为状态机增加了线程运行,并补充了数据库

src/pPowerManger/PowerManger.cpp

@@ -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)
 {