为状态机增加了线程运行,并补充了数据库

2025-02-10 21:30:53 +08:00
parent 59faa14afb
commit ed0d7f7fe0
8 changed files with 189 additions and 170 deletions
@@ -1,47 +1,47 @@
 {
-  "HVABFTDev123Cur_uint16": 34345,
-  "HVABactCur_uint16": 22235,
-  "HVABbowRudCur_uint16": 24015,
-  "HVABbusBCur_uint16": 53248,
-  "HVABbusBVol_uint16": 0,
-  "HVABmastSteGeaCur_uint16": 127,
-  "HVABopenWaterCur_uint16": 64891,
-  "HVABxczCur_uint16": 63488,
-  "HVBBCCUCur_uint16": 16752,
-  "HVBBFCSSecurSysCur_uint16": 22235,
-  "HVBBbatInsCur_uint16": 0,
-  "HVBBbowLowVolDisBoxCur_uint16": 34349,
-  "HVBBdcC1InsCur_uint16": 22235,
-  "HVBBemer2BusVol_uint16": 32768,
-  "HVBBemerBatCur_uint16": 0,
-  "HVBBinsBusVol_uint16": 22528,
+  "HVABFTDev123Cur_uint16": 0,
+  "HVABactCur_uint16": 0,
+  "HVABbowRudCur_uint16": 0,
+  "HVABbusBCur_uint16": 1792,
+  "HVABbusBVol_uint16": 127,
+  "HVABmastSteGeaCur_uint16": 0,
+  "HVABopenWaterCur_uint16": 23040,
+  "HVABxczCur_uint16": 0,
+  "HVBBCCUCur_uint16": 44210,
+  "HVBBFCSSecurSysCur_uint16": 23197,
+  "HVBBbatInsCur_uint16": 33584,
+  "HVBBbowLowVolDisBoxCur_uint16": 44214,
+  "HVBBdcC1InsCur_uint16": 23197,
+  "HVBBemer2BusVol_uint16": 57344,
+  "HVBBemerBatCur_uint16": 57344,
+  "HVBBinsBusVol_uint16": 26624,
  "HVBBplcCur_uint16": 127,
  "HVBBreservedCur1_uint16": 127,
-  "HVBBreservedCur2_uint16": 0,
-  "HVBBunit4Cur_uint16": 0,
-  "HVBFTDev45Cur_uint16": 32598,
-  "HVBbatGroupCur_uint16": 61904,
-  "HVBbowHVolDisBoxCur_uint16": 56157,
+  "HVBBreservedCur2_uint16": 127,
+  "HVBBunit4Cur_uint16": 23197,
+  "HVBFTDev45Cur_uint16": 32765,
+  "HVBbatGroupCur_uint16": 448,
+  "HVBbowHVolDisBoxCur_uint16": 24982,
  "HVBbusACur_uint16": 0,
-  "HVBbusAVol_uint16": 0,
+  "HVBbusAVol_uint16": 40256,
  "HVBdcDc5Cur_uint16": 0,
-  "HVBfbCur_uint16": 0,
-  "HVBmotorCur_uint16": 0,
-  "HVBpowerBusCur_uint16": 6,
-  "HVBpowerBusVol_uint16": 32598,
-  "HVBreservedCur1_uint16": 0,
+  "HVBfbCur_uint16": 49495,
+  "HVBmotorCur_uint16": 32602,
+  "HVBpowerBusCur_uint16": 31744,
+  "HVBpowerBusVol_uint16": 32602,
+  "HVBreservedCur1_uint16": 24982,
  "HVBreservedCur2_uint16": 0,
  "HVBreservedCur3_uint16": 0,
-  "HVBsternRud1Cur_uint16": 1,
-  "HVBsternRud2Cur_uint16": 0,
+  "HVBsternRud1Cur_uint16": 440,
+  "HVBsternRud2Cur_uint16": 32765,
  "HVBtyzCur_uint16": 0,
-  "LVBBbowPZDevCur_uint16": 127,
-  "LVBBemerBatCur_uint16": 32768,
-  "LVBBemerBusVol_uint16": 16752,
-  "LVBBinsBusCur_uint16": 22235,
-  "LVBBunit1Cur_uint16": 127,
-  "LVBBunit2Cur_uint16": 256,
+  "LVBBbowPZDevCur_uint16": 0,
+  "LVBBemerBatCur_uint16": 768,
+  "LVBBemerBusVol_uint16": 0,
+  "LVBBinsBusCur_uint16": 97,
+  "LVBBunit1Cur_uint16": 0,
+  "LVBBunit2Cur_uint16": 0,
  "LVBBunit3Cur_uint16": 0,
-  "LVBBunit5Cur_uint16": 22016,
-  "LVBinsBusVol_uint16": 16752
+  "LVBBunit5Cur_uint16": 0,
+  "LVBinsBusVol_uint16": 38402
 }
@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": 2.0254939324098806e+18,
-  "backpressure2_fp32": 1.1694265883419146e-38,
-  "ch4oConcent1_fp32": -2.7734143515560723e-33,
-  "ch4oConcent2_fp32": 1.1694265883419146e-38,
-  "ch4o_fp32": 1.1694265883419146e-38,
-  "excTemp_fp32": 1.1754039670713386e-38,
-  "faultCode1_uint16": 25312,
-  "faultCode2_uint16": 56201,
-  "faultCode3_uint16": 32598,
-  "fcuCurIns_fp32": 2.5111268480700722e-42,
-  "fcuCurPower_fp32": 0.0,
-  "fcuCur_fp32": 1.8734974449861263e+18,
-  "fcuFaultLeve_uint8": 0,
-  "fcuOutIns_fp32": 1.1693958999055459e-38,
-  "fcuOutPower_fp32": 1.7755460477889746e-38,
-  "fcuState_uint8": 0,
-  "fcuVolIns_fp32": 2.0215532827359314e+18,
-  "fcuVolPower_fp32": 1.1694265883419146e-38,
-  "fcuVol_fp32": 1.1694265883419146e-38,
+  "backpressure1_fp32": 7.7812956078560092e-10,
+  "backpressure2_fp32": 0.0,
+  "ch4oConcent1_fp32": -4.8547832420808845e-12,
+  "ch4oConcent2_fp32": 1.1695613932541827e-38,
+  "ch4o_fp32": 1.1695613932541827e-38,
+  "excTemp_fp32": 1.1695613932541827e-38,
+  "faultCode1_uint16": 34036,
+  "faultCode2_uint16": 40361,
+  "faultCode3_uint16": 32602,
+  "fcuCurIns_fp32": -1.2859852072111266e-13,
+  "fcuCurPower_fp32": 1.1695613932541827e-38,
+  "fcuCur_fp32": -1.6155215737897056e+25,
+  "fcuFaultLeve_uint8": 98,
+  "fcuOutIns_fp32": 1.1695613932541827e-38,
+  "fcuOutPower_fp32": 8.3046377128711946e+19,
+  "fcuState_uint8": 105,
+  "fcuVolIns_fp32": -1.0396555642088759e-25,
+  "fcuVolPower_fp32": 1.1754003236953313e-38,
+  "fcuVol_fp32": 1.1695613932541827e-38,
  "flameDet_uint8": 0,
-  "h2Concent1_fp32": 0.0,
-  "h2Concent2_fp32": 1.1693958999055459e-38,
-  "o2Concent1_fp32": -10734197014528.0,
-  "o2Concent2_fp32": 7.8705161391451957e-39,
-  "o2Level_fp32": 1.1754039670713386e-38,
-  "o2_fp32": 1.8514036025451028e-37,
-  "powLimit_fp32": 0.0,
-  "powerGen_fp32": 1.4181007727976608e-36
+  "h2Concent1_fp32": 1.7280140038790768e-39,
+  "h2Concent2_fp32": 0.0,
+  "o2Concent1_fp32": -1.2491396805813793e-13,
+  "o2Concent2_fp32": 1.1695613932541827e-38,
+  "o2Level_fp32": 1.9618178500547439e-44,
+  "o2_fp32": -5.3151927303929369e-14,
+  "powLimit_fp32": 1.1695613932541827e-38,
+  "powerGen_fp32": -1.2491396805813793e-13
 }
@@ -1,38 +1,38 @@
 {
  "fcuCurToInsLimit1_uint8": 127,
  "fcuCurToinsLimit2_uint8": 0,
-  "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 3817,
+  "insBatCurElect_uint16": 32765,
+  "insBatLimit_uint16": 40361,
  "insBatSoc_uint8": 0,
-  "insBatTotalElect_uint16": 53312,
-  "insChargeState_uint8": 0,
-  "insCurSocHold1_uint8": 134,
-  "insCurSocHold2_uint8": 219,
-  "insCurSocHold3_uint8": 86,
+  "insBatTotalElect_uint16": 244,
+  "insChargeState_uint8": 202,
+  "insCurSocHold1_uint8": 172,
+  "insCurSocHold2_uint8": 157,
+  "insCurSocHold3_uint8": 90,
  "insCurrent_uint16": 0,
-  "insLinkVol_uint16": 0,
+  "insLinkVol_uint16": 40362,
  "insNegRelayState_uint8": 0,
  "insNegRes_uint16": 0,
-  "insPackVol_uint16": 0,
+  "insPackVol_uint16": 32602,
  "insPosRelayState_uint8": 0,
-  "insPosRes_uint16": 3,
-  "insfaultCode_uint8": 88,
+  "insPosRes_uint16": 37,
+  "insfaultCode_uint8": 208,
  "powBatCurElect_uint16": 0,
  "powBatSoc_uint8": 0,
-  "powBatTotalElect_uint16": 31581,
-  "powChargeState_uint8": 0,
+  "powBatTotalElect_uint16": 24982,
+  "powChargeState_uint8": 16,
  "powCurSocHold1_uint8": 0,
-  "powCurSocHold2_uint8": 208,
-  "powCurSocHold3_uint8": 241,
-  "powCurToInsLimit1_uint8": 93,
-  "powCurToinsLimit2_uint8": 219,
-  "powCur_uint16": 61767,
+  "powCurSocHold2_uint8": 248,
+  "powCurSocHold3_uint8": 0,
+  "powCurToInsLimit1_uint8": 150,
+  "powCurToinsLimit2_uint8": 97,
+  "powCur_uint16": 35008,
  "powLinkVol_uint16": 0,
-  "powNegRelayState_uint8": 85,
-  "powNegRes_uint16": 32598,
-  "powPosRelayState_uint8": 208,
-  "powPosRes_uint16": 56067,
-  "powerBatLimit_uint16": 0,
+  "powNegRelayState_uint8": 133,
+  "powNegRes_uint16": 32602,
+  "powPosRelayState_uint8": 0,
+  "powPosRes_uint16": 40361,
+  "powerBatLimit_uint16": 32602,
  "powerPackVol_uint16": 0,
-  "powfaultCode_uint8": 45
+  "powfaultCode_uint8": 170
 }
@@ -20,6 +20,12 @@ bool _ListenCB(void * pParam)
    return pMe->ListenLoopUDP();
 }

+bool _FsmCB(void * pParam)
+{
+    PowerManger* pMe = (PowerManger* )pParam;
+    return pMe->FsmLoop();
+}
+
 //---------------------------------------------------------
 // Constructor()

@@ -38,9 +44,9 @@ PowerManger::PowerManger()
  //初始化数据库
  string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
  m_db = new SQLiteDB(dbPath);
-  m_db->createTables();
-  
-  
+  m_db->createPowerDataTables();
+  m_db->createStateTables();
+    
  //注册状态机
  m_fsm.RegisterState("Init",  1, m_Inite_s1);
  m_fsm.RegisterState("Fault", 99, m_Fault_s99);
@@ -111,10 +117,14 @@ bool PowerManger::Iterate()
  updatePmState();
  updateTime();
  //2. 运行状态机
-  m_fsm.run(m_pmState,this);
+  // m_fsm.run(m_pmState,this);
+  if (FSM_RUN_IS_OK)
+    m_FsmThread.Start();
+  else
+    m_FsmThread.Stop();
  // 数据库测试
  PowerData data;
-  data.id = 1;
+  // data.id = 1;
  data.timestamp = "2023-05-22 10:00:00";
  data.voltage = 12.3 + rand() % 100 / 100.0;
  data.current = 4.5 + rand() % 100 / 100.0;
@@ -188,6 +198,7 @@ bool PowerManger::OnStartUp()
  }
  m_ListenThread.Initialise(_ListenCB,this);
  m_ListenThread.Start();
+  m_FsmThread.Initialise(_FsmCB,this);
  return(true);
 }

@@ -259,6 +270,17 @@ bool PowerManger::ListenLoopUDP()
  return true;
 }

+bool PowerManger::FsmLoop()
+{
+  while (!m_FsmThread.IsQuitRequested())
+  {
+    m_fsm.run(m_pmState,this);
+    //延时200ms
+    usleep(200000);
+  }
+  return true;
+}
+

 bool PowerManger::updatePmState()
 {
@@ -338,12 +360,11 @@ string PowerManger::getTypeName(const string typeName)
    } else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") {
        return "_array";
    } else {
-        // 默认情况下，我们假设它是一个对象
+        // 默认情况
        return "_obj";
    }
 }

-
 bool PowerManger::buildPowerSysReport()
 {
  //TODO： 构建能源系统报告
@@ -455,12 +476,6 @@ bool PowerManger::buildPowerSysReport()
  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.flameDetection).name());
  fcs[VAR_TO_STR(flameDet)+suffix] = m_pmCurrentState.ccustate.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 short faultCode1;
  unsigned short faultCode2;
  unsigned short faultCode3;
@@ -801,6 +816,16 @@ bool PowerManger::disSystemOperation(disBreaker optBreaker, disBreakerOpt)

  return true;
 }
+void PowerManger::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(); 
+  // 检查desp是否有“故障”
+  if (desp.find("故障") != string::npos) {
+    cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
+    return;
+  }
+  cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
+}

 int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
 {
@@ -54,6 +54,7 @@ class PowerManger : public AppCastingMOOSApp
   ~PowerManger();
 public:
   bool ListenLoopUDP();
+   bool FsmLoop();

 protected: // Standard MOOSApp functions to overload  
   bool OnNewMail(MOOSMSG_LIST &NewMail);
@@ -97,6 +98,7 @@ class PowerManger : public AppCastingMOOSApp
  udpComm       m_udpComm;
  XPCUdpSocket *m_pCcuUdpComm;
  CMOOSThread   m_ListenThread;
+  CMOOSThread   m_FsmThread;
  long          m_lPort;
  unsigned int  m_nReceiveBufferSizeKB;
  unsigned int  m_nSendBufferSizeKB;
@@ -113,17 +115,8 @@ class PowerManger : public AppCastingMOOSApp
 
 public: //状态实现

-  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(); 
-    // 检查desp是否有“故障”
-    if (desp.find("故障") != string::npos) {
-      cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
-      return;
-    }
-    cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
-  }
-
+  void printState(FSM_State st, string desp);
+  bool FSM_RUN_IS_OK = true;
  FSM_State m_pmState; //当前状态
  string m_pmEvent;
  FSM m_fsm;
@@ -16,7 +16,7 @@ SQLiteDB::~SQLiteDB() {
    }
 }

-void SQLiteDB::createTables() {
+void SQLiteDB::createPowerDataTables() {
    if (!m_db) return;

    const char* sql = "CREATE TABLE IF NOT EXISTS power_data ("
@@ -34,6 +34,24 @@ void SQLiteDB::createTables() {
    }
 }

+void SQLiteDB::createStateTables() {
+    if (!m_db) return;
+
+    const char* sql = "CREATE TABLE IF NOT EXISTS state_data ("
+                      "id INTEGER PRIMARY KEY AUTOINCREMENT,"
+                      "timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,"
+                      "state_id INTEGER NOT NULL,"
+                      "state_name TEXT NOT NULL,"
+                      "event TEXT NOT NULL,"
+                      "event_id INTEGER NOT NULL,"
+                      "fault_code INTEGER NOT NULL);";
+
+    char* errMsg = nullptr;
+    if (sqlite3_exec(m_db, sql, nullptr, nullptr, &errMsg) != SQLITE_OK) {
+        std::cerr << "SQL error: " << errMsg << std::endl;
+        sqlite3_free(errMsg);
+    }
+}
 void SQLiteDB::insertPowerData(float voltage, float current, float power, float temperature) {
    if (!m_db) return;

@@ -56,6 +74,29 @@ void SQLiteDB::insertPowerData(float voltage, float current, float power, float
    }
 }

+void SQLiteDB::insertStateData(StateData stateData) {
+    if (!m_db) return;
+
+    const char* sql = "INSERT INTO state_data (timestamp, state_id, state_name, event, event_id, fault_code) VALUES (?, ?, ?, ?, ?, ?);";
+    sqlite3_stmt* stmt;
+
+    if (sqlite3_prepare_v2(m_db, sql, -1, &stmt, nullptr) == SQLITE_OK) {
+        sqlite3_bind_text(stmt, 1, stateData.timestamp.c_str(), -1, SQLITE_TRANSIENT);
+        sqlite3_bind_int(stmt, 2, stateData.state_id);
+        sqlite3_bind_text(stmt, 3, stateData.state_name.c_str(), -1, SQLITE_TRANSIENT);
+        sqlite3_bind_text(stmt, 4, stateData.event.c_str(), -1, SQLITE_TRANSIENT);
+        sqlite3_bind_int(stmt, 5, stateData.event_id);
+        sqlite3_bind_int(stmt, 6, stateData.fault_code);
+
+        if (sqlite3_step(stmt) != SQLITE_DONE) {
+            std::cerr << "Error inserting data: " << sqlite3_errmsg(m_db) << std::endl;
+        }
+
+        sqlite3_finalize(stmt);
+    } else {
+        std::cerr << "Error preparing statement: " << sqlite3_errmsg(m_db) << std::endl;
+    }
+}
 std::vector<PowerData> SQLiteDB::getPowerData(int limit) {
    std::vector<PowerData> data;
    if (!m_db) return data;
@@ -68,7 +109,7 @@ std::vector<PowerData> SQLiteDB::getPowerData(int limit) {

        while (sqlite3_step(stmt) == SQLITE_ROW) {
            PowerData record;
-            record.id = sqlite3_column_int(stmt, 0);
+            // record.id = sqlite3_column_int(stmt, 0);
            record.timestamp = reinterpret_cast<const char*>(sqlite3_column_text(stmt, 1));
            record.voltage = sqlite3_column_double(stmt, 2);
            record.current = sqlite3_column_double(stmt, 3);
@@ -83,43 +124,4 @@ std::vector<PowerData> SQLiteDB::getPowerData(int limit) {
    }

    return data;
-}
-// 显式实例化模板
-template void SQLiteDB::insertStructData<PowerData>(const std::string&, const PowerData&);
-template<typename T>
-std::string SQLiteDB::serializeStruct(const T& data) {
-    Json::Value j;
-    j["id"] = data.id;
-    j["timestamp"] = data.timestamp;
-    j["voltage"] = data.voltage;
-    j["current"] = data.current;
-    j["power"] = data.power;
-    j["temperature"] = data.temperature;
-    
-    Json::StreamWriterBuilder writer;
-    return Json::writeString(writer, j);
-}
-
-template<typename T>
-void SQLiteDB::insertStructData(const std::string& tableName, const T& data) {
-    if (!m_db) return;
-
-    std::string jsonData = serializeStruct(data);
-    
-    std::string sql = "INSERT INTO " + tableName + " (data) VALUES (?);";
-    sqlite3_stmt* stmt;
-
-    if (sqlite3_prepare_v2(m_db, sql.c_str(), -1, &stmt, nullptr) == SQLITE_OK) {
-        sqlite3_bind_text(stmt, 1, jsonData.c_str(), -1, SQLITE_TRANSIENT);
-
-        if (sqlite3_step(stmt) != SQLITE_DONE) {
-            std::cerr << "Error inserting data: " << sqlite3_errmsg(m_db) << std::endl;
-        }
-
-        sqlite3_finalize(stmt);
-    } else {
-        std::cerr << "Error preparing statement: " << sqlite3_errmsg(m_db) << std::endl;
-    }
-}
-
-
+}
@@ -8,7 +8,6 @@
 // #include <nlohmann/json.hpp>

 struct PowerData {
-    int id;
    std::string timestamp;
    double voltage;
    double current;
@@ -16,24 +15,28 @@ struct PowerData {
    double temperature;
 };

+struct StateData {
+    std::string timestamp;
+    int state_id;
+    std::string state_name;
+    std::string event;
+    int event_id;
+    int fault_code;
+};

 class SQLiteDB {
 public:
    SQLiteDB(const std::string& dbPath);
    ~SQLiteDB();
    
-    void createTables();
+    void createPowerDataTables();
    void insertPowerData(float voltage, float current, float power, float temperature);
+    void createStateTables();
+    void insertStateData(StateData stateData);
    std::vector<PowerData> getPowerData(int limit = 100);
-    
-    template<typename T>
-    void insertStructData(const std::string& tableName, const T& data);
-    
+
 private:
    sqlite3* m_db;
-    
-    template<typename T>
-    std::string serializeStruct(const T& data);
 };

 #endif // SQLITEDB_H
@@ -5,14 +5,10 @@ TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
    SQLiteDB db("test.db");

    SECTION("Create Tables") {
-        db.createTables();
+        db.createPowerDataTables();
+        db.createStateTables();
    }
-
-    SECTION("Insert Data") {
-        PowerData data = {0, "2025-02-10 14:09:00", 12.5, 2.5, 31.25, 25.0};
-        db.insertStructData("power_data", data);
-    }
-
+    
    SECTION("Query Data") {
        std::vector<PowerData> results = db.getPowerData();
        REQUIRE(results.size() == 1);