应急联调完成

backup/SQLiteDB.cpp

@@ -48,14 +48,14 @@ bool SQLiteDB::bindParameters<DriverTable>(sqlite3_stmt* stmt, const DriverTable
     sqlite3_bind_int(stmt, index++, data.DVL);
     sqlite3_bind_int(stmt, index++, data.lowFreqSonar);
     sqlite3_bind_int(stmt, index++, data.USBL);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet1);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet1);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet2);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet2);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet3);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet3);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet4);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet4);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet5);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet5);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet6);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet6);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet7);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet7);
-    sqlite3_bind_int(stmt, index++, data.bowWaterlnet8);
+    sqlite3_bind_int(stmt, index++, data.bowWaterInet8);
     sqlite3_bind_int(stmt, index++, data.bowRudderDeploy);
     sqlite3_bind_int(stmt, index++, data.bowRudderServo1);
     sqlite3_bind_int(stmt, index++, data.bowRudderServo2);
@@ -405,14 +405,14 @@ bool SQLiteDB::createDriversTables(string tableName)
     "bowRudderServo1 INTEGER DEFAULT 0, "
     "bowRudderServo2 INTEGER DEFAULT 0, "
     "bowThrow INTEGER DEFAULT 0, "
-    "bowWaterlnet1 INTEGER DEFAULT 0, "
+    "bowWaterInet1 INTEGER DEFAULT 0, "
-    "bowWaterlnet2 INTEGER DEFAULT 0, "
+    "bowWaterInet2 INTEGER DEFAULT 0, "
-    "bowWaterlnet3 INTEGER DEFAULT 0, "
+    "bowWaterInet3 INTEGER DEFAULT 0, "
-    "bowWaterlnet4 INTEGER DEFAULT 0, "
+    "bowWaterInet4 INTEGER DEFAULT 0, "
-    "bowWaterlnet5 INTEGER DEFAULT 0, "
+    "bowWaterInet5 INTEGER DEFAULT 0, "
-    "bowWaterlnet6 INTEGER DEFAULT 0, "
+    "bowWaterInet6 INTEGER DEFAULT 0, "
-    "bowWaterlnet7 INTEGER DEFAULT 0, "
+    "bowWaterInet7 INTEGER DEFAULT 0, "
-    "bowWaterlnet8 INTEGER DEFAULT 0, "
+    "bowWaterInet8 INTEGER DEFAULT 0, "
     "buoyage INTEGER DEFAULT 0, "
     "buoyancyAdjust1 INTEGER DEFAULT 0, "
     "buoyancyAdjust2 INTEGER DEFAULT 0, "
@@ -1019,8 +1019,8 @@ bool SQLiteDB::insertDriverTables(DriverTable driverTable,string tableName)
                             "inputWaterSensor1, inputWaterSensor2, inputWaterSensor3, "
                             "singleBeamSonar1, singleBeamSonar2, singleBeamSonar3, singleBeamSonar4, singleBeamSonar5, "
                             "singleBeamSonar6, singleBeamSonar7, singleBeamSonar8, forwardSonar, DVL, lowFreqSonar, USBL, "
-                            "bowWaterlnet1, bowWaterlnet2, bowWaterlnet3, bowWaterlnet4, bowWaterlnet5, bowWaterlnet6, "
+                            "bowWaterInet1, bowWaterInet2, bowWaterInet3, bowWaterInet4, bowWaterInet5, bowWaterInet6, "
-                            "bowWaterlnet7, bowWaterlnet8, bowRudderDeploy, bowRudderServo1, bowRudderServo2, "
+                            "bowWaterInet7, bowWaterInet8, bowRudderDeploy, bowRudderServo1, bowRudderServo2, "
                             "bowCover1, bowCover2, bowCover3, bowCover4, bowCover5, bowCover6, waterInject, "
                             "mastLiftingServo, buoyancyAdjust1, buoyancyAdjust2, buoyancyAdjust3, buoyancyAdjust4, "
                             "buoyancyAdjust5, sternRudderServo1, sternRudderServo2, sternRudderServo3, sternRudderServo4, "

bin/pPowerManger.moos

@@ -1,3 +1,5 @@
+//SERVERHOST = 192.168.0.100
+//SERVERPORT = 9000
 ProcessConfig = pPowerManger
 {
    AppTick   = 4

data/msg/subDisSysCmd.json

@@ -11,14 +11,14 @@
 	"bowRudderServo1" : 0,
 	"bowRudderServo2" : 0,
 	"bowThrow" : 0,
-	"bowWaterlnet1" : 0,
+	"bowWaterInet1" : 0,
-	"bowWaterlnet2" : 0,
+	"bowWaterInet2" : 0,
-	"bowWaterlnet3" : 0,
+	"bowWaterInet3" : 0,
-	"bowWaterlnet4" : 0,
+	"bowWaterInet4" : 0,
-	"bowWaterlnet5" : 0,
+	"bowWaterInet5" : 0,
-	"bowWaterlnet6" : 0,
+	"bowWaterInet6" : 0,
-	"bowWaterlnet7" : 0,
+	"bowWaterInet7" : 0,
-	"bowWaterlnet8" : 0,
+	"bowWaterInet8" : 0,
 	"buoyage" : 0,
 	"buoyancyAdjust1" : 0,
 	"buoyancyAdjust2" : 0,

data/msg/uPower_equState_fb.json

@@ -11,14 +11,14 @@
 	"bowRudderServo1_uni8" : 0,
 	"bowRudderServo2_uni8" : 0,
 	"bowThrow_uni8" : 0,
-	"bowWaterlnet1_uni8" : 0,
+	"bowWaterInet1_uni8" : 0,
-	"bowWaterlnet2_uni8" : 0,
+	"bowWaterInet2_uni8" : 0,
-	"bowWaterlnet3_uni8" : 0,
+	"bowWaterInet3_uni8" : 0,
-	"bowWaterlnet4_uni8" : 0,
+	"bowWaterInet4_uni8" : 0,
-	"bowWaterlnet5_uni8" : 0,
+	"bowWaterInet5_uni8" : 0,
-	"bowWaterlnet6_uni8" : 0,
+	"bowWaterInet6_uni8" : 0,
-	"bowWaterlnet7_uni8" : 0,
+	"bowWaterInet7_uni8" : 0,
-	"bowWaterlnet8_uni8" : 0,
+	"bowWaterInet8_uni8" : 0,
 	"buoyage_uni8" : 0,
 	"buoyancyAdjust1_uni8" : 0,
 	"buoyancyAdjust2_uni8" : 0,

data/msg/uPower_secdistState_cmd.json

@@ -11,14 +11,14 @@
 	"bowRudderServo1_uni8" : 0,
 	"bowRudderServo2_uni8" : 0,
 	"bowThrow_uni8" : 0,
-	"bowWaterlnet1_uni8" : 0,
+	"bowWaterInet1_uni8" : 0,
-	"bowWaterlnet2_uni8" : 0,
+	"bowWaterInet2_uni8" : 0,
-	"bowWaterlnet3_uni8" : 0,
+	"bowWaterInet3_uni8" : 0,
-	"bowWaterlnet4_uni8" : 0,
+	"bowWaterInet4_uni8" : 0,
-	"bowWaterlnet5_uni8" : 0,
+	"bowWaterInet5_uni8" : 0,
-	"bowWaterlnet6_uni8" : 0,
+	"bowWaterInet6_uni8" : 0,
-	"bowWaterlnet7_uni8" : 0,
+	"bowWaterInet7_uni8" : 0,
-	"bowWaterlnet8_uni8" : 0,
+	"bowWaterInet8_uni8" : 0,
 	"buoyage_uni8" : 0,
 	"buoyancyAdjust1_uni8" : 0,
 	"buoyancyAdjust2_uni8" : 0,

data/testmsg/uDevice_secdistState_st.json

@@ -11,14 +11,14 @@
 	"bowRudderServo1" : 0,
 	"bowRudderServo2" : 0,
 	"bowThrow" : 0,
-	"bowWaterlnet1" : 0,
+	"bowWaterInet1" : 0,
-	"bowWaterlnet2" : 0,
+	"bowWaterInet2" : 0,
-	"bowWaterlnet3" : 0,
+	"bowWaterInet3" : 0,
-	"bowWaterlnet4" : 0,
+	"bowWaterInet4" : 0,
-	"bowWaterlnet5" : 0,
+	"bowWaterInet5" : 0,
-	"bowWaterlnet6" : 0,
+	"bowWaterInet6" : 0,
-	"bowWaterlnet7" : 0,
+	"bowWaterInet7" : 0,
-	"bowWaterlnet8" : 0,
+	"bowWaterInet8" : 0,
 	"buoyage" : 0,
 	"buoyancyAdjust1" : 0,
 	"buoyancyAdjust2" : 0,

data/testmsg/uPower_equState_cmd.json

@@ -11,14 +11,14 @@
 	"bowRudderServo1" : 0,
 	"bowRudderServo2" : 0,
 	"bowThrow" : 0,
-	"bowWaterlnet1" : 0,
+	"bowWaterInet1" : 0,
-	"bowWaterlnet2" : 0,
+	"bowWaterInet2" : 0,
-	"bowWaterlnet3" : 0,
+	"bowWaterInet3" : 0,
-	"bowWaterlnet4" : 0,
+	"bowWaterInet4" : 0,
-	"bowWaterlnet5" : 0,
+	"bowWaterInet5" : 0,
-	"bowWaterlnet6" : 0,
+	"bowWaterInet6" : 0,
-	"bowWaterlnet7" : 0,
+	"bowWaterInet7" : 0,
-	"bowWaterlnet8" : 0,
+	"bowWaterInet8" : 0,
 	"buoyage" : 0,
 	"buoyancyAdjust1" : 0,
 	"buoyancyAdjust2" : 0,

src/pPowerManger/CMakeLists.txt

@@ -25,6 +25,9 @@ SET(HTTP_SRC
   httpserver/mongoose.c
   httpserver/httpserver.cpp)
 
+SET(UDP_COMM_SRC
+  udpcomm/udpComm.cpp)
+
 SET(FSMLIB_SRC
   fsm/PowerManagerFsm.cpp  
   fsm/CruiseMode.cpp
@@ -46,9 +49,10 @@ SET(SRC
   ${FSMLIB_SRC}
   ${SQLITE_SRC}
   ${HTTP_SRC}
+  ${UDP_COMM_SRC}
   PowerManger.cpp
   PowerManger_Info.cpp
-  udpComm.cpp
+  # udpComm.cpp
   main.cpp
   # SQLiteDB.cpp
   driver.cpp
@@ -93,7 +97,7 @@ SET(DRIVER_SRC
 #   PowerManagerFsm.cpp)
 
 # ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
-ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
+# ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
-# ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
+# # ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
-ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
+# ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
 # ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})

src/pPowerManger/LowerCommManager.cpp

@@ -1,7 +1,7 @@
 #include "LowerCommManager.h"
 #include "PowerManger.h"
 #include "driver.h"
-#include "udpComm.h"
+#include "udpcomm/udpComm.h"
 
 bool _ListenCB(void * pParam)
 {

src/pPowerManger/LowerCommManager.h

@@ -5,14 +5,14 @@
 #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
 #include "MOOS/libMOOS/Utils/MOOSLock.h"
-#include "ccuUdpMsg.h"
+#include "../udpcomm/ccuUdpMsg.h"
 #include "pmSysvariable.h"
 #include <queue>
 #include <map>
 #include <functional>
 #include <atomic>
 #include <vector>
-#include "udpComm.h"
+#include "udpcomm/udpComm.h"
 #include <functional>
 
 class PowerManger; // 前向声明

src/pPowerManger/PowerManger.cpp

@@ -35,7 +35,7 @@ PowerManger::PowerManger()
   m_faultNum = 0;
   m_ticker = 0;
   m_leakage = 0;
-  faultCode.push_back(0);
+  faultCode.clear();
 
   m_pmCurrentState = {};
   m_currentDisBreakerState = {};
@@ -68,7 +68,6 @@ PowerManger::PowerManger()
   m_httpServer->setLowerCommManager(m_lowerCommManager);
   m_httpServer->setSystemData(m_systemData);
   m_httpServer->start();
-
 }
 
 //---------------------------------------------------------
@@ -151,7 +150,6 @@ bool PowerManger::Iterate()
   m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
   m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
   m_systemData->updateCommonStatus();
-
   if (m_ticker++ % 5 == 0)
   {
     m_CcuColCmd.heartbeat++;
@@ -358,3 +356,10 @@ unsigned char PowerManger::getFaultLevel()
     }
     return maxLevel;
 }
+
+
+void PowerManger::injectFault(unsigned type,unsigned int faultCode){
+  LOG_F(INFO, "注入故障: %d %d", type, faultCode);
+  TestEvent testEvent("故障注入测试",type,faultCode);
+  PowerManagerFsm::dispatch(testEvent);
+}

src/pPowerManger/PowerManger.h

@@ -26,9 +26,9 @@
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 #include "MOOS/libMOOS/Utils/ConsoleColours.h"
-#include "ccuUdpMsg.h"
+#include "../udpcomm/ccuUdpMsg.h"
 #include "json/json.h"
-#include "udpComm.h"
+#include "udpcomm/udpComm.h"
 #include "pmSysvariable.h"
 #include "fsm/PowerManagerFsm.hpp"
 #include "driver.h"
@@ -37,11 +37,11 @@
 #include "sqlit3/SQLite.h"
 #include "systemData.h"
 #include "httpserver/httpserver.h"
-
+#include "faultCode.h"
 #define IPORT 5001
 #define CCUPORT 7000
-// #define CCUHOST "192.168.0.140"
+#define CCUHOST "192.168.0.140"
-#define CCUHOST "127.0.0.0"
+// #define CCUHOST "127.0.0.0"
 #define MAX_UDP_PKT_SIZE 65535
 #define SKEW_TOLERANCE 5
 
@@ -138,6 +138,9 @@ class PowerManger : public AppCastingMOOSApp
        double GetPublicCPULoad() { return GetCPULoad(); }
        double GetPublicTimeSinceIterate() { return GetTimeSinceIterate(); }
        double GetPublicLastIterateTime() { return GetLastIterateTime(); }
+   public:
+   //故障注入
+   void injectFault(unsigned type,unsigned int faultCode);
 };
 
 #endif

src/pPowerManger/UpperCommManager.cpp

@@ -134,14 +134,15 @@ void UpperCommManager::buildSystemReport() {
   m_pmStateMsg.state.powerState = m_pm->powerState;
   m_pmStateMsg.state.faultLevel = m_pm->faultLevel;
   m_pmStateMsg.state.faultCode = m_pm->faultCode;
+//   cout << "m_pmStateMsg.state.faultCode.size():" << m_pmStateMsg.state.faultCode.size() << endl;
   m_pmStateMsg.state.soc = m_pm->soc;
   m_pmStateMsg.state.sustainableTime = m_pm->sustainableTime;
   m_pmStateMsg.state.m_leakage = m_pm->m_leakage;
   m_pmStateMsg.state.m_faultNum = m_pm->m_faultNum;
 
   m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg());
-  m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(m_pm->m_pmCurrentState.ccustate));
+  m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(m_pm->m_pmCurrentState.ccustate));
+  m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(m_pm->m_currentDisBreakerState));
+  m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
   m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
 }

src/pPowerManger/UpperCommManager.h

@@ -59,22 +59,6 @@ public:
     // 生成系统报告
     void buildSystemReport();
 
-    // 消息处理函数
-    // const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
-    // const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
-    // int getSetPMSys(const std::string& key, const std::string& msg);
-    // DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg);
-    // const DriverTable getSubDisState(const std::string& key, const std::string& msg);
-    // const int getDeepth(const std::string& key, const std::string& msg);
-    // MissionState getMission(const std::string& key, const std::string& msg);
-    // bool getTaskStop(const std::string& key, const std::string& msg);
-    // 处理外部通信消息
-    // int getSetOpCondition(const std::string& key, const std::string& msg);
-    // int getSetOpMode(const std::string& key, const std::string& msg);
-    // const std::string getSubDisCmd(DriverTable& driver);
-    // 其他公共函数
-    // bool saveStringToJsonFile(const string &strJson, const string &filePath);
-
 public:
     //定义上位机消息
     uPower_equInsStateMsg m_equInsStateMsg;

src/pPowerManger/driver.cpp

@@ -66,14 +66,14 @@ void Driver::getSTANDBYTable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = 0;
     driverTable->bowRudderServo1 = 0;
     driverTable->bowRudderServo2 = 0;
-    driverTable->bowWaterlnet1 = 0;
+    driverTable->bowWaterInet1 = 0;
-    driverTable->bowWaterlnet2 = 0;
+    driverTable->bowWaterInet2 = 0;
-    driverTable->bowWaterlnet3 = 0;
+    driverTable->bowWaterInet3 = 0;
-    driverTable->bowWaterlnet4 = 0;
+    driverTable->bowWaterInet4 = 0;
-    driverTable->bowWaterlnet5 = 0;
+    driverTable->bowWaterInet5 = 0;
-    driverTable->bowWaterlnet6 = 0;
+    driverTable->bowWaterInet6 = 0;
-    driverTable->bowWaterlnet7 = 0;
+    driverTable->bowWaterInet7 = 0;
-    driverTable->bowWaterlnet8 = 0;
+    driverTable->bowWaterInet8 = 0;
     driverTable->waterInject = 0;
     driverTable->mastLiftingServo = 0;
     driverTable->buoyancyAdjust1 = 0;
@@ -140,14 +140,14 @@ void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = 1;
     driverTable->bowRudderServo1 = 1;
     driverTable->bowRudderServo2 = 1;
-    driverTable->bowWaterlnet1 = 1;
+    driverTable->bowWaterInet1 = 1;
-    driverTable->bowWaterlnet2 = 1;
+    driverTable->bowWaterInet2 = 1;
-    driverTable->bowWaterlnet3 = 1;
+    driverTable->bowWaterInet3 = 1;
-    driverTable->bowWaterlnet4 = 1;
+    driverTable->bowWaterInet4 = 1;
-    driverTable->bowWaterlnet5 = 1;
+    driverTable->bowWaterInet5 = 1;
-    driverTable->bowWaterlnet6 = 1;
+    driverTable->bowWaterInet6 = 1;
-    driverTable->bowWaterlnet7 = 1;
+    driverTable->bowWaterInet7 = 1;
-    driverTable->bowWaterlnet8 = 1;
+    driverTable->bowWaterInet8 = 1;
     driverTable->waterInject = 1;
     driverTable->mastLiftingServo = 1;
     driverTable->buoyancyAdjust1 = 1;
@@ -213,14 +213,14 @@ void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = 1;
     driverTable->bowRudderServo1 = 1;
     driverTable->bowRudderServo2 = 1;
-    driverTable->bowWaterlnet1 = 1;
+    driverTable->bowWaterInet1 = 1;
-    driverTable->bowWaterlnet2 = 1;
+    driverTable->bowWaterInet2 = 1;
-    driverTable->bowWaterlnet3 = 1;
+    driverTable->bowWaterInet3 = 1;
-    driverTable->bowWaterlnet4 = 1;
+    driverTable->bowWaterInet4 = 1;
-    driverTable->bowWaterlnet5 = 1;
+    driverTable->bowWaterInet5 = 1;
-    driverTable->bowWaterlnet6 = 1;
+    driverTable->bowWaterInet6 = 1;
-    driverTable->bowWaterlnet7 = 1;
+    driverTable->bowWaterInet7 = 1;
-    driverTable->bowWaterlnet8 = 1;
+    driverTable->bowWaterInet8 = 1;
     driverTable->waterInject = 1;
     driverTable->mastLiftingServo = 1;
     driverTable->buoyancyAdjust1 = 1;
@@ -273,14 +273,14 @@ void Driver::getCRUISE_MODEable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = 1;
     driverTable->bowRudderServo1 = 1;
     driverTable->bowRudderServo2 = 1;
-    driverTable->bowWaterlnet1 = 0;
+    driverTable->bowWaterInet1 = 0;
-    driverTable->bowWaterlnet2 = 0;
+    driverTable->bowWaterInet2 = 0;
-    driverTable->bowWaterlnet3 = 0;
+    driverTable->bowWaterInet3 = 0;
-    driverTable->bowWaterlnet4 = 0;
+    driverTable->bowWaterInet4 = 0;
-    driverTable->bowWaterlnet5 = 0;
+    driverTable->bowWaterInet5 = 0;
-    driverTable->bowWaterlnet6 = 0;
+    driverTable->bowWaterInet6 = 0;
-    driverTable->bowWaterlnet7 = 0;
+    driverTable->bowWaterInet7 = 0;
-    driverTable->bowWaterlnet8 = 0;
+    driverTable->bowWaterInet8 = 0;
     driverTable->waterInject = 0;
     driverTable->mastLiftingServo = 1;
     driverTable->buoyancyAdjust1 = 1;
@@ -334,14 +334,14 @@ void Driver::getHIGH_SPEED_MODEable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
     driverTable->waterInject = DRIVER_POWER_OFF;
     driverTable->mastLiftingServo = DRIVER_POWER_OFF;
     driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
@@ -395,14 +395,14 @@ void Driver::getASCEND_DESCENDable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
     driverTable->waterInject = DRIVER_POWER_OFF;
     driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
     driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -456,14 +456,14 @@ void Driver::getBUOYANCY_ADJUSTable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
     driverTable->waterInject = DRIVER_POWER_OFF;
     driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
     driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -517,14 +517,14 @@ void Driver::getUNDERWATER_RECONable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
     driverTable->waterInject = DRIVER_POWER_OFF;
     driverTable->mastLiftingServo = DRIVER_POWER_OFF;
     driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -578,14 +578,14 @@ void Driver::getSURFACE_RECONable(DriverTable* driverTable)
     driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
     driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
+    driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
     driverTable->waterInject = DRIVER_POWER_OFF;
     driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
     driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -638,14 +638,14 @@ void Driver::getDJ_MODEable(DriverTable* driverTable)
         driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
         driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
         driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet1 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet1 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet2 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet2 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet3 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet3 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet4 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet4 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet5 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet5 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet6 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet6 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet7 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet7 = DRIVER_FULL_POWER_ON;
-        driverTable->bowWaterlnet8 = DRIVER_FULL_POWER_ON;
+        driverTable->bowWaterInet8 = DRIVER_FULL_POWER_ON;
         driverTable->waterInject = DRIVER_POWER_OFF;
         driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
         driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -703,14 +703,14 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
     root["bowRudderDeploy_uint8"] = driverTable->bowRudderDeploy;
     root["bowRudderServo1_uint8"] = driverTable->bowRudderServo1;
     root["bowRudderServo2_uint8"] = driverTable->bowRudderServo2;
-    root["bowWaterlnet1_uint8"] = driverTable->bowWaterlnet1;
+    root["bowWaterInet1_uint8"] = driverTable->bowWaterInet1;
-    root["bowWaterlnet2_uint8"] = driverTable->bowWaterlnet2;
+    root["bowWaterInet2_uint8"] = driverTable->bowWaterInet2;
-    root["bowWaterlnet3_uint8"] = driverTable->bowWaterlnet3;
+    root["bowWaterInet3_uint8"] = driverTable->bowWaterInet3;
-    root["bowWaterlnet4_uint8"] = driverTable->bowWaterlnet4;
+    root["bowWaterInet4_uint8"] = driverTable->bowWaterInet4;
-    root["bowWaterlnet5_uint8"] = driverTable->bowWaterlnet5;
+    root["bowWaterInet5_uint8"] = driverTable->bowWaterInet5;
-    root["bowWaterlnet6_uint8"] = driverTable->bowWaterlnet6;
+    root["bowWaterInet6_uint8"] = driverTable->bowWaterInet6;
-    root["bowWaterlnet7_uint8"] = driverTable->bowWaterlnet7;
+    root["bowWaterInet7_uint8"] = driverTable->bowWaterInet7;
-    root["bowWaterlnet8_uint8"] = driverTable->bowWaterlnet8;
+    root["bowWaterInet8_uint8"] = driverTable->bowWaterInet8;
     root["waterInject_uint8"] = driverTable->waterInject;
     root["mastLiftingServo_uint8"] = driverTable->mastLiftingServo;
     root["buoyancyAdjust1_uint8"] = driverTable->buoyancyAdjust1;
@@ -789,9 +789,9 @@ vector<DriverCommand> Driver::loadDriverIdFromJson(const std::string &strJson) {
         {"bowCover1", 9}, {"bowCover2", 10}, {"bowCover3", 11},
         {"bowCover4", 12}, {"bowCover5", 13}, {"bowCover6", 14},
         {"bowRudderDeploy", 15}, {"bowRudderServo1", 16}, {"bowRudderServo2", 17},
-        {"bowWaterlnet1", 27}, {"bowWaterlnet2", 28}, {"bowWaterlnet3", 29},
+        {"bowWaterInet1", 27}, {"bowWaterInet2", 28}, {"bowWaterInet3", 29},
-        {"bowWaterlnet4", 30}, {"bowWaterlnet5", 31}, {"bowWaterlnet6", 32},
+        {"bowWaterInet4", 30}, {"bowWaterInet5", 31}, {"bowWaterInet6", 32},
-        {"bowWaterlnet7", 33}, {"bowWaterlnet8", 34}, {"waterInject", 26},
+        {"bowWaterInet7", 33}, {"bowWaterInet8", 34}, {"waterInject", 26},
         {"mastLiftingServo", 41}, {"buoyancyAdjust1", 44}, {"buoyancyAdjust2", 45},
         {"buoyancyAdjust3", 46}, {"buoyancyAdjust4", 47}, {"buoyancyAdjust5", 48},
         {"sternRudderServo1", 49}, {"sternRudderServo2", 50}, {"sternRudderServo3", 51},
@@ -910,28 +910,28 @@ int Driver::loadDriverTableFromJson(const std::string &strJson, DriverTable& tab
     if (error_code != 0) return error_code;
 
     // 执行机构
-    error_code = SafeReadUInt(root, "bowWaterlnet1_uint8", table.bowWaterlnet1);
+    error_code = SafeReadUInt(root, "bowWaterInet1_uint8", table.bowWaterInet1);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet2_uint8", table.bowWaterlnet2);
+    error_code = SafeReadUInt(root, "bowWaterInet2_uint8", table.bowWaterInet2);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet3_uint8", table.bowWaterlnet3);
+    error_code = SafeReadUInt(root, "bowWaterInet3_uint8", table.bowWaterInet3);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet4_uint8", table.bowWaterlnet4);
+    error_code = SafeReadUInt(root, "bowWaterInet4_uint8", table.bowWaterInet4);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet5_uint8", table.bowWaterlnet5);
+    error_code = SafeReadUInt(root, "bowWaterInet5_uint8", table.bowWaterInet5);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet6_uint8", table.bowWaterlnet6);
+    error_code = SafeReadUInt(root, "bowWaterInet6_uint8", table.bowWaterInet6);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet7_uint8", table.bowWaterlnet7);
+    error_code = SafeReadUInt(root, "bowWaterInet7_uint8", table.bowWaterInet7);
     if (error_code != 0) return error_code;
 
-    error_code = SafeReadUInt(root, "bowWaterlnet8_uint8", table.bowWaterlnet8);
+    error_code = SafeReadUInt(root, "bowWaterInet8_uint8", table.bowWaterInet8);
     if (error_code != 0) return error_code;
 
     error_code = SafeReadUInt(root, "bowRudderDeploy_uint8", table.bowRudderDeploy);

src/pPowerManger/driver.h

@@ -42,14 +42,14 @@ struct DriverTable
     unsigned char lowFreqSonar;
     unsigned char USBL;
     //执行机构
-    unsigned char bowWaterlnet1;
+    unsigned char bowWaterInet1;
-    unsigned char bowWaterlnet2;
+    unsigned char bowWaterInet2;
-    unsigned char bowWaterlnet3;
+    unsigned char bowWaterInet3;
-    unsigned char bowWaterlnet4;
+    unsigned char bowWaterInet4;
-    unsigned char bowWaterlnet5;
+    unsigned char bowWaterInet5;
-    unsigned char bowWaterlnet6;
+    unsigned char bowWaterInet6;
-    unsigned char bowWaterlnet7;
+    unsigned char bowWaterInet7;
-    unsigned char bowWaterlnet8;
+    unsigned char bowWaterInet8;
     unsigned char bowRudderDeploy;
     unsigned char bowRudderServo1;
     unsigned char bowRudderServo2;

src/pPowerManger/faultCode.h

@@ -0,0 +1,125 @@
+#ifndef FAULTCODE_H
+#define FAULTCODE_H
+
+/**
+ * @file faultCode.h
+ * @brief 锂电池故障码定义及映射表
+ */
+
+// 故障码映射表
+typedef struct {
+    int id;         // 序号
+    int level;      // 故障级别 
+    const uint8_t code; // 16进制故障码
+    const char* desc; // 报警信息
+} FaultMap;
+
+static const FaultMap batfaultMap[] = {
+    //四级故障
+    {1, 4, 0xC1, "MBMS绝缘故障"},
+    {2, 4, 0xC2, "温度过高"},
+    {3, 4, 0xC3, "MBMS预充失败"}, 
+    {4, 4, 0xC4, "MBMS正主极继电器失效"},
+    {5, 4, 0xC5, "MBMS负主极继电器失效"},
+    {6, 4, 0xC6, "MBMS燃电充电正极继电器正极失效[仪器]"},
+    {7, 4, 0xC7, "母线高压回路异常"},
+    {8, 4, 0xC9, "MBMS电压测量异常"},
+    {9, 4, 0xCA, "MBMS电流测量异常"},
+    //三级故障
+    {10, 3, 0x81, "MBMS绝缘故障3级"},
+    {11, 3, 0x82, "温度过高3级"},
+    {12, 3, 0x83, "温度过低3级"},
+    {13, 3, 0x84, "MBMS总放电超功率3级"},
+    {14, 3, 0x85, "MBMS总充电电流过大3级"},
+    //二级故障
+    {15, 1, 0x31, "BMS均衡模块故障2级"},
+    {16, 2, 0x41, "MBMS绝缘故障2级"},
+    {17, 2, 0x42, "MBMS总放电超功率2级"},
+    {18, 2, 0x43, "电池包放电超功率2级"},
+    {19, 2, 0x44, "MBMS总放电过流2级"},
+    {20, 2, 0x45, "单包异常剔除2级"},
+    {21, 2, 0x46, "单包没有电流2级"},
+    {22, 2, 0x47, "自检有重复ID号2级"},
+    {23, 2, 0x48, "电池包接入失败2级"},
+    {24, 2, 0x49, "电池包充电电流过大2级"},
+    {25, 2, 0x51, "电池包绝缘故障2级"},
+    {26, 2, 0x52, "电池包温度过高2级"},
+    {27, 2, 0x53, "电池包温度过低2级"},
+    {28, 2, 0x54, "电池包单体电压不均衡2级"},
+    {29, 2, 0x55, "电池包单体温度不均衡2级"},
+    {30, 2, 0x56, "电池包过流2级"},
+    {31, 2, 0x57, "电池包充电电流过大2级"},
+    {32, 2, 0x58, "电池包单体电压过高2级"},
+    {33, 2, 0x59, "电池包单体电压过低2级"},
+    {34, 2, 0x5A, "电池包总电压过高2级"},
+    {35, 2, 0x5B, "电池包总电压过低2级"},
+    {36, 2, 0x5C, "电池包内部通讯故障2级"},
+    {37, 2, 0x5D, "电池包初始化故障2级"},
+    {38, 2, 0x62, "电池包高压回路连接异常2级"},
+    {39, 2, 0x65, "电池包烟雾报警2级"},
+    {40, 2, 0x72, "MBMS在线燃电充电超温2级"},
+    //一级故障
+    {41, 1, 0x01, "MBMS绝缘故障1级"},
+    {42, 1, 0x02, "MBMS总放电超功率1级"},
+    {43, 1, 0x11, "电池包绝缘故障1级"},
+    {44, 1, 0x12, "电池包最高温度过高1级"},
+    {45, 1, 0x13, "电池包最低温度过低1级"},
+    {46, 1, 0x14, "电池包单体电压不均衡1级"},
+    {47, 1, 0x15, "电池包单体温度不均衡1级"},
+    {48, 1, 0x16, "电池包放电过流1级"},
+    {49, 1, 0x17, "电池包充电电流过大1级"},
+    {50, 1, 0x18, "电池包单体电压过高1级"},
+    {51, 1, 0x19, "电池包单体电压过低1级"},
+    {52, 1, 0x1A, "电池包总电压过高1级"},
+    {53, 1, 0x1B, "电池包总电压过低1级"},
+    {54, 1, 0x1D, "电池包烟雾报警1级"},
+};
+
+static const FaultMap disfaultMap[] = {
+    {1, 3, 1, "燃料电池断路器故障脱扣"},
+    {2, 4, 2, "动力锂电池断路器故障脱扣"},
+    {3, 4, 3, "推进电机断路器故障脱扣"}, 
+    {4, 4, 4, "锂电池组仪表断路器故障脱扣"},
+    {5, 4, 5, "DC/DC5模块断路器故障脱扣"},
+    {6, 4, 6, "艏部高压配电箱断路器故障脱扣"},
+    {7, 4, 7, "艉部FT装置4/5断路器故障脱扣"},
+    {8, 4, 8, "艉舵开关1断路器故障脱扣"},
+    {9, 4, 9, "艉舵开关2断路器故障脱扣"},
+    {10, 4, 10, "FB预留断路器故障脱扣"},
+    {11, 4, 11, "TYZ预留断路器故障脱扣"},
+    {12, 4, 12, "预留断路器故障脱扣"},
+    {13, 4, 13, "艏部FT装置1-3 断路器故障脱扣"},
+    {14, 4, 14, "启闭机构断路器故障脱扣"},
+    {15, 4, 15, "桅杆舵机控制箱断路器故障脱扣"},
+    {16, 4, 16, "XCZ 断路器故障脱扣"},
+    {17, 4, 17, "艏舵控制箱断路器故障脱扣"},
+    {18, 4, 18, "敞水盖启动电缸断路器故障脱扣"},
+    {19, 4, 19, "锂电池组（仪表）断路器故障脱扣"},
+    {20, 4, 20, "艏部低压配电箱断路器故障脱扣"},
+    {21, 4, 21, "UNIT4仪表DC48V断路器故障脱扣"},
+    {22, 4, 22, "DC-DC1直流配电板断路器故障脱扣"},
+    {23, 4, 23, "预留断路器故障脱扣"},
+    {24, 4, 24, "预留断路器故障脱扣"},
+    {25, 4, 25, "应急锂电池组2断路器"},
+    {26, 4, 26, "UNIT1断路器故障脱扣"},
+    {27, 4, 27, "UNIT2断路器故障脱扣"},
+    {28, 4, 28, "UNIT3断路器故障脱扣"},
+    {29, 4, 29, "UNIT5断路器故障脱扣"},
+    {30, 4, 30, "艏部PZ装置断路器故障脱扣"},
+    {31, 4, 31, "预留断路器故障脱扣"},
+    {32, 4, 32, "预留断路器故障脱扣"},
+    {33, 4, 33, "应急锂电池组1断路器故障脱扣"},
+    {34, 4, 34, "动力母排绝缘低"},
+    {35, 4, 35, "A汇流排绝缘低"},
+    {36, 4, 36, "高压母线配电控制器仪表电源失电信号"},
+    {37, 4, 37, "高压母线配电控制器应急电源失电信号"},
+    {38, 4, 38, "高压汇流排A仪表电源失电信号"},
+    {39, 4, 39, "高压汇流排A应急电源失电信号"},
+    {40, 4, 40, "高压汇流排A仪表汇流排绝缘低"},
+    {41, 4, 41, "高压汇流排B仪表电源失电信号"},
+    {42, 4, 42, "高压汇流排B应急电源失电信号"},
+    {43, 4, 43, "高压汇流排B仪表汇流排绝缘低"},
+    {44, 4, 44, "仪表汇流排失电信号"},
+    {45, 4, 45, "仪表汇流排浸水报警"}
+};
+#endif // FAULTCODE_H

src/pPowerManger/fsm/PowerManagerFsm.cpp

@@ -3,8 +3,10 @@
 #include "../loguru.hpp"
 #include <string>
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "../faultCode.h"
 
-#define DEBUG
+// #define DEBUG
+#define DEBUG_1
 // 定义静态成员
 PowerManger* PowerManagerFsm::pm = nullptr;
 void PowerManagerFsm::react(TaskStopEvent const &e) {
@@ -14,10 +16,10 @@ void PowerManagerFsm::react(TaskStopEvent const &e) {
 
 void PowerManagerFsm::react(CycleTriggeredEvent const &){
     // 更新当前设备状态
-    // cout << "CycleTriggeredEvent" << endl;
+    #ifdef DEBUG_1
-    pm->m_currentDriverState = pm->m_subDisSysState;
+        pm->m_currentDriverState = pm->m_subDisSysState;
-    // cout << (int)pm->m_subDisSysState.depth1 << endl;
+    #endif
-    // cout << (int)pm->m_subDisSysState.depth1 << endl;
+    // cout << "CycleTriggeredEvent received" << endl;
 }
 bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){
     if(pm->workCondition > WorkCondition::REMOTE_CONTROL){
@@ -735,23 +737,23 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
     }
     case 27:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet1 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet1 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet1 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet1 = 0;
+            pm->m_subDisSysCmd.bowWaterInet1 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet1 = 1;
+            pm->m_subDisSysCmd.bowWaterInet1 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet1 = 1;
+            pm->m_subDisSysCmd.bowWaterInet1 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -759,7 +761,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet1 = 0;
+            pm->m_subDisSysCmd.bowWaterInet1 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -767,29 +769,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 28:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet2 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet2 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet2 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet2 = 0;
+            pm->m_subDisSysCmd.bowWaterInet2 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet2 = 1;
+            pm->m_subDisSysCmd.bowWaterInet2 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet2 = 1;
+            pm->m_subDisSysCmd.bowWaterInet2 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -797,7 +799,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet2 = 0;
+            pm->m_subDisSysCmd.bowWaterInet2 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -805,29 +807,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 29:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet2 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet3 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet3 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet3 = 0;
+            pm->m_subDisSysCmd.bowWaterInet3 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet3 = 1;
+            pm->m_subDisSysCmd.bowWaterInet3 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet3 = 1;
+            pm->m_subDisSysCmd.bowWaterInet3 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -835,7 +837,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet3 = 0;
+            pm->m_subDisSysCmd.bowWaterInet3 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -843,29 +845,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 30:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet4 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet4 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet4 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet4 = 0;
+            pm->m_subDisSysCmd.bowWaterInet4 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet4 = 1;
+            pm->m_subDisSysCmd.bowWaterInet4 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet4 = 1;
+            pm->m_subDisSysCmd.bowWaterInet4 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -873,7 +875,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet4 = 0;
+            pm->m_subDisSysCmd.bowWaterInet4 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -881,29 +883,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 31:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet4 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet5 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet5 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet5 = 0;
+            pm->m_subDisSysCmd.bowWaterInet5 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet5 = 1;
+            pm->m_subDisSysCmd.bowWaterInet5 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet5 = 1;
+            pm->m_subDisSysCmd.bowWaterInet5 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -911,7 +913,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet5 = 0;
+            pm->m_subDisSysCmd.bowWaterInet5 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -919,29 +921,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 32:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet6 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet6 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet6 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet6 = 0;
+            pm->m_subDisSysCmd.bowWaterInet6 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet6 = 1;
+            pm->m_subDisSysCmd.bowWaterInet6 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet6 = 1;
+            pm->m_subDisSysCmd.bowWaterInet6 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -949,7 +951,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet6 = 0;
+            pm->m_subDisSysCmd.bowWaterInet6 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -957,29 +959,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 33:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet7 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet7 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet7 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet7 = 0;
+            pm->m_subDisSysCmd.bowWaterInet7 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet7 = 1;
+            pm->m_subDisSysCmd.bowWaterInet7 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet7 = 1;
+            pm->m_subDisSysCmd.bowWaterInet7 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -987,7 +989,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet7 = 0;
+            pm->m_subDisSysCmd.bowWaterInet7 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -995,29 +997,29 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
     case 34:
     {
-        LOG_F(INFO, "DevCmdExt received bowWaterlnet8 - id: %d, cmd: %d", e.id, e.cmd);
+        LOG_F(INFO, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d", e.id, e.cmd);
         #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterlnet8 = e.cmd;
+        pm->m_currentDriverState.bowWaterInet8 = e.cmd;
         #endif
         if (e.cmd == 0)
         {
-            pm->m_subDisSysCmd.bowWaterlnet8 = 0;
+            pm->m_subDisSysCmd.bowWaterInet8 = 0;
             //TODO ：动力电断电
         }
         else if (e.cmd == 1)
         {
-            pm->m_subDisSysCmd.bowWaterlnet8 = 1;
+            pm->m_subDisSysCmd.bowWaterInet8 = 1;
             //TODO ：动力电上电
         }
         else if (e.cmd == 2)
         {
-            pm->m_subDisSysCmd.bowWaterlnet8 = 1;
+            pm->m_subDisSysCmd.bowWaterInet8 = 1;
         }
         else if (e.cmd == 3)
         {
@@ -1025,7 +1027,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else if (e.cmd == 4)
         {
-            pm->m_subDisSysCmd.bowWaterlnet8 = 0;
+            pm->m_subDisSysCmd.bowWaterInet8 = 0;
         }
         else if (e.cmd == 5)
         {
@@ -1033,7 +1035,7 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         }
         else
         {
-            LOG_F(WARNING, "DevCmdExt received bowWaterlnet8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+            LOG_F(WARNING, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
         }
         break;
     }
@@ -1744,57 +1746,57 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
 void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
 {
    LOG_F(INFO, "basicNavigationFault");
-   if(FaultEnable::BasicNavigationFault_1)
+   if((e.injectionFaultCode==1))
    {
         LOG_F(INFO, "部分深度计失效");
         pm->faultCode.push_back(0x1102);
         pm->faultCode.push_back(0x1103);
         pm->faultCode.push_back(0x1104);
    }
-   if(FaultEnable::BasicNavigationFault_2)
+   if((e.injectionFaultCode==2))
    {
         LOG_F(INFO, "DVL失效");
         pm->faultCode.push_back(0x1301);
    }
-   if (FaultEnable::BasicNavigationFault_3)
+   if ((e.injectionFaultCode==3))
    {
         LOG_F(INFO, "单个艉舵失效");
         pm->faultCode.push_back(0x1207);
    }
-   if (FaultEnable::BasicNavigationFault_4)
+   if ((e.injectionFaultCode==4))
    {
         LOG_F(INFO, "部分艉舵失效");
         pm->faultCode.push_back(0x1308);
         pm->faultCode.push_back(0x1307);
    }
-   if (FaultEnable::BasicNavigationFault_5)
+   if ((e.injectionFaultCode==5))
    {
         LOG_F(INFO, "动力锂电池失效");
         pm->faultCode.push_back(0x130B);
    }
-   if (FaultEnable::BasicNavigationFault_6)
+   if ((e.injectionFaultCode==6))
    {
         LOG_F(INFO, "推进电机失效");
         pm->faultCode.push_back(0x130A);
    }
-   if (FaultEnable::BasicNavigationFault_7)
+   if ((e.injectionFaultCode==7))
    {
         LOG_F(INFO, "惯导失效");
         pm->faultCode.push_back(0x1305);
    }
-   if (FaultEnable::BasicNavigationFault_8)
+   if ((e.injectionFaultCode==8))
    {
         LOG_F(INFO, "深度失效");
         pm->faultCode.push_back(0x1302);
         pm->faultCode.push_back(0x1303);
         pm->faultCode.push_back(0x1304);
    }
-   if (FaultEnable::BasicNavigationFault_9)
+   if ((e.injectionFaultCode==9))
    {
         LOG_F(INFO, "仪表锂电池失效");
         pm->faultCode.push_back(0x1412);
    }
-   if (FaultEnable::BasicNavigationFault_9)
+   if ((e.injectionFaultCode==10))
    {
         LOG_F(INFO, "复合管控器失效");
         pm->faultCode.push_back(0x1413);
@@ -1803,22 +1805,22 @@ void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
 void PowerManagerFsm::extendedNavigationFault(FaultEvent const &e)
 {
    LOG_F(INFO, "extendedNavigationFault");
-   if (FaultEnable::ExtendedNavigationFault_1)
+   if ((e.injectionFaultCode==1))
    {
         LOG_F(INFO, "艏舵展开电缸失效");
         pm->faultCode.push_back(0x2311);
    }
-   if (FaultEnable::ExtendedNavigationFault_2)
+   if ((e.injectionFaultCode==2))
    {
         LOG_F(INFO, "艏舵控制控制失效");
         pm->faultCode.push_back(0x2312);
    }
-   if (FaultEnable::ExtendedNavigationFault_3)
+   if ((e.injectionFaultCode==3))
    {
         LOG_F(INFO, "动力锂电池功率不满/失效");
         pm->faultCode.push_back(0x2323);
    }
-   if (FaultEnable::ExtendedNavigationFault_4)
+   if ((e.injectionFaultCode==4))
    {
         LOG_F(INFO, "燃料电池失效");
         pm->faultCode.push_back(0x2334);
@@ -1827,12 +1829,12 @@ void PowerManagerFsm::extendedNavigationFault(FaultEvent const &e)
 void PowerManagerFsm::obstacleAvoidanceFault(FaultEvent const &e)
 {
     LOG_F(INFO, "obstacleAvoidanceFault");
-    if (FaultEnable::ObstacleAvoidanceFault_1)
+    if ((e.injectionFaultCode==1))
     {
         pm->faultCode.push_back(0x3108);
         pm->faultCode.push_back(0x3109);
     }
-    if (FaultEnable::ObstacleAvoidanceFault_2)
+    if ((e.injectionFaultCode==2))
     {
         pm->faultCode.push_back(0x3201);
         pm->faultCode.push_back(0x3202);
@@ -1842,7 +1844,7 @@ void PowerManagerFsm::obstacleAvoidanceFault(FaultEvent const &e)
         pm->faultCode.push_back(0x3206);
         pm->faultCode.push_back(0x3207);
     }
-    if (FaultEnable::ObstacleAvoidanceFault_2)
+    if ((e.injectionFaultCode==3))
     {
         pm->faultCode.push_back(0x3301);
     }
@@ -1851,24 +1853,24 @@ void PowerManagerFsm::obstacleAvoidanceFault(FaultEvent const &e)
 void PowerManagerFsm::buoyancyControlFault(FaultEvent const &e)
 {
     LOG_F(INFO, "buoyancyControlFault");
-    if (FaultEnable::BuoyancyControlFault_1)
+    if ((e.injectionFaultCode==1))
     {
         LOG_F(INFO, "单一浮调机构失效");
-        pm->faultCode.push_back(0x4101);
+        pm->faultCode.push_back(0x4201);
     }
-    if (FaultEnable::BuoyancyControlFault_2)
+    if ((e.injectionFaultCode==2))
     {
         LOG_F(INFO, "2-4及以上浮调装置失效");
         pm->faultCode.push_back(0x4301);
         pm->faultCode.push_back(0x4302);
         pm->faultCode.push_back(0x4303);
     }
-    if (FaultEnable::BuoyancyControlFault_3)
+    if ((e.injectionFaultCode==3))
     {
         LOG_F(INFO, "功率不足满足浮调要求");
-        pm->faultCode.push_back(0x4336);
+        pm->faultCode.push_back(0x4436);
     }
-    if (FaultEnable::BuoyancyControlFault_4)
+    if ((e.injectionFaultCode==4))
     {
         LOG_F(INFO, "所有浮调系统失效");
         pm->faultCode.push_back(0x4301);
@@ -1878,21 +1880,21 @@ void PowerManagerFsm::buoyancyControlFault(FaultEvent const &e)
 void PowerManagerFsm::communicationSystemFault(FaultEvent const &e)
 {
     LOG_F(INFO, "communicationSystemFault");
-    if (FaultEnable::CommunicationSystemFault_1)
+    if ((e.injectionFaultCode==1))
     {
         LOG_F(INFO, "部分水下通信失效");
         pm->faultCode.push_back(0x5203);
         pm->faultCode.push_back(0x5204);
         pm->faultCode.push_back(0x5205);
     }
-    if (FaultEnable::CommunicationSystemFault_2)
+    if ((e.injectionFaultCode==2))
     {
         LOG_F(INFO, "水下通信失效");
         pm->faultCode.push_back(0x5303);
         pm->faultCode.push_back(0x5304);
         pm->faultCode.push_back(0x5305);
     }
-    if (FaultEnable::CommunicationSystemFault_2)
+    if ((e.injectionFaultCode==3))
     {
         LOG_F(INFO, "水面通信失效");
         pm->faultCode.push_back(0x5301);
@@ -1902,7 +1904,7 @@ void PowerManagerFsm::communicationSystemFault(FaultEvent const &e)
 void PowerManagerFsm::payloadSystemFault(FaultEvent const &e)
 {
     LOG_F(INFO, "payloadSystemFault");
-    if (FaultEnable::PayloadSystemFault_1)
+    if ((e.injectionFaultCode==1))
     {
         LOG_F(INFO, "存在启闭机构或者敞水电缸失效");
         pm->faultCode.push_back(0x6211);
@@ -1920,32 +1922,32 @@ void PowerManagerFsm::payloadSystemFault(FaultEvent const &e)
         pm->faultCode.push_back(0x621D);
         pm->faultCode.push_back(0x621E);
     }
-    if (FaultEnable::PayloadSystemFault_2)
+    if ((e.injectionFaultCode==2))
     {
         LOG_F(INFO, "舷侧探测失效");
         pm->faultCode.push_back(0x6321);
     }
-    if (FaultEnable::PayloadSystemFault_3)
+    if ((e.injectionFaultCode==3))
     {
         LOG_F(INFO, "舷侧主动探测失效");
         pm->faultCode.push_back(0x6323);
     }
-    if (FaultEnable::PayloadSystemFault_4)
+    if ((e.injectionFaultCode==4))
     {
         LOG_F(INFO, "TYZ失效");
         pm->faultCode.push_back(0x6322);
     }
-    if (FaultEnable::PayloadSystemFault_5)
+    if ((e.injectionFaultCode==5))
     {
         LOG_F(INFO, "光电探测失效");
         pm->faultCode.push_back(0x6332);
     }
-    if (FaultEnable::PayloadSystemFault_6)
+    if ((e.injectionFaultCode==6))
     {
         LOG_F(INFO, "电磁探测失效");
         pm->faultCode.push_back(0x6331);
     }
-    if (FaultEnable::PayloadSystemFault_7)
+    if ((e.injectionFaultCode==7))
     {
         LOG_F(INFO, "载荷失效或者全部载荷启闭机构均失效");
         pm->faultCode.push_back(0x633F);
@@ -1954,36 +1956,36 @@ void PowerManagerFsm::payloadSystemFault(FaultEvent const &e)
 void PowerManagerFsm::emergencySystemFault(FaultEvent const &e)
 {
     LOG_F(INFO, "emergencySystemFault");
-    if (FaultEnable::EmergencySystemFault_1)
+    if ((e.injectionFaultCode==1))
     {
         //备注：抛载具有自己的电池
         LOG_F(INFO, "部分抛载失效");
         pm->faultCode.push_back(0x7102);
         pm->faultCode.push_back(0x7103);
     }
-    if (FaultEnable::EmergencySystemFault_2)
+    if ((e.injectionFaultCode==2))
     {
         LOG_F(INFO, "一个超深检测装置失效");
         pm->faultCode.push_back(0x7204);
         pm->faultCode.push_back(0x7205);
     }
-    if (FaultEnable::EmergencySystemFault_3)
+    if ((e.injectionFaultCode==3))
     {
         LOG_F(INFO, "注水机构失效");
         pm->faultCode.push_back(0x7301);
     }
-    if (FaultEnable::EmergencySystemFault_4)
+    if ((e.injectionFaultCode==4))
     {
         LOG_F(INFO, "抛载失效");
         pm->faultCode.push_back(0x7302);
         pm->faultCode.push_back(0x7303);
     }
-    if (FaultEnable::EmergencySystemFault_5)
+    if ((e.injectionFaultCode==5))
     {
         LOG_F(INFO, "艏部应急电源失效");
         pm->faultCode.push_back(0x7306);
     }
-    if (FaultEnable::EmergencySystemFault_6)
+    if ((e.injectionFaultCode==6))
     {
         LOG_F(INFO, "艉部应急电源失效");
         pm->faultCode.push_back(0x7307);
@@ -1992,18 +1994,18 @@ void PowerManagerFsm::emergencySystemFault(FaultEvent const &e)
 void PowerManagerFsm::sensorSystemFault(FaultEvent const &e)
 {
     LOG_F(INFO, "sensorSystemFault");
-    if (FaultEnable::SensorSystemFault_1)
+    if ((e.injectionFaultCode==1))
     {
         LOG_F(INFO, "部分CTD失效");
         pm->faultCode.push_back(0x8202);
     }
-    if (FaultEnable::SensorSystemFault_2)
+    if ((e.injectionFaultCode==2))
     {
         LOG_F(INFO, "CTD失效");
         pm->faultCode.push_back(0x8302);
         pm->faultCode.push_back(0x8303);
     }
-    if (FaultEnable::SensorSystemFault_2)
+    if ((e.injectionFaultCode==3))
     {
         LOG_F(INFO, "声速仪失效");
         pm->faultCode.push_back(0x8301);
@@ -2145,5 +2147,132 @@ void PowerManagerFsm::handleDeviceCmd() {
     LOG_F(INFO, "开始处理设备命令:");
 }
 
+void PowerManagerFsm::react(TestEvent const &e)
+{
+    LOG_F(INFO, "测试消息");
+    if(e.type == 0){
+        LOG_F(INFO, "清空故障代码");
+        pm->faultCode.clear();
+        pm->m_leakage = 0x00;
+        pm->m_systemData->insfaultCode = 0x00;
+        pm->m_systemData->powfaultCode = 0x00;
+        pm->m_systemData->fc_fault_level_4 = 0;
+        pm->m_systemData->fc_fault_level_3 = 0;
+        pm->m_systemData->fc_fault_level_2 = 0;
+        pm->m_systemData->fc_fault_level_1 = 0;
+        pm->m_systemData->distributeFaultCode.clear();
+        cout << "清空故障代码" << endl;
+    };
+    // if(e.eventId == 0) return ;
+    LOG_F(INFO, "测试消息类型: %d,测试代码：%d", e.type, e.eventId);
+    FaultEvent faultEvent;
+    faultEvent.injectionFaultCode = e.eventId;
+    //故障注入
+    switch (e.type)
+    {
+    case 0:
+        break;
+    case 1:
+        basicNavigationFault(faultEvent);
+        break;
+    case 2:
+        extendedNavigationFault(faultEvent);
+        break;
+    case 3:
+        obstacleAvoidanceFault(faultEvent);
+        break;
+    case 4:
+        buoyancyControlFault(faultEvent);
+        break;
+    case 5:
+        communicationSystemFault(faultEvent);
+        break;
+    case 6:
+        payloadSystemFault(faultEvent);
+        break;
+    case 7:
+        emergencySystemFault(faultEvent);
+        break;
+    case 8:
+        sensorSystemFault(faultEvent);
+        break;
+    case 9:
+        LOG_F(INFO, "漏水故障");
+        switch (e.eventId)
+        {
+            case 1:
+                    pm->m_leakage = 0x10; //锂电池舱
+                break;
+            case 2:
+                    pm->m_leakage = 0x20; //艉应急
+                break;
+            case 3:
+                    pm->m_leakage = 0x40;
+                break;
+            case 4:
+                    pm->m_leakage = 0x80;
+                break;
+            case 5:
+                    pm->m_leakage = 0x01; //艏部应急漏水
+                break;
+            case 6:
+                    pm->m_leakage = 0x02; //艏高压漏水
+                break;
+            case 7:
+                    pm->m_leakage = 0x04; //艏低压漏水
+                break;
+            case 8:
+                    pm->m_leakage = 0x08; //燃电舱漏水
+                break;
+            default:
+                break;
+        }
+        break;
+    case 10:
+        LOG_F(INFO,"锂电池故障测试");
+        pm->m_systemData->insfaultCode = batfaultMap[e.eventId].code;
+        pm->m_systemData->powfaultCode = batfaultMap[e.eventId].code;
+        cout << "=======================" << (int)pm->m_systemData->insfaultCode << endl;
+        cout << "=======================" << (int)pm->m_systemData->powfaultCode << endl;
+        break;
+    case 11:
+    {
+        LOG_F(INFO,"燃料电池1级故障测试");
+        uint16_t code = 0x0001;
+        pm->m_systemData->fc_fault_level_1 = code << (e.eventId);
+        break;
+    }
+    case 12:
+    {
+        LOG_F(INFO,"燃料电池2级故障测试");
+        uint16_t code = 0x0001;
+        pm->m_systemData->fc_fault_level_2 = code << (e.eventId);
+        break;
+    }
+    case 13:
+    {
+        LOG_F(INFO,"燃料电池3级故障测试");        
+        uint16_t code = 0x0001;
+        pm->m_systemData->fc_fault_level_3 = code << (e.eventId);
+        break;
+    }
+    case 14:
+    {
+        LOG_F(INFO,"燃料电池4级故障测试");
+        uint16_t code = 0x0001;
+        pm->m_systemData->fc_fault_level_4 = code << (e.eventId);
+        break;
+    }
+    case 15:
+    {
+        LOG_F(INFO,"配电系统故障测试");
+        pm->m_systemData->distributeFaultCode.push_back(disfaultMap[e.eventId].code);
+    }
+    default:
+        LOG_F(INFO, "测试消息类型错误");
+        break;
+    }
+
+}
 
 FSM_INITIAL_STATE(PowerManagerFsm, InitState);

src/pPowerManger/fsm/PowerManagerFsm.hpp

@@ -40,23 +40,34 @@ struct DevCmdExt : tinyfsm::Event {
    DevCmdExt() : id(0), cmd(0) {};
    DevCmdExt(int id, int cmd) : id(id), cmd(cmd) {};
 };
+//==================测试事件================================
+struct TestEvent : tinyfsm::Event {
+    std::string eventName;
+    unsigned int type;
+    unsigned int eventId;
+    TestEvent() : eventName(""), eventId(0),type(0) {};
+    TestEvent(std::string eventName, unsigned int type,unsigned int eventId) : eventName(eventName), eventId(eventId),type(type) {};
+};
 struct FaultEvent : tinyfsm::Event {
     unsigned int subDisSysFaultCode;
     unsigned int disSysFaultCode;
     unsigned int powerFaultCode;
     unsigned int fcsFaultCode;
     unsigned int ccsFaultCode;
-    FaultEvent() : subDisSysFaultCode(0), disSysFaultCode(0), powerFaultCode(0), fcsFaultCode(0), ccsFaultCode(0) {};
+    unsigned int injectionFaultCode;
+    FaultEvent() : subDisSysFaultCode(0), disSysFaultCode(0), powerFaultCode(0), fcsFaultCode(0), ccsFaultCode(0),injectionFaultCode(0) {};
     FaultEvent(unsigned int subDisSysFaultCode, 
         unsigned int disSysFaultCode, 
         unsigned int powerFaultCode, 
         unsigned int fcsFaultCode, 
-        unsigned int ccsFaultCode) 
+        unsigned int ccsFaultCode,
+        unsigned int injectionFaultCode)
         : subDisSysFaultCode(subDisSysFaultCode), 
         disSysFaultCode(disSysFaultCode), 
         powerFaultCode(powerFaultCode), 
         fcsFaultCode(fcsFaultCode), 
-        ccsFaultCode(ccsFaultCode) {};
+        ccsFaultCode(ccsFaultCode),
+        injectionFaultCode(injectionFaultCode) {};
 };
 
 class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
@@ -78,7 +89,10 @@ public:
     virtual void react(TaskStartEvent const &e);
     virtual void react(FaultEvent const &e);
     virtual void react(TaskStopEvent const &e);
-    virtual void react(CycleTriggeredEvent const &);
+    virtual void react(CycleTriggeredEvent const &e);
+
+    //测试事件
+    virtual void react(TestEvent const &);
 
     //操作函数
     void handelPowerCmd();

src/pPowerManger/httpserver/httpserver.cpp

@@ -8,6 +8,7 @@
 #include <sys/resource.h>
 #include "data.h"
 #include "logpage.h"
+#include "testpage.h"
 
 using json = Json::Value;
 
@@ -76,6 +77,15 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
         } else if (mg_match(hm->uri, mg_str("/logs"), NULL)) {
             // 返回日志页面HTML
             mg_http_reply(c, 200, "Content-Type: text/html; charset=utf-8\r\n", LOG_PAGE_HTML.c_str());
+        } else if (mg_match(hm->uri, mg_str("/testpage"), NULL)) {
+            if (mg_strcmp(hm->method, mg_str("POST")) == 0) {
+                // 解析POST请求并调用处理函数
+                std::string msg(hm->body.buf, hm->body.len);
+                handleTestPage(c, msg);
+            } else {
+                // 返回测试页面HTML
+                mg_http_reply(c, 200, "Content-Type: text/html; charset=utf-8\r\n", TESTPAGE_HTML.c_str());
+            }
         } else if (mg_match(hm->uri, mg_str("/control"), NULL)) {
             // 处理断路器控制请求
             if (mg_strcmp(hm->method, mg_str("POST")) == 0) {
@@ -655,6 +665,84 @@ std::vector<std::string> HttpServer::readLogFile(int page, int pageSize, const s
     return std::vector<std::string>(filteredLogs.begin() + start, filteredLogs.begin() + end);
 }
 
+void HttpServer::handleTestPage(struct mg_connection* c, const std::string& msg) {
+    try {
+        // 检查空消息
+        if (msg.empty()) {
+            LOG_F(ERROR, "Empty test page request received");
+            mg_http_reply(c, 400, "Content-Type: application/json\r\n",
+                         "{\"success\": false, \"error\": \"Empty request body\"}");
+            return;
+        }
+
+        // 解析JSON请求
+        Json::Value json;
+        Json::CharReaderBuilder builder;
+        std::unique_ptr<Json::CharReader> reader(builder.newCharReader());
+        std::string errors;
+        const char* msg_start = msg.c_str();
+        const char* msg_end = msg_start + msg.size();
+        
+        if (!reader->parse(msg_start, msg_end, &json, &errors)) {
+            // 记录详细的解析错误
+            LOG_F(ERROR, "Failed to parse test page request JSON: %s\nRequest content: %s", 
+                 errors.c_str(), msg.c_str());
+            
+            // 返回结构化的错误响应
+            mg_http_reply(c, 400, "Content-Type: application/json\r\n",
+                         "{\"success\": false, \"error\": \"Invalid JSON format\", "
+                         "\"details\": \"%s\", \"position\": %d}",
+                         errors.c_str(), (int)(errors.find("offset") != std::string::npos ? 
+                                         std::stoi(errors.substr(errors.find("offset") + 7)) : 0));
+            return;
+        }
+
+        // 记录接收到的请求
+        LOG_F(INFO, "Received valid test page request: %s", msg.c_str());
+        
+        // 检查必需字段是否存在
+        if (!json.isMember("type") || !json.isMember("id")) {
+            mg_http_reply(c, 400, "Content-Type: application/json\r\n",
+                         "{\"success\": false, \"error\": \"type and id fields are required\"}");
+            return;
+        }
+        unsigned int type = 0;
+        unsigned int id = 0;
+        
+        try {
+            if (json["type"].isString()) {
+                type = std::stoul(json["type"].asString());
+            } else if (json["type"].isNumeric()) {
+                type = json["type"].asUInt();
+            } else {
+                throw std::invalid_argument("type must be number or numeric string");
+            }
+
+            if (json["id"].isString()) {
+                id = std::stoul(json["id"].asString());
+            } else if (json["id"].isNumeric()) {
+                id = json["id"].asUInt();
+            } else {
+                throw std::invalid_argument("id must be number or numeric string");
+            }
+        } catch (const std::exception& e) {
+            mg_http_reply(c, 400, "Content-Type: application/json\r\n",
+                         "{\"success\": false, \"error\": \"%s\"}", e.what());
+            return;
+        }
+
+        m_powerManger->injectFault(type, id);
+        // 返回成功响应
+        mg_http_reply(c, 200, "Content-Type: application/json\r\n",
+                     "{\"success\": true, \"message\": \"Request received\", "
+                     "\"content\": %s}",
+                     msg.c_str());
+    } catch (const std::exception& e) {
+        LOG_F(ERROR, "Error handling test page request: %s", e.what());
+        mg_http_reply(c, 500, "Content-Type: text/plain\r\n", "Internal server error");
+    }
+}
+
 void HttpServer::monitorLogFile() {
     static std::streampos lastPos = 0;
     std::ifstream file(m_logFilePath);

src/pPowerManger/httpserver/httpserver.h

@@ -54,6 +54,9 @@ public:
     // 读取日志文件
     std::vector<std::string> readLogFile(int page, int pageSize, const std::string& level, const std::string& search);
 
+    // 测试页面请求处理函数
+    void handleTestPage(struct mg_connection* c, const std::string& msg);
+    
 private:
     // WebSocket事件处理函数
     void handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_data, void* fn_data);

src/pPowerManger/httpserver/index.h

@@ -210,6 +210,10 @@ body {
                 <span class="sidebar-icon">📝</span>
                 <span>系统日志</span>
             </a>
+            <a href="/testpage" class="sidebar-button">
+                <span class="sidebar-icon">🧪</span>
+                <span>测试页面</span>
+            </a>
         </div>
     </div>
 

src/pPowerManger/httpserver/logpage.h

@@ -300,6 +300,10 @@ const std::string LOG_PAGE_HTML = R"(
                 <span class="sidebar-icon">📝</span>
                 <span>系统日志</span>
             </a>
+            <a href="/testpage" class="sidebar-button">
+                <span class="sidebar-icon">🧪</span>
+                <span>测试页面</span>
+            </a>
         </div>
     </div>
 

src/pPowerManger/httpserver/testpage.h

@@ -0,0 +1,378 @@
+#ifndef HTTP_SERVER_TESTPAGE_H
+#define HTTP_SERVER_TESTPAGE_H
+
+#include <string>
+
+const std::string TESTPAGE_HTML = R"row(
+<!DOCTYPE html>
+<html>
+<head>
+<meta charset="UTF-8">
+<title>测试页面</title>
+<link rel="stylesheet" href="/static/style.css">
+<style>
+:root {
+    --primary-color: #2563eb;
+    --primary-hover: #1d4ed8;
+    --bg-color: #f8fafc;
+    --sidebar-width: 60px;
+    --sidebar-expanded: 220px;
+    --header-height: 36px;
+}
+
+* {
+    margin: 0;
+    padding: 0;
+    box-sizing: border-box;
+}
+
+body {
+    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+    background-color: var(--bg-color);
+    color: #1a1a1a;
+}
+
+.container {
+    display: grid;
+    grid-template-areas:
+        "sidebar main-content";
+    grid-template-columns: var(--sidebar-width) 1fr;
+    grid-template-rows: 1fr;
+    min-height: 100vh;
+    gap: 0;
+}
+
+.header {
+    grid-area: unset;
+    background: white;
+    padding: 0 0.5rem;
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    box-shadow: 0 1px 2px rgba(0, 0, 0, 0.1);
+    position: fixed;
+    top: 0;
+    right: 0;
+    left: var(--sidebar-width);
+    height: var(--header-height);
+    z-index: 10;
+}
+
+.header h1 {
+    font-size: 1.25rem;
+    font-weight: 600;
+    color: #1a1a1a;
+}
+
+.sidebar {
+    grid-area: sidebar;
+    background: white;
+    width: var(--sidebar-width);
+    height: 100vh;
+    position: fixed;
+    left: 0;
+    top: 0;
+    padding: 0.5rem 0.25rem;
+    transition: width 0.3s ease;
+    box-shadow: 1px 0 3px rgba(0, 0, 0, 0.1);
+    z-index: 20;
+}
+
+.sidebar:hover {
+    width: var(--sidebar-expanded);
+}
+
+.sidebar-menu {
+    display: flex;
+    flex-direction: column;
+    gap: 0.5rem;
+}
+
+.sidebar-button {
+    display: flex;
+    align-items: center;
+    padding: 0.5rem 0.75rem;
+    border-radius: 0.375rem;
+    color: #4b5563;
+    text-decoration: none;
+    transition: all 0.2s ease;
+    white-space: nowrap;
+    overflow: hidden;
+}
+
+.sidebar-button:hover {
+    background: var(--bg-color);
+    color: var(--primary-color);
+}
+
+.sidebar-icon {
+    min-width: 1.5rem;
+    margin-right: 1rem;
+    font-size: 1.25rem;
+}
+
+.main-content {
+    grid-area: main-content;
+    padding: 1px;
+    margin-top: var(--header-height);
+}
+
+.status-bar {
+    position: fixed;
+    top: 4px;
+    right: 8px;
+    background: white;
+    padding: 4px 8px;
+    border-radius: 4px;
+    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+    display: flex;
+    gap: 8px;
+    z-index: 15;
+}
+
+.status-info {
+    display: flex;
+    align-items: center;
+    gap: 8px;
+    color: #4b5563;
+    font-size: 0.875rem;
+}
+
+.data-panel {
+    background: white;
+    border-radius: 4px;
+    padding: 16px;
+    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+    height: calc(100vh - var(--header-height) + 3px);
+    overflow: auto;
+}
+
+.panel-title {
+    font-size: 1rem;
+    font-weight: 600;
+    color: #1a1a1a;
+    margin-bottom: 16px;
+    padding-bottom: 8px;
+    border-bottom: 1px solid #e5e7eb;
+}
+
+.form-group {
+    margin-bottom: 16px;
+}
+
+.form-label {
+    display: block;
+    margin-bottom: 8px;
+    font-weight: 500;
+    color: #374151;
+}
+
+.form-input {
+    width: 100%;
+    padding: 8px 12px;
+    border: 1px solid #d1d5db;
+    border-radius: 4px;
+    font-size: 14px;
+    transition: border-color 0.2s;
+}
+
+.form-input:focus {
+    outline: none;
+    border-color: var(--primary-color);
+    box-shadow: 0 0 0 2px rgba(37, 99, 235, 0.1);
+}
+
+.btn {
+    display: inline-block;
+    padding: 8px 16px;
+    background-color: var(--primary-color);
+    color: white;
+    border: none;
+    border-radius: 4px;
+    font-size: 14px;
+    font-weight: 500;
+    cursor: pointer;
+    transition: background-color 0.2s;
+}
+
+.btn:hover {
+    background-color: var(--primary-hover);
+}
+
+@media (max-width: 768px) {
+    .container {
+        grid-template-columns: 1fr;
+        grid-template-areas:
+            "header"
+            "main-content";
+    }
+
+    .sidebar {
+        transform: translateX(-100%);
+    }
+
+    .header {
+        left: 0;
+    }
+}
+</style>
+</head>
+<body>
+<div class="container">
+    <div class="sidebar">
+        <div class="sidebar-menu">
+            <a href="/" class="sidebar-button">
+                <span class="sidebar-icon">🏠</span>
+                <span>系统主页</span>
+            </a>
+            <a href="/data" class="sidebar-button">
+                <span class="sidebar-icon">📊</span>
+                <span>系统数据</span>
+            </a>
+            <a href="/dashboard" class="sidebar-button">
+                <span class="sidebar-icon">⚡</span>
+                <span>配电操作</span>
+            </a>
+            <a href="/logs" class="sidebar-button">
+                <span class="sidebar-icon">📝</span>
+                <span>系统日志</span>
+            </a>
+            <a href="/testpage" class="sidebar-button">
+                <span class="sidebar-icon">🧪</span>
+                <span>测试页面</span>
+            </a>
+        </div>
+    </div>
+
+    <div class="header">
+        <h1>测试页面</h1>
+        <div class="status-bar">
+            <div class="status-info">
+                <span>🟢 系统状态: <span id="systemStatus">运行中</span></span>
+                <span>⚡ 应用频率: <span id="appFreq">0</span> Hz</span>
+                <span>📡 通信频率: <span id="commFreq">0</span> Hz</span>
+                <span>💻 CPU负载: <span id="cpuLoad">0</span>%</span>
+                <span>⏱️ 迭代间隔: <span id="timeSinceIterate">0</span>ms</span>
+                <span>🕒 更新时间: <time id="updateTime">2025-05-19 11:54</time></span>
+            </div>
+        </div>
+    </div>
+
+    <div class="main-content">
+        <div class="data-panel">
+            <div class="panel-title">测试表单</div>
+            <form id="testForm">
+                <div class="form-group">
+                    <label for="type" class="form-label">类型</label>
+                    <input type="number" id="type" name="type" class="form-input" min="0" required>
+                </div>
+                <div class="form-group">
+                    <label for="id" class="form-label">ID</label>
+                    <input type="number" id="id" name="id" class="form-input" min="0" required>
+                </div>
+                <button type="button" class="btn" onclick="submitTestForm()">提交</button>
+            </form>
+        </div>
+    </div>
+</div>
+
+<script>
+let ws = null;
+
+function initWebSocket() {
+    ws = new WebSocket('ws://' + window.location.host + '/ws');
+
+    ws.onopen = () => {
+        console.log('WebSocket连接已建立');
+        updateStatus('运行中', true);
+    };
+
+    ws.onmessage = (event) => {
+        const data = JSON.parse(event.data);
+        console.log('收到系统数据:', data);
+        
+        // 更新MOOSDB信息
+        if (data.moosdb) {
+            document.getElementById('appFreq').textContent = data.moosdb.appFreq.toFixed(2);
+            document.getElementById('commFreq').textContent = data.moosdb.commFreq.toFixed(2);
+            document.getElementById('cpuLoad').textContent = data.moosdb.cpuLoad.toFixed(1);
+            document.getElementById('timeSinceIterate').textContent = data.moosdb.timeSinceIterate.toFixed(0);
+        }
+        
+        updateTime();
+    };
+
+    ws.onclose = () => {
+        console.log('WebSocket连接已关闭');
+        updateStatus('已断开', false);
+        setTimeout(initWebSocket, 5000);
+    };
+
+    ws.onerror = (error) => {
+        console.error('WebSocket错误:', error);
+        updateStatus('错误', false);
+    };
+}
+
+function updateStatus(status, isConnected) {
+    const statusElement = document.querySelector('.status-info span:first-child');
+    statusElement.innerHTML = `${isConnected ? '🟢' : '🔴'} 系统状态: ${status}`;
+}
+
+function updateTime() {
+    const now = new Date();
+    const timeStr = now.toLocaleString('zh-CN', {
+        year: 'numeric',
+        month: '2-digit',
+        day: '2-digit',
+        hour: '2-digit',
+        minute: '2-digit',
+        second: '2-digit',
+        hour12: false
+    });
+    document.getElementById('updateTime').textContent = timeStr;
+}
+
+function submitTestForm() {
+    const form = document.getElementById('testForm');
+    const typeValue = parseInt(form.type.value);
+    const idValue = parseInt(form.id.value);
+    
+    if (typeValue < 0 || idValue < 0) {
+        alert('请输入非负整数');
+        return;
+    }
+
+    const formData = {
+        type: typeValue,
+        id: idValue
+    };
+
+    fetch('/testpage', {
+        method: 'POST',
+        headers: {
+            'Content-Type': 'application/json'
+        },
+        body: JSON.stringify(formData)
+    })
+    .then(response => response.json())
+    .then(data => {
+        if (data.success) {
+            alert('提交成功: ' + data.message);
+        } else {
+            alert('提交失败: ' + data.error);
+        }
+    })
+    .catch(error => {
+        console.error('提交错误:', error);
+        alert('提交过程中发生错误');
+    });
+}
+
+window.addEventListener('load', initWebSocket);
+</script>
+</body>
+</html>
+)row";
+
+#endif // HTTP_SERVER_TESTPAGE_H

src/pPowerManger/pmSysvariable.h

@@ -733,14 +733,14 @@ namespace DeviceId {
     ctd2 = 24,
     soundVeloc = 25,
     waterInject = 26,
-    bowWaterlnet1 = 27,
+    bowWaterInet1 = 27,
-    bowWaterlnet2 = 28,
+    bowWaterInet2 = 28,
-    bowWaterlnet3 = 29,
+    bowWaterInet3 = 29,
-    bowWaterlnet4 = 30,
+    bowWaterInet4 = 30,
-    bowWaterlnet5 = 31,
+    bowWaterInet5 = 31,
-    bowWaterlnet6 = 32,
+    bowWaterInet6 = 32,
-    bowWaterlnet7 = 33,
+    bowWaterInet7 = 33,
-    bowWaterlnet8 = 34,
+    bowWaterInet8 = 34,
     sideSonar = 35,
     lowFreqSonar = 36,
     launchControler = 37,

src/pPowerManger/systemData.h

@@ -2,7 +2,7 @@
 #define SYSTEMDATA_H
 #include "pmSysvariable.h"
 #include "sqlit3/SQLite.h"
-
+#define DEBUFG
 class SystemData
 {
 private:
@@ -135,6 +135,11 @@ public:
     uint32_t reserved4;                      // 保留字段
     uint32_t heartbeat;                      // 主机心跳计数器    
 
+    //锂电池故障字段
+    unsigned char powfaultCode;
+    unsigned char insfaultCode;
+    //配电系统故障码
+    std::vector<unsigned char> distributeFaultCode;
 
     // MOOSD 状态
     bool moosd_status;
@@ -386,7 +391,7 @@ public:
         //初始化变量全部为0
         memset(this, 0, sizeof(SystemData));
     };
-    ~SystemData();
+    ~SystemData(){};
 
     void updateCommonStatus(double time_out=3){
         //更新时间
@@ -411,10 +416,12 @@ public:
         total_generation_power = data.total_generation_power;
         
         //故障信息
+        #ifdef DEBUG
         fc_fault_level_1 = data.fault_level_1;
         fc_fault_level_2 = data.fault_level_2;
         fc_fault_level_3 = data.fault_level_3;
         fc_fault_level_4 = data.fault_level_4;
+        #endif
         
         //燃料容量
         hydrogen_capacity = static_cast<int>(data.hydrogen_capacity);

src/pPowerManger/udpcomm/ccuUdpMsg.h

@@ -1,6 +1,6 @@
 #ifndef CCUUDPMSG__H
 #define CCUUDPMSG__H
-#include "pmSysvariable.h"
+#include "../pmSysvariable.h"
 
 #define CCU_UDPMSG_START1 0x20
 #define CCU_UDPMSG_START2 0x20

src/pPowerManger/udpcomm/udpComm.h

@@ -13,7 +13,7 @@
 #include <chrono>
 #include <iostream>
 #include <utility> 
-#include "loguru.hpp"
+#include "../loguru.hpp"
 using namespace std;
 #define QUENUE_SIZE 100
 

src/pPowerManger/upmsg/uDevice_secdistState.h

@@ -297,14 +297,14 @@ public:
 
         // UNIT2
         state.sideSonar = driver.sideSonar;
-        state.bowWaterInet1 = driver.bowWaterlnet1;
+        state.bowWaterInet1 = driver.bowWaterInet1;
-        state.bowWaterInet2 = driver.bowWaterlnet2;
+        state.bowWaterInet2 = driver.bowWaterInet2;
-        state.bowWaterInet3 = driver.bowWaterlnet3;
+        state.bowWaterInet3 = driver.bowWaterInet3;
-        state.bowWaterInet4 = driver.bowWaterlnet4;
+        state.bowWaterInet4 = driver.bowWaterInet4;
-        state.bowWaterInet5 = driver.bowWaterlnet5;
+        state.bowWaterInet5 = driver.bowWaterInet5;
-        state.bowWaterInet6 = driver.bowWaterlnet6;
+        state.bowWaterInet6 = driver.bowWaterInet6;
-        state.bowWaterInet7 = driver.bowWaterlnet7;
+        state.bowWaterInet7 = driver.bowWaterInet7;
-        state.bowWaterInet8 = driver.bowWaterlnet8;
+        state.bowWaterInet8 = driver.bowWaterInet8;
         state.launchControler = driver.launchControler;
         state.electSensor = driver.electSensor;
         state.lowFreqSonar = driver.lowFreqSonar;
@@ -381,14 +381,14 @@ public:
 
         // UNIT2
         driver.sideSonar = state.sideSonar;
-        driver.bowWaterlnet1 = state.bowWaterInet1;
+        driver.bowWaterInet1 = state.bowWaterInet1;
-        driver.bowWaterlnet2 = state.bowWaterInet2;
+        driver.bowWaterInet2 = state.bowWaterInet2;
-        driver.bowWaterlnet3 = state.bowWaterInet3;
+        driver.bowWaterInet3 = state.bowWaterInet3;
-        driver.bowWaterlnet4 = state.bowWaterInet4;
+        driver.bowWaterInet4 = state.bowWaterInet4;
-        driver.bowWaterlnet5 = state.bowWaterInet5;
+        driver.bowWaterInet5 = state.bowWaterInet5;
-        driver.bowWaterlnet6 = state.bowWaterInet6;
+        driver.bowWaterInet6 = state.bowWaterInet6;
-        driver.bowWaterlnet7 = state.bowWaterInet7;
+        driver.bowWaterInet7 = state.bowWaterInet7;
-        driver.bowWaterlnet8 = state.bowWaterInet8;
+        driver.bowWaterInet8 = state.bowWaterInet8;
         driver.launchControler = state.launchControler;
         driver.electSensor = state.electSensor;
         driver.lowFreqSonar = state.lowFreqSonar;

src/pPowerManger/upmsg/uPower_disSysState.h

@@ -5,7 +5,7 @@
 #include "json/json.h"
 #include <bitset> 
 #include "../pmSysvariable.h"
-
+#include "../systemData.h"
 class uPower_disSysStateMsg
 {
 private:
@@ -16,9 +16,8 @@ public:
     ~uPower_disSysStateMsg() {};
     std::string key = "uPower_disSysState_st";
 
-    disSysBreakerList currentDisBreakerState;
 
-    std::string buildMsg(disSysBreakerList currentDisBreakerState)
+    std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
     {
         //构建配电系统状态报告
         Json::Value dis;
@@ -38,13 +37,12 @@ public:
         dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
         
         //TODO: 构建配电系统故障码
-        // Json::Value faultCodeDis_array;
+        Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
-        // for(auto val : m_pm->faultCode)
+        for(auto val : data.distributeFaultCode)
-        // {
+        {
-        //     faultCodeDis_array.append(val);
+            faultCodeDis_array.append(val);
-        // }
+        }        
-        // dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;
+        dis["faultCode_array"] = faultCodeDis_array;
-        // 转化为json格式
 
         Json::StreamWriterBuilder writerBuilder;
         writerBuilder.settings_["indentation"] = "";

src/pPowerManger/upmsg/uPower_equInsState.h

@@ -141,14 +141,14 @@ public:
         state.actuatorState.openCloseMechanism4 = s.bowCover4;
         state.actuatorState.openCloseMechanism5 = s.bowCover5;
         state.actuatorState.openCloseMechanism6 = s.bowCover6;
-        state.actuatorState.openWaterMechanism1 = s.bowWaterlnet1;
+        state.actuatorState.openWaterMechanism1 = s.bowWaterInet1;
-        state.actuatorState.openWaterMechanism2 = s.bowWaterlnet2;
+        state.actuatorState.openWaterMechanism2 = s.bowWaterInet2;
-        state.actuatorState.openWaterMechanism3 = s.bowWaterlnet3;
+        state.actuatorState.openWaterMechanism3 = s.bowWaterInet3;
-        state.actuatorState.openWaterMechanism4 = s.bowWaterlnet4;
+        state.actuatorState.openWaterMechanism4 = s.bowWaterInet4;
-        state.actuatorState.openWaterMechanism5 = s.bowWaterlnet5;
+        state.actuatorState.openWaterMechanism5 = s.bowWaterInet5;
-        state.actuatorState.openWaterMechanism6 = s.bowWaterlnet6;
+        state.actuatorState.openWaterMechanism6 = s.bowWaterInet6;
-        state.actuatorState.openWaterMechanism7 = s.bowWaterlnet7;
+        state.actuatorState.openWaterMechanism7 = s.bowWaterInet7;
-        state.actuatorState.openWaterMechanism8 = s.bowWaterlnet8;
+        state.actuatorState.openWaterMechanism8 = s.bowWaterInet8;
 
         // 运动状态赋值
         state.motionState.sternRudder1 = s.sternRudderServo1;

src/pPowerManger/upmsg/uPower_fcsState.h

@@ -4,7 +4,7 @@
 #include "string"
 #include "json/json.h"
 #include <bitset> 
-
+#include "../systemData.h"
 class uPower_fcsStateMsg
 {
 private:
@@ -24,105 +24,59 @@ public:
         unsigned int errorCode : 8;        // 错误代码
     } state;
 
-    std::string buildMsg(ccuState ccustate)
+    std::string buildMsg(SystemData data)
     {
         //TODO:根据最新协议修改
         Json::Value fcs;
         // suffix = getTypeName(typeid(ccustate.fcuState).name());
         // fcs["fcuState"] = ccustate.fcuState;
+        fcs["backpressure1_fp32"] = data.cabin_pressure1;
+        fcs["backpressure2_fp32"] = data.cabin_pressure2;
 
-        // suffix = getTypeName(typeid(ccustate.fcuFaultLeve).name());
+        fcs["ch4oConcent1_fp32"] = data.ch3oh_concentration1;
-        // fcs["fcuFaultLeve"] = ccustate.fcuFaultLeve;
+        fcs["ch4oConcent2_fp32"] = data.ch3oh_concentration2;
 
-        // suffix = getTypeName(typeid(ccustate.powerLimit).name());
+        fcs["ch4o_fp32"] = 0.0; // 备用
-        // fcs[VAR_TO_STR(powLimit)+suffix] = ccustate.powerLimit;
 
-        // suffix = getTypeName(typeid(ccustate.totalPowerGeneration).name());
+        fcs["excTemp_fp32"] = data.palladium_temp;
-        // fcs[VAR_TO_STR(powerGen)+suffix] = ccustate.totalPowerGeneration;
 
-        // suffix = getTypeName(typeid(ccustate.ch4o).name());
+        fcs["fcuCurIns_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(ch4o)+suffix] = ccustate.ch4o;
 
-        // suffix = getTypeName(typeid(ccustate.o2).name());
+        fcs["fcuCurPower_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(o2)+suffix] = ccustate.o2;
 
-        // suffix = getTypeName(typeid(ccustate.fcuVoltage).name());
+        fcs["fcuCur_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(fcuVol)+suffix] = ccustate.fcuVoltage;
 
-        // suffix = getTypeName(typeid(ccustate.fcuCurrent).name());
+        fcs["fcuFaultLeve_uint8"] = data.fc_fault_level; 
-        // fcs[VAR_TO_STR(fcuCur)+suffix] = ccustate.fcuCurrent;
 
-        // suffix = getTypeName(typeid(ccustate.o2Level).name());
+        fcs["fcuOutIns_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(o2Level)+suffix] = ccustate.o2Level;
 
-        // suffix = getTypeName(typeid(ccustate.exchangerTemperature).name());
+        fcs["fcuOutPower_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(excTemp)+suffix] = ccustate.exchangerTemperature;
 
-        // suffix = getTypeName(typeid(ccustate.fcuOutPower).name());
+        fcs["fcuState_uint8"] = data.fc_status;
-        // fcs[VAR_TO_STR(fcuOutPower)+suffix] = ccustate.fcuOutPower;
 
-        // suffix = getTypeName(typeid(ccustate.fcuOutIns).name());
+        fcs["fcuVolIns_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(fcuOutIns)+suffix] = ccustate.fcuOutIns;
 
-        // suffix = getTypeName(typeid(ccustate.fcuVoltageIns).name());
+        fcs["fcuVolPower_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(fcuVolIns)+suffix] = ccustate.fcuVoltageIns;
 
-        // suffix = getTypeName(typeid(ccustate.fcuVoltagePower).name());
+        fcs["fcuVol_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(fcuVolPower)+suffix] = ccustate.fcuVoltagePower;
 
-        // suffix = getTypeName(typeid(ccustate.fcuCurrentIns).name());
+        fcs["h2Concent1_fp32"] = data.h2_concentration1;
-        // fcs[VAR_TO_STR(fcuCurIns)+suffix] = ccustate.fcuCurrentIns;
+        fcs["h2Concent2_fp32"] = data.h2_concentration2;
 
-        // suffix = getTypeName(typeid(ccustate.fcuCurrentPower).name());
+        fcs[ "o2Concent1_fp32"] = data.o2_concentration1;
-        // fcs[VAR_TO_STR(fcuCurPower)+suffix] = ccustate.fcuCurrentPower;
+        fcs["o2Concent2_fp32"] = data.o2_concentration2;
 
-        // suffix = getTypeName(typeid(ccustate.h2Concentration1).name());
+        fcs["o2Level_fp32"] = 0.0; //备用
-        // fcs[VAR_TO_STR(h2Concent1)+suffix] = ccustate.h2Concentration1;
+        fcs["o2_fp32"] = 0.0; //备用
+        fcs["powLimit_fp32"] = data.output_power_limit;
+        fcs[ "powerGen_fp32"] = data.total_generation_power; 
 
-        // suffix = getTypeName(typeid(ccustate.h2Concentration2).name());
+        fcs["flameDet_uint8"] = data.flame_detector1;
-        // fcs[VAR_TO_STR(h2Concent2)+suffix] = ccustate.h2Concentration2;
 
-        // suffix = getTypeName(typeid(ccustate.o2Concentration1).name());
+        fcs["faultCode1_uint16"] = data.fc_fault_level_1;
-        // fcs[VAR_TO_STR(o2Concent1)+suffix] = ccustate.o2Concentration1;
+        fcs["faultCode2_uint16"] = data.fc_fault_level_2;
-      
+        fcs["faultCode3_uint16"] = data.fc_fault_level_3;
-        // suffix = getTypeName(typeid(ccustate.o2Concentration2).name());
+        fcs["faultCode4_uint16"] = data.fc_fault_level_4;
-        // fcs[VAR_TO_STR(o2Concent2)+suffix] = ccustate.o2Concentration2;
-      
-        // suffix = getTypeName(typeid(ccustate.ch4oConcentration1).name());
-        // fcs[VAR_TO_STR(ch4oConcent1)+suffix] = ccustate.ch4oConcentration1;
-      
-        // suffix = getTypeName(typeid(ccustate.ch4oConcentration2).name());
-        // fcs[VAR_TO_STR(ch4oConcent2)+suffix] = ccustate.ch4oConcentration2;
-      
-        // suffix = getTypeName(typeid(ccustate.backpressure1).name());
-        // fcs[VAR_TO_STR(backpressure1)+suffix] = ccustate.backpressure1;
-      
-        // suffix = getTypeName(typeid(ccustate.backpressure2).name());
-        // fcs[VAR_TO_STR(backpressure2)+suffix] = ccustate.backpressure2;
-      
-        // suffix = getTypeName(typeid(ccustate.flameDetection).name());
-        // fcs[VAR_TO_STR(flameDet)+suffix] = ccustate.flameDetection;
-      
-        // unsigned short faultCode1;
-        // unsigned short faultCode2;
-        // unsigned short faultCode3;
-        // faultCode1 = (ccustate.fcuGZ_1H << 8) | ccustate.fcuGZ_1L;
-        // faultCode2 = (ccustate.fcuGZ_2H << 8) | ccustate.fcuGZ_2L;
-        // faultCode3 = (ccustate.fcuGZ_3H << 8) | ccustate.fcuGZ_3L;
-      
-        // suffix = getTypeName(typeid(faultCode1).name());
-        // fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1;
-        // suffix = getTypeName(typeid(faultCode2).name());
-        // fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2;
-        // suffix = getTypeName(typeid(faultCode3).name());
-        // fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3;
-
-        // // 转化为json格式
-        // Json::Value root;
-        // root["fcsStatus"] = state.fcsStatus;
-        // root["outputPower"] = state.outputPower;
-        // root["temperature"] = state.temperature;
-        // root["errorCode"] = state.errorCode;
 
         Json::StreamWriterBuilder writerBuilder;
         writerBuilder.settings_["indentation"] = "";

src/pPowerManger/upmsg/uPower_liBatState.h

@@ -4,7 +4,7 @@
 #include "string"
 #include "json/json.h"
 #include <bitset> 
-
+#include "../systemData.h"
 class uPower_liBatStateMsg
 {
 private:
@@ -16,117 +16,45 @@ public:
     std::string key = "uPower_liBatState_st";
 
 
-    std::string buildMsg(ccuState ccustate)
+    std::string buildMsg(SystemData data)
     {
         //TODO:根据最新协议修改
         Json::Value lbs;
         //构建动力锂电池状态报告
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name());
+        lbs["insBatCurElect_uint16"] = data.ins_current;
-        // lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState;
+        lbs["insBatLimit_uint16"] = data.ins_power_limit1;
-
+        lbs[ "insBatSoc_uint8"] = data.ins_soc;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name());
+        lbs["insBatTotalElect_uint16"] = data.ins_total_energy;
-        // lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState;
+        lbs["insChargeState_uint8"] = data.ins_charge_status;
-
+        lbs["insCurSocHold1_uint8"] = 0; //备用
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name());
+        lbs["insCurSocHold2_uint8"] = 0; //备用
-        // lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState;
+        lbs["insCurSocHold3_uint8"] = 0; //备用
-
+        lbs["insCurrent_uint16"] = data.ins_current;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name());
+        lbs[ "insLinkVol_uint16"] = data.ins_voltage_link;
-        // lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState;
+        lbs["insNegRelayState_uint8"] = 0;
-
+        lbs["insNegRes_uint16"] = data.ins_resistance_neg;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name());
+        lbs[ "insPackVol_uint16"] = data.ins_voltage_pack;
-        // lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit;
+        lbs[ "insPosRelayState_uint8"] = 0;
-
+        lbs["insPosRes_uint16"] = data.ins_resistance_pos;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name());
+        lbs["powBatCurElect_uint16"] = 0;
-        // lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit;
+        lbs["powBatSoc_uint8"] = data.dyn_soc;
-
+        lbs[ "powBatTotalElect_uint16"] = data.dyn_total_energy;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name());
+        lbs["powChargeState_uint8"] = data.dyn_charge_status;
-        // lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc;
+        lbs["powCurSocHold1_uint8"] = 0; //备用
-
+        lbs["powCurSocHold2_uint8"] = 0; //备用
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name());
+        lbs["powCurSocHold3_uint8"] = 0; //备用
-        // lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc;
+        lbs["powCurToInsLimit1_uint8"] = data.dyn_power_limit1;
-
+        lbs["powCurToInsLimit2_uint8"] = data.dyn_power_limit2;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name());
+        lbs["powCur_uint16"] = data.dyn_current;
-        // lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity;
+        lbs["powLinkVol_uint16"] = data.dyn_voltage_link;
-
+        lbs["powNegRelayState_uint8"] = 0;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
+        lbs["powNegRes_uint16"] = data.dyn_resistance_neg;
-        // lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity;
+        lbs["powPosRelayState_uint8"] = 0;
-
+        lbs["powPosRes_uint16"] = data.dyn_resistance_pos;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
+        lbs["powerBatLimit_uint16"] = 0; //备用
-        // lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity;
+        lbs["powerPackVol_uint16"] = data.dyn_voltage_pack;
-
+        lbs["powFaultCode_uint8"] = data.powfaultCode;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
+        lbs["insFaultCode_uint8"] = data.insfaultCode;
-        // lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name());
-        // lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name());
-        // lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name());
-        // lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name());
-        // lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name());
-        // lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name());
-        // lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name());
-        // lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name());
-        // lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name());
-        // lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name());
-        // lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
-        // lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
-        // lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name());
-        // lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name());
-        // lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name());
-        // lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
-        // lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
-        // lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
-        // lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
-        // lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
-        // lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
-        // lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
-        // lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2;
-
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
-        // lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord;
-        // suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
-        // lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
         
         Json::StreamWriterBuilder writerBuilder;
         writerBuilder.settings_["indentation"] = "";

src/pPowerManger/upmsg/uPower_pmState.h

@@ -32,7 +32,6 @@ public:
     std::string buildMsg()
     {
         // 状态赋值
-        //1.构建系统状态报告
         Json::Value pms;
         
         pms["workCondition_uint"] = state.workCondition;
@@ -40,7 +39,7 @@ public:
         pms["powerState_uint8"] = state.powerState;
         pms["faultLevel_uint8"] = state.faultLevel;
 
-        Json::Value faultCode_array;
+        Json::Value faultCode_array = Json::Value(Json::arrayValue);
         for(auto val : state.faultCode)
         {
             faultCode_array.append(val);