使用tinyfsm优化代码

2025-04-06 23:51:03 +08:00
parent 002df307d7
commit ebf1701335
9 changed files with 158 additions and 321 deletions
@@ -1,29 +1,103 @@
 #include "PowerManagerFsm.hpp"
 #include "PowerManger.h"
+#include <string>
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"

-// 初始化静态成员
+// 定义静态成员
 PowerManger* PowerManagerFsm::pm = nullptr;

-// 状态实例化
-InitState initState;
-StandbyState standbyState;
-FaultState faultState;
-
-// 状态机初始化
-void PowerManagerFsm::init(PowerManger* powerManager) {
-    pm = powerManager;
-    start();
+// InitState实现
+void InitState::entry() {
+    // PowerManagerFsm::pm->m_pmEvent = "初始化状态";
+    PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
 }

-// 状态转换接口实现
-void PowerManagerFsm::triggerInitEvent() {
-    dispatch(InitEvent());
+void InitState::react(InitEvent const &) {
+    // double StartTime = PowerManagerFsm::pm->GetAppStartTime();
+    double StartTime = 0;
+    while (PowerManagerFsm::pm->connectState < 5) {
+        MOOSPause(1000);
+        PowerManagerFsm::pm->updateTime();
+        double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
+        if(dft > 10) {
+            transit<FaultState>();
+            PowerManagerFsm::pm->m_faultNum = 1;
+            return;
+        }
+        string desp = "等待复合管控消息 : " + to_string(10-dft);
+        PowerManagerFsm::pm->printState("InitState", desp);
+    }
+
+    if(PowerManagerFsm::pm->checkError() < 0) {
+        transit<FaultState>();
+        PowerManagerFsm::pm->m_faultNum = 2;
+        return;
+    }
+
+    PowerManagerFsm::pm->initControlCmd();
+
+    while (true) {
+        if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
+           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
+           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
+           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
+           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
+            transit<StandbyState>();
+            return;
+        }
+        PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
+        MOOSPause(1000);
+        PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
+    }
 }

-void PowerManagerFsm::triggerStandbyEvent() {
-    dispatch(StandbyEvent());
+// StandbyState实现
+void StandbyState::entry() {
+    PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
 }

-void PowerManagerFsm::triggerFaultEvent(unsigned int faultCode) {
-    dispatch(FaultEvent(faultCode));
-}
+void StandbyState::react(StandbyEvent const &) {
+    while (true) {
+        if(PowerManagerFsm::pm->checkError() < 0) {
+            transit<FaultState>();
+            return;
+        }
+        handlePowerCommands();
+        MOOSPause(1000);
+    }
+}
+
+void StandbyState::handlePowerCommands() {
+    switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
+        case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
+        case 1: handlePowerOn(); break;
+    }
+}
+
+void StandbyState::handlePowerOn() {
+    PowerManagerFsm::pm->m_pmEvent = "动力电上电";
+    PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
+    if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
+        PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
+}
+
+// FaultState实现
+void FaultState::entry() {
+    PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
+}
+
+void FaultState::react(FaultEvent const & e) {
+    switch (e.faultCode) {
+        case 1: 
+            PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
+            PowerManagerFsm::pm->printState("FaultState", "通信故障");
+            break;
+        case 2:
+            PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
+            PowerManagerFsm::pm->printState("FaultState", "能源故障");
+            break;
+    }
+}
+
+// 设置初始状态
+FSM_INITIAL_STATE(PowerManagerFsm, InitState);