumentDC48VCurrent;
+    unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
+    unsigned short emergency2BusbarVoltage;
+    unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
+    unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
+    unsigned short plcControlPowerCurrent;
+}disHighBVolBusState;
+
+typedef struct disLowBusState
+{
+  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;
+  unsigned char powerFailureSignal;
+  unsigned char waterIngressionAlarm;
+  unsigned short instrumentBusbarVoltage;
+  unsigned short instrumentBusbarCurrent;
+  unsigned short unit1Current;
+  unsigned short unit2Current;
+  unsigned short unit3Current;
+  unsigned short unit5Current;
+  unsigned short bowPZDeviceCurrent;
+  unsigned short emergencyLithiumBatteryGroup1Current;
+  unsigned short emergency1BusbarVoltage;
+}disLowBusState;
+#pragma pack (0)
+
+typedef struct pmState
+{
+  ccuState            ccustate;
+  disHighVolBusState  bus1State;
+  disHighAVolBusState bus2State;
+  disHighBVolBusState bus3State;
+  disLowBusState      bus4State;
+} PmState;
+
+
+
+#endif

src/pPowerManger/udpComm.cpp

@@ -1,5 +1,6 @@
 #include "udpComm.h"
 #include <iostream>
+#include <memory>
 
 udpComm::udpComm() {}
 
@@ -15,6 +16,7 @@ Checksum udpComm::calculateChecksum(const unsigned char* data, int size)
   }
   return checksum;
 }
+
 bool udpComm::getMsgId(char *m,unsigned short &id)
 {
   m_header h;
@@ -84,4 +86,253 @@ bool udpComm::getCcuSetParmFb(char *m, msg_CcuSetParmFbMsg &s)
 
   s = *p;
   return true;
+}
+
+bool udpComm::getDisSysHVBusFb(char *m, msg_disHighVolBusFbMsg &s)
+{
+  m_header h;
+  Checksum sum;
+  msg_disHighVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighVolBusFbMsg *>(m);
+  h = p->header;
+  // 判断消息是否有效
+  if (h.start1!= 0x20 || h.start2!= 0x20) {
+    sError.push_back("DisSys HVBus Msg Header errar");
+    return false;
+  }
+  if (h.id!= DIS_HVBUS_FB_ID) {
+    sError.push_back("DisSys HVBus Msg ID error");
+    return false;
+  }
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighVolBusFbMsg));
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys HVBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::getDisSysHVABusFb(char *m, msg_disHighAVolBusFbMsg &s)
+{
+  m_header h;
+  Checksum sum;
+  msg_disHighAVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighAVolBusFbMsg *>(m);
+  h = p->header;
+  // 判断消息是否有效
+  if (h.start1!= 0x20 || h.start2!= 0x20) {
+    sError.push_back("DisSys HVABus Msg Header errar");
+    return false;
+  }
+  if (h.id!= DIS_HVBUSA_FB_ID) {
+    sError.push_back("DisSys HVABus Msg ID error");
+    return false;
+  }
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighAVolBusFbMsg));
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys HVABus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+bool udpComm::getDisSysHVBBusFb(char *m, msg_disHighBVolBusFbMsg &s)
+{
+  m_header h;
+  Checksum sum;
+  msg_disHighBVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighBVolBusFbMsg *>(m);
+  h = p->header;
+  // 判断消息是否有效
+  if (h.start1!= 0x20 || h.start2!= 0x20) {
+    sError.push_back("DisSys HVBBus Msg Header errar");
+    return false;
+  }
+  if (h.id!= DIS_HVBUSB_FB_ID) {
+    sError.push_back("DisSys HVBBus Msg ID error");
+    return false;
+  }
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighBVolBusFbMsg));
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys HVBBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::getDisSysLVBusFb(char *m, msg_disLowBusFbMsg &s)
+{
+  m_header h;
+  Checksum sum;
+  msg_disLowBusFbMsg *p;
+  p = reinterpret_cast<msg_disLowBusFbMsg *>(m);
+  h = p->header;
+  // 判断消息是否有效
+  if (h.start1!= 0x20 || h.start2!= 0x20) {
+    sError.push_back("DisSys LVBus Msg Header errar");
+    return false;
+  }
+  if (h.id!= DIS_LVBUS_FB_ID) {
+    sError.push_back("DisSys LVBus Msg ID error");
+    return false;
+  }
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowBusFbMsg));
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys LVBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::pushMsgToQueue(unsigned char *m)
+{
+  if(m==NULL)
+  {
+    sError.push_back("pushMsgToQueue faile,Msg is NULL");
+    return false;
+  }
+  unsigned char* Buff = m;
+  //判断消息
+  char *header = new char[sizeof(m_header)];
+  unsigned short id;
+  memcpy(header,Buff,sizeof(m_header));
+  if(!getMsgId(header,id))
+  {
+    sError.push_back("pushMsgToQueue faile,Msg ID error");
+    return false;
+  }
+  delete []header;
+  //输入消息
+  switch (id)
+  {
+  case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
+    msg_CcuStateFbMsg s;
+    if(getCcuState((char *)Buff,s))
+    {
+      if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
+        m_qReceiveCcuStateBuffer.push(s);
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,CcuState buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      //sError.push_back();
+      return false;
+    }
+    break;
+  case CCU_SET_PARM_FB_ID: //CCU_SET_PARM_FB 0x0040
+    msg_CcuSetParmFbMsg p;
+    if(getCcuSetParmFb((char *)Buff,p))
+    {
+      if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
+        m_qReceiveCcuSetParmBuffer.push(p);
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,CcuSetParm buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  case DIS_HVBUS_FB_ID: //DIS_HVBUS_FB 0x0020
+    msg_disHighVolBusFbMsg h;
+    if(getDisSysHVBusFb((char *)Buff,h))
+    {
+      if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
+        m_qReceiveDisHighVolBusBuffer.push(h);
+      else 
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+    case DIS_HVBUSA_FB_ID: //DIS_HVBUSA_FB 0x0006
+    msg_disHighAVolBusFbMsg a;
+    if(getDisSysHVABusFb((char *)Buff,a))
+    {
+      if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
+        m_qReceiveDisHighAVolBusBuffer.push(a);
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVABus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+    case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
+    msg_disHighBVolBusFbMsg b;
+    if(getDisSysHVBBusFb((char *)Buff,b))
+    {
+      if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
+        m_qReceiveDisHighBVolBusBuffer.push(b);
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVBBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  case DIS_LVBUS_FB_ID: //DIS_LVBUS_FB 0x0008
+    msg_disLowBusFbMsg l;
+    if(getDisSysLVBusFb((char *)Buff,l))
+    {
+      if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
+        m_qReceiveDisLowBusBuffer.push(l);
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysLVBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+  default:
+    break;
+  }  
+}
+
+bool udpComm::clearMsgQueue()
+{
+  while(!m_qReceiveCcuStateBuffer.empty())
+    m_qReceiveCcuStateBuffer.pop();
+
+  while(!m_qReceiveCcuSetParmBuffer.empty())
+    m_qReceiveCcuSetParmBuffer.pop();
+
+  while(!m_qReceiveDisHighVolBusBuffer.empty())
+    m_qReceiveDisHighVolBusBuffer.pop();
+
+  while(!m_qReceiveDisHighAVolBusBuffer.empty())
+    m_qReceiveDisHighAVolBusBuffer.pop();
+
+  while(!m_qReceiveDisHighBVolBusBuffer.empty())
+    m_qReceiveDisHighBVolBusBuffer.pop();
+    
+  while(!m_qReceiveDisLowBusBuffer.empty())
+    m_qReceiveDisLowBusBuffer.pop();
+  return true;
 }

src/pPowerManger/udpComm.h

@@ -3,21 +3,42 @@
 #include "ccuUdpMsg.h"
 #include <string>
 #include <vector>
+#include <queue>
+#include <string.h>
+
+#define QUENUE_SIZE 100
 class udpComm {
 private:
   /* data */
 public:
   udpComm();
   ~udpComm();
+
+  bool pushMsgToQueue(unsigned char *m);
+  bool clearMsgQueue();
+ 
   bool getMsgId(char *m,unsigned short &id);
+
   bool getCcuState(char *m, msg_CcuStateFbMsg &s);
   bool getCcuSetParmFb(char *m, msg_CcuSetParmFbMsg &s);
+
+  bool getDisSysHVBusFb(char *m, msg_disHighVolBusFbMsg &s);
+  bool getDisSysHVABusFb(char *m, msg_disHighAVolBusFbMsg &s);
+  bool getDisSysHVBBusFb(char *m, msg_disHighBVolBusFbMsg &s);
+  bool getDisSysLVBusFb(char *m, msg_disLowBusFbMsg &s);
+
   bool sendCcuColCmd(const msg_CcuColCmdMsg m);
   bool sendCcuSetParmCmd(const msg_CcuSetParmMsg m);
 
   Checksum calculateChecksum(const unsigned char* data, int size);
 
   std::vector<std::string> sError;
+  std::queue<msg_CcuStateFbMsg> m_qReceiveCcuStateBuffer;
+  std::queue<msg_CcuSetParmFbMsg> m_qReceiveCcuSetParmBuffer;
+  std::queue<msg_disHighVolBusFbMsg> m_qReceiveDisHighVolBusBuffer;
+  std::queue<msg_disHighAVolBusFbMsg> m_qReceiveDisHighAVolBusBuffer;
+  std::queue<msg_disHighBVolBusFbMsg> m_qReceiveDisHighBVolBusBuffer;
+  std::queue<msg_disLowBusFbMsg> m_qReceiveDisLowBusBuffer;
 
 private:
   msg_CcuColCmdMsg m_ccuColCmd;

test/scripts/test.py

@@ -1,8 +1,8 @@
 import socket
 import time
 import struct
-from udpmsg import msg_CcuStateFbMsg
+from udpmsg import *
-from udpmsg import msg_CcuSetParamFbMsg
+
 # 目标IP地址和端口
 target_ip = '127.0.0.1'
 target_port = 5000
@@ -10,9 +10,11 @@ target_port = 5000
 
 mTest = msg_CcuStateFbMsg()
 mTest2 = msg_CcuSetParamFbMsg()
+mTest3 = msg_disHighVolBusFbMsg()
 
 valid_msg = mTest.pack()
 valid_msg2 = mTest2.pack()
+valid_msg3 = mTest3.pack()
 print(valid_msg)
 
 
@@ -21,22 +23,29 @@ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
 # 要发送的信息
 # message = "Hello, this is a test message."
-message = valid_msg
+message = valid_msg3
 # 发送信息的次数
 num_messages = 10
 
 # 发送信息的时间间隔（秒）
-interval = 1
+interval = 0.1
 
 for i in range(num_messages):
     # 发送信息
-    sock.sendto(message, (target_ip, target_port))
+    sock.sendto(msg_CcuStateFbMsg().pack(), (target_ip, target_port))
-    
+    time.sleep(interval)
+    sock.sendto(msg_CcuSetParamFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disHighVolBusFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disHighAVolBusFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disHighBVolBusFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disLowBusFbMsg().pack(), (target_ip, target_port))
     # 打印发送的信息和目标地址
     print(f"Sent message to {target_ip}:{target_port}")
-
     # 等待一段时间
-    time.sleep(interval)
     # sock.sendto(valid_msg2, (target_ip, target_port))
     time.sleep(interval)
 

test/scripts/udpmsg.py

@@ -216,6 +216,270 @@ class msg_CcuSetParamFbMsg:
             self.checkCode += data[i]
         data += struct.pack('<I', self.checkCode)
         return data
+
+class msg_disHighVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0005
+        self.length = 10
+        self.DCB1 = 0x00
+        self.DCB2 = 0x00
+        self.ZK1 = 0x00
+        self.ZK2 = 0x00
+        self.ZK3 = 0x00
+        self.ZK4 = 0x00
+        self.ZK5 = 0x00
+        self.ZK6 = 0x00
+        self.ZK7 = 0x00
+        self.ZK8 = 0x00
+        self.ZK9 = 0x00
+        self.ZK10 = 0x00
+        self.busInsulationLow = 0x00
+        self.busAInsulationHigh = 0x00
+        self.lostPower = 0x00
+        self.lostEmerPower = 0x00
+        self.powerBusVoltage = 0x00
+        self.dcDc5ModuleCurrent = 0x00
+        self.powerBusCurrent = 0x00
+        self.busbarAVoltage = 0x00
+        self.propulsionMotorControlBoxCurrent = 0x00
+        self.busbarACurrent = 0x00
+        self.lithiumBatteryGroupMeterCurrent = 0x00
+        self.bowHighVoltageDistributionBoxCurrent = 0x00
+        self.sternFTDevice45Current = 0x00
+        self.tyzReservedSwitchCurrent = 0x00
+        self.sternRudderSwitch1Current = 0x00
+        self.reservedCurrent1 = 0x00
+        self.sternRudderSwitch2Current = 0x00
+        self.reservedCurrent2 = 0x00
+        self.fbReservedSwitchCurrent = 0x00
+        self.reservedCurrent3 = 0x00
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.DCB1)
+        data += struct.pack('<B', self.DCB2)
+        data += struct.pack('<B', self.ZK1)
+        data += struct.pack('<B', self.ZK2)
+        data += struct.pack('<B', self.ZK3)
+        data += struct.pack('<B', self.ZK4)
+        data += struct.pack('<B', self.ZK5)
+        data += struct.pack('<B', self.ZK6)
+        data += struct.pack('<B', self.ZK7)
+        data += struct.pack('<B', self.ZK8)
+        data += struct.pack('<B', self.ZK9)
+        data += struct.pack('<B', self.ZK10)
+        data += struct.pack('<B', self.busInsulationLow)
+        data += struct.pack('<B', self.busAInsulationHigh)
+        data += struct.pack('<B', self.lostPower)
+        data += struct.pack('<B', self.lostEmerPower)
+        data += struct.pack('<H', self.powerBusVoltage)
+        data += struct.pack('<H', self.dcDc5ModuleCurrent)
+        data += struct.pack('<H', self.powerBusCurrent)
+        data += struct.pack('<H', self.busbarAVoltage)
+        data += struct.pack('<H', self.propulsionMotorControlBoxCurrent)
+        data += struct.pack('<H', self.busbarACurrent)
+        data += struct.pack('<H', self.lithiumBatteryGroupMeterCurrent)
+        data += struct.pack('<H', self.bowHighVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.sternFTDevice45Current)
+        data += struct.pack('<H', self.tyzReservedSwitchCurrent)
+        data += struct.pack('<H', self.sternRudderSwitch1Current)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.sternRudderSwitch2Current)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.fbReservedSwitchCurrent)
+        data += struct.pack('<H', self.reservedCurrent3)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        data += struct.pack('<I', self.checkCode)
+        return data
+
+class msg_disHighAVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0006
+        self.length = 10
+        self.bowFTDevice123CircuitBreaker = 0x00
+        self.actuatorCircuitBreaker = 0x00
+        self.mastSteeringGearControlBoxCircuitBreaker = 0x00
+        self.xczCircuitBreaker = 0x00
+        self.bowRudderControlBoxCircuitBreaker = 0x00
+        self.openWaterCoverStartCylinderCircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.busbarBVoltage = 0x0000
+        self.busbarBCurrent = 0x0000
+        self.bowFTDevice123Current = 0x0000
+        self.actuatorCurrent = 0x0000
+        self.mastSteeringGearControlBoxCurrent = 0x0000
+        self.xczCurrent = 0x0000
+        self.bowRudderControlBoxCurrent = 0x0000
+        self.openWaterCoverStartCylinderCurrent = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.bowFTDevice123CircuitBreaker)
+        data += struct.pack('<B', self.actuatorCircuitBreaker)
+        data += struct.pack('<B', self.mastSteeringGearControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.xczCircuitBreaker)
+        data += struct.pack('<B', self.bowRudderControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.openWaterCoverStartCylinderCircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.busbarBVoltage)
+        data += struct.pack('<H', self.busbarBCurrent)
+        data += struct.pack('<H', self.bowFTDevice123Current)
+        data += struct.pack('<H', self.actuatorCurrent)
+        data += struct.pack('<H', self.mastSteeringGearControlBoxCurrent)
+        data += struct.pack('<H', self.xczCurrent)
+        data += struct.pack('<H', self.bowRudderControlBoxCurrent)
+        data += struct.pack('<H', self.openWaterCoverStartCylinderCurrent)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        data += struct.pack('<I', self.checkCode)
+        return data
+
+class msg_disHighBVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0007
+        self.length = 10
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
+        self.unit4InstrumentDC48VCircuitBreaker = 0x00
+        self.dcC1DCDistributionPanelCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.instrumentBusbarInsulationLow = 0x00
+        self.instrumentBusbarVoltage = 0x0000
+        self.bowLowVoltageDistributionBoxCurrent = 0x0000
+        self.dcC1InstrumentDC48VCurrent = 0x0000
+        self.reservedCurrent1 = 0x0000
+        self.emergencyLithiumBatteryGroup2Current = 0x0000
+        self.lithiumBatteryGroupInstrumentCurrent = 0x0000
+        self.unit4InstrumentDC48VCurrent = 0x0000
+        self.reservedCurrent2 = 0x0000
+        self.emergency2BusbarVoltage = 0x0000
+        self.compositeEnergyManagementSystemEmergencyDC48VCurrent = 0x0000
+        self.fuelCellSecuritySystemEmergencyDC48VCurrent = 0x0000
+        self.plcControlPowerCurrent = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.bowLowVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.unit4InstrumentDC48VCircuitBreaker)
+        data += struct.pack('<B', self.dcC1DCDistributionPanelCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup2CircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.instrumentBusbarInsulationLow)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.bowLowVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.dcC1InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup2Current)
+        data += struct.pack('<H', self.lithiumBatteryGroupInstrumentCurrent)
+        data += struct.pack('<H', self.unit4InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.emergency2BusbarVoltage)
+        data += struct.pack('<H', self.compositeEnergyManagementSystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.fuelCellSecuritySystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.plcControlPowerCurrent)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        data += struct.pack('<I', self.checkCode)
+        return data
+
+class msg_disLowBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0008
+        self.length = 10
+        self.unit1CircuitBreaker = 0x00
+        self.unit2CircuitBreaker = 0x00
+        self.unit3CircuitBreaker = 0x00
+        self.unit5CircuitBreaker = 0x00
+        self.bowPZDeviceCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00
+        self.powerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.instrumentBusbarVoltage = 0x0000
+        self.instrumentBusbarCurrent = 0x0000
+        self.unit1Current = 0x0000
+        self.unit2Current = 0x0000
+        self.unit3Current = 0x0000
+        self.unit5Current = 0x0000
+        self.bowPZDeviceCurrent = 0x0000
+        self.emergencyLithiumBatteryGroup1Current = 0x0000
+        self.emergency1BusbarVoltage = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.unit1CircuitBreaker)
+        data += struct.pack('<B', self.unit2CircuitBreaker)
+        data += struct.pack('<B', self.unit3CircuitBreaker)
+        data += struct.pack('<B', self.unit5CircuitBreaker)
+        data += struct.pack('<B', self.bowPZDeviceCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup1CircuitBreaker)
+        data += struct.pack('<B', self.powerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.instrumentBusbarCurrent)
+        data += struct.pack('<H', self.unit1Current)
+        data += struct.pack('<H', self.unit2Current)
+        data += struct.pack('<H', self.unit3Current)
+        data += struct.pack('<H', self.unit5Current)
+        data += struct.pack('<H', self.bowPZDeviceCurrent)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup1Current)
+        data += struct.pack('<H', self.emergency1BusbarVoltage)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        data += struct.pack('<I', self.checkCode)
+        return data
     
 
 if __name__ == "__main__":