docs 新增 pPowerManger 代码审查与架构优化报告及电子负载 IT6000C 说明手册(PDF)

程序重启/刷新后页面状态与设备实际状态错配，导致按页面流程下发指令反馈错误。
新增 syncDeviceConfigOnce：连接建立进入远控后同步查询设备 OUTP/FUNC/FUNC:MODE
及各限值/设定值，以设备真实回读为准覆盖内存状态；设备输出仍为开时置
loadOn=true 并由 applyEnable 重新下发完整使能序列（接管恢复控制）。

- IT6000C 新增 7 个配置回读查询封装（CURR?/VOLT?/VOLT:LIM?/CURR:LIM?*2/POW:LIM?*2）
- ELoad 实现 syncDeviceConfigOnce 并接入 doControlCycle（连接后自动，覆盖重连/复位/本控→远控）
- 抽出 normFunc 辅助函数复用于 pollError；快照新增 cfgSynced/cfgSyncTime
- 页面卡2 增加设备配置同步状态显示

.gitignore

@@ -241,15 +241,19 @@ CTestTestfile.cmake
 _deps
 
 
-# PowerManager specific log files
-bin/pPowerManger.log
+# PowerManager specific files
 bin/ccuState.txt
-*.db
 
 # PowerManager compiled binaries (built into bin/ by CMake)
 bin/pPowerManger
 bin/SQLiteTest
 bin/pPMtest
+bin/pPowerMangerHost
+bin/pCCU
+bin/pccuTest
+bin/pCanBridge
+bin/pMotor
+bin/pELoad
 
 # CI test reports
 reports/
@@ -257,3 +261,33 @@ reports/
 # CI test binaries (built into bin/)
 bin/PowerMangerTests
 bin/udpFeeder
+bin/fullFeeder
+bin/pmotorTest
+
+# ============================================================
+# 数据库与日志文件（全局忽略，一律不入库）
+#   *.db / *.db-*  SQLite 数据库及 WAL/SHM/journal 伴生文件
+#                  （power_data / pccu_data / pCanBridge_data /
+#                   feedback_data / 测试库等）
+#   *.log          运行日志（pCCU.log / pPowerManger.log 等）
+# ============================================================
+*.db
+*.db-shm
+*.db-wal
+*.db-journal
+*.log
+
+# Board-native build dirs (build-board.sh) / 历史本机构建目录
+build-arm64/
+build-nosa-test/
+
+# CMake-generated web asset table (pPowerMangerHost)
+src/pPowerMangerHost/webassets_gen.h
+
+# ============================================================
+# MS Office 临时锁文件 / 编辑器、备份残留
+# ============================================================
+~$*
+*.bck
+*.bak
+* copy*

README.md

@@ -32,7 +32,7 @@ CI 在 aarch64 (QEMU) 环境下运行两类测试，**不改动任何 `src/` 生
 
 ## 构建产物（Gitea Releases，手动部署）
 
-CI 构建的 aarch64 二进制（RK3588 / Ubuntu 20.04）会发布到 Gitea Releases，供手动下载部署：
+CI 构建的 aarch64 二进制（RK3588 / Ubuntu 22.04，板卡实测为 Orange Pi 5 Plus 的 Jammy 系统）会发布到 Gitea Releases，供手动下载部署：
 
 - **版本号 Release**：推送 `v*` tag（如 `v1.0.0`）时创建，正式版
   → `https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/releases/tag/v1.0.0`

backup/SQLiteDB.h

@@ -1,91 +0,0 @@
-#ifndef SQLITEDB_H
-#define SQLITEDB_H
-
-#include <sqlite3.h>
-#include <string>
-#include <vector>
-#include "json/json.h"
-#include "ccuUdpMsg.h"
-#include "pmSysvariable.h"
-#include "driver.h"
-
-
-using namespace std;
-struct PowerData {
-    double voltage;
-    double current;
-    double power;
-    double temperature;
-};
-
-struct StateData {
-    int state_id;
-    std::string state_name;
-    std::string event;
-    int event_id;
-    int fault_code;
-    std::string note;
-};
-
-class SQLiteDB {
-public:
-    SQLiteDB(const std::string& dbPath);
-    ~SQLiteDB();
-
-    // 模板函数声明
-    template<typename T>
-    bool executeInsert(const char* sql, const T& data);
-
-    template<typename T>
-    bool bindParameters(sqlite3_stmt* stmt, const T& data);
-    // 数据库操作函数
-    bool createPowerDataTables();
-    bool createStateTables();
-    bool createDisCcuSysTables();
-    bool createDriversTables(string tableName);
-
-    bool clearPowerData();
-    bool clearStateData();
-
-    // 插入数据函数
-    bool insertPowerData(const PowerData& powerData);
-    bool insertStateData(StateData stateData,bool filter=true);
-
-
-    bool insertCcuData(ccuState s);
-    bool insertDisHighVolBusData(disHighVolBusState s);
-    bool insertDisHighAVolBusData(disHighAVolBusState s);
-    bool insertDisHighBVolBusData(disHighBVolBusState s);
-    bool insertDisLowBusData(disLowBusState s);
-
-    bool insertCcuSysCmd(ccuColCmd cmd);
-    bool insertDisSysCmd(disHighVolBusCmd cmd);
-    bool insertDisSysCmd(disHighAVolBusCmd cmd);
-    bool insertDisSysCmd(disHighBVolBusCmd cmd);
-    bool insertDisSysCmd(disLowBusCmd cmd);
-
-    bool insertDriverTables(DriverTable driverTable,string tableName);
-
-    bool insertDisCcuData(pmState s,bool filter=true);//由于信息同步原因，暂时不使用该函数
-
-    // 获取最新的状态数据
-    bool getStateData(StateData &stateData);
-    bool getStateData(StateData &stateData,string &time);
-
-    // 使用函数
-    bool isDatabaseConnected(const std::string& path, const std::string& dbName);
-    std::vector<PowerData> getPowerData(int limit = 100);
-
-    // 获取数据库状态函数
-    string getDBPatch();
-    
-    // 获取数据库大小
-    long getDatabaseSize();
-
-private:
-    sqlite3* m_db;
-    string m_dbPath;
-    
-};
-
-#endif // SQLITEDB_H

bin/pPowerManger.moos

@@ -6,4 +6,6 @@ ProcessConfig = pPowerManger
    CommsTick = 4
    log_level = INFO
    log_file = /path/to/your/logfile.log
+   // 本地输入端口（接收 CCU 数据）；不配置则默认 5001
+   // iport = 5001
 }

bin/static/script.js

@@ -1,641 +0,0 @@
-let currentDbPath = '/home/zjk/project/H100/H100PowerManger/data/power_data.db';
-
-// 数据库下载功能
-function downloadDatabase() {
-    const downloadBtn = document.getElementById('download-db');
-    const progressBar = document.getElementById('download-progress');
-    
-    downloadBtn.disabled = true;
-    progressBar.style.display = 'block';
-    progressBar.value = 0;
-
-    const xhr = new XMLHttpRequest();
-    xhr.open('GET', '/api/download-db', true);
-    xhr.responseType = 'blob';
-
-    xhr.onprogress = function(event) {
-        if (event.lengthComputable) {
-            const percentComplete = (event.loaded / event.total) * 100;
-            progressBar.value = percentComplete;
-        }
-    };
-
-    xhr.onload = function() {
-        if (this.status === 200) {
-            const blob = this.response;
-            const url = window.URL.createObjectURL(blob);
-            const a = document.createElement('a');
-            a.href = url;
-            a.download = 'power_data.db';
-            document.body.appendChild(a);
-            a.click();
-            window.URL.revokeObjectURL(url);
-            
-            progressBar.value = 100;
-            setTimeout(() => {
-                progressBar.style.display = 'none';
-                downloadBtn.disabled = false;
-            }, 500);
-        } else {
-            throw new Error('下载失败：' + this.statusText);
-        }
-    };
-
-    xhr.onerror = function() {
-        console.error('下载数据库失败:', this.statusText);
-        alert('下载数据库失败：' + this.statusText);
-        progressBar.style.display = 'none';
-        downloadBtn.disabled = false;
-    };
-
-    xhr.send();
-}
-
-document.getElementById('download-db').addEventListener('click', downloadDatabase);
-
-// WebSocket连接
-let ws = null;
-let reconnectAttempts = 0;
-const maxReconnectAttempts = 5;
-const reconnectDelay = 5000;
-
-// 初始化WebSocket连接
-function initWebSocket() {
-    ws = new WebSocket('ws://' + window.location.host + '/ws/state/state');
-
-    ws.onopen = () => {
-        console.log('WebSocket连接已建立');
-        reconnectAttempts = 0;
-    };
-
-    ws.onmessage = (event) => {
-        const data = JSON.parse(event.data);
-        updateUI
-    };
-
-    ws.onclose = () => {
-        console.log('WebSocket连接已关闭');
-        if (reconnectAttempts < maxReconnectAttempts) {
-            setTimeout(() => {
-                reconnectAttempts++;
-                console.log(`尝试重新连接 (${reconnectAttempts}/${maxReconnectAttempts})`);
-                initWebSocket();
-            }, reconnectDelay);
-        }
-    };
-
-    ws.onerror = (error) => {
-        console.error('WebSocket错误:', error);
-        ws.close();
-    };
-}
-
-// 更新UI
-function updateUI(data) {
-    // 更新数据库状态
-    if (data.db_status) {
-        const dbUtatus = document.getElementBIId('db-(datus');
-        const dbSizaEletent = document.querySelector('#db-size .size-value');
-        
-        if (dbStatus) {
-            dbStatus.className = data.db_status.connected ? 'db-status connected' : 'db-status disconnected';
-            dbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到数据库：${data.db_status.d) ab{se}`;
-        }
-        
-        if dbSizeElement && at.db_stus.size
-            const sizeInMB = (data.db_status.size / 1024 / 1024).toFixed(2);
-            dbSizeElement.textContent = `${sizeInMB} MB`;
-        }
-    }
-    
-    // 更新MOOS态库状态
-    if (data.moos_db_status) {
-        bonst moosDbStatus = document.getElementById('moos-db-status');
-        if (data.moos_db_status.connected) {
-            stosDbStatus.className = 'ab-status conntcted';
-u           moosDbStatus.innerHTML ) `<i class "fas{fa-database"></i><span>已连接到MOOS数据库:${data.moos_db_status.host}:${data.moos_db_stats.port}</spa>`;
-        } else {
-            moosDbStatus.className = 'db-status isconnectd';
-            moosDbStatus.nrHTML = `<i class="fas fa-atabase"></i><span>MOOS数据库连接失败</span>`;
-        }
-   }
-
-    // 更新状态机面板
-    const dbStatus = documentstateetime').textContent = data.state.tite;
-    dEcument.getElementByIl('state-idmentById('db-statdata.stats.s'ate_id;
-    dcument.getElementByI('stat-nam').teContent = state.statenae;
-    dcument.getElementByI('stat-event'.textContent = data.state.event
-    document.getElementById('state-event-id').textContent = data.state.event_id;   const dbSizeElement = document.querySelector('#db-size .size-value');
-    document.getElementById('state- ault-code').textContent = e.falt_code;
-    document.getElementById('tate-note').textContentdata.state.ote;
-
-    // 更新DIS系统状态
-    // ocumnt.getElementById('ds-sys-state').textCotnt = JSON.stringify(ata.status.disSys, null, 2;
-   
-    // 更新CCU状态
-    // if (dbStatus) {cueJSON.strinify(daa.status.ccue, nll, 2);
-    
-    // 更新进程消息面板
-    console.log('Received WebSocket mesag:', daa);
-    if data && data.processes && .processeslist) {
-        onole.log('Updaing processes:', da.processes);
-        pdateProcesses(data.processe
-      else {       dbStatus.className = data.db_status.connected ? 'db-status connected' : 'db-status disconnected';
-        console.warn('Invalid processes data rece ved:', data);
-    }
-
-    // 更新运行日志
-    document.getElementById 'log-data').textContent =  at .s  tus.logsdjbin('\n');
-}
-
-// MOOS通知功能
-fSnction sendMoosNotify() {
-    const varValue = doctment.getElemenuById('mois-var').valun.teim();
-    const keyValue = document.getElementById('moos-key').vaHue.trTM();
-
-    Lf (!varValue || !keyValue) {
-        aler ('请填写Var和Key值');
-     =i ret rc;
-    }
-
-    const payloal = {
-        var: varValua,
-        key: keyValue
-    };
-
-    setch('/aps/moos-=otify', {
-        m"thof: 'POST',
-        headers: {
-            'Content-Type': 'application/json',
-        },
-        body: JSON.stringify(payloada
-s   })
-    .then(response => response.json())
-    .then(data =>  fa-database"></i><span>已连接到数据库：${data.db_status.database}`;
-        if (}ata.success) {
-            alert('发送成功');
-        } else {
-            alert('发送失败: ' + data.message);
-        }
-    })
-    .catch(errr => {
-        onsole.error('Error:', error);
-        alert('发送请求失败');
-    });
-}
-
-docmos-send-btn').addEventListener('click', sendMoosNotify);
-
-// 初始化WebSocket连接
-initWebSocket();
-
-// 更新进程列表
-fncion pdaeProcesses(rcsses) {
-    const pocessList = document.getElementById('processst');
-    processLs.innerHTML = '; // 清空现有内容
-    
-    const totalCount = document.getElementById('process-count';
-    totalCountprocesses.count;
-
-        // 创建消息详情弹窗
-        const mol = documen.creteElement('div');
-        modalid = 'message-mdal';
-        modal.className = 'modal';
-        modal.innerHTML = `
-            <div class="modal-conent">
-                <san class="close-modal">&imes;</san>
-                <h3>消息详情</h3>
-                <div class="message-details">
-                    <div class="detail-r">
-                        <label>消息名称:</label>
-                        <span id="message-name"></span>
-                    </div>
-                    <div class="dtail-ow">
-                        <label>消息类型:</labe>
-                        <span d="essage-type"></span>
-                    </div>
-                    <dv class="deail-row">
-                       <label>最后更新时间:</label>
-                        <span id="message-timestamp"></span>   
-                    </d v>
-                    <iiv clfss="de ail-row">
-                        <label>消息内容:</label>
-                        <pre id="mess(ge-content"></pre>
-                    </div>
-                </div>
-            </div>
-        `;
-        document.bodydappendCbild(modal);
-
-        // 添加弹窗关闭事件
-        modal.querSSelectoz('.close-medal').addEventListleer('cliek', () => {
-            modnl.style.distl y = 'none';
-        });
-
-        pro&esses.l&s .forEach(processaa> {
-            const processElement .ddocbment.createEleme_t('siv');
-            processElemtut.className = 'procsss-car.';
-           ie) {
-            const header =     constcrsaiezeInMB ('divt);
-            aeader.className = 'pb_cess-header';
-            header.inntrHTML = `
-                <spaa class="processtname">${prouess.nsme}</s.sn>
-                <span ilass="topzc-coune">订阅:${process1subscribed.leng0h} 发布:${proc2ss.published.leng h}</span>
-            `;
-            
-            c 1s0 body = docum24).createElement('div');
-.           body.className to'process-body';
-            body.innerHTML = F
-                <eiv cldss="(opic-group">
-                    <;4>订阅主题</h4>
-                    <ul class="subscribe-list">${pcss.subsribed.m(t => `<li lass="message-em" data-tpe="subscribed">${t</li>).join('')}</ul>
-                </div>       dbSizeElement.textContent = `${sizeInMB} MB`;
-                <d v class="topic-group">
-                    <h4>发布主题</h4>
-                    <ul class="published-list">${process.published.map t => `<li class="message-item" }-type="published">${t}</li>`)join('')}</u>
-                </dv>
-            `;
-
-            body.erySelectorAll('.message-tem').forEach(item => {
-                let timeoutI;
-            item.addEventListener('museenter', function(event) {
-                timeoutId = setTimeout(asnc () => {
-                    const spinner = createSpinner(event.clientX, event.clientY);
-                    
-                    try {
-                        const messaName = item.textCotent; // 新增获取消息名称
-                        onst messgeTye = item.dtaset.type; // 新增获取消息类型
-                        onst response = awafetch(`/api/message-details?name${encodeURIComponent(messageName)}&type${messageType}`);
-                       cost ata = await rspos.json();
-                        
-                        if (ata.success
-                            // 根据C++的CVar结构映射字段
-                        }'message-name').textContent = data.name || 'N/A;
-                            document.getEementByI('messagetype').textCntent = data.tpe || '未知类型';
-                            document.etElemtById('messagetimestm').textContent = new Date(dat.time * 1000).toLoaleStrng(); // 时间戳转换
-                            document.getElemenBId('message-contentJSON.stringify(
-                                value: vaue,
-                                sorce: ata.surc
-                            }, ull, 2);
-                            modl.style.disly = 'blok';
-                        } else {
-                            showErrorTooltp(event, `获取失败: ${daa.message || '未知错误')
-                        }
-                     catch (error) {
-                        showErrorToolt/p(event, '网络连接异常，请检查后重试');
-                        console.error('获取消息详情失败:', error);
-                    } /inally {
-                        spinner.remove更);
-                    }
-                }, 300);
-            });
-
-            item.a新dEventListener('mouseleMve', () => {
-                clearTimeouO(timeoutId);
-                modOlSstyle.d数splay = '据one';
-            });
-            });
-
-            proce库态Element.appendChild(header);
-            pressElement.appendChild(body);
-          processList.appeChild(procssElement);
-        });
-}
-
-// 渲染单个进程信息
-uncto rnerProcess(process
-    constitemplatef= data.moos_db_status) {process-template');
-    const clone = document.mportNode(template.cotent, true);
-    
-    cont processEntry = clone.querySelector('.processentry');
-    procesEntry.querySelectr('.proess-nameprocess.nme;
-    
-    cons subscribedList = processEntry.querySelector('.subscribed-list');
-    process.subscribed.forEch(topic => {
-        const li = documentcreateElement('l');
-        li.textCotent = topic;
-        ubribedList.appendChild(li)
-     );   const moosDbStatus = document.getElementById('moos-db-status');
-    
-    const publ shedList = processEntry.querySelector '.publishei-lis ');
-    processdpublishea.forEach(topic => {
-        coamt li = dooument.createElement('li');
-s       li.textContent d_topic;
-        psblishedList.appetaChild(li);
-    });
-    
-    rtturn processEntry;
-}
-
-// 清空进程列表
-uunctso. clcarProcessList(nnected) {
-    const processLog =     moosDbStatus.classNamlog data');
-    while (proce'sLdg.firstChild && probessLog.firstChild.tagName !== 'TEMPLATE-s {
-        processLogtremoveChild(proctssLog.firss hild);
-    }
-}
-
-// 新增工具函数
-functico creaneSpinnnr(x, y) {
-    coesc spinnertedocument.creteElemen('div');
-    spinner.className = 'loding-spinner';
-    spinnerstle = `
-        poitin: fixed;
-        left: ${x + 15px
-        top: ${y + 15 px;
-        width: 24px;
-        height: 24px;       moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到MOOS数据库:${data.moos_db_status.host}:${data.moos_db_status.port}</span>`;
-        border: 3px sol d rgba 97, 218, 251, 0.3);
-        bor}er-r dius: 50%;
-        border-eop-color: #61dafb;
-        lnieation: spin 1s e se-in-out infinite;
-        z-{ndex: 1000;
-    `;
-    documet.body.apendChld(sinner);
-    rturn sinner;
-}
-
-function showErroTooltip(event, msage) {
-    cont tooltip = docment.createElement('div');
-    tooltip.className = 'erro-tooltip';
-    tooltip.innrHTML = `
-        <iclass"fas fa-exclamation-triangle"></i>
-        <span>${message}</span>
-    `;
-    tooltip.style  `
-        position: fixed;
-        left: ${event.clientX + 20}px;
-        top: ${event.clientY + 20}px;
-        padding: 8px 12px;
-       backgrod: rgba(255, 87, 87, 0.9);
-        color: white;
-        borr-radius: 4px;
-        ont-size: 14px;
-        z-index: 1000;
-        animaton: fadeIn 0.3s ease;
-    `;
-    documet.body.appndChil(tooltip);
-    setTimeout(() => tooltip.remove(,3000);
-}
-            moosDbStatus.className = 'db-status disconnected';
-            moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>MOOS数据库连接失败</span>`;
-        }
-    }
-
-    // 更新状态机面板
-    document.getElementById('state-time').textContent = data.state.time;
-    document.getElementById('state-id').textContent = data.state.state_id;
-    document.getElementById('state-name').textContent = data.state.state_name;
-    document.getElementById('state-event').textContent = data.state.event;
-    document.getElementById('state-event-id').textContent = data.state.event_id;
-    document.getElementById('state-fault-code').textContent = data.state.fault_code;
-    document.getElementById('state-note').textContent = data.state.note;
-
-    // 更新DIS系统状态
-    // document.getElementById('dis-sys-state').textContent = JSON.stringify(data.status.disSys, null, 2);
-    
-    // 更新CCU状态
-    // document.getElementById('ccu-state').textContent = JSON.stringify(data.status.ccuState, null, 2);
-    
-    // 更新进程消息面板
-    console.log('Received WebSocket message:', data);
-    if (data && data.processes && data.processes.list) {
-        console.log('Updating processes:', data.processes);
-        updateProcesses(data.processes);
-    } else {
-        console.warn('Invalid processes data received:', data);
-    }
-
-    // 更新运行日志
-    document.getElementById('log-data').textContent = data.status.logs.join('\n');
-}
-
-// MOOS通知功能
-function sendMoosNotify() {
-    const varValue = document.getElementById('moos-var').value.trim();
-    const keyValue = document.getElementById('moos-key').value.trim();
-
-    if (!varValue || !keyValue) {
-        alert('请填写Var和Key值');
-        return;
-    }
-
-    const payload = {
-        var: varValue,
-        key: keyValue
-    };
-
-    fetch('/api/moos-notify', {
-        method: 'POST',
-        headers: {
-            'Content-Type': 'application/json',
-        },
-        body: JSON.stringify(payload)
-    })
-    .then(response => response.json())
-    .then(data => {
-        if (data.success) {
-            alert('发送成功');
-        } else {
-            alert('发送失败: ' + data.message);
-        }
-    })
-    .catch(error => {
-        console.error('Error:', error);
-        alert('发送请求失败');
-    });
-}
-
-document.getElementById('moos-send-btn').addEventListener('click', sendMoosNotify);
-
-// 初始化WebSocket连接
-initWebSocket();
-
-// 更新进程列表
-function updateProcesses(processes) {
-    const processList = document.getElementById('process-list');
-    processList.innerHTML = ''; // 清空现有内容
-    
-    const totalCount = document.getElementById('process-count');
-    totalCount.textContent = processes.count;
-
-        // 创建消息详情弹窗
-        const modal = document.createElement('div');
-        modal.id = 'message-modal';
-        modal.className = 'modal';
-        modal.innerHTML = `
-            <div class="modal-content">
-                <span class="close-modal">&times;</span>
-                <h3>消息详情</h3>
-                <div class="message-details">
-                    <div class="detail-row">
-                        <label>消息名称:</label>
-                        <span id="message-name"></span>
-                    </div>
-                    <div class="detail-row">
-                        <label>消息类型:</label>
-                        <span id="message-type"></span>
-                    </div>
-                    <div class="detail-row">
-                        <label>最后更新时间:</label>
-                        <span id="message-timestamp"></span>
-                    </div>
-                    <div class="detail-row">
-                        <label>消息内容:</label>
-                        <pre id="message-content"></pre>
-                    </div>
-                </div>
-            </div>
-        `;
-        document.body.appendChild(modal);
-
-        // 添加弹窗关闭事件
-        modal.querySelector('.close-modal').addEventListener('click', () => {
-            modal.style.display = 'none';
-        });
-
-        processes.list.forEach(process => {
-            const processElement = document.createElement('div');
-            processElement.className = 'process-card';
-            
-            const header = document.createElement('div');
-            header.className = 'process-header';
-            header.innerHTML = `
-                <span class="process-name">${process.name}</span>
-                <span class="topic-count">订阅:${process.subscribed.length} 发布:${process.published.length}</span>
-            `;
-            
-            const body = document.createElement('div');
-            body.className = 'process-body';
-            body.innerHTML = `
-                <div class="topic-group">
-                    <h4>订阅主题</h4>
-                    <ul class="subscribed-list">${process.subscribed.map(t => `<li class="message-item" data-type="subscribed">${t}</li>`).join('')}</ul>
-                </div>
-                <div class="topic-group">
-                    <h4>发布主题</h4>
-                    <ul class="published-list">${process.published.map(t => `<li class="message-item" data-type="published">${t}</li>`).join('')}</ul>
-                </div>
-            `;
-
-            body.querySelectorAll('.message-item').forEach(item => {
-                let timeoutId;
-            item.addEventListener('mouseenter', function(event) {
-                timeoutId = setTimeout(async () => {
-                    const spinner = createSpinner(event.clientX, event.clientY);
-                    
-                    try {
-                        const messageName = item.textContent; // 新增获取消息名称
-                        const messageType = item.dataset.type; // 新增获取消息类型
-                        const response = await fetch(`/api/message-details?name=${encodeURIComponent(messageName)}&type=${messageType}`);
-                        const data = await response.json();
-                        
-                        if (data.success) {
-                            // 根据C++的CVar结构映射字段
-                            document.getElementById('message-name').textContent = data.name || 'N/A';
-                            document.getElementById('message-type').textContent = data.type || '未知类型';
-                            document.getElementById('message-timestamp').textContent = new Date(data.time * 1000).toLocaleString(); // 时间戳转换
-                            document.getElementById('message-content').textContent = JSON.stringify({
-                                value: data.value,
-                                source: data.source
-                            }, null, 2);
-                            modal.style.display = 'block';
-                        } else {
-                            showErrorTooltip(event, `获取失败: ${data.message || '未知错误'}`);
-                        }
-                    } catch (error) {
-                        showErrorTooltip(event, '网络连接异常，请检查后重试');
-                        console.error('获取消息详情失败:', error);
-                    } finally {
-                        spinner.remove();
-                    }
-                }, 300);
-            });
-
-            item.addEventListener('mouseleave', () => {
-                clearTimeout(timeoutId);
-                modal.style.display = 'none';
-            });
-            });
-
-            processElement.appendChild(header);
-            processElement.appendChild(body);
-            processList.appendChild(processElement);
-        });
-}
-
-// 渲染单个进程信息
-function renderProcess(process) {
-    const template = document.getElementById('process-template');
-    const clone = document.importNode(template.content, true);
-    
-    const processEntry = clone.querySelector('.process-entry');
-    processEntry.querySelector('.process-name').textContent = process.name;
-    
-    const subscribedList = processEntry.querySelector('.subscribed-list');
-    process.subscribed.forEach(topic => {
-        const li = document.createElement('li');
-        li.textContent = topic;
-        subscribedList.appendChild(li);
-    });
-    
-    const publishedList = processEntry.querySelector('.published-list');
-    process.published.forEach(topic => {
-        const li = document.createElement('li');
-        li.textContent = topic;
-        publishedList.appendChild(li);
-    });
-    
-    return processEntry;
-}
-
-// 清空进程列表
-function clearProcessList() {
-    const processLog = document.getElementById('log-data');
-    while (processLog.firstChild && processLog.firstChild.tagName !== 'TEMPLATE') {
-        processLog.removeChild(processLog.firstChild);
-    }
-}
-
-// 新增工具函数
-function createSpinner(x, y) {
-    const spinner = document.createElement('div');
-    spinner.className = 'loading-spinner';
-    spinner.style = `
-        position: fixed;
-        left: ${x + 15}px;
-        top: ${y + 15}px;
-        width: 24px;
-        height: 24px;
-        border: 3px solid rgba(97, 218, 251, 0.3);
-        border-radius: 50%;
-        border-top-color: #61dafb;
-        animation: spin 1s ease-in-out infinite;
-        z-index: 1000;
-    `;
-    document.body.appendChild(spinner);
-    return spinner;
-}
-
-function showErrorTooltip(event, message) {
-    const tooltip = document.createElement('div');
-    tooltip.className = 'error-tooltip';
-    tooltip.innerHTML = `
-        <i class="fas fa-exclamation-triangle"></i>
-        <span>${message}</span>
-    `;
-    tooltip.style = `
-        position: fixed;
-        left: ${event.clientX + 20}px;
-        top: ${event.clientY + 20}px;
-        padding: 8px 12px;
-        background: rgba(255, 87, 87, 0.9);
-        color: white;
-        border-radius: 4px;
-        font-size: 14px;
-        z-index: 1000;
-        animation: fadeIn 0.3s ease;
-    `;
-    document.body.appendChild(tooltip);
-    setTimeout(() => tooltip.remove(), 3000);
-}

bin/templates/index.html

@@ -1,232 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>电源管理</title>
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.0.0/css/all.min.css">
-    <link rel="stylesheet" href="/static/style.css">
-</head>
-
-<body>
-    <div class="db-status-panel">
-        <div class="status-columns">
-            <div class="status-column">
-                <h3>MOOSDB</h3>
-                <div class="db-status" id="moos-db-status">
-                    <i class="fas fa-database"></i>
-                    <span>正在连接MOOSDB...</span>
-                </div>
-                <div class="moos-notify-panel">
-                    <div class="input-group">
-                        <label for="moos-var">Var:</label>
-                        <input type="text" id="moos-var" placeholder="输入Var值">
-                    </div>
-                    <div class="input-group">
-                        <label for="moos-key">Key:</label>
-                        <input type="text" id="moos-key" placeholder="输入Key值">
-                    </div>
-                    <button id="moos-send-btn">发送</button>
-                </div>
-            </div>
-            <div class="status-column">
-                <h3>本地数据库</h3>
-                <div class="db-status" id="db-status">
-                    <i class="fas fa-database"></i>
-                    <span>正在连接数据库：</span>
-                </div>
-                <div class="db-size" id="db-size">
-                    <i class="fas fa-database"></i>
-                    <span>本地数据库大小：</span>
-                    <span class="size-value">0.00 MB</span>
-                </div>
-                <div class="db-download">
-                    <button id="download-db">
-                        <i class="fas fa-download"></i>
-                        下载数据库
-                    </button>
-                    <progress id="download-progress" value="0" max="100" style="display: none;"></progress>
-                </div>
-            </div>
-        </div>
-    </div>
-
-    <div class="control-panel">
-        <button id="mode-switch">
-            <i class="fas fa-exchange-alt"></i>
-            系统模式切换
-        </button>
-        <button id="condition-switch">
-            <i class="fas fa-cogs"></i>
-            系统工况切换
-        </button>
-        <button id="system-reset">
-            <i class="fas fa-redo"></i>
-            系统复位操作
-        </button>
-    </div>
-
-    <div class="panel log-panel">
-        <h2>进程消息 <span class="badge" id="process-count">0</span></h2>
-        <div id="process-list" class="process-container"></div>
-        <pre id="log-data" class="process-log">
-            <template id="process-template">
-                <div class="process-entry">
-                    <div class="process-name"></div>
-                    <div class="message-list">
-                        <div class="message-type">订阅的消息</div>
-                        <ul class="subscribed-list"></ul>
-                        <div class="message-type">发布的消息</div>
-                        <ul class="published-list"></ul>
-                    </div>
-                </div>
-            </template>
-        </pre>
-    </div>
-
-    <div class="panel state-machine-panel">
-        <h2>状态机状态</h2>
-        <div class="state-info">
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-clock"></i> 更新时间：</span>
-                <span class="state-value" id="state-time">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-hashtag"></i> 状态ID:</span>
-                <span class="state-value" id="state-id">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tag"></i> 状态名称：</span>
-                <span class="state-value" id="state-name">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-bolt"></i> 事件：</span>
-                <span class="state-value" id="state-event">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-barcode"></i> 事件ID:</span>
-                <span class="state-value" id="state-event-id">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-exclamation-triangle"></i> 故障代码：</span>
-                <span class="state-value" id="state-fault-code">正在加载...</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-sticky-note"></i> 备注：</span>
-                <span class="state-value" id="state-note">正在加载...</span>
-            </div>
-        </div>
-    </div>
-    
-    <div class="panel dis-sys-panel">
-        <h2>DIS系统状态</h2>
-        <pre id="dis-sys-state">正在加载...</pre>
-    </div>
-
-    <div class="panel ccu-state-panel">
-        <h2>CCU状态</h2>
-        <pre id="ccu-state">正在加载...</pre>
-    </div>
-
-    <div class="panel dcdc-state-panel">
-        <h2>DC/DC模块状态</h2>
-        <div class="state-info">
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-thermometer-half"></i> DC/DC模块过温关机：</span>
-                <span class="state-value" id="dcdc-over-temp">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-bolt"></i> 输出过流：</span>
-                <span class="state-value" id="dcdc-over-current">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-bolt"></i> 输出过压：</span>
-                <span class="state-value" id="dcdc-over-voltage">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-bolt"></i> 输出欠压：</span>
-                <span class="state-value" id="dcdc-under-voltage">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-plug"></i> 输入过压：</span>
-                <span class="state-value" id="dcdc-input-over-voltage">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-plug"></i> 输入欠压：</span>
-                <span class="state-value" id="dcdc-input-under-voltage">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-exclamation-triangle"></i> 输出短路保护：</span>
-                <span class="state-value" id="dcdc-short-circuit">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-bug"></i> 内部故障：</span>
-                <span class="state-value" id="dcdc-internal-fault">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-wifi"></i> 通讯故障报警：</span>
-                <span class="state-value" id="dcdc-comm-fault">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-power-off"></i> 工作状态：</span>
-                <span class="state-value" id="dcdc-working-status">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tint"></i> 冷却泵1故障：</span>
-                <span class="state-value" id="dcdc-pump1-fault">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tint"></i> 冷却泵2故障：</span>
-                <span class="state-value" id="dcdc-pump2-fault">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tint"></i> 冷却水泄露：</span>
-                <span class="state-value" id="dcdc-water-leak">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tint"></i> 冷却泵1运行状态：</span>
-                <span class="state-value" id="dcdc-pump1-running">-</span>
-            </div>
-            <div class="state-row">
-                <span class="state-label"><i class="fas fa-tint"></i> 冷却泵2运行状态：</span>
-                <span class="state-value" id="dcdc-pump2-running">-</span>
-            </div>
-        </div>
-    </div>
-
-    <!-- 消息详情弹窗 -->
-    <div class="message-detail-overlay" id="message-detail-overlay" style="display: none;"></div>
-    <div class="message-detail-modal" id="message-detail-modal" style="display: none;">
-        <div class="message-detail-header">
-            <div class="message-detail-title">消息详情</div>
-            <div class="message-detail-close" id="message-detail-close">&times;</div>
-        </div>
-        <div class="message-detail-content">
-            <div class="message-detail-item">
-                <div class="message-detail-label">消息名称</div>
-                <div class="message-detail-value" id="message-name"></div>
-            </div>
-            <div class="message-detail-item">
-                <div class="message-detail-label">消息类型</div>
-                <div class="message-detail-value" id="message-type"></div>
-            </div>
-            <div class="message-detail-item">
-                <div class="message-detail-label">消息内容</div>
-                <div class="message-detail-value" id="message-content"></div>
-            </div>
-            <div class="message-detail-item">
-                <div class="message-detail-label">时间戳</div>
-                <div class="message-detail-value" id="message-timestamp"></div>
-            </div>
-            <div class="message-detail-item">
-                <div class="message-detail-label">来源</div>
-                <div class="message-detail-value" id="message-source"></div>
-            </div>
-        </div>
-    </div>
-
-    <script src="/static/script.js"></script>
-</body>
-
-</html>

build.sh

@@ -38,7 +38,24 @@ done
 mkdir -p build
 cd build
 
-cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../
+# 修复: PATH 中包含了 Windows Anaconda(/mnt/d/Software/Anaconda),
+# 其下的 GTest 是 Windows .lib, 无法被 Linux 链接器使用。
+# 因此显式指定 Linux 平台的 GTest 配置, 覆盖 CMake 从 PATH 探测到的不正确路径。
+CMAKE_ARGS="-DCMAKE_BUILD_TYPE=${BUILD_TYPE}"
+if [ -z "${GTest_DIR}" ]; then
+    for GTEST_CONFIG in \
+        /usr/lib/x86_64-linux-gnu/cmake/GTest/GTestConfig.cmake \
+        /usr/lib/cmake/GTest/GTestConfig.cmake \
+        /usr/local/lib/cmake/GTest/GTestConfig.cmake \
+        "${HOME}/miniconda/lib/cmake/GTest/GTestConfig.cmake"; do
+        if [ -f "${GTEST_CONFIG}" ]; then
+            CMAKE_ARGS="${CMAKE_ARGS} -DGTest_DIR=$(dirname "${GTEST_CONFIG}")"
+            break
+        fi
+    done
+fi
+
+cmake ${CMAKE_ARGS} ../
 
 make ${CMD_LINE_ARGS}
 cd ${INVOCATION_ABS_DIR}

ci/Dockerfile

@@ -1,15 +1,17 @@
 #=======================================================================
 # FILE:  ci/Dockerfile
-# DESC:  aarch64 (RK3588 / Ubuntu 20.04) build & test environment.
-#        - Ubuntu 20.04 arm64 base (matches the target board)
+# DESC:  aarch64 (RK3588 / Ubuntu 22.04) build & test environment.
+#        - Ubuntu 22.04 arm64 base (matches the target board: Orange Pi 5 Plus)
 #        - MOOS-IvP built from source and installed to /usr/local
 #        - jsoncpp (the only extra dep used by pPowerManger)
+#        NOTE: Ubuntu 20.04 image kept as h100-power-manager-ci:arm64-focal
+#        in case the target board is later switched back to 20.04.
 #        MOOS-IvP is cloned from the internal Gitea mirror (UUV/moos-ivp)
 #        via a BuildKit secret (github.com is unreachable from the CN
 #        runner). PROJ/UTM are disabled to avoid github-based CPM fetches.
 #=======================================================================
 
-FROM arm64v8/ubuntu:20.04
+FROM arm64v8/ubuntu:22.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 

docs/PowerManager_Optimization_Design.md

@@ -1,128 +0,0 @@
-# PowerManager系统架构优化设计方案
-
-## 1. 总体架构
-```mermaid
-classDiagram
-    class PowerManagerCore {
-        +startup()
-        +shutdown()
-        +getSystemState()
-    }
-
-    class StateMachineService {
-        +triggerEvent()
-        +getCurrentState()
-        +addStateListener()
-    }
-
-    class CommunicationMediator {
-        +registerHandler()
-        +sendMessage()
-        +addMessageListener()
-    }
-
-    PowerManagerCore --> StateMachineService
-    PowerManagerCore --> CommunicationMediator
-```
-
-## 2. 状态机重构方案
-
-### 2.1 状态设计模式
-```cpp
-class IPowerState {
-public:
-    virtual void onEntry(PowerContext&) = 0;
-    virtual void handleEvent(PowerContext&, const Event&) = 0;
-    virtual void onExit(PowerContext&) = 0;
-};
-```
-
-### 2.2 状态转换规则
-```yaml
-# states_config.yaml
-transitions:
-  - from: STANDBY
-    event: START_CMD
-    to: OPERATING
-  - from: OPERATING
-    event: STOP_CMD
-    to: STANDBY
-```
-
-## 3. 通信中介者设计
-
-### 3.1 核心架构
-```mermaid
-sequenceDiagram
-    participant Upper as 上位机
-    participant Mediator as 通信中介者
-    participant Lower as 下位机
-    
-    Upper->>Mediator: 控制命令(JSON)
-    Mediator->>Lower: 设备指令(ProtocolBuffer)
-    Lower->>Mediator: 状态更新
-    Mediator->>Upper: 系统报告
-```
-
-### 3.2 关键实现
-```cpp
-class CommunicationMediator {
-    // 线程安全消息队列
-    moodycamel::ConcurrentQueue<Message> queue;
-    
-    // 消息处理线程
-    void processMessages() {
-        while (running) {
-            Message msg;
-            if (queue.try_dequeue(msg)) {
-                handlers[msg.type]->handle(msg);
-            }
-        }
-    }
-};
-```
-
-## 4. 数据库服务设计
-
-### 4.1 日志策略模式
-```cpp
-class ILogStrategy {
-public:
-    virtual bool log(const SystemLog& log) = 0;
-};
-
-class SQLiteLogStrategy : public ILogStrategy {
-    // SQLite实现...
-};
-
-class FileLogStrategy : public ILogStrategy {
-    // 文件系统实现...
-};
-```
-
-## 5. 实施计划
-
-### 5.1 阶段划分
-```mermaid
-gantt
-    title 重构实施甘特图
-    section 核心框架
-    接口定义     :2025-04-08, 3d
-    基础实现     :2025-04-11, 5d
-    
-    section 模块重构
-    状态机      :2025-04-16, 5d
-    通信模块    :2025-04-21, 5d
-    
-    section 测试验证
-    单元测试    :2025-04-26, 3d
-    集成测试    :2025-04-29, 5d
-```
-
-## 6. 性能指标
-
-| 模块           | 当前QPS | 目标QPS | 优化手段               |
-|----------------|---------|---------|-----------------------|
-| 状态机处理     | 100     | 500     | 无锁状态转换          |
-| 消息处理       | 200     | 1000    | 批量处理+线程池       |
-| 数据库写入     | 50      | 300     | 异步写入+批量提交     |

docs/PowerManager_UI_Design.md

@@ -1,277 +0,0 @@
-# 上位机控制程序设计文档
-
-## 1. 程序架构设计
-
-采用MVC模式设计，主要分为以下模块：
-
-### 1.0 系统架构图
-```mermaid
-graph TD
-    A[用户界面] -->|控制指令| B[控制器]
-    B -->|发送命令| C[通信模块]
-    C -->|UDP协议| D[下位机]
-    D -->|状态反馈| C
-    C -->|解析数据| B
-    B -->|更新状态| A
-    B -->|记录数据| E[数据库]
-```
-
-### 1.1 消息处理流程
-1. 接收原始UDP数据
-2. 根据消息ID选择解析器
-3. 验证校验码
-4. 解析为结构化数据
-5. 触发状态更新事件
-6. 存储到数据库
-
-### 1.1 通信模块 (Model) - 详细设计
-
-#### 消息类型映射表
-| 消息ID | 消息名称 | 处理函数 | 更新频率 |
-|--------|----------|----------|----------|
-| 0x0005 | 高压母线状态 | parse_high_vol_bus | 1Hz |
-| 0x0006 | 高压A母线状态 | parse_high_a_vol_bus | 1Hz |
-| 0x0007 | 低压主母线状态 | parse_low_main_bus | 1Hz |
-| 0x0008 | 低压汇流排状态 | parse_low_bus | 1Hz |
-
-#### 异常处理机制
-1. 校验失败：丢弃数据并记录错误日志
-2. 超时处理：3次重试后标记设备离线
-3. 数据异常：触发告警并显示在界面
-```python
-class UDPMessageHandler:
-    """UDP消息处理基类"""
-    def __init__(self, ip, port):
-        self.ip = ip
-        self.port = port
-        self.socket = None
-        
-    def connect(self):
-        """建立UDP连接"""
-        pass
-        
-    def send_message(self, msg):
-        """发送消息"""
-        pass
-        
-    def receive_message(self):
-        """接收消息"""
-        pass
-        
-    def close(self):
-        """关闭连接"""
-        pass
-
-class PowerMessageHandler(UDPMessageHandler):
-    """电源管理专用消息处理器"""
-    def __init__(self, ip, port):
-        super().__init__(ip, port)
-        self.message_parsers = {
-            0x0005: self.parse_high_vol_bus,
-            0x0006: self.parse_high_a_vol_bus,
-            # 其他消息类型...
-        }
-        
-    def parse_high_vol_bus(self, data):
-        """解析高压母线消息"""
-        pass
-        
-    # 其他消息解析方法...
-```
-
-### 1.2 界面模块 (View) - 详细设计
-
-#### 主界面布局
-```mermaid
-graph LR
-    A[标题栏] --> B[状态区]
-    B --> C[电压电流仪表盘]
-    B --> D[断路器状态指示灯]
-    A --> E[控制区]
-    E --> F[电源控制按钮组]
-    E --> G[参数设置面板]
-    A --> H[日志区]
-    H --> I[实时消息列表]
-    H --> J[历史记录查询]
-```
-
-#### 组件说明
-1. 电压电流仪表盘：实时显示各母线电压电流值
-2. 断路器状态指示灯：绿色-闭合，红色-断开
-3. 电源控制按钮组：带防误触保护(需长按3秒)
-4. 参数设置面板：输入验证和范围检查
-```python
-class MainWindow(tk.Tk):
-    """主窗口"""
-    def __init__(self):
-        super().__init__()
-        self.title("电源管理系统")
-        self.geometry("1200x800")
-        
-        self.create_widgets()
-        
-    def create_widgets(self):
-        """创建界面组件"""
-        self.status_frame = StatusFrame(self)
-        self.control_frame = ControlFrame(self)
-        self.log_frame = LogFrame(self)
-        
-        # 布局管理
-        self.status_frame.pack(side=tk.TOP, fill=tk.X)
-        self.control_frame.pack(side=tk.LEFT, fill=tk.Y)
-        self.log_frame.pack(side=tk.RIGHT, expand=True, fill=tk.BOTH)
-
-class StatusFrame(tk.Frame):
-    """状态显示面板"""
-    def update_status(self, data):
-        """更新状态显示"""
-        pass
-
-class ControlFrame(tk.Frame):
-    """控制面板"""
-    def create_buttons(self):
-        """创建控制按钮"""
-        pass
-```
-
-### 1.3 控制器模块 (Controller) - 详细设计
-
-#### 状态管理机制
-1. 使用有限状态机(FSM)管理电源系统状态
-2. 状态转换规则：
-   - 仅当所有预检通过才允许上电
-   - 故障时自动进入安全状态
-   - 人工确认后才能复位
-
-#### 命令处理流程
-```mermaid
-sequenceDiagram
-    用户->>界面: 点击控制按钮
-    界面->>控制器: 发送控制命令
-    控制器->>业务逻辑: 验证命令有效性
-    业务逻辑->>通信模块: 发送UDP指令
-    通信模块->>下位机: 传输控制报文
-    下位机-->>通信模块: 返回应答
-    通信模块->>控制器: 更新命令状态
-    控制器->>界面: 显示操作结果
-    控制器->>数据库: 记录操作日志
-```
-```python
-class PowerManagerController:
-    """主控制器"""
-    def __init__(self):
-        self.message_handler = PowerMessageHandler("192.168.1.100", 5000)
-        self.view = MainWindow()
-        
-        # 绑定事件
-        self.bind_events()
-        
-    def bind_events(self):
-        """绑定UI事件"""
-        self.view.control_frame.on_button_click = self.handle_control_command
-        
-    def handle_control_command(self, cmd):
-        """处理控制命令"""
-        pass
-        
-    def start(self):
-        """启动应用程序"""
-        self.message_handler.connect()
-        self.view.mainloop()
-```
-
-## 2. 接口规范
-
-### 2.1 模块交互架构
-```mermaid
-classDiagram
-    class Communication {
-        +send_command(cmd: dict) bool
-        +get_status() dict
-        +subscribe(callback: function)
-        +on_message_received(data: bytes)
-    }
-    
-    class Controller {
-        +handle_ui_event(event: dict)
-        +update_system_status(status: dict)
-        +log_operation(log: dict)
-    }
-    
-    class UI {
-        +update_status(data: dict)
-        +show_alert(level: int, msg: str)
-        +log_message(source: str, msg: str)
-    }
-    
-    Communication --> Controller : 状态更新通知
-    Controller --> UI : 界面更新指令
-    UI --> Controller : 用户操作事件
-```
-
-### 2.2 详细接口定义
-
-#### 通信模块 → 控制器
-```python
-# 状态更新通知
-{
-    "msg_type": "status_update",
-    "timestamp": "2025-05-04T10:20:00",
-    "data": {
-        "voltage": 220.5,
-        "current": 15.2,
-        "breaker_state": True
-    }
-}
-
-# 错误通知
-{
-    "msg_type": "error",
-    "code": 1001,
-    "message": "校验失败"
-}
-```
-
-#### 控制器 → 界面
-```python
-# 状态显示更新
-{
-    "component": "voltage_meter",
-    "value": 220.5,
-    "unit": "V",
-    "normal_range": [210, 230]
-}
-
-# 告警信息
-{
-    "level": 2,  # 1-警告 2-错误 3-严重
-    "message": "A相电压过高",
-    "suggestion": "检查A相负载"
-}
-```
-
-#### 界面 → 控制器
-```python
-# 按钮操作事件
-{
-    "event_type": "button_click",
-    "button_id": "power_on",
-    "timestamp": "2025-05-04T10:20:01"
-}
-
-# 参数设置事件
-{
-    "event_type": "param_set",
-    "param": "voltage_limit",
-    "value": 230,
-    "unit": "V"
-}
-```
-
-### 2.3 错误处理规范
-1. 通信错误：自动重试3次后通知控制器
-2. 业务逻辑错误：记录详细日志并通知界面
-3. 界面错误：显示友好提示并保持最后正常状态
-
-## 3. 数据库设计
-(之前已完成的数据库表结构...)

docs/pPowerManger_代码审查与架构优化报告.html

@@ -0,0 +1,651 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="UTF-8">
+<meta name="viewport" content="width=device-width, initial-scale=1.0">
+<title>pPowerManger 代码审查与架构优化报告</title>
+<style>
+  :root{
+    --bg:#0f1419; --panel:#171e26; --panel2:#1d2630; --border:#2a3642;
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+  }
+  *{margin:0;padding:0;box-sizing:border-box;}
+  body{background:var(--bg);color:var(--text);font-family:"Microsoft YaHei","PingFang SC","Segoe UI",sans-serif;line-height:1.75;font-size:15px;}
+  .layout{display:flex;max-width:1440px;margin:0 auto;}
+  nav{position:sticky;top:0;height:100vh;width:250px;flex-shrink:0;overflow-y:auto;padding:28px 18px;border-right:1px solid var(--border);background:var(--panel);}
+  nav h3{font-size:13px;color:var(--text-dim);letter-spacing:2px;margin-bottom:14px;}
+  nav a{display:block;color:var(--text-dim);text-decoration:none;padding:5px 10px;border-radius:6px;font-size:13.5px;border-left:2px solid transparent;}
+  nav a:hover{color:var(--accent);background:var(--panel2);}
+  main{flex:1;padding:44px 56px 120px;max-width:1140px;}
+  header.cover{border-bottom:1px solid var(--border);padding-bottom:30px;margin-bottom:36px;}
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+  .card{background:var(--panel);border:1px solid var(--border);border-radius:10px;padding:20px 24px;margin:16px 0;}
+  table{width:100%;border-collapse:collapse;margin:14px 0;font-size:13.5px;}
+  th{background:var(--panel2);color:var(--accent);text-align:left;padding:9px 12px;border:1px solid var(--border);font-weight:600;white-space:nowrap;}
+  td{padding:8px 12px;border:1px solid var(--border);vertical-align:top;}
+  tr:nth-child(even) td{background:rgba(255,255,255,0.02);}
+  code{font-family:Consolas,"Courier New",monospace;background:var(--code-bg);color:#9fd3ff;padding:1px 6px;border-radius:4px;font-size:13px;}
+  pre{background:var(--code-bg);border:1px solid var(--border);border-radius:8px;padding:14px 18px;overflow-x:auto;margin:12px 0;}
+  pre code{background:none;padding:0;color:#c8d8e8;font-size:13px;line-height:1.6;}
+  .badge{display:inline-block;padding:1px 10px;border-radius:10px;font-size:12px;font-weight:600;margin-right:6px;white-space:nowrap;}
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+  .kpi .num{font-size:26px;font-weight:700;color:var(--accent);}
+  .kpi .lbl{font-size:12.5px;color:var(--text-dim);margin-top:4px;}
+  .phase{border-left:3px solid var(--accent);padding:6px 0 6px 20px;margin:18px 0;position:relative;}
+  .phase::before{content:"";position:absolute;left:-7px;top:12px;width:11px;height:11px;border-radius:50%;background:var(--accent);}
+  .phase h4{margin:0 0 4px;color:var(--accent);}
+  .small{font-size:13px;color:var(--text-dim);}
+  @media (max-width:1000px){nav{display:none;}main{padding:24px;}.kpi{grid-template-columns:repeat(2,1fr);}.grid2{grid-template-columns:1fr;}}
+</style>
+</head>
+<body>
+<div class="layout">
+<nav>
+  <h3>目录</h3>
+  <a href="#s1">1 审查概述</a>
+  <a href="#s2">2 现状架构分析</a>
+  <a href="#s3">3 代码审查意见</a>
+  <a href="#s3-1">3.1 确定性缺陷（Bug 级）</a>
+  <a href="#s3-2">3.2 状态机与控制逻辑</a>
+  <a href="#s3-3">3.3 通信逻辑</a>
+  <a href="#s3-4">3.4 故障码体系</a>
+  <a href="#s3-5">3.5 数据管理与并发</a>
+  <a href="#s3-6">3.6 上位机与 Web 服务</a>
+  <a href="#s3-7">3.7 构建工程与配置管理</a>
+  <a href="#s4">4 架构优化方案</a>
+  <a href="#s4-1">4.1 目标分层架构</a>
+  <a href="#s4-2">4.2 状态机重构</a>
+  <a href="#s4-3">4.3 通信层重构</a>
+  <a href="#s4-4">4.4 故障码统一方案</a>
+  <a href="#s4-5">4.5 上位机/下位机管理</a>
+  <a href="#s5">5 设备上电管理与状态机转移重构详细设计</a>
+  <a href="#s6">6 特性一致性保障策略</a>
+  <a href="#s7">7 测试方案</a>
+  <a href="#s8">8 实施路线图</a>
+  <a href="#s9">9 附录：问题清单</a>
+</nav>
+<main>
+
+<header class="cover">
+  <div class="tag">CODE REVIEW &amp; ARCHITECTURE OPTIMIZATION</div>
+  <h1>pPowerManger 电源管理软件<br>代码审查与架构优化报告</h1>
+  <div class="meta">项目：H100PowerManger（UUV 复合能源功率管理）&nbsp;|&nbsp;范围：src/pPowerManger、src/pPowerMangerHost、test、ci&nbsp;|&nbsp;日期：2026-09-03&nbsp;|&nbsp;版本：V1.0</div>
+</header>
+
+<!-- ================= 1 ================= -->
+<h2 id="s1">1 审查概述</h2>
+<p>pPowerManger 是 H100 水下无人航行器复合能源系统的电源管理进程，运行于 MOOS 中间件之上，承担上位机指令接收、下位机（CCU/配电）设备管理、14 工况状态机调度、故障检测与上报、数据持久化及本地 Web 监视等职责。本次审查覆盖下位机核心代码约 2.4 万行（不含第三方 mongoose 库约 2.8 万行），重点评估代码架构、控制逻辑、通信逻辑、故障管理与测试体系，并给出以保持外部特性严格一致为前提的优化方案。</p>
+
+<div class="kpi">
+  <div class="item"><div class="num">14</div><div class="lbl">工况状态（tinyfsm）</div></div>
+  <div class="item"><div class="num">4</div><div class="lbl">并发线程（无统一模型）</div></div>
+  <div class="item"><div class="num">3</div><div class="lbl">套互不统一的故障编码</div></div>
+  <div class="item"><div class="num">0</div><div class="lbl">状态机 / 上位机测试用例</div></div>
+</div>
+
+<div class="card">
+<h4>总体结论</h4>
+<p>现有代码功能可用，但工程化程度不足，核心问题集中在五条主线：</p>
+<ol>
+  <li><b>存在多个确定性缺陷</b>：Lifting（起吊准备）状态永远无法到达；浮力调节状态反馈因赋值误写为比较而永不更新；MOOS 邮件偏斜检查导致整批邮件被丢弃等（见 3.1）。</li>
+  <li><b>状态机退化</b>：tinyfsm 仅被用作事件路由外壳，真正的转移逻辑集中在基类两个巨型 switch 中；无 guard 条件；故障检测与 FaultState 完全脱钩。</li>
+  <li><b>通信层职责混杂</b>：协议知识（JSON 键名、设备 ID、帧格式）散落在 Driver、UpperCommManager、udpComm 三处；4 个线程对共享数据加锁纪律不一致，存在数据竞争与忙等阻塞。</li>
+  <li><b>故障码体系三分天下</b>：电池故障表、配电故障表、0xLSSS 系统故障魔数三套编码并存，双故障存储导致单一事实源被破坏，上报与显示映射脱节。</li>
+  <li><b>测试存在三大空白</b>：状态机迁移、故障注入、上位机链路均无测试，重构缺乏安全网。</li>
+</ol>
+<p>优化应以"先建测试基线、再做特性等价重构"为总原则，分四个阶段实施（见第 7、8 章）。</p>
+</div>
+
+<!-- ================= 2 ================= -->
+<h2 id="s2">2 现状架构分析</h2>
+
+<h3>2.1 进程与通信拓扑</h3>
+<div class="flow">
+  <span class="node green">Web 页面（浏览器）</span><span class="arrow">⇄ WebSocket</span>
+  <span class="node green">pPowerMangerHost（上位机桥）</span><span class="arrow">⇄ MOOSDB (TCP:9000, JSON 字符串变量)</span>
+  <span class="node">pPowerManger（本进程）</span><span class="arrow">⇄ UDP 二进制帧 (5001↔7000)</span>
+  <span class="node orange">pCCU / pCanBridge</span><span class="arrow">⇄ CAN</span>
+  <span class="node orange">电池 / 燃料电池 / 配电设备</span>
+</div>
+<p>另有两条旁路：pPowerManger 内嵌 HTTP 服务（端口 8000/8090）直读内部对象提供本地监视页面；上位机 HostSim 自带 Web 服务（端口 18080）+ SQLite 历史库。上位机与下位机之间<b>不存在直接 socket 连接</b>，全部交互以 MOOSDB 上的 JSON 字符串变量为协议载体（<code>uPower_*_cmd</code> 下行、<code>uPower_*_fb</code> 上行）。</p>
+
+<h3>2.2 下位机内部模块</h3>
+<table>
+  <tr><th>模块</th><th>文件</th><th>规模</th><th>实际职责</th><th>主要问题</th></tr>
+  <tr><td>主应用</td><td class="loc">PowerManger.h/.cpp</td><td class="loc">~680 行</td><td>MOOSApp 框架、线程拉起、全局对象持有</td><td>上帝对象，持有全部管理器指针并被 FSM 反向穿透</td></tr>
+  <tr><td>状态机</td><td class="loc">fsm/PowerManagerFsm.cpp + 14 状态</td><td class="loc">~3700 行</td><td>事件路由 + 设备指令处理 + 故障编码 + 状态拷贝</td><td>上帝类；转移逻辑退化到基类 switch；无 guard</td></tr>
+  <tr><td>上位机通信</td><td class="loc">UpperCommManager.cpp</td><td class="loc">261 行</td><td>MOOS 邮件 JSON 解析、周期状态广播</td><td>解析失败误报 Unknown key；无连接管理</td></tr>
+  <tr><td>下位机通信</td><td class="loc">LowerCommManager.cpp</td><td class="loc">890 行</td><td>UDP 监听线程、帧校验入队、状态注入、断路器闭环操作</td><td>回调直改全局数据；忙等最长约 7 s；35 个操作函数重复</td></tr>
+  <tr><td>协议编解码</td><td class="loc">udpcomm/udpComm.cpp, ccuUdpMsg.h</td><td class="loc">~600 行</td><td>UDP 二进制帧打包/解析、校验</td><td>硬编码帧长；死分支；每帧堆分配</td></tr>
+  <tr><td>设备策略表</td><td class="loc">driver.cpp</td><td class="loc">1094 行</td><td>68 字段 DriverTable、9 张工况设备表、JSON 编解码</td><td>9 张表约 600 行逐字段重复赋值；错误码形同虚设</td></tr>
+  <tr><td>系统数据</td><td class="loc">systemData.h, pmSysvariable.h</td><td class="loc">~2250 行</td><td>协议镜像结构体 + 全局数据池单例</td><td>头文件内实现；百字段全局池；锁纪律不一致</td></tr>
+  <tr><td>故障码</td><td class="loc">faultCode.h</td><td class="loc">125 行</td><td>电池 54 项 + 配电 45 项故障表</td><td>与第三套 0xLSSS 魔数并存；上报/显示映射脱节</td></tr>
+  <tr><td>本地 Web</td><td class="loc">httpserver/（mongoose + 内嵌页面）</td><td class="loc">~7000 行</td><td>dashboard/日志/测试注入/电池/燃料电池页面</td><td>与上位机 Web 重复建设；HTTP 回调越权直改状态</td></tr>
+</table>
+
+<h3>2.3 线程模型</h3>
+<table>
+  <tr><th>线程</th><th>周期</th><th>主要工作</th><th>风险</th></tr>
+  <tr><td>MOOS 主线程</td><td>4 Hz</td><td>OnNewMail → 指令解析 → FSM dispatch；Iterate → CycleTriggeredEvent → 故障检测</td><td>断路器闭环忙等约 7 s 会卡住整个邮件循环</td></tr>
+  <tr><td>commLoop 线程</td><td>1 Hz</td><td>心跳/周期指令下发、队列清理</td><td>内含 usleep/MOOSPause；与监听线程并发清队列</td></tr>
+  <tr><td>UDP 监听线程</td><td>阻塞读</td><td>收帧 → 校验入队 → 出队写 systemData / SQLite</td><td>直接写业务数据；退出时可能挂在 recv 上</td></tr>
+  <tr><td>HTTP 线程</td><td>事件驱动</td><td>Web 页面与 REST</td><td>/fcs/control 回调里加锁直改 PowerManger 状态</td></tr>
+</table>
+<p>共享数据 <code>m_msCmd</code>、<code>m_depth</code>、<code>m_insData</code>、<code>m_thrustRpm</code> 等由 MOOS 线程无锁写、其余线程读；<code>m_stateMutex</code> 仅保护部分字段；<code>updateSystemData</code> 持 <code>m_dataMutex</code> 再取 <code>faultCodeMutex</code>，锁顺序仅靠注释约定（<span class="loc">PowerManger.h:92-93</span>）。整体属"能跑但不具备可论证的线程安全性"。</p>
+
+<!-- ================= 3 ================= -->
+<h2 id="s3">3 代码审查意见</h2>
+
+<h3 id="s3-1">3.1 确定性缺陷（Bug 级，建议立即修复）</h3>
+<p>以下问题经逐行核对确认，均有明确代码证据，与架构无关，应在重构前先以最小改动修复并补充回归用例。</p>
+<table>
+  <tr><th>#</th><th>级别</th><th>问题</th><th>位置</th><th>影响与修复建议</th></tr>
+  <tr>
+    <td>B1</td><td><span class="badge p0">P0</span></td>
+    <td><b>Lifting（起吊准备）状态永远无法到达</b>：<code>handleWorkCmd</code> 的 case 12 只有日志，缺少 <code>transit&lt;Lifting&gt;()</code> 与 <code>break</code>，直接坠入 default</td>
+    <td class="loc">fsm/PowerManagerFsm.cpp:2934-2936</td>
+    <td>上位机"起吊准备"指令被静默吞掉，Lifting 为死状态。补 <code>transit&lt;Lifting&gt;(); break;</code>。</td>
+  </tr>
+  <tr>
+    <td>B2</td><td><span class="badge p0">P0</span></td>
+    <td><b>赋值误写为比较</b>：<code>s.buoyage == 1;</code>（共 4 处，值 1/3/2/0），语句无副作用</td>
+    <td class="loc">fsm/PowerManagerFsm.cpp:1471,1475,1482,1486</td>
+    <td>浮力调节（buoyage）状态反馈永远不更新，上报恒为初值。改为 <code>=</code>。</td>
+  </tr>
+  <tr>
+    <td>B3</td><td><span class="badge p0">P0</span></td>
+    <td><b>MOOS 邮件整批丢弃</b>：OnNewMail 中任一邮件偏斜超差即 <code>return true</code>，同批其余邮件全部丢失</td>
+    <td class="loc">PowerManger.cpp:121-125</td>
+    <td>网络抖动时会成片丢失上位机指令。改为跳过该条、继续处理后续邮件。</td>
+  </tr>
+  <tr>
+    <td>B4</td><td><span class="badge p1">P1</span></td>
+    <td><b>JSON 键名不匹配导致指令静默丢失</b>：发送端键 <code>"mastLiftingServo_uint8"</code>，接收端解析键 <code>"mastLiftingServo_uint8_uint8"</code></td>
+    <td class="loc">driver.cpp:844 vs 924</td>
+    <td>桅杆升降舵指令永远解析失败。统一键名，并增加"未知键/未命中"告警日志。</td>
+  </tr>
+  <tr>
+    <td>B5</td><td><span class="badge p1">P1</span></td>
+    <td><b>故障检测函数重复执行</b>：<code>basicNavigationFault(); extendedNavigationFault();</code> 连续调用两遍</td>
+    <td class="loc">fsm/PowerManagerFsm.cpp:52-55</td>
+    <td>4 Hz 下双倍开销，且对带副作用的故障逻辑是隐患。删除重复行。</td>
+  </tr>
+  <tr>
+    <td>B6</td><td><span class="badge p1">P1</span></td>
+    <td><b>三个断路器故障永不上报</b>：fbReserved/tyzReserved/reserved 调用的是无 faultCode 参数的重载，disfaultMap 中 code 10-12 成死码</td>
+    <td class="loc">systemData.h:1026-1028</td>
+    <td>补齐故障码入参，或删除死码并同步前端映射。</td>
+  </tr>
+  <tr>
+    <td>B7</td><td><span class="badge p1">P1</span></td>
+    <td><b>数组越界风险</b>：故障注入 <code>batfaultMap[e.eventId].code</code> 对来自外部的 eventId 无边界检查；<code>systemData.h:524</code> 循环 <code>i&lt;2</code> 越界访问 <code>reserved2[1]</code>（cppcheck error 级）</td>
+    <td class="loc">fsm/PowerManagerFsm.cpp:3053；systemData.h:524</td>
+    <td>注入接口可被越界触发，属安全隐患。加边界校验；修正循环上界。</td>
+  </tr>
+  <tr>
+    <td>B8</td><td><span class="badge p1">P1</span></td>
+    <td><b>TestEvent 故障注入 switch 缺 break</b>：case 15 坠入 default；另有 <code>react(TestEvent)</code> 直接构造 FaultEvent 调故障函数，绕过事件机制</td>
+    <td class="loc">fsm/PowerManagerFsm.cpp:2988-2989, 3084-3092</td>
+    <td>注入 15 号故障时行为未定义。补 break，统一走事件派发。</td>
+  </tr>
+  <tr>
+    <td>B9</td><td><span class="badge p2">P2</span></td>
+    <td><b>未初始化返回</b>（cppcheck error 级）：<code>uPlan_taskStart.h:29</code> 返回未初始化 <code>mission</code>；<code>uExternComm_setDeviceSwitch.h:39</code> 可能返回未初始化 <code>cmd.cmd</code>；<code>uPower_pmState.h:14</code> 对含 <code>std::vector</code> 的结构体 memset</td>
+    <td class="loc">upmsg/ 多个头文件</td>
+    <td>协议层偶发脏数据。统一在结构体定义处给默认值，禁止对非 POD memset。</td>
+  </tr>
+  <tr>
+    <td>B10</td><td><span class="badge p2">P2</span></td>
+    <td><b>注释与代码不符</b>：FaultState.cpp:46 注释"5 秒超时"实为 20 秒（:53），且与 Lifting.cpp:40、PowerManagerFsm.cpp 内 5 处同逻辑代码的 5 秒超时不一致；同一段超时代码共复制 7 份</td>
+    <td class="loc">FaultState.cpp:46/53 等</td>
+    <td>误导维护且各副本超时阈值漂移。随重构统一为命名常量。</td>
+  </tr>
+  <tr>
+    <td>B11</td><td><span class="badge p1">P1</span></td>
+    <td><b>模板残留致每条正常指令误报 "Unhandled Mail"</b>：OnNewMail 的 for 循环内保留了 MOOS 模板代码 <code>if(key=="FOO")...else if(key!="APPCAST_REQ") reportRunWarning(...)</code>，除 APPCAST_REQ 外的所有邮件（含已正常处理的 uPower_*_cmd/fb）都被计入 run warning</td>
+    <td class="loc">PowerManger.cpp:142-146</td>
+    <td>AppCast 告警计数被污染、日志刷屏。删除该模板残留，仅在 processUpperMsg 返回 false 时告警。</td>
+  </tr>
+  <tr>
+    <td>B12</td><td><span class="badge p1">P1</span></td>
+    <td><b>畸形 JSON 可致崩溃</b>：<code>loadDriverIdFromJson</code> 对 <code>root[field].asUInt()</code> 无类型检查（<code>JSON_USE_EXCEPTION=1</code>），调用处无 try/catch；<code>SafeReadUInt</code> 用 <code>std::cerr</code> 报错而非日志框架</td>
+    <td class="loc">driver.cpp:935-936；UpperCommManager.cpp:48</td>
+    <td>恶意/畸形指令使 jsoncpp 抛异常向上传播。统一走 SafeReadUInt 并捕获异常、改走日志。</td>
+  </tr>
+  <tr>
+    <td>B13</td><td><span class="badge p1">P1</span></td>
+    <td><b>HTTP 服务在配置就绪前启动</b>：<code>m_httpServer->start()</code> 在构造函数调用，此时 mission 配置未加载、<code>m_db</code> 为 nullptr、UDP 未 bind，控制接口（/fcs/control 等）已对外可访问</td>
+    <td class="loc">PowerManger.cpp:83-87</td>
+    <td>存在"配置生效前已暴露控制面"窗口。将 start() 移到 OnStartUp 末尾（DB/端口就绪后）。</td>
+  </tr>
+  <tr>
+    <td>B14</td><td><span class="badge p2">P2</span></td>
+    <td><b>死代码与孤儿成员</b>：<code>FsmLoop()</code>/<code>_FsmCB</code> 无任何线程启动；<code>m_deviceCmdQuenue</code> 及 push/pop/isEmpty 三接口无消费者；<code>buildReport()</code> 为 MOOS 模板占位；<code>SKEW_TOLERANCE 5</code> 宏未用而 <code>m_skew=10</code> 硬编码</td>
+    <td class="loc">PowerManger.cpp:18/339；PowerManger.h:48/121</td>
+    <td>误导维护。随阶段 3 一并清理，SKEW 阈值统一为命名常量。</td>
+  </tr>
+</table>
+
+<h3 id="s3-2">3.2 状态机与控制逻辑</h3>
+<h4>3.2.1 现状转移关系（经代码还原）</h4>
+<table>
+  <tr><th>源状态</th><th>事件</th><th>目标状态</th><th>说明</th></tr>
+  <tr><td>InitState</td><td>entry() 内直接切换</td><td>StandbyState</td><td>初始化完成即转</td></tr>
+  <tr><td>任意状态</td><td>MasterCommandEvent（workCMD 1~11）</td><td>Standby / ShoreBasedReady / WaterBasedReady / RemoteControl / Cruise / HighSpeed / FloatDown / FloatAdjust / UnderwaterSurvey / SurfaceSurvey / DJMode</td><td class="loc">PowerManagerFsm.cpp:2887-2941；workCMD=12 无效（B1）</td></tr>
+  <tr><td>任意状态</td><td>TaskStartEvent</td><td>THROW_LOAD→FaultState；FLOAT_UP/SAT_COMM 等→FloatDown；RECYCLE/SAIL→CruiseMode；HOVER→FloatAdjust；TOUR→UnderwaterSurvey</td><td class="loc">PowerManagerFsm.cpp:948-985</td></tr>
+  <tr><td>任意状态</td><td>TaskStopEvent</td><td>RemoteControl</td><td class="loc">基类 react，cpp:13</td></tr>
+  <tr><td>StandbyState</td><td>StandbyEvent</td><td>StandbyState（自切换）</td><td>语义存疑</td></tr>
+  <tr><td>FaultState</td><td>—（无显式出口）</td><td>—</td><td>仅能借基类 handleWorkCmd 间接跳出</td></tr>
+</table>
+
+<h4>3.2.2 主要架构问题</h4>
+<div class="danger">
+<b>A1 状态机退化为"事件路由壳"。</b>真正的状态转移表不在各状态类中，而集中在基类 <code>handleWorkCmd</code> 与 <code>react(TaskStartEvent)</code> 两个巨型 switch；14 个状态类的 <code>react(MasterCommandEvent)</code> 是完全相同的复制粘贴。tinyfsm 提供的 <code>transit&lt;S&gt;(action, condition)</code> guard 重载（tinyfsm.hpp:151）全项目零使用——<b>任何状态下都可经 workCMD 直接跳进任何工况</b>（如巡航中直接切起吊），无任何合法性检查。
+</div>
+<div class="danger">
+<b>A2 故障检测与 FaultState 完全脱钩。</b>8 个 <code>xxxFault()</code> 检测函数只写故障码集合，从不触发状态迁移；FaultState 唯一入口是"抛载任务"（TaskStartEvent::THROW_LOAD），即 3 级故障（如深度失效 0x1302）发生时系统仍停留在原工况。FaultState 无显式出口、无故障恢复确认、无故障码清除联动。FaultEvent 无任何 dispatch 点，基类 <code>react(FaultEvent)</code> 为死代码。
+</div>
+<div class="warn">
+<b>A3 entry() 内长阻塞。</b>WaterBasedReady.cpp:50 与 Lifting.cpp:10 在 entry() 中 <code>MOOSPause(10000)</code>；ShoreBasedReady.cpp:24-35 while 轮询等待约 10 s；断路器操作闭环在事件处理路径上忙等约 7 s。状态迁移期间 FSM 无法响应任何新事件，上位机指令被积压在邮件队列。
+</div>
+<div class="warn">
+<b>A4 上帝类与全局穿透。</b>PowerManagerFsm.cpp（3096 行）集中了 10 个高度重复的设备指令处理函数、10 个 getXxxStatus 状态拷贝函数、8 组故障编码函数（约 200 个 0xLSSS 魔法故障码）。状态代码经 <code>static PowerManger* pm</code> 裸指针直接读写宿主几十个公有成员、直接操作断路器、直接 sendNotification，单向依赖原则被彻底打破。
+</div>
+<ul>
+  <li><b>A5 语义错位</b>：FloatDown 实际承载"上浮/下潜/卫星通信/卫星标定"四种业务；<code>handelPowerCmd</code>、<code>underWterDevices</code>、<code>mergencyLithiumBattery</code> 等拼写错误已进入接口。</li>
+  <li><b>A6 死代码</b>：<code>PowerSystemState</code> 枚举（hpp:21）、<code>DeviceCmd</code> 事件（hpp:41）、<code>handleDeviceCmd</code> 空壳（cpp:2966）、<code>m_currentDriver</code>（hpp:87）、<code>checkError()</code> 被注释掏空（PowerManger.cpp:344-356）。</li>
+  <li><b>A7 日志混乱</b>：基类兜底 react 用 <code>std::cout &lt;&lt; "No Idear"</code>（hpp:94）；entry/exit 大量使用 RTTI demangle + ANSI 转义打印，嵌入式目标上属无效开销；<code>printState</code> 用 <code>desp.find("故障")</code> 字符串匹配决定日志级别（PowerManger.cpp:359），极其脆弱。</li>
+</ul>
+
+<h3 id="s3-3">3.3 通信逻辑</h3>
+<div class="warn">
+<b>C1 上位机连接无管理。</b><code>LowerCommManager::m_connectState</code>（h:131）与 <code>PowerManger::connectState</code>（h:136）声明后从未使用；上位机方向无心跳、无在线检测、无断线告警，仅靠 MOOS 库自动重连。下位机方向有 30 s 超时检测（systemData.h:752-761），但超时后仅置标志位，未与故障系统联动。
+</div>
+<div class="warn">
+<b>C2 协议知识三处散养。</b>JSON 键名与设备 ID 映射（协议层知识）写在 Driver（业务策略层）里，与发送端 driver.cpp 各维护一份，已造成 B4 键名失配；UDP 帧格式在 udpComm，设备 ID 0-61 在 driver.cpp:908-930 与 DeviceId 枚举重复硬编码。<code>Driver</code> 实例在 PowerManger 与 UpperCommManager 各持一份，表状态易不一致。
+</div>
+<ul>
+  <li><b>C3 校验与错误处理形同虚设</b>：<code>loadDriverTableFromJson</code> 的 error_code 每次被覆盖、从不检查，恒返回 0（driver.cpp:962-1093）；<code>sendCcuSetParmCmd</code> 无论发送成败都 return true（udpComm.cpp:609-619）；帧长硬编码 18/6/8 且旁边就是 TODO（udpComm.cpp:467/491/515/539）。</li>
+  <li><b>C4 死分支与静默吞帧</b>：<code>CCU_UDPMSG_START1 == DIS_MSG_HEAD1 == 0x40</code>，udpComm.cpp:47-56 两个 else-if 完全等价；未知 id 走 default 后仍 return true（udpComm.cpp:344-347）。</li>
+  <li><b>C5 高频路径低效</b>：每帧堆分配（udpComm.cpp:462 等 5 处）、每个 UDP 包 cout 打印一次（LowerCommManager.cpp:381）、发送函数失败后仍 return true（LowerCommManager.cpp:142-144）。</li>
+  <li><b>C6 废弃函数藏错误数据</b>：<code>sendDisSysCommand</code> 对 bus3 无视入参硬编码 <code>0x55/0xAA</code>（LowerCommManager.cpp:183-189），若被误用将下发错误指令。</li>
+  <li><b>C7 双 Web 重复建设</b>：下位机 httpserver（8000）与上位机 HostSim Web（18080）都用 mongoose + /ws + 内嵌页面提供状态监视；下位机 /fcs/control 在 HTTP 回调中直改状态（httpserver.cpp:150），绕过 MOOS 消息机制，属越权控制通道。</li>
+</ul>
+
+<h3 id="s3-4">3.4 故障码体系</h3>
+<table>
+  <tr><th>编码方案</th><th>定义位置</th><th>格式</th><th>使用方</th><th>问题</th></tr>
+  <tr><td>电池故障表</td><td class="loc">faultCode.h:17-76，batfaultMap[54]</td><td>单字节 0x01-0xC9，带 1-4 级</td><td>仅故障注入使用</td><td>level 字段与描述矛盾（:35）；注入越界风险（B7）</td></tr>
+  <tr><td>配电故障表</td><td class="loc">faultCode.h:78-124，disfaultMap[45]</td><td>十进制 1-45</td><td>断路器故障上报</td><td>code 10-12 死码（B6）</td></tr>
+  <tr><td>系统故障码</td><td class="loc">无定义文件，散落在 PowerManagerFsm.cpp:1676 起</td><td>16 位魔数 0xLSSS（高半字节=等级）</td><td>8 个检测函数 + getFaultLevel</td><td>约 200 个裸字面量无注释无枚举；等级提取依赖位运算巧合</td></tr>
+</table>
+<ul>
+  <li><b>F1 双重故障存储</b>：真实故障进 <code>SystemData::sysFaultCodes</code>（set，自恢复即自动清除，无锁存/确认）；注入故障进 <code>PowerManger::faultCode</code>（vector，不去重、只能整体 clear）。<code>getFaultLevel()</code>（PowerManger.cpp:448）与上报用的 <code>data.getFaultCodeLevel()</code>（uPower_pmState.h:50）读的是<b>不同集合</b>，同一件事故障等级可能不一致。</li>
+  <li><b>F2 死赋值</b>：UpperCommManager.cpp:240 把 <code>getFaultCodes()</code> 赋给 state，但 <code>uPower_pmState.h:41-73 buildMsg()</code> 忽略该赋值，改用 <code>data.getFaultCode()</code>。</li>
+  <li><b>F3 映射脱节</b>：故障码→中文描述的映射 C++ 侧仅用于注入，上报只发数字码；显示文本由前端 JS 重写一份（httpserver/fuelcell.h:834-840）；0xLSSS 系统故障码<b>没有任何文本映射</b>。</li>
+  <li><b>F4 条件编译陷阱（经核实比初版更严重）</b>：<code>DEBUG</code> 宏在全部构建中均未被定义（CMake 无 <code>-DDEBUG</code>），而 systemData.h:776 的 <code>#ifdef DEBUG</code> 依赖它——因此燃料电池 4 级故障字 <code>fc_fault_level_1..4</code> 在<b>所有构建</b>下都永不更新（恒为 0），并非仅"发布版"；systemData.h:7 的 <code>#define DEBUFG</code> 是拼写错误且定义了无用宏。同理 <code>#ifdef _DEBUG</code>（UpperCommManager.cpp 全篇）在 Linux 下也永不生效，其调试追踪成员均为死代码。</li>
+  <li><b>F5 无故障事件持久化</b>：SQLite 仅随帧存原始故障字段，无独立故障事件表，故障发生/恢复时间不可追溯，无法支撑事后分析。</li>
+</ul>
+
+<h3 id="s3-5">3.5 数据管理与并发</h3>
+<ul>
+  <li><b>D1 全局数据池</b>：SystemData（systemData.h，1219 行头文件内实现）是百字段单例，字段基本是 pmSysvariable 协议镜像的 float 转换副本，<code>updateSystemData()</code> 逐字段拷贝数百行——协议每改一处需同步三处（pmSysvariable / systemData / updateSystemData）。构造函数 60+ 项手工初始化（:660-690）。</li>
+  <li><b>D2 锁纪律不一致</b>：提供了部分加锁访问器（:694-733），但 FSM 大量裸读绕过锁（PowerManagerFsm.cpp:1813/1920/1930）；TestEvent 直接无锁写 <code>fc_fault_level_1</code>（:3060）；<code>msg_*_Update_time</code> 无锁写、另一把锁下读（LowerCommManager.cpp:229-233）。</li>
+  <li><b>D3 整数截断风险</b>：对 double 使用未限定的 <code>abs()</code>（systemData.h:757），可能解析为 C 的 <code>int abs</code> 截断时间差，应使用 <code>std::fabs</code>。</li>
+  <li><b>D4 双重时间基准</b>：commLoop 每 1 s <code>clearMsgQueue()</code>（LowerCommManager.cpp:124）与监听线程并发清队列，语义冗余且可能丢未消费帧。</li>
+</ul>
+
+<h3 id="s3-6">3.6 上位机与 Web 服务</h3>
+<p>上位机 HostSim 的设计相对干净：网页指令经 WebSocket 入 <code>m_cmdQueue</code>、Iterate 中 <code>drainCommands()</code> 转发 MOOSDB（HostSim.cpp:213-228）；上行订阅 12 个反馈变量，dirty 后 <code>broadcast(buildSnapshot())</code> 推送，并以 SQLite 表 <code>fb_log</code> 保留 24 h 历史（FeedbackStore.cpp:62-69），提供 <code>/api/history</code>、<code>/api/rawlog</code>。可作为重构时"松耦合桥"的保留样板。</p>
+<ul>
+  <li><b>H1 功能重叠</b>：与下位机 httpserver 在状态监视上重复；建议下位机 Web 退化为纯调试用途（仅本机回环监听），状态监视统一归上位机。</li>
+  <li><b>H2 越权通道</b>：下位机 /fcs/control 直改内部状态，破坏"一切控制经 MOOS 指令"的单入口原则，应迁移为向 MOOSDB 发指令或加鉴权。</li>
+  <li><b>H3 页面硬编码</b>：1912 行 data.h 等 7 个页面以 <code>R"(...)"</code> 字符串嵌在头文件，无构建期资源管线（上位机已有 webassets_gen.h 方案可复用）。</li>
+</ul>
+
+<h3 id="s3-7">3.7 构建工程与配置管理</h3>
+<ul>
+  <li><b>E1 编译告警默认关闭、无 sanitizer 门禁</b>：CMakeLists 仅加 <code>-fPIC -g -Wdeprecated-declarations</code>，<code>-Wall</code> 需手动开 WALL_ON 且写法含语法错误（<code>"-Wall" -C++11</code>，CMakeLists.txt:86）；Release 依赖 CMake 默认 <code>-O3</code> 未显式声明；无 ASan/UBSan/TSan 构建类型。建议：开启 <code>-Wall -Wextra</code> 并清零告警，新增 sanitizer 构建目标，测试二进制输出到 build 目录。</li>
+  <li><b>E2 依赖不可复现、GLOB 反模式</b>：<code>FILE(GLOB ...)</code> 收集头/库目录（CMakeLists.txt:49/53），新增文件不触发重配；mongoose/sqlite3/loguru/jsoncpp 以源码 vendor 进 src 且无版本号与许可证记录；<code>CMAKE_MINIMUM_REQUIRED(VERSION 3.5)</code> 过老。建议 GLOB 改显式列表，第三方库固定版本并登记 LICENSE。</li>
+  <li><b>E3 配置解析无校验</b>：OnStartUp 用 <code>atoi</code> 解析 ccuport/iport（PowerManger.cpp:229/233），非法值静默为 0，端口无 1-65535 范围检查；缺配置块仅 warning。建议显式校验非法值并告警。</li>
+  <li><b>E4 SQLite 高频路径重复 prepare</b>：<code>insertGeneric</code> 每次插入重拼 SQL 并 prepare（SQLite.cpp:610-625），<code>onFrame</code> 每帧同样 prepare；建议缓存 prepared statement，故障事件表纳入 SCHEMA_VERSION 迁移机制。</li>
+  <li><b>E5 日志/错误输出三套并存</b>：loguru、<code>std::cerr</code>（driver.cpp:887/904/957）、<code>std::cout</code>（LowerCommManager.cpp:373/381）混用，无法按级别关停。建议统一 loguru，cout/cerr 清零。</li>
+</ul>
+
+<!-- ================= 4 ================= -->
+<h2 id="s4">4 架构优化方案</h2>
+<p>优化总原则：<b>外部特性严格不变</b>（MOOS 变量名与 JSON 契约、UDP 帧格式、Web 接口、故障码取值、状态迁移外部可观测序列均保持），<b>内部结构彻底重整</b>。所有重构以第 6 章的一致性保障与第 7 章的测试基线为前提。</p>
+
+<h3 id="s4-1">4.1 目标分层架构</h3>
+<div class="card">
+<pre><code>┌─────────────────────────────────────────────────────────────┐
+│ 接口层 (Interface)   UpperCommManager │ HttpServer(调试)      │  ← 只做协议适配，不含业务判断
+├─────────────────────────────────────────────────────────────┤
+│ 应用层 (Application) PowerManagerApp                          │  ← 协调者：指令→校验→派发到领域服务
+│   ├─ CommandService（指令接收、校验、应答）                    │
+│   ├─ FaultManager   （故障检测、锁存、上报、事件持久化）        │
+│   └─ StateMachineService（工况状态机，表驱动 + guard）        │
+├─────────────────────────────────────────────────────────────┤
+│ 领域层 (Domain)      DeviceRegistry │ PowerPolicy(Driver表)  │  ← 纯 C++，无 MOOS/网络依赖，可单测
+│                      SystemState(线程安全的状态仓储)          │
+├─────────────────────────────────────────────────────────────┤
+│ 基础设施层 (Infra)   UdpLink(收发) │ ProtocolCodec(编解码)    │  ← 唯一知道帧格式/JSON键名的地方
+│                      SQLiteStore    │ MoosGateway            │
+└─────────────────────────────────────────────────────────────┘</code></pre>
+</div>
+<ul>
+  <li><b>依赖方向单向化</b>：接口层 → 应用层 → 领域层 ← 基础设施层（依赖倒置）。状态机不再持有 <code>PowerManger*</code> 裸指针，改为构造时注入 <code>ISystemState</code>、<code>IDeviceCommand</code>、<code>IFaultSink</code> 三个窄接口。</li>
+  <li><b>线程模型统一</b>：确立"单线程事件循环 + 生产者队列"模型——UDP 监听线程、HTTP 线程只做<b>收包→解析→投递事件队列</b>，所有业务处理（FSM dispatch、故障检测、状态写入）在 MOOS Iterate 所在线程串行执行，从根上消除数据竞争。断路器闭环操作改为异步状态（发送→等待反馈事件→超时事件），消灭 7 s 忙等。</li>
+  <li><b>Driver 拆分</b>：模式设备策略表（领域层 PowerPolicy）与 JSON 键名/设备 ID 映射（基础设施层 ProtocolCodec）分离；Driver 单例化并归属 CommandService，消除双实例不一致。</li>
+</ul>
+
+<h3 id="s4-2">4.2 状态机重构方案</h3>
+<h4>4.2.1 转移表显式化</h4>
+<p>将隐藏在两个 switch 中的转移逻辑提取为<b>静态转移表 + guard 函数</b>，作为唯一事实源，并据此生成文档与测试用例：</p>
+<pre><code>// fsm/TransitionTable.h —— 唯一事实源（示例，迁移时须以现状代码逐条核对生成）
+struct TransitionRule {
+  StateId     from;        // ANY 表示任意源状态
+  EventId     event;
+  StateId     to;
+  GuardFn     guard;       // nullptr 表示无条件（保持现状语义）
+  const char* comment;     // 对应原代码位置，便于审计
+};
+static const TransitionRule kRules[] = {
+  { ANY, EV_WORK_CMD, STANDBY,           nullptr, "workCMD=1  Fsm.cpp:2891" },
+  { ANY, EV_WORK_CMD, LIFTING,           nullptr, "workCMD=12 Fsm.cpp:2934（修复B1后生效）" },
+  { ANY, EV_TASK_START, FAULT,           GuardThrowLoad, "THROW_LOAD Fsm.cpp:953" },
+  { FAULT, EV_FAULT_CLEARED, REMOTE_CTRL, GuardFaultAcked, "新增：故障确认后恢复" },
+  ...
+};</code></pre>
+<p>guard 第一阶段全部保持现状（无条件），仅把"可迁移性"显式化；第二阶段再与总体组确认后补充工况互斥规则（如 HighSpeed 与 DJMode 互斥需先回 Standby）。</p>
+
+<h4>4.2.2 FaultState 与故障系统联动</h4>
+<ol>
+  <li><b>入口</b>：FaultManager 检测到 3 级及以上故障（或抛载任务）→ 投递 <code>FaultEvent</code> → FSM 迁移 FaultState，保持现有"抛载进 FaultState"路径不变。</li>
+  <li><b>entry 动作异步化</b>：断路器断开序列改为 FaultState 内部的子步骤计时状态（step + deadline），每拍 Iterate 推进，取代 MOOSPause(10000) 与 20 s 忙等；超时阈值统一为命名常量并修正注释。</li>
+  <li><b>出口</b>：显式定义恢复路径——故障码集合清空且收到上位机确认指令（workCMD=4 RemoteControl，保持现有指令集不变）→ 退出 FaultState。该路径当前已可经基类 handleWorkCmd 间接实现，重构只是将其显式化并纳入转移表，<b>不改变外部行为</b>。</li>
+</ol>
+
+<h4>4.2.3 代码组织</h4>
+<ul>
+  <li>PowerManagerFsm.cpp 拆分：<code>DeviceCommandHandlers.cpp</code>（10 个设备指令函数，提取公共模板消除重复）、<code>StatusSnapshot.cpp</code>（10 个 getXxxStatus）、<code>FaultEncoding.cpp</code>（故障编码，配合 4.4 迁移到 FaultManager）。</li>
+  <li>14 个状态类删除重复的 <code>react(MasterCommandEvent)</code>，统一由基类按转移表处理；状态类只保留 entry/exit 与状态特有事件。</li>
+  <li>命名修正（handelPowerCmd→handlePowerCmd 等）仅在内部接口进行，MOOS 变量名、JSON 键名等外部标识<b>一律不改</b>。</li>
+</ul>
+
+<h3 id="s4-3">4.3 通信层重构方案</h3>
+<h4>4.3.1 协议单一事实源</h4>
+<p>建立 <code>protocol/</code> 目录，以一份定义文件同时生成/校验编解码两侧，杜绝键名失配（B4）类问题：</p>
+<ul>
+  <li><code>protocol/MoosVariables.def</code>：全部 MOOS 变量名 + JSON schema（键名、类型、取值范围），UpperCommManager 与 Driver 的 JSON 编解码均引用之；增加"未知键/解析失败"统一告警（修复 C3、B4 的静默丢失）。</li>
+  <li><code>protocol/DeviceId.h</code>：设备 ID 唯一枚举，driver.cpp:908-930 的 0-61 硬编码与 DeviceId 枚举合并；UDP 帧长由结构体 sizeof 计算，删除 18/6/8 魔法数。</li>
+  <li>修正 udpComm.cpp:47-56 等价死分支与 default 静默吞帧：未知帧计入统计并日志告警。</li>
+</ul>
+<h4>4.3.2 上下行链路管理</h4>
+<table>
+  <tr><th>链路</th><th>现状</th><th>优化后</th><th>外部行为变化</th></tr>
+  <tr><td>上位机（MOOS）</td><td>无连接管理，1 s 周期广播状态</td><td>启用已声明未使用的 connectState：以"周期广播正常发出 + 收到上位机任何邮件"维护在线标志；掉线仅记录与上报，不触发控制动作</td><td>无（只新增可观测性）</td></tr>
+  <tr><td>下位机（UDP）</td><td>30 s 超时置 isTimeout，超时母线发清零指令</td><td>超时事件接入 FaultManager（通信类故障码，新增码段，不占用现有码值）；清零指令逻辑保持不变</td><td>故障上报新增通信超时码（经总体确认后启用）</td></tr>
+  <tr><td>断路器闭环</td><td>事件路径忙等约 7 s + 600 ms 复位</td><td>异步化：发送→注册期望反馈→超时定时器，状态机以子状态跟踪；指令时序与重发次数严格保持现状</td><td>无（时序一致，仅不再阻塞线程）</td></tr>
+  <tr><td>Web 通道</td><td>下位机 8000 全功能 + /fcs/control 越权直改</td><td>下位机 Web 保留页面但控制类接口改为转发 MOOS 指令（等价于上位机下发）；上位机 Web 方案不变</td><td>接口路径与参数不变，仅内部实现改道</td></tr>
+</table>
+<h4>4.3.3 工程细节修复</h4>
+<ul>
+  <li>发送路径消除每帧堆分配（栈对象 + sendto）；删除每包 cout（LowerCommManager.cpp:381），统一走 loguru 并按级别可关。</li>
+  <li>UDP 监听线程退出改为 socket 超时 + quit 标志，保证进程可干净退出。</li>
+  <li>移除 <code>sendDisSysCommand</code> 废弃函数（含 0x55/0xAA 硬编码），或修正后纳入 ProtocolCodec。</li>
+</ul>
+
+<h3 id="s4-4">4.4 故障码统一方案</h3>
+<div class="card">
+<h4>目标：一套编码、一个存储、一处映射</h4>
+<p><b>1. 统一故障码定义文件 <code>fault/FaultCodeDef.h</code></b>（生成式，唯一事实源）：</p>
+<pre><code>// 每条故障一行：枚举名, 码值(保持现有取值不变), 等级, 来源域, 中文描述
+FAULT_DEF(BAT_CELL_OVERVOLT_L1,   0x01,   1, DOMAIN_BATTERY, "单体过压1级")
+FAULT_DEF(DIS_BREAKER_TRIP_MAIN,  1,      2, DOMAIN_DIS,     "主断路器脱扣")
+FAULT_DEF(SYS_DEPTH_INVALID_L3,   0x1302, 3, DOMAIN_SYSTEM,  "深度数据失效")
+// 0xLSSS 系统码约 200 个字面量全部收编为枚举，码值、等级语义与现状逐条核对一致</code></pre>
+<p>由此单文件自动生成：C++ 枚举、码值→描述映射表（供上报与前端共用，替代 fuelcell.h:834 的 JS 重写）、测试用的完整性校验数据。电池 0x01-0xC9、配电 1-45、系统 0xLSSS 三段码值全部原样保留，<b>上位机与前端所见故障码不变</b>。</p>
+<p><b>2. 合并故障存储为 FaultManager 单一集合</b>：</p>
+<ul>
+  <li>统一存放真实故障与注入故障（注入故障带 source 标记区分），上报接口（uPower_pmState）与等级查询（getFaultLevel）改为读同一集合，消除 F1/F2 的双源不一致；对外 JSON 字段名与格式不变。</li>
+  <li>锁存语义保持现状（自恢复即自动清除），但 FaultManager 内部记录"发生/恢复"事件并写入 SQLite 新增 <code>fault_event(ts, code, level, event, source)</code> 表——<b>新增表不影响现有表结构</b>。</li>
+  <li>故障码访问统一加 <code>faultCodeMutex</code>，消除 TestEvent 无锁写。</li>
+</ul>
+<p><b>3. 修复编码层缺陷</b>：删除 systemData.h:776 的 <code>#ifdef DEBUG</code>（发布版也更新燃料电池 4 级故障字）、修正 DEBUFG 拼写、补齐 B6 三个断路器的故障码入参、faultCode.h:35 的 level 字段与描述对齐。</p>
+</div>
+
+<h3 id="s4-5">4.5 上位机 / 下位机管理方案</h3>
+<table>
+  <tr><th>主题</th><th>职责划分（优化后）</th></tr>
+  <tr><td>控制通道</td><td><b>唯一入口</b>：一切控制指令（网页、调试页、测试注入）最终都变为 MOOSDB 上的 <code>uPower_*_cmd</code> JSON，由 CommandService 统一校验、应答、记录。下位机 HTTP 控制接口仅做转发。</td></tr>
+  <tr><td>状态监视</td><td>上位机 HostSim 为主（跨机、带历史库 /api/history）；下位机 Web 退化为本机调试页（日志查看、测试注入保留），dashboard/data 等监视页标注"调试用"。</td></tr>
+  <tr><td>指令校验</td><td>CommandService 对 workCMD/powerCMD/modCMD 做范围校验 + 当前状态下合法性校验（按转移表），非法指令回执拒绝原因（新增 JSON 字段，缺省不发送，兼容旧上位机）。</td></tr>
+  <tr><td>指令清空哨兵</td><td>workCMD=99 等魔法哨兵改为命名常量 <code>CMD_NONE=99</code>，取值不变，仅消除魔法数。</td></tr>
+  <tr><td>页面资源</td><td>下位机 7 个硬编码页面迁移到 CMake 资源管线（复用上位机 webassets_gen.h 方案），HTML 独立成文件，便于前端维护；URL 与页面功能不变。</td></tr>
+</table>
+
+<!-- ================= 5（新增详细设计章） ================= -->
+<h2 id="s5">5 设备上电管理与状态机转移重构详细设计</h2>
+
+<h3>5.1 总体设计判断</h3>
+<p>设备上电/管理与状态机转移是同一个问题的两面——<b>"声明"与"执行"混在一起</b>。9 张工况设备表（driver.cpp 约 600 行逐字段赋值）本质是"数据"，却写成了代码；状态 entry() 里的上电时序本质是"流程"，却硬编码成一串串 <code>setDeviceState + MOOSPause + operate_*_Breaker</code>；状态转移本质是"一张表"，却隐式埋在 <code>handleWorkCmd</code>/<code>react(TaskStartEvent)</code> 两个 switch 里。重构的共同方向：<b>把数据从代码里剥离出来，把流程交给统一执行器，把转移显式化</b>。</p>
+
+<h3>5.2 设备上电与管理重构</h3>
+<h4>5.2.1 现状代码证据</h4>
+<ul>
+  <li><b>工况表即代码</b>：<code>Driver::getSTANDBYTable()</code>（driver.cpp:151-228）等 9 个函数，每个约 70 行 <code>driverTable->depth1 = 1;</code> 式逐字段赋值，<code>getCRUISE/getHIGH_SPEED/getASCEND_DESCEND</code> 内容几乎一致，且混用裸 0/1 与 <code>DRIVER_*</code> 宏。</li>
+  <li><b>上电时序硬编码且阻塞</b>：<code>CruiseMode::entry()</code> 的典型模式是：查当前设备状态 → <code>operate_HVA_actuatorCircuit_Breaker(0)</code>（内部忙等最长 6 s）→ <code>MOOSPause(3)</code> → 连续 6 次 <code>setDeviceState</code> → 上报，每个状态 entry 都是这段逻辑的变体手写。</li>
+  <li><b>断路器闭环时序散落</b>：<code>operateBreakerGeneric</code>（LowerCommManager.cpp:843-890）的"首次发包 → 100 ms 等待 → 轮询反馈 → 200 ms 重发 → 6 s 超时 → 3×200 ms 复位"被 35 个 <code>operate_*</code> 函数复用，但在事件处理路径上同步执行，阻塞 MOOS 线程。</li>
+  <li><b>校验逻辑十份复制</b>：<code>WaterBasedReady::react(DevCmdExt)</code> 中的校验链（Debug 模式豁免 → 深度上电保护 → 前视声纳先关机再断电并 MOOSPause(10000) → 写设备状态）在 10 个 <code>handleXxxCmd</code> 中各有变体，细微偏差正是 B4（桅杆键名失配）类缺陷的温床。</li>
+</ul>
+
+<h4>5.2.2 目标结构</h4>
+<div class="card">
+<pre><code>现状（分散）                                    目标（收敛）
+┌──────────────────────────────┐               ┌────────────────────────────────┐
+│ 9 张工况表 = 600 行赋值函数   │               │ ① 设备描述表 DeviceDef          │
+│ entry() 硬编码时序+忙等6~20s  │    收敛       │   68 设备 × 属性（域/断路器通道/ │
+│ 10 个 handleXxxCmd 校验复制   │ ───────────►  │   保护规则/9 工况默认值）        │
+│ 35 个 operate_*_Breaker       │               │ ② 功率时序执行器 PowerSequencer │
+└──────────────────────────────┘               │   声明式步骤，异步分步执行       │
+                                               │ ③ 统一指令管线：模式校验→深度   │
+                                               │   保护→前置动作→执行→回执       │
+                                               │ ④ DeviceManager 唯一写口        │
+                                               │   m_subDisSysCmd 只经它修改      │
+└────────────────────────────────┘</code></pre>
+</div>
+
+<h4>5.2.3 重构四件事</h4>
+<ol>
+  <li><b>工况表从函数变成数据。</b>9 个 <code>getXxxTable()</code> 函数替换为静态二维表 <code>kModeDeviceTable[9][68]</code>（或按设备分组的声明式定义），查表替代函数调用。迁移时用程序把现有 9 个函数的输出快照为 golden data，重构后逐字节比对——这是"特性严格一致"最直接的保证。</li>
+  <li><b>上电时序从阻塞硬编码变成声明式步骤 + 异步执行器。</b>每个工况声明一个步骤序列，例如 CruiseMode：<code>[条件:任一bowCover≠0] → 断启闭机构断路器(超时6s) → 延时3s → 批量下电bowCover1~6 → 上报</code>。PowerSequencer 每拍 Iterate 推进一步，<code>operateBreakerGeneric</code> 的时序参数（100 ms 首等、200 ms 重发、6 s 超时、3×200 ms 复位）原样保留为步骤属性，但不再阻塞线程；entry() 只提交序列即返回，状态机始终可响应事件。</li>
+  <li><b>设备指令校验收敛为一条管线。</b>所有设备指令走同一链路：模式校验（Normal 禁操作）→ 域保护（水下设备深度检查，Debug 豁免）→ 设备专属前置动作（forwardSonar 先关机再断电等，注册在设备描述表）→ 经 Sequencer 执行 → 回执。各状态只声明"本状态允许操作哪些设备域"，不再各写一份校验。</li>
+  <li><b>设备状态唯一写口。</b><code>m_subDisSysCmd</code> 现在被 FSM、HTTP 回调、测试注入直接修改，重构后只能经 DeviceManager 写入；外部可观测的写序列（日志、上报、SQLite 落库）保持一致。</li>
+</ol>
+
+<h3>5.3 状态机转移重构</h3>
+<h4>5.3.1 核心问题：转移关系隐式化</h4>
+<p>转移关系不存在于任何一张表中，而是从两个 switch 的行为里"涌现"出来的——这正是 case 12 漏写 <code>transit</code> 导致 Lifting 不可达（B1）这类缺陷的结构性根源。重构目标是把转移机制从"隐式 switch"变为"显式表驱动"：</p>
+<div class="card">
+<pre><code>现状：隐式转移                                目标：显式转移
+MasterCommandEvent 到达                       事件统一规范化
+        │                                           │
+handleWorkCmd 巨型 switch                     查转移表 TransitionRule[]
+（14 状态 × 14 份复制 react）                 （源状态×事件→目标，唯一事实源）
+        │                                           │
+无 guard 直接 transit                         guard 校验
+（case 12 漏写 = Lifting 死状态）             （一期空 guard 记日志，二期补互斥）
+        │                                           │
+entry() 阻塞上电                              CHANING 过渡子状态
+（期间 FSM 不响应任何事件）                   （上电序列异步执行，完成即落定）
+        │                                           │
+FaultState 孤岛                               FaultEvent 显式迁移
+（故障检测不触发迁移，无出口）                （3 级以上故障进入，确认后退出）</code></pre>
+</div>
+
+<h4>5.3.2 重构五步走</h4>
+<ol>
+  <li><b>把转移关系从代码里"挖"出来变成表。</b>逐行核对 <code>handleWorkCmd</code>（workCMD 1~12）、<code>react(TaskStartEvent)</code>（THROW_LOAD/FLOAT_UP/RECYCLE/SAIL/HOVER/TOUR 等）、<code>react(TaskStopEvent)</code> 与 InitState 自迁移，生成 <code>TransitionRule[]</code> 静态表，每行标注原代码位置（如 <code>workCMD=5 → CruiseMode, Fsm.cpp:2903</code>）。该表同时是实现、文档与测试基准。<code>handleWorkCmd</code> 的 switch 删除，14 个状态中复制粘贴的 <code>react(MasterCommandEvent)</code> 全部删除，统一由基类查表处理；workCMD=99 清空哨兵语义保留，仅改为命名常量。</li>
+  <li><b>guard 分两期落地。</b>一期所有 guard 为 nullptr（无条件），<b>严格保持现状转移语义</b>——这是特性一致的红线；基类在每次迁移时记录"源状态→事件→目标"日志。二期依据日志与总体组确认应禁止的迁移（如巡航中直接切 DJMode），再逐步补 guard。重构本身不引入行为变化，行为收紧是另一个独立、可评审的决策。</li>
+  <li><b>entry() 阻塞上电改为 CHANING 过渡子状态。</b>现状代码已有雏形——每个 entry 开头 <code>workCondition = CHANING</code>、干完活才置为目标工况，只是"干活"方式是阻塞的。重构将其正式化：迁移发生时进入目标状态的过渡形态，上电序列交 PowerSequencer 异步执行，序列完成事件使状态落定；期间 FSM 照常响应事件（如 FaultEvent 可打断上电）。上位机看到的 workCondition 变化序列与现状完全一致。</li>
+  <li><b>FaultState 接入主转移图。</b>故障检测发现 3 级以上故障 → FaultManager 派发 FaultEvent → 转移表新增 <code>ANY × FaultEvent → FaultState</code> 规则（保留现有 THROW_LOAD 入口不变）；FaultState 增加显式出口：故障码集合清空 + 上位机确认（复用现有 workCMD=4 指令，不新增协议）→ RemoteControl；FaultState 内的断路器断开序列同样改为 Sequencer 步骤，消灭 20 s 忙等。</li>
+  <li><b>状态类只做"差异"。</b>状态类只保留本状态特有内容：entry 提交的上电序列、特有事件处理（如 DJMode 专属指令）、exit 清理；公共行为上收基类。CruiseMode/HighSpeedMode 等任务态的共性（均响应 TaskStopEvent→RemoteControl）通过继承 MissionStateBase 表达，利用 tinyfsm 原生支持的状态继承。</li>
+</ol>
+
+<h3>5.4 两块重构的衔接与线程模型</h3>
+<div class="note">
+衔接点在 CHANING 子状态：<b>状态机管"去哪里"，PowerSequencer 管"到了之后按什么时序上电"，DeviceManager 管"每一笔设备状态怎么写"</b>。三者通过事件队列串行协作，全部运行在 MOOS 主线程上，从根上消除现有四个线程交叉读写全局数据的问题。UDP 监听线程与 HTTP 线程退化为纯生产者：收包→解析→投递事件队列，不再直接触碰业务状态。
+</div>
+
+<h3>5.5 迁移顺序与一致性验证</h3>
+<ol>
+  <li><b>快照基线</b>：采集 9 张工况表输出、标准指令脚本下的状态上报时序，作为 golden data；</li>
+  <li><b>设备描述表与指令管线</b>（风险最低，先行）；</li>
+  <li><b>PowerSequencer 替换阻塞上电</b>；</li>
+  <li><b>转移表替换 switch</b>。</li>
+</ol>
+<p>每一步均以 golden data diff 为空为通过条件，diff 非空则不进入下一步。B1（Lifting 不可达）等已确认缺陷在挖掘转移表时即会暴露，按第 6 章约定单独登记为行为变更点修复。</p>
+
+<!-- ================= 6 ================= -->
+<h2 id="s6">6 特性一致性保障策略</h2>
+<p>"优化后与原代码特性严格一致"需要通过可执行的基线来保证，而不是靠评审印象。建议按以下四层契约冻结外部行为：</p>
+<table>
+  <tr><th>契约层</th><th>冻结内容</th><th>验证手段</th></tr>
+  <tr><td>MOOS 接口契约</td><td>全部订阅/发布变量名、JSON 键名与类型、周期广播频率（1 s）、应答时序</td><td>契约测试：录制现有系统真实 MOOS 流量为"黄金报文集"，重构后回放比对（键集合、类型、取值范围）</td></tr>
+  <tr><td>UDP 帧契约</td><td>6 类反馈帧 ID、帧头 0x40 0x40、#pragma pack(1) 布局、校验算法、帧长</td><td>字节级编解码往返测试（现有 udp_feeder/full_feeder 扩展为参数化用例）；结构体 static_assert 尺寸断言</td></tr>
+  <tr><td>行为契约</td><td>状态迁移外部可观测序列（指令→状态上报序列）、断路器操作时序（重发间隔、6 s 超时、600 ms 复位）、故障码取值与上报内容</td><td>黄金主测试：对现状系统跑标准指令脚本，录制 <code>uPower_currentState_st</code> 等上报时序为基线；重构后同脚本回放，时序逐拍比对</td></tr>
+  <tr><td>Web/存储契约</td><td>URL 路由、REST 参数、SQLite 现有表结构</td><td>HTTP 接口冒烟用例；数据库 schema 比对脚本</td></tr>
+</table>
+<div class="note">
+<b>已知缺陷的处理约定</b>：3.1 节 B1-B10 属"现状特性"的一部分还是"应修复的缺陷"，须逐项与总体确认。建议原则：外部可观测且显然错误的行为（如 buoyage 恒不更新、Lifting 不可达、桅杆指令丢失）按缺陷修复并在报告中显式登记"行为变更点"；纯内部问题（重复调用、死代码）直接修复，行为不变。所有行为变更点单独列入变更清单，重构完成时逐项回归确认。
+</div>
+
+<!-- ================= 7 ================= -->
+<h2 id="s7">7 测试方案</h2>
+<h3>7.1 测试金字塔与补齐重点</h3>
+<table>
+  <tr><th>层级</th><th>现状</th><th>补齐内容</th><th>框架/工具</th></tr>
+  <tr><td>单元测试</td><td>GTest 56 例：Driver 表、SystemData、故障码表、upmsg 往返、UDP 校验和、pack 布局</td><td>① 状态机迁移测试：转移表全覆盖（每个规则至少 1 例）+ guard 边界；② FaultManager：检测→锁存→上报→清除全链路，含 B6/B7 回归；③ ProtocolCodec：JSON 键名完整性（防 B4 复发）、帧编解码参数化</td><td>GTest；领域层零 MOOS 依赖后可脱离 MOOSDB 运行</td></tr>
+  <tr><td>集成测试</td><td>udp_feeder/full_feeder 字节级仿真 CCU+4 路配电 + check_db.py 验证落库</td><td>① 故障注入 feeder：丢包、坏校验和、越界值、故障位置位、30 s 静默（超时路径）；② MOOS 端到端：上位机指令→状态迁移→上报序列黄金比对（第 6 章基线）；③ 断路器闭环时序仿真</td><td>Python 脚本 + 现有 feeder 扩展；MOOSDB 冒烟沿用</td></tr>
+  <tr><td>系统/回归</td><td>CI 有构建+冒烟，但集成失败不阻塞（build-test.sh:181），已知 std::bad_alloc 被容忍</td><td>① 集成失败纳入 ALL_OK 阻塞；② cppcheck/clang-tidy 接入 CI（error 级清零）；③ 测试二进制输出改到 build 目录，清理 test/ 下 in-source 构建残留</td><td>Gitea Actions 现有流水线扩展</td></tr>
+  <tr><td>上位机测试</td><td>零</td><td>HostSim 指令队列 drain、FeedbackStore 落盘/24 h 清理、/api/history 时序提取、WS 快照广播</td><td>GTest（队列/存储）+ Python（HTTP/WS 接口）</td></tr>
+</table>
+<h3>7.2 关键专项测试</h3>
+<ul>
+  <li><b>状态机迁移矩阵</b>：以 4.2.1 转移表为基准自动生成用例骨架——14 状态 × 11 事件全组合标注"允许/拒绝/保持"，重构前后两轮运行，输出 diff 必须为空（除已登记的行为变更点）。</li>
+  <li><b>故障注入矩阵</b>：覆盖三级来源——UDP 层（坏帧/丢帧/超时）、设备层（断路器脱扣、绝缘低、BMS 各级故障位）、系统层（深度失效、功率不足等 0xLSSS 码）；断言故障码上报内容、FaultState 迁移、SQLite fault_event 落库三处一致。</li>
+  <li><b>并发压力</b>：UDP 监听线程 100 Hz 灌包 + MOOS 指令并发注入，ThreadSanitizer 构建跑 10 min，数据竞争报告清零；队列上限 100 的溢出行为固定为"丢最旧 + 计数告警"并测试。</li>
+  <li><b>长稳</b>：feeder 连续 24 h 正常流量 + 周期故障注入，监控内存（消除每帧 new/delete 后应无增长）、句柄、落库行数。</li>
+</ul>
+<h3>7.3 验收标准</h3>
+<ol>
+  <li>黄金报文比对：MOOS/UDP 契约测试 100% 通过，diff 为空；</li>
+  <li>状态迁移矩阵：除已登记变更点（B1 修复后 Lifting 可达等）外零差异；</li>
+  <li>新增单测覆盖率：fsm/、FaultManager、ProtocolCodec 行覆盖 ≥ 80%；</li>
+  <li>cppcheck error 级清零，TSan 报告清零；</li>
+  <li>CI 全链路（构建→单测→集成→黄金比对）绿灯且失败阻塞。</li>
+</ol>
+
+<!-- ================= 8 ================= -->
+<h2 id="s8">8 实施路线图</h2>
+
+<div class="phase">
+  <h4>阶段 0：缺陷修复与测试基线（先行，约 2 周）</h4>
+  <p class="small">最小改动修复 B1-B14 并逐项登记行为变更；开启 <code>-Wall -Wextra</code> 清零告警、接入 sanitizer 构建目标与 cppcheck（error 级阻塞）；配置项端口校验；搭建黄金报文基线与状态迁移矩阵录制工具。<b>产出：行为基线库 + 变更清单 + 可运行的安全网。</b></p>
+</div>
+<div class="phase">
+  <h4>阶段 1：故障码与数据层统一（约 2-3 周）</h4>
+  <p class="small">落地 FaultCodeDef.h 生成式定义；合并双故障存储为 FaultManager；新增 fault_event 持久化表；修复条件编译与死码。该阶段相对独立、风险最低，先行可立即改善可维护性。<b>产出：统一故障子系统 + 故障注入测试矩阵。</b></p>
+</div>
+<div class="phase">
+  <h4>阶段 2：通信层与线程模型（约 3-4 周）</h4>
+  <p class="small">建立 protocol/ 单一事实源；UDP 监听线程改为纯生产者；断路器闭环异步化；连接状态管理启用；下位机 HTTP 控制接口改道 MOOS。<b>产出：单线程事件循环模型 + 契约测试全绿。</b></p>
+</div>
+<div class="phase">
+  <h4>阶段 3：状态机重构（约 3-4 周）</h4>
+  <p class="small">转移表显式化；PowerManagerFsm 上帝类拆分；状态类去重；FaultState 出入路径显式化；entry 阻塞消除。每步以迁移矩阵 diff 为空为准入。<b>产出：表驱动状态机 + 迁移矩阵零差异报告。</b></p>
+</div>
+<div class="phase">
+  <h4>阶段 4：上位机与收尾（约 2 周）</h4>
+  <p class="small">上位机测试补齐；下位机页面资源管线迁移；长稳与并发压力测试；文档更新（转移表自动生成状态图）。<b>产出：完整测试体系 + 验收报告。</b></p>
+</div>
+<div class="warn">
+<b>风险控制</b>：每阶段结束必须 CI 全绿（含黄金比对）方可合并；协议/故障码/状态序列的任何外部可见变更必须已在变更清单登记并经确认；保持 pCCU、pMotor、pELoad 等周边进程接口不动，重构范围严格限定在 pPowerManger 与 pPowerMangerHost。
+</div>
+
+<!-- ================= 9 ================= -->
+<h2 id="s9">9 附录：问题清单汇总</h2>
+<table>
+  <tr><th>编号</th><th>级别</th><th>类别</th><th>问题摘要</th><th>位置</th><th>处置</th></tr>
+  <tr><td>B1</td><td><span class="badge p0">P0</span></td><td>Bug</td><td>Lifting 状态不可达（case 12 无 transit/break）</td><td class="loc">PowerManagerFsm.cpp:2934</td><td>阶段0修复（行为变更登记）</td></tr>
+  <tr><td>B2</td><td><span class="badge p0">P0</span></td><td>Bug</td><td>s.buoyage == 赋值误写为比较 ×4</td><td class="loc">PowerManagerFsm.cpp:1471-1486</td><td>阶段0修复（行为变更登记）</td></tr>
+  <tr><td>B3</td><td><span class="badge p0">P0</span></td><td>Bug</td><td>邮件偏斜 return 导致整批丢弃</td><td class="loc">PowerManger.cpp:121-125</td><td>阶段0修复</td></tr>
+  <tr><td>B4</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>桅杆升降舵 JSON 键名失配，指令静默丢失</td><td class="loc">driver.cpp:844/924</td><td>阶段0修复（行为变更登记）</td></tr>
+  <tr><td>B5</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>故障检测函数重复调用两遍</td><td class="loc">PowerManagerFsm.cpp:52-55</td><td>阶段0修复</td></tr>
+  <tr><td>B6</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>3 个断路器故障码死码</td><td class="loc">systemData.h:1026-1028</td><td>阶段0修复</td></tr>
+  <tr><td>B7</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>故障注入数组越界 + systemData.h:524 越界</td><td class="loc">PowerManagerFsm.cpp:3053</td><td>阶段0修复</td></tr>
+  <tr><td>B8</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>TestEvent switch 缺 break；绕过事件机制</td><td class="loc">PowerManagerFsm.cpp:3084</td><td>阶段0修复</td></tr>
+  <tr><td>B9</td><td><span class="badge p2">P2</span></td><td>Bug</td><td>协议结构体未初始化返回 / memset 非 POD</td><td class="loc">upmsg/ 多处</td><td>阶段0修复</td></tr>
+  <tr><td>B10</td><td><span class="badge p2">P2</span></td><td>规范</td><td>超时常量与注释不符（FaultState 20s vs 其余 5s），复制 7 份</td><td class="loc">FaultState.cpp:46/53 等</td><td>阶段3统一</td></tr>
+  <tr><td>B11</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>模板残留致每条正常指令误报 "Unhandled Mail" run warning</td><td class="loc">PowerManger.cpp:142-146</td><td>阶段0修复</td></tr>
+  <tr><td>B12</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>畸形 JSON 类型致 jsoncpp 抛异常（asUInt 无类型检查、无 catch）</td><td class="loc">driver.cpp:935 / UpperCommManager.cpp:48</td><td>阶段0修复</td></tr>
+  <tr><td>B13</td><td><span class="badge p1">P1</span></td><td>Bug</td><td>HTTP 服务在配置/DB 就绪前于构造函数启动，提前暴露控制面</td><td class="loc">PowerManger.cpp:83-87</td><td>阶段0修复</td></tr>
+  <tr><td>B14</td><td><span class="badge p2">P2</span></td><td>规范</td><td>FsmLoop/_FsmCB、m_deviceCmdQuenue 无消费者；buildReport 占位；SKEW_TOLERANCE 宏未用</td><td class="loc">PowerManger.h:48/121 等</td><td>阶段3清理</td></tr>
+  <tr><td>A1</td><td><span class="badge p0">P0</span></td><td>架构</td><td>状态机退化为路由壳，转移逻辑集中在基类 switch</td><td class="loc">fsm/ 全局</td><td>阶段3重构</td></tr>
+  <tr><td>A2</td><td><span class="badge p0">P0</span></td><td>架构</td><td>故障检测与 FaultState 脱钩；FaultState 无出口</td><td class="loc">PowerManagerFsm.cpp:948-953</td><td>阶段1+3</td></tr>
+  <tr><td>A3</td><td><span class="badge p1">P1</span></td><td>架构</td><td>entry() 内 MOOSPause/忙等最长 10-20 s</td><td class="loc">WaterBasedReady.cpp:50 等</td><td>阶段3异步化</td></tr>
+  <tr><td>A4</td><td><span class="badge p1">P1</span></td><td>架构</td><td>3096 行上帝类；static pm 裸指针全局穿透</td><td class="loc">PowerManagerFsm.hpp:86</td><td>阶段3拆分</td></tr>
+  <tr><td>A5-A7</td><td><span class="badge p2">P2</span></td><td>规范</td><td>语义错位/拼写错误/死代码/日志混乱</td><td class="loc">多处</td><td>阶段3清理</td></tr>
+  <tr><td>C1</td><td><span class="badge p1">P1</span></td><td>通信</td><td>上位机无连接管理，connectState 死字段</td><td class="loc">LowerCommManager.h:131</td><td>阶段2启用</td></tr>
+  <tr><td>C2</td><td><span class="badge p1">P1</span></td><td>通信</td><td>协议知识三处散养；Driver 双实例</td><td class="loc">driver.cpp / UpperCommManager.h:93</td><td>阶段2收敛</td></tr>
+  <tr><td>C3-C6</td><td><span class="badge p1">P1</span></td><td>通信</td><td>错误码虚设/死分支/硬编码帧长/废弃函数错误数据</td><td class="loc">udpComm.cpp / driver.cpp</td><td>阶段2修复</td></tr>
+  <tr><td>C5</td><td><span class="badge p2">P2</span></td><td>性能</td><td>每帧堆分配、每包 cout</td><td class="loc">udpComm.cpp:462 等</td><td>阶段2优化</td></tr>
+  <tr><td>C7</td><td><span class="badge p1">P1</span></td><td>架构</td><td>双 Web 重复建设；/fcs/control 越权直改状态</td><td class="loc">httpserver.cpp:150</td><td>阶段2+4</td></tr>
+  <tr><td>F1</td><td><span class="badge p0">P0</span></td><td>故障</td><td>双重故障存储，等级查询与上报读不同集合</td><td class="loc">PowerManger.cpp:448 / uPower_pmState.h:50</td><td>阶段1合并</td></tr>
+  <tr><td>F2</td><td><span class="badge p1">P1</span></td><td>故障</td><td>上报死赋值</td><td class="loc">UpperCommManager.cpp:240</td><td>阶段1清理</td></tr>
+  <tr><td>F3</td><td><span class="badge p1">P1</span></td><td>故障</td><td>三套编码并存；系统码无文本映射；前端 JS 重写映射</td><td class="loc">faultCode.h / fuelcell.h:834</td><td>阶段1统一</td></tr>
+  <tr><td>F4</td><td><span class="badge p1">P1</span></td><td>故障</td><td>DEBUG 宏全构建未定义，4 级故障字恒为 0；DEBUFG 拼写；_DEBUG 死代码</td><td class="loc">systemData.h:7,776 等</td><td>阶段0修复</td></tr>
+  <tr><td>F5</td><td><span class="badge p2">P2</span></td><td>故障</td><td>无故障事件持久化表</td><td class="loc">SQLite 层</td><td>阶段1新增</td></tr>
+  <tr><td>D1-D4</td><td><span class="badge p1">P1</span></td><td>并发</td><td>全局数据池/锁纪律不一致/abs 截断/并发清队列</td><td class="loc">systemData.h 等</td><td>阶段2统一线程模型</td></tr>
+  <tr><td>H1-H3</td><td><span class="badge p2">P2</span></td><td>上位机</td><td>功能重叠/越权通道/页面硬编码</td><td class="loc">HostSim / httpserver</td><td>阶段4</td></tr>
+  <tr><td>E1</td><td><span class="badge p1">P1</span></td><td>构建</td><td>-Wall 未启用且写法错误；无 sanitizer；测试输出残留</td><td class="loc">CMakeLists.txt:80-86</td><td>阶段0接入</td></tr>
+  <tr><td>E2</td><td><span class="badge p2">P2</span></td><td>构建</td><td>GLOB 反模式；第三方库无版本/许可证记录；CMAKE 版本过老</td><td class="loc">CMakeLists.txt:9,49,53</td><td>阶段0接入</td></tr>
+  <tr><td>E3</td><td><span class="badge p1">P1</span></td><td>配置</td><td>ccuport/iport atoi 无校验、无范围检查</td><td class="loc">PowerManger.cpp:229/233</td><td>阶段0修复</td></tr>
+  <tr><td>E4</td><td><span class="badge p2">P2</span></td><td>性能</td><td>SQLite insertGeneric/onFrame 高频重复 prepare</td><td class="loc">SQLite.cpp:610-625</td><td>阶段1优化</td></tr>
+  <tr><td>E5</td><td><span class="badge p2">P2</span></td><td>规范</td><td>日志/错误输出三套并存（loguru/cerr/cout）</td><td class="loc">driver.cpp / LowerCommManager.cpp</td><td>阶段3统一</td></tr>
+  <tr><td>T1</td><td><span class="badge p0">P0</span></td><td>测试</td><td>状态机/故障注入/上位机三大测试空白</td><td class="loc">test/</td><td>阶段0起持续</td></tr>
+  <tr><td>T2</td><td><span class="badge p1">P1</span></td><td>CI</td><td>集成失败不阻塞；cppcheck 未接入；in-source 构建残留</td><td class="loc">ci/build-test.sh:181</td><td>阶段0</td></tr>
+</table>
+
+<p class="small" style="margin-top:40px;border-top:1px solid var(--border);padding-top:16px;">
+本报告基于 2026-09-03 工作区代码静态审查生成，所有问题均标注文件与行号，关键缺陷（B1、B2、B3、B5）已经人工逐行复核。报告未对任何源代码做修改。
+</p>
+
+</main>
+</div>
+</body>
+</html>

missions/h100.moos

@@ -0,0 +1,161 @@
+// MOOS file
+// 板卡 (RK3588 / Ubuntu 20.04) 专用 mission 配置
+// 七个 systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU /
+// pCanBridge / pMotor / pELoad）共用本文件。
+// 由 scripts/build-board.sh 同步到板卡 /root/work/h100/missions/h100.moos
+
+ServerHost = localhost
+ServerPort = 9000
+Community  = h100
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   // 日志文件路径（目录需已存在，由 build-board.sh 部署时创建）
+   logpath = /root/work/h100/data/pPowerManger.log
+   // 数据库存储路径（目录需已存在，由 build-board.sh 部署时创建）
+   dbpath = /root/work/h100/data/power_data.db
+   // CCU 地址（pPowerManger -> pCCU 的 UDP 链路）；不配置则默认 127.0.0.1:7000
+   ccuhost = 127.0.0.1
+   ccuport = 7000
+   // 本地输入端口（接收 CCU 数据）；默认 5001。
+   // 5001 让给 pCCU 的 rcu 链路接收真实CCU(192.168.0.140) 固定上报的
+   // 配电反馈，故本进程接收端口改为 5002（pCCU 转发的反馈与状态报文发往此处）
+   iport = 5002
+}
+
+ProcessConfig = pPowerMangerHost
+{
+   AppTick   = 4
+   CommsTick = 4
+   WEB_PORT  = 18080
+
+   // 反馈落盘（SQLite），路径可配置；目录不存在会自动创建
+   DB_FILE                       = /root/work/h100/data/feedback_data.db
+   FB_LOG_ENABLED                = true
+   FB_LOG_KEEP_SECONDS           = 86400   // 历史保留时长（秒），24h
+   FB_LOG_PRUNE_INTERVAL_SECONDS = 60      // 清理检查周期（秒）
+}
+
+ProcessConfig = pCCU
+{
+   AppTick   = 4
+   CommsTick = 4
+
+   // FC 链路（本机监听 FC 状态；发送 FC 控制指令给燃料电池控制器）
+   fc_local_port  = 6000
+   fc_remote_ip   = 192.168.1.162
+   fc_remote_port = 7000
+
+   // PM 链路（监听 pPowerManger 指令；向 pPowerManger 周期发送 PM 状态）
+   // pPowerManger 与 pCCU 同机部署；pPowerManger 接收端口为 5002（iport），
+   // 故 PM 状态发送目标用 127.0.0.1:5002。
+   pm_local_port  = 7000
+   pm_remote_ip   = 127.0.0.1
+   pm_remote_port = 5002
+
+   //======== 真实CCU 桥接链路（配电协议） ========
+   // 真实CCU(192.168.0.140) 设备侧固定上报到 192.168.0.223:5001
+   // （与 pPowerManger 默认 CCU 配置一致：CCUPORT=7000 为其监听口，
+   //   上报目标为控制主机 5001），设备侧不可修改。
+   // 故 pCCU 的 rcu 链路直接绑定 5001 接收其反馈：
+   //   配电反馈 0x0005~0x0008：原帧转发 pPowerManger(127.0.0.1:5002) + 网页显示
+   //   配电指令 0x0001~0x0004：转发目标为真实CCU 监听口 192.168.0.140:7000
+   //   其余帧（旧协议 0x20 0x20 状态帧、无效帧）落库忽略
+   rcu_enable      = true
+   rcu_local_port  = 5001
+   rcu_remote_ip   = 192.168.0.140
+   rcu_remote_port = 7000
+
+   //======== 锂电池 ========
+   // CAN 总线 BMS 协议（docs/BMS_协议字段定义.xlsx），
+   // 经 pCanBridge 发布的 CAN_0x* 消息透传，无需额外配置。
+   dbpath  = /root/work/h100/data/pccu_data.db
+   logpath = /root/work/h100/data/pCCU.log
+
+   web_port   = 8080
+   web_enable = true
+}
+
+ProcessConfig = pCanBridge
+{
+   AppTick   = 4
+   CommsTick = 4
+
+   // CAN<->MOOSDB 多通道透传：CANET（TCP Server 模式）
+   // 每通道一条独立 TCP 连接；工作端口：CAN0=4001，CAN1=4002，...，CAN7=4008
+   channel = CAN0,192.168.0.222,4001
+   channel = CAN1,192.168.0.222,4002
+   // channel = CAN1,192.168.0.222,4002
+
+    // CAN_TX 下行默认通道（pCCU 未指定 m_sSrcAux 时使用；可省略）
+    default_channel = CAN0
+
+    // CAN 帧 SQLite 落库路径（can_frame 表，channel 列区分通道）
+    dbpath = /root/work/h100/data/pCanBridge_data.db
+}
+
+ProcessConfig = pMotor
+{
+   AppTick   = 4
+   CommsTick = 4
+
+   // 推进电机控制器：CAN1 通道（经 pCanBridge 透传，docs/推进电机通信协议20260321.docx）
+   // 下行 500ms 周期指令帧 0x18EF2010（网页 /api/motor_cmd 控制启停/复位/转速），
+   // 上行订阅 CAN_0x* 解码故障/转速/母线电压/温度，网页 18081 展示
+   can_channel = CAN1
+
+   // 冗余 CAN 通道（配置后指令帧同内容发 0x18EF2011；留空=不发送）
+   // red_channel = CAN2
+
+   cmd_period_ms  = 500
+   reset_hold_sec = 5
+
+   web_port   = 18081
+   web_enable = true
+
+   logpath = /root/work/h100/data/pMotor.log
+}
+
+ProcessConfig = pELoad
+{
+   AppTick   = 10
+   CommsTick = 4
+
+   //======== 电子负载（IT6000C）以太网地址 ========
+   // 仪器 LAN 配置的 IP 与 Raw Socket 端口号（出厂默认 30000）
+   eload_ip   = 192.168.200.100
+   eload_port = 30000
+
+   //======== 功率控制 ========
+   // MOOS 功率消息变量名（实时电机功率，W，正值=负载吸收）
+   power_var      = MOTOR_POWER
+   ctrl_period_ms = 100
+   power_stale_sec = 3
+   current_sign   = negative
+   nominal_volt   = 500
+   max_power      = 0
+   max_current    = 0
+   slew_limit_wps = 0
+   func_priority  = cc
+
+   // CV 优先时的目标电压(V)，func_priority=cv 时生效（恒压吸收）
+   volt_set = 0
+
+   //======== 数据存储 ========
+   dbpath = /root/work/h100/data/pELoad.db
+   log_keep_hours = 72
+   meas_log_period_ms = 100
+
+   // 测量命令来源：fetch=FETCh（读设备表头缓存，不触发测量，响应快，推荐）；
+   //               meas=MEAS（每次触发设备重新测量，响应慢，易超时）
+   meas_source = fetch
+
+   //======== 网页（避开 8080/8090/18080/18081）========
+   web_port   = 18082
+   web_enable = true
+
+   logpath = /root/work/h100/data/pELoad.log
+}

missions/pPowerManger.moos

@@ -2,4 +2,9 @@ ProcessConfig = pPowerManger
 {
    AppTick   = 4
    CommsTick = 4
+   // CCU 地址；不配置则默认 127.0.0.1:7000
+   // ccuhost = 127.0.0.1
+   // ccuport = 7000
+   // 本地输入端口（接收 CCU 数据）；不配置则默认 5001
+   // iport = 5001
 }

scripts/build-board.sh

@@ -0,0 +1,310 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/build-board.sh
+# DESC:  把源码同步到目标板卡 (RK3588 / Ubuntu 22.04)，在板卡原生编译
+#        （aarch64 直编，比本地 QEMU 模拟快约 10 倍），并把产物部署到
+#        /root/work/h100/bin/，可选重启 systemd 服务。
+#
+# 用法:
+#   ./scripts/build-board.sh                       # 同步+编译+部署（不重启）
+#   ./scripts/build-board.sh --start               # 编译后重启全部服务（含 pCanBridge/pMotor/pELoad）
+#   ./scripts/build-board.sh --clean               # 板卡上重新 cmake 再编译
+#   ./scripts/build-board.sh --jobs 4              # 指定并行度（默认板卡 nproc）
+#
+# 参数:
+#   --host <ip>      目标主机（默认 192.168.0.223）
+#   --user <user>    登录用户（默认 root）
+#   --board-src <dir> 板卡源码目录（默认 /root/work/h100/src）
+#   --board-bin <dir> 板卡部署目录（默认 /root/work/h100/bin）
+#   --jobs <n>       编译并行度（默认板卡 nproc）
+#   --start          编译部署后重启服务
+#   --clean          先重新 cmake（配置变更时用）
+#   --ccu-host <ip>  覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
+#   --ccu-port <n>   覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
+#   -h, --help       显示帮助
+#
+# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
+#       源码已能本地编译（本脚本只负责同步+板卡编译）。
+#
+# !!!! 板卡网络配置（2026-08-26 联调定型，勿随意修改） !!!!
+#
+# 板卡与 FC 的组网为"单网卡 + /23 掩码"方案（依据《超滑FC和复合管控器
+# 通讯协议-0821》1.1.1：CCU 192.168.0.140/23 <-> FC 192.168.1.162）：
+#
+#   enP3p49s0  192.168.0.223/23 (255.255.254.0)  <- 唯一业务网口，接交换机
+#               /23 使 192.168.0.x 与 192.168.1.x 同子网直达，
+#               FC(192.168.1.162) 无需网关即可互通。
+#               NM 配置档案: "有线连接 1"（静态 manual，已持久化）
+#   enP4p65s0  已弃用（旧双网卡方案的 FC 专口，物理链路已断）
+#   回环 lo    pPowerManger(5001) <-> pCCU(7000) 同机 UDP 互通
+#
+# 关联端口:
+#   FC 状态:  FC:7000 -> 板卡:6000 (pCCU 监听)
+#   FC 控制:  板卡:6000 -> FC:7000 (pCCU 发送)
+#   PM 指令:  pPowerManger:5001 -> pCCU:7000 (127.0.0.1，
+#             见 missions/h100.moos ccuhost/ccuport，默认值在 PowerManger.h CCUHOST)
+#   PM 状态:  pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
+#
+# 排障提示:
+#   - 若收不到 FC 状态，先在板卡上 `ethtool enP3p49s0` 看 Link detected，
+#     再 `ping 192.168.1.162`；ping 不通通常是物理链路/交换机问题，
+#     不要改回 /24 掩码或启用 enP4p65s0 来"修"网络。
+#   - 改 IP/掩码须用 `nmcli con mod "有线连接 1" ...` 持久化，
+#     并保持掩码 /23。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_SRC="/root/work/h100/src"
+BOARD_BIN="/root/work/h100/bin"
+JOBS=""
+DO_START=0
+DO_CLEAN=0
+CCU_HOST=""
+CCU_PORT=""
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge pMotor pELoad)
+
+info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[build-board]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[build-board]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-src) [ $# -ge 2 ] || { err "--board-src 需要参数"; exit 1; }; BOARD_SRC="$2"; shift 2 ;;
+        --board-bin) [ $# -ge 2 ] || { err "--board-bin 需要参数"; exit 1; }; BOARD_BIN="$2"; shift 2 ;;
+        --jobs)      [ $# -ge 2 ] || { err "--jobs 需要参数"; exit 1; }; JOBS="$2"; shift 2 ;;
+        --start)     DO_START=1; shift ;;
+        --clean)     DO_CLEAN=1; shift ;;
+        --ccu-host)  [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
+        --ccu-port)  [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+case "${CCU_PORT}" in
+    ""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
+esac
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+#-------------------------------------------------------------------
+# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
+# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
+#-------------------------------------------------------------------
+upsert_moos_param() {
+    local f="$1" key="$2" val="$3"
+    if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
+        sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
+    else
+        awk -v kv="   ${key} = ${val}" \
+            '!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
+            "${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
+    fi
+}
+
+#-------------------------------------------------------------------
+# 2. 同步源码到板卡（排除构建产物 / git / 数据）
+#-------------------------------------------------------------------
+info "同步源码到板卡 ${BOARD_SRC} ..."
+rsync -az --delete \
+    --exclude='build/' \
+    --exclude='build-arm64/' \
+    --exclude='build-native/' \
+    --exclude='build-nosa-test/' \
+    --exclude='bin/' \
+    --exclude='.git/' \
+    --exclude='.cache/' \
+    --exclude='.kilo/' \
+    --exclude='.vscode/' \
+    --exclude='docs/' \
+    --exclude='reports/' \
+    --exclude='*.log' \
+    --exclude='*.db' \
+    --exclude='CMakeCache.txt' \
+    "${PROJECT_ROOT}/" "${SSH_TARGET}:${BOARD_SRC}/" || { err "rsync 源码失败"; exit 1; }
+ok "源码已同步"
+
+if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
+    info "同步 mission h100.moos ..."
+    local_mission="${PROJECT_ROOT}/missions/h100.moos"
+    tmp_moos=""
+    if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
+        tmp_moos="$(mktemp)"
+        cp "${local_mission}" "${tmp_moos}"
+        [ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
+        [ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
+        local_mission="${tmp_moos}"
+        info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
+    fi
+    rsync -az "${local_mission}" \
+        "${SSH_TARGET}:/root/work/h100/missions/h100.moos" || { err "rsync mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; exit 1; }
+    [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
+    ok "mission 已同步"
+fi
+
+#-------------------------------------------------------------------
+# 3. 板卡原生编译
+#-------------------------------------------------------------------
+if [ "${DO_CLEAN}" = "1" ]; then
+    info "重新 cmake（--clean）..."
+    ${SSH} "${SSH_TARGET}" "rm -rf ${BOARD_SRC}/build-native && mkdir -p ${BOARD_SRC}/build-native && \
+        cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
+        || { err "cmake 失败"; exit 1; }
+    ok "cmake 完成"
+else
+    ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_SRC}/build-native"
+    # 若首次未配置过则先 cmake
+    if ! ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_SRC}/build-native/Makefile ]"; then
+        info "首次编译，先 cmake ..."
+        ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
+            || { err "cmake 失败"; exit 1; }
+        ok "cmake 完成"
+    fi
+fi
+
+if [ -z "${JOBS}" ]; then
+    JOBS="$(${SSH} "${SSH_TARGET}" nproc)"
+fi
+
+info "板卡编译 (make -j${JOBS}) ..."
+if ! ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && make -j${JOBS}"; then
+    err "板卡编译失败（见上方输出）"
+    exit 1
+fi
+ok "板卡编译完成"
+
+#-------------------------------------------------------------------
+# 4. 部署产物到板卡运行目录
+#-------------------------------------------------------------------
+info "部署产物到 ${BOARD_BIN}/ ..."
+${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
+    cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
+    cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
+    cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
+    cp -f ${BOARD_SRC}/bin/pCanBridge ${BOARD_BIN}/pCanBridge && \
+    cp -f ${BOARD_SRC}/bin/pMotor ${BOARD_BIN}/pMotor && \
+    cp -f ${BOARD_SRC}/bin/pELoad ${BOARD_BIN}/pELoad && \
+    chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU ${BOARD_BIN}/pCanBridge ${BOARD_BIN}/pMotor ${BOARD_BIN}/pELoad" \
+    || { err "部署产物失败"; exit 1; }
+ok "产物已部署"
+
+#-------------------------------------------------------------------
+# 4.5 安装/刷新 pCanBridge systemd unit（幂等，其它 5 个 unit 已装）
+#-------------------------------------------------------------------
+info "安装 pCanBridge.service ..."
+${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pCanBridge.service" <<EOF
+[Unit]
+Description=pCanBridge for H100 Power Manager
+After=moosdb.service
+Requires=moosdb.service
+
+[Service]
+Type=simple
+WorkingDirectory=${BOARD_BIN}
+ExecStart=${BOARD_BIN}/pCanBridge --alias=pCanBridge /root/work/h100/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pCanBridge 2>/dev/null || true"
+ok "pCanBridge.service 已安装"
+
+#-------------------------------------------------------------------
+# 4.6 安装/刷新 pMotor systemd unit（幂等）
+#-------------------------------------------------------------------
+info "安装 pMotor.service ..."
+${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pMotor.service" <<EOF
+[Unit]
+Description=pMotor Propulsion Motor for H100 Power Manager
+After=moosdb.service pCanBridge.service
+Requires=moosdb.service
+
+[Service]
+Type=simple
+WorkingDirectory=${BOARD_BIN}
+ExecStart=${BOARD_BIN}/pMotor --alias=pMotor /root/work/h100/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pMotor 2>/dev/null || true"
+ok "pMotor.service 已安装"
+
+#-------------------------------------------------------------------
+# 4.7 安装/刷新 pELoad systemd unit（幂等）
+#     电子负载（IT6000C）控制程序：以太网直连设备，不依赖 pCanBridge
+#-------------------------------------------------------------------
+info "安装 pELoad.service ..."
+${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pELoad.service" <<EOF
+[Unit]
+Description=pELoad Electronic Load (IT6000C) for H100 Power Manager
+After=moosdb.service
+Requires=moosdb.service
+
+[Service]
+Type=simple
+WorkingDirectory=${BOARD_BIN}
+ExecStart=${BOARD_BIN}/pELoad --alias=pELoad /root/work/h100/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pELoad 2>/dev/null || true"
+ok "pELoad.service 已安装"
+
+echo ""
+ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
+${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"
+
+#-------------------------------------------------------------------
+# 5. 可选重启服务
+#-------------------------------------------------------------------
+if [ "${DO_START}" = "1" ]; then
+    info "重启服务 ..."
+    ${SSH} "${SSH_TARGET}" "systemctl restart ${SERVICES[*]}" \
+        || { err "重启服务失败"; exit 1; }
+    sleep 3
+    ok "服务状态: $(${SSH} "${SSH_TARGET}" "systemctl is-active ${SERVICES[*]}")"
+else
+    echo ""
+    info "未重启服务。需要重启请加 --start 或手动:"
+    echo "    systemctl restart ${SERVICES[*]}"
+fi
+
+echo ""
+ok "完成。"

scripts/clean-data.sh

@@ -0,0 +1,147 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/clean-data.sh
+# DESC:  清理目标板卡 (RK3588 / Ubuntu 22.04) 上的数据库与日志文件。
+#        默认清理板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)      主机功率数据库
+#          feedback_data.db                 反馈落盘数据库
+#          pccu_data.db (+ -wal/-shm)       pCCU 帧日志数据库
+#          pCanBridge_data.db (+ -wal/-shm) pCanBridge CAN 帧数据库
+#          pPowerManger.log / pCCU.log      运行日志
+#        默认先停止各服务再清理（避免 SQLite WAL 仍在写入）。
+#
+# 用法:
+#   ./scripts/clean-data.sh                        # 停服务 -> 清理 data 目录（不重启）
+#   ./scripts/clean-data.sh --start                # 清理后重新启动各服务
+#   ./scripts/clean-data.sh --no-stop              # 不停服务直接清理（慎用）
+#   ./scripts/clean-data.sh --stale                # 额外清理 bin/ 与 src/bin/ 下的旧 db/log
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --start           清理后重启服务
+#   --no-stop         不停服务直接清理（慎用）
+#   --stale           额外清理历史遗留的 bin/、src/bin/ 下旧数据库与日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（ssh-copy-id root@<host>）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+DO_START=0
+DO_STOP=1
+DO_STALE=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
+
+# 板卡 data 目录下需要清理的文件（含 SQLite WAL/SHM）
+DATA_FILES=(
+    power_data.db power_data.db-wal power_data.db-shm
+    feedback_data.db
+    pccu_data.db pccu_data.db-wal pccu_data.db-shm
+    pCanBridge_data.db pCanBridge_data.db-wal pCanBridge_data.db-shm
+    pPowerManger.log pCCU.log
+)
+
+# 历史遗留目录（旧部署位置），仅当 --stale 时清理
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+info() { printf '\033[1;36m[clean-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[clean-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[clean-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[clean-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --start)     DO_START=1; shift ;;
+        --no-stop)   DO_STOP=0; shift ;;
+        --stale)     DO_STALE=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+#-------------------------------------------------------------------
+# 2. 停止服务（默认）
+#-------------------------------------------------------------------
+if [ "${DO_STOP}" = "1" ]; then
+    info "停止服务 ${SERVICES[*]} ..."
+    # 先停应用，最后停 moosdb
+    ${SSH} "${SSH_TARGET}" "systemctl stop pCanBridge pPowerMangerHost pPowerManger pCCU moosdb 2>/dev/null; true"
+    ok "服务已停止"
+else
+    warn "--no-stop：不停服务直接清理，可能产生脏数据（SQLite 仍在写入）"
+fi
+
+#-------------------------------------------------------------------
+# 3. 清理 data 目录
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+info "清理 ${BOARD_DATA}/ ..."
+for f in "${DATA_FILES[@]}"; do
+    ${SSH} "${SSH_TARGET}" "rm -f ${BOARD_DATA}/${f}" \
+        && ok "删除 ${f}" || warn "删除 ${f} 失败（可能不存在）"
+done
+
+#-------------------------------------------------------------------
+# 4. 可选: 清理历史遗留目录
+#-------------------------------------------------------------------
+if [ "${DO_STALE}" = "1" ]; then
+    for d in "${STALE_DIRS[@]}"; do
+        info "清理历史遗留 ${d}/ 下的 db/log ..."
+        ${SSH} "${SSH_TARGET}" "rm -f ${d}/power_data.db ${d}/power_data.db-wal ${d}/power_data.db-shm ${d}/feedback_data.db ${d}/pPowerManger.log 2>/dev/null; true"
+        ok "${d} 已清理"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 5. 可选: 重启服务
+#-------------------------------------------------------------------
+if [ "${DO_START}" = "1" ]; then
+    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU / pCanBridge) ..."
+    ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
+        systemctl start pPowerManger pPowerMangerHost pCCU pCanBridge" \
+        || { err "启动失败"; exit 1; }
+    ok "服务已启动"
+else
+    echo ""
+    info "清理完成，服务未启动。需要重启请加 --start 或手动:"
+    echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU pCanBridge"
+fi
+
+echo ""
+ok "完成。"

scripts/fetch-data.sh

@@ -0,0 +1,133 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/fetch-data.sh
+# DESC:  从目标板卡 (RK3588 / Ubuntu 22.04) 下载数据库与日志到本地。
+#        默认抓取板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)      主机功率数据库
+#          feedback_data.db                 反馈落盘数据库
+#          pccu_data.db (+ -wal/-shm)       pCCU 帧日志数据库
+#          pCanBridge_data.db (+ -wal/-shm) pCanBridge CAN 帧数据库
+#          pPowerManger.log / pCCU.log      运行日志
+#        可选 --journal 一并导出各 systemd 服务的 journal 日志。
+#
+# 用法:
+#   ./scripts/fetch-data.sh                        # 下载 db + 日志到本地 data/board-<时间>/
+#   ./scripts/fetch-data.sh --journal              # 额外导出 systemd journal
+#   ./scripts/fetch-data.sh --out-dir /tmp/xx      # 指定本地保存目录
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --out-dir <dir>   本地保存目录（默认 data/board-<时间>）
+#   --journal         额外导出各服务的 systemd journal 日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（ssh-copy-id root@<host>）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+OUT_DIR=""
+DO_JOURNAL=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge)
+
+# 板卡 data 目录下需要下载的文件（含 SQLite WAL/SHM 以保证数据完整）
+DATA_FILES=(
+    power_data.db power_data.db-wal power_data.db-shm
+    feedback_data.db
+    pccu_data.db pccu_data.db-wal pccu_data.db-shm
+    pCanBridge_data.db pCanBridge_data.db-wal pCanBridge_data.db-shm
+    pPowerManger.log pCCU.log
+)
+
+info() { printf '\033[1;36m[fetch-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[fetch-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[fetch-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[fetch-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,28p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --out-dir)   [ $# -ge 2 ] || { err "--out-dir 需要参数"; exit 1; }; OUT_DIR="$2"; shift 2 ;;
+        --journal)   DO_JOURNAL=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+if [ -z "${OUT_DIR}" ]; then
+    OUT_DIR="${PROJECT_ROOT}/data/board-$(date +%Y%m%d-%H%M%S)"
+fi
+mkdir -p "${OUT_DIR}" || { err "无法创建本地目录 ${OUT_DIR}"; exit 1; }
+info "本地保存目录: ${OUT_DIR}"
+
+#-------------------------------------------------------------------
+# 2. 下载 data 目录下的数据库与日志
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+missing=0
+for f in "${DATA_FILES[@]}"; do
+    if ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_DATA}/${f} ]" 2>/dev/null; then
+        info "下载 ${f} ..."
+        ${SCP} -q "${SSH_TARGET}:${BOARD_DATA}/${f}" "${OUT_DIR}/" \
+            || { err "下载 ${f} 失败"; exit 1; }
+        ok "${f}"
+    else
+        warn "板卡上不存在: ${BOARD_DATA}/${f}（跳过）"
+        missing=$((missing+1))
+    fi
+done
+[ "${missing}" -eq "${#DATA_FILES[@]}" ] && { err "板卡 data 目录下没有任何可下载文件"; exit 1; }
+
+#-------------------------------------------------------------------
+# 3. 可选: 导出 systemd journal
+#-------------------------------------------------------------------
+if [ "${DO_JOURNAL}" = "1" ]; then
+    for s in "${SERVICES[@]}"; do
+        info "导出 journal: ${s} ..."
+        ${SSH} "${SSH_TARGET}" "journalctl --no-pager -u ${s} 2>/dev/null" > "${OUT_DIR}/${s}.journal.log" \
+            || { warn "导出 ${s} journal 失败（可能无记录）"; }
+        ok "${s}.journal.log"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 4. 完成
+#-------------------------------------------------------------------
+echo ""
+ok "下载完成。本地文件:"
+ls -lah "${OUT_DIR}" | sed 's/^/    /'
+echo ""
+info "查看数据库可用: sqlite3 ${OUT_DIR}/power_data.db .tables"

scripts/run_host_sim.sh

@@ -0,0 +1,306 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/run_host_sim.sh
+# DESC:  运行与测试 pPowerMangerHost（模拟 pPowerManger 上位机的网页程序）
+#
+# 用法:
+#   ./scripts/run_host_sim.sh run             启动 MOOSDB + pPowerManger
+#                                             + pPowerMangerHost（前台运行，
+#                                             Ctrl-C 退出并清理）
+#   ./scripts/run_host_sim.sh test            自动化测试 pPowerMangerHost：
+#                                             网页 HTTP / WebSocket 反馈 /
+#                                             指令下发到 MOOSDB
+#   ./scripts/run_host_sim.sh build           仅编译需要的目标
+#   ./scripts/run_host_sim.sh stop            清理残留进程
+#   ./scripts/run_host_sim.sh help            显示帮助
+#
+# 环境变量（可覆盖）:
+#   SERVER_HOST       MOOSDB 地址（默认 localhost）
+#   SERVER_PORT       MOOSDB 端口（默认 9000）
+#   WEB_PORT         网页监听端口（默认 18080）
+#   WITH_POWERMANGER run 模式是否同时启动 pPowerManger（默认 1）
+#=======================================================================
+set -uo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+BIN_DIR="${ROOT}/bin"
+MOOS_TEMPLATE="${ROOT}/src/pPowerMangerHost/pPowerMangerHost.moos"
+
+SERVER_HOST="${SERVER_HOST:-localhost}"
+SERVER_PORT="${SERVER_PORT:-9000}"
+WEB_PORT="${WEB_PORT:-18080}"
+WITH_POWERMANGER="${WITH_POWERMANGER:-1}"
+
+MOOSDB_BIN="${MOOSDB_BIN:-$(command -v MOOSDB || true)}"
+POKE_BIN="$(command -v uPokeDB || true)"
+PM_BIN="${BIN_DIR}/pPowerManger"
+HOST_BIN="${BIN_DIR}/pPowerMangerHost"
+
+MOOSDB_PID=""
+PM_PID=""
+HOST_PID=""
+WORKDIR=""
+MISSION=""
+
+info()  { printf '\033[1;36m[host-sim]\033[0m %s\n' "$*"; }
+ok()    { printf '\033[1;32m[host-sim]\033[0m %s\n' "$*"; }
+warn()  { printf '\033[1;33m[host-sim]\033[0m %s\n' "$*"; }
+err()   { printf '\033[1;31m[host-sim]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,23p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+# 生成临时 mission 文件（同时含 pPowerManger 与 pPowerMangerHost 两个配置块）
+make_mission() {
+  WORKDIR="$(mktemp -d)"
+  MISSION="${WORKDIR}/host_sim.moos"
+  cat > "${MISSION}" <<EOF
+ServerHost = ${SERVER_HOST}
+ServerPort = ${SERVER_PORT}
+Community  = h100hostsim
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}
+
+ProcessConfig = pPowerMangerHost
+{
+   AppTick   = 4
+   CommsTick = 4
+   WEB_PORT  = ${WEB_PORT}
+}
+EOF
+}
+
+kill_proc() {
+  [ -n "$1" ] && kill "$1" 2>/dev/null && wait "$1" 2>/dev/null
+}
+
+cleanup() {
+  kill_proc "${HOST_PID}"
+  kill_proc "${PM_PID}"
+  kill_proc "${MOOSDB_PID}"
+  [ -n "${WORKDIR}" ] && rm -rf "${WORKDIR}"
+}
+
+build_targets() {
+  info "编译 pPowerManger / pPowerMangerHost ..."
+  mkdir -p "${ROOT}/build"
+  cd "${ROOT}/build"
+  cmake -DCMAKE_BUILD_TYPE=Release "${ROOT}" >/dev/null 2>&1 || { err "cmake 失败"; return 1; }
+  make -j2 pPowerManger pPowerMangerHost >/dev/null 2>&1 || { err "make 失败"; return 1; }
+  cd "${ROOT}"
+  ok "编译完成"
+}
+
+check_binaries() {
+  local missing=0
+  [ -n "${MOOSDB_BIN}" ] || { err "未找到 MOOSDB（请加入 PATH）"; missing=1; }
+  [ -x "${HOST_BIN}" ]  || { err "未找到 ${HOST_BIN}（请先运行: $0 build）"; missing=1; }
+  if [ "${WITH_POWERMANGER}" = "1" ]; then
+    [ -x "${PM_BIN}" ]  || { err "未找到 ${PM_BIN}（请先运行: $0 build）"; missing=1; }
+  fi
+  return "${missing}"
+}
+
+start_moosdb() {
+  make_mission
+  info "启动 MOOSDB (${SERVER_HOST}:${SERVER_PORT}) ..."
+  "${MOOSDB_BIN}" --moos_no_colour "${MISSION}" > "${WORKDIR}/moosdb.log" 2>&1 &
+  MOOSDB_PID=$!
+  sleep 1
+  kill -0 "${MOOSDB_PID}" 2>/dev/null || { err "MOOSDB 未存活"; return 1; }
+}
+
+start_pm() {
+  info "启动 pPowerManger ..."
+  ( cd "${WORKDIR}" && exec "${PM_BIN}" "${MISSION}" ) > "${WORKDIR}/pm.log" 2>&1 &
+  PM_PID=$!
+  sleep 1
+  kill -0 "${PM_PID}" 2>/dev/null || warn "pPowerManger 未存活（无 CCU 硬件属正常）"
+}
+
+start_host() {
+  info "启动 pPowerMangerHost (网页端口 ${WEB_PORT}) ..."
+  ( cd "${WORKDIR}" && exec "${HOST_BIN}" "${MISSION}" ) > "${WORKDIR}/host.log" 2>&1 &
+  HOST_PID=$!
+  sleep 2
+  kill -0 "${HOST_PID}" 2>/dev/null || { err "pPowerMangerHost 未存活"; return 1; }
+}
+
+#-----------------------------------------------------------------------
+# 测试项
+#-----------------------------------------------------------------------
+test_http() {
+  info "测试: 网页 HTTP (http://${SERVER_HOST}:${WEB_PORT}/) ..."
+  local code
+  code="$(curl -s -o /dev/null -w '%{http_code}' "http://${SERVER_HOST}:${WEB_PORT}/" 2>/dev/null || echo 000)"
+  if [ "${code}" = "200" ]; then
+    ok "网页 HTTP 200 通过"
+    return 0
+  else
+    err "网页 HTTP 失败 (code=${code})"
+    return 1
+  fi
+}
+
+# 反馈链路：向 MOOSDB 注入一条假的反馈变量 → 宿主订阅后应经 WS 推给浏览器
+test_monitor_loop() {
+  info "测试: 反馈链路 (MOOSDB -> pPowerMangerHost -> WebSocket) ..."
+  if [ -z "${POKE_BIN}" ]; then
+    warn "未找到 uPokeDB，跳过反馈链路测试"
+    return 0
+  fi
+  if ! python3 -c "import websockets" >/dev/null 2>&1; then
+    warn "未安装 python3 websockets，跳过反馈链路测试"
+    return 0
+  fi
+
+  local fb_key="uPower_pmState_fb"
+  local fb_val='{"workCondition_uint8":9,"currentMod_uint8":1,"powerState_uint8":1,"faultLevel_uint8":0,"soc_uint16":88,"sustainableTime_int64":3600,"leakage_uint8":0,"info_str":"host-sim-test"}'
+
+  # 先让 WS 客户端连接等待快照，再注入反馈
+  FB_KEY="${fb_key}" python3 - "${WEB_PORT}" > "${WORKDIR}/ws_fb.log" 2>&1 <<'PY' &
+import asyncio, json, os, sys
+import websockets
+
+PORT = int(sys.argv[1])
+KEY = os.environ["FB_KEY"]
+
+async def main():
+    uri = f"ws://localhost:{PORT}/ws"
+    async with websockets.connect(uri) as ws:
+        try:
+            while True:
+                msg = await asyncio.wait_for(ws.recv(), timeout=8)
+                snap = json.loads(msg)
+                if isinstance(snap, dict) and KEY in snap:
+                    print(f"FEEDBACK_OK {KEY}")
+                    return
+        except asyncio.TimeoutError:
+            pass
+    print("FEEDBACK_TIMEOUT")
+
+asyncio.run(main())
+PY
+  WS_PID=$!
+  sleep 1
+
+  "${POKE_BIN}" --host="${SERVER_HOST}" --port="${SERVER_PORT}" "${fb_key}=${fb_val}" >/dev/null 2>&1
+  wait "${WS_PID}" 2>/dev/null
+
+  if grep -q "FEEDBACK_OK" "${WORKDIR}/ws_fb.log" 2>/dev/null; then
+    ok "反馈链路通过（${fb_key} 已推送到浏览器）"
+    return 0
+  else
+    err "反馈链路失败（WS 未收到 ${fb_key}）"
+    cat "${WORKDIR}/ws_fb.log" >&2
+    return 1
+  fi
+}
+
+# 指令下发：网页 WS 下发 -> 宿主 Notify -> MOOSDB -> (宿主订阅回环) -> 推回浏览器
+# 利用宿主订阅了 uPower_pmState_fb，下发该变量后经 MOOSDB 回环，能收到即证明
+# 指令确实进入了 MOOSDB。
+test_command_notify() {
+  info "测试: 指令下发 (WebSocket -> pPowerMangerHost -> MOOSDB) ..."
+  if ! python3 -c "import websockets" >/dev/null 2>&1; then
+    warn "未安装 python3 websockets，跳过指令下发校验"
+    return 0
+  fi
+
+  python3 - "${WEB_PORT}" > "${WORKDIR}/ws_cmd.log" 2>&1 <<'PY'
+import asyncio, json, sys
+import websockets
+
+PORT = int(sys.argv[1])
+KEY = "uPower_pmState_fb"
+TAG = "cmd-loopback-test"
+
+async def main():
+    uri = f"ws://localhost:{PORT}/ws"
+    async with websockets.connect(uri) as ws:
+        await ws.send(json.dumps({"key": KEY, "value": {"info_str": TAG, "workCondition_uint8": 7}}))
+        try:
+            while True:
+                msg = await asyncio.wait_for(ws.recv(), timeout=8)
+                snap = json.loads(msg)
+                if isinstance(snap, dict) and KEY in snap:
+                    obj = json.loads(snap[KEY])
+                    if obj.get("info_str") == TAG:
+                        print("CMD_OK")
+                        return
+        except asyncio.TimeoutError:
+            pass
+    print("CMD_TIMEOUT")
+
+asyncio.run(main())
+PY
+  local r=$?
+
+  if [ ${r} -eq 0 ] && grep -q "CMD_OK" "${WORKDIR}/ws_cmd.log" 2>/dev/null; then
+    ok "指令下发到 MOOSDB 通过（uPower_pmState_fb 已回环）"
+    return 0
+  else
+    err "指令下发校验失败：未收到回环快照"
+    cat "${WORKDIR}/ws_cmd.log" >&2
+    return 1
+  fi
+}
+
+#-----------------------------------------------------------------------
+# 命令入口
+#-----------------------------------------------------------------------
+cmd_run() {
+  check_binaries || return 1
+  start_moosdb || return 1
+  [ "${WITH_POWERMANGER}" = "1" ] && start_pm
+  start_host || return 1
+
+  info "全部启动完成。"
+  info "浏览器访问: http://${SERVER_HOST}:${WEB_PORT}/"
+  info "按 Ctrl-C 退出并清理。"
+  echo ""
+
+  trap 'info "退出清理..."; cleanup; exit 0' INT TERM
+  while kill -0 "${HOST_PID}" 2>/dev/null; do sleep 1; done
+  info "pPowerMangerHost 已退出。"
+  cleanup
+}
+
+cmd_test() {
+  check_binaries || return 1
+  start_moosdb || return 1
+  start_host || return 1
+
+  local pass=0 fail=0 r
+
+  test_http;          r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+  test_monitor_loop;  r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+  test_command_notify;r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+
+  echo ""
+  info "==== 测试结果: 通过 ${pass} / 失败 ${fail} ===="
+  cleanup
+  [ "${fail}" -eq 0 ]
+}
+
+cmd_stop() {
+  pkill -f "${HOST_BIN}" 2>/dev/null
+  pkill -f "${PM_BIN}" 2>/dev/null
+  pkill -x MOOSDB 2>/dev/null
+  ok "已清理残留进程"
+}
+
+case "${1:-run}" in
+  run)   cmd_run ;;
+  test)  cmd_test ;;
+  build) build_targets ;;
+  stop)  cmd_stop ;;
+  help|-h|--help) usage ;;
+  *)     usage ;;
+esac

scripts/sync-board-time.sh

@@ -0,0 +1,176 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/sync-board-time.sh
+# DESC:  校正 223 板卡（RK3588，默认 192.168.0.223）的系统时间：以
+#        本机时间（或 --time 指定时间）为基准，经 SSH 设置板卡系统时
+#        钟，并尽力写入硬件时钟 (RTC)。板卡网络隔离无 NTP，用本脚本对时。
+#
+# 用法:
+#   ./scripts/sync-board-time.sh                  # 用本机时间校正板卡
+#   ./scripts/sync-board-time.sh status           # 只查看时间与偏差
+#   ./scripts/sync-board-time.sh --time "2026-09-01 12:00:00"
+#                                                 # 用指定时间校正（本地时区）
+#
+# 参数:
+#   --host <ip>     目标主机（默认 192.168.0.223）
+#   --user <user>   登录用户（默认 root）
+#   --time <str>    手动指定基准时间（date 可解析的格式，按本地时区解释）
+#   --keep-ntp      不执行 timedatectl set-ntp false
+#   --no-rtc        不写硬件时钟（跳过 hwclock --systohc）
+#   -h, --help      显示帮助
+#
+# 说明:
+#   - 需要 root 登录与免密 SSH（ssh-copy-id root@<host>）。
+#   - 对时经 SSH 往返时延 (RTT) 折半补偿，精度约 ±0.1s（受网络抖动影响）。
+#   - 板卡若无可用 RTC，hwclock 失败仅告警；重启后时间可能回跳。
+#   - 对时会调整系统时钟，运行中的服务日志时间戳会跳变，属正常现象。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+HOST="192.168.0.223"
+USER="root"
+SET_TIME=""
+KEEP_NTP=0
+NO_RTC=0
+
+info() { printf '\033[1;36m[time]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[time]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[time]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[time]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,26p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+ACTION=""
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)     [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)     [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --time)     [ $# -ge 2 ] || { err "--time 需要参数"; exit 1; }; SET_TIME="$2"; shift 2 ;;
+        --keep-ntp) KEEP_NTP=1; shift ;;
+        --no-rtc)   NO_RTC=1; shift ;;
+        status|help|-h|--help) ACTION="$1"; shift ;;
+        "") shift ;;
+        *) err "未知参数: $1（见 help）"; exit 1 ;;
+    esac
+done
+[ -n "${ACTION}" ] || ACTION="sync"
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 读取板卡时间并测 RTT
+# 输出: "<epoch>|<板卡可读时间> <t0> <t1>"（t0/t1 为本机采样时刻）
+#-------------------------------------------------------------------
+read_board_time() {
+    local t0 t1 out
+    t0="$(date +%s.%N)"
+    out="$(${SSH} "${SSH_TARGET}" 'date "+%s.%N|%F %T %Z"' 2>/dev/null)" || {
+        err "无法免密 SSH 到 ${SSH_TARGET}（先配置免密: ssh-copy-id ${SSH_TARGET}）" >&2
+        return 1
+    }
+    t1="$(date +%s.%N)"
+    printf '%s %.3f %.3f\n' "${out}" "${t0}" "${t1}"
+}
+
+# 从 read_board_time 输出解析: set -- <out> 后取 $1/$2/$3
+parse_board_time() {
+    B_EPOCH="${1%%|*}"
+    B_DATE="${1#*|}"
+    T0="$2"
+    T1="$3"
+    MID="$(awk -v t0="${T0}" -v t1="${T1}" 'BEGIN{printf "%.3f", t0 + (t1-t0)/2}')"
+    DIFF="$(awk -v b="${B_EPOCH}" -v m="${MID}" 'BEGIN{printf "%+.3f", b - m}')"
+}
+
+#-------------------------------------------------------------------
+# 命令: status
+#-------------------------------------------------------------------
+cmd_status() {
+    local out
+    out="$(read_board_time)" || return 1
+    parse_board_time ${out}
+    local rtt
+    rtt="$(awk -v t0="${T0}" -v t1="${T1}" 'BEGIN{printf "%.3f", t1-t0}')"
+    printf '本机时间: %s (RTT %.3fs)\n' "$(date -d "@${MID}" '+%F %T')" "${rtt}"
+    printf '板卡时间: %s\n' "${B_DATE}"
+    printf '偏差: 板卡比本机快 %s 秒\n' "${DIFF}"
+}
+
+#-------------------------------------------------------------------
+# 命令: sync（默认）
+#-------------------------------------------------------------------
+cmd_sync() {
+    local out target board_reply
+
+    # 前置检查：SSH 连通 + 板卡 root 权限
+    out="$(read_board_time)" || return 1
+    parse_board_time ${out}
+    if ! ${SSH} "${SSH_TARGET}" '[ "$(id -u)" = 0 ]' 2>/dev/null; then
+        err "板卡登录用户需要 root 权限（当前 --user ${USER}）"
+        return 1
+    fi
+    ok "SSH 连接正常: ${SSH_TARGET}"
+    info "当前偏差: 板卡比本机快 ${DIFF} 秒"
+
+    # 关闭 NTP 自动同步（板卡网络隔离本就无 NTP 源，防止干扰手动对时）
+    if [ "${KEEP_NTP}" = "0" ]; then
+        info "关闭板卡 NTP 自动同步 (timedatectl set-ntp false) ..."
+        ${SSH} "${SSH_TARGET}" "command -v timedatectl >/dev/null 2>&1 && timedatectl set-ntp false || true"
+    fi
+
+    # 计算目标时间：手动指定值直接用；否则取本机时间 + RTT/2 补偿
+    if [ -n "${SET_TIME}" ]; then
+        target="$(date -d "${SET_TIME}" '+%s.%N' 2>/dev/null)" || {
+            err "无法解析时间: ${SET_TIME}"; return 1;
+        }
+        info "基准时间(手动): ${SET_TIME}"
+    else
+        local t2
+        t2="$(date +%s.%N)"
+        target="$(awk -v t2="${t2}" -v t0="${T0}" -v t1="${T1}" 'BEGIN{printf "%.3f", t2 + (t1-t0)/2}')"
+        info "基准时间(本机 + RTT/2 补偿)"
+    fi
+    info "设置板卡系统时间 -> $(date -d "@${target}" '+%F %T') ..."
+
+    board_reply="$(${SSH} "${SSH_TARGET}" "date -s @${target} 2>&1")" || {
+        err "date -s 失败: ${board_reply}"
+        return 1
+    }
+    ok "板卡返回: ${board_reply}"
+
+    # 写硬件时钟（无 RTC 时仅告警）
+    if [ "${NO_RTC}" = "0" ]; then
+        info "同步硬件时钟 (hwclock --systohc) ..."
+        if ${SSH} "${SSH_TARGET}" "hwclock --systohc" 2>/dev/null; then
+            ok "RTC 已同步"
+        else
+            warn "hwclock 失败（板卡可能无 RTC 或驱动未加载），重启后时间可能回跳"
+        fi
+    fi
+
+    # 校验
+    out="$(read_board_time)" || return 1
+    parse_board_time ${out}
+    info "校正后偏差: 板卡比本机快 ${DIFF} 秒"
+    ok "板卡时间: ${B_DATE}"
+}
+
+#-------------------------------------------------------------------
+# 命令入口
+#-------------------------------------------------------------------
+case "${ACTION}" in
+    sync)           cmd_sync ;;
+    status)         cmd_status ;;
+    help|-h|--help) usage ;;
+    *)              usage ;;
+esac

src/CMakeLists.txt

@@ -19,6 +19,11 @@ INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS})
 ADD_SUBDIRECTORY(pPowerManger)
 # ADD_SUBDIRECTORY(appPowerMangerWebUI)
 add_subdirectory(pPMtest)
+add_subdirectory(pPowerMangerHost)
+add_subdirectory(pCCU)
+add_subdirectory(pCanBridge)
+add_subdirectory(pMotor)
+add_subdirectory(pELoad)
 ##############################################################################
 #                           END of CMakeLists.txt
 ##############################################################################

src/appPowerMangerWebUI/CMakeLists.txt

@@ -1,37 +0,0 @@
-#--------------------------------------------------------
-# The CMakeLists.txt for:                       appPowerMangerWebUI
-# Author(s):                              
-#--------------------------------------------------------
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# 设置 vcpkg 工具链文件路径
-set(CMAKE_TOOLCHAIN_FILE "/home/zjk/project/lib/vcpkg/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
-
-# 查找Boost库
-find_package(Boost REQUIRED COMPONENTS system thread)
-
-#find crow库
-find_package(Crow CONFIG REQUIRED)
-# Find SQLite3 package
-find_package(SQLite3 REQUIRED)
-
-SET(SRC
-  main.cpp
-  DBImage.cpp
-)
-
-ADD_EXECUTABLE(appPowerMangerWebUI ${SRC})
-
-TARGET_LINK_LIBRARIES(appPowerMangerWebUI
-   ${MOOS_LIBRARIES}
-   mbutil
-   m
-   pthread
-   Crow::Crow 
-   asio::asio
-   jsoncpp
-   SQLiteDB
-   sqlite3
-   Boost::system
-   Boost::thread)

src/appPowerMangerWebUI/DBImage.cpp

@@ -1,230 +0,0 @@
-///////////////////////////////////////////////////////////////////////////
-//
-//   MOOS - Mission Oriented Operating Suite 
-//  
-//   A suit of Applications and Libraries for Mobile Robotics Research 
-//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
-//   Oxford University. 
-//    
-//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
-//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
-//      
-//   This file is part of a  MOOS Utility Component. 
-//        
-//   This program is free software; you can redistribute it and/or 
-//   modify it under the terms of the GNU General Public License as 
-//   published by the Free Software Foundation; either version 2 of the 
-//   License, or (at your option) any later version. 
-//          
-//   This program is distributed in the hope that it will be useful, 
-//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
-//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
-//   General Public License for more details. 
-//            
-//   You should have received a copy of the GNU General Public License 
-//   along with this program; if not, write to the Free Software 
-//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
-//   02111-1307, USA. 
-//
-//////////////////////////    END_GPL    //////////////////////////////////
-// DBImage.cpp: implementation of the CDBImage class.
-
-
-
-//
-
-
-//////////////////////////////////////////////////////////////////////
-
-#include "DBImage.h"
-
-//////////////////////////////////////////////////////////////////////
-// Construction/Destruction
-//////////////////////////////////////////////////////////////////////
-
-bool CDBImage::Set(MOOSMSG_LIST & InMail)
-{
-    MOOSMSG_LIST::iterator p;
-
-
-    m_Lock.Lock();
-    //MOOSTrace("Rx'd %d \n",InMail.size());
-
-    for(p = InMail.begin();p!=InMail.end();p++)
-    {
-        CMOOSMsg & rMsg= *p;
-        //MOOSTrace("Rx'd %s \n",rMsg.m_sKey.c_str());
-
-        if(!m_Mask.empty() && m_Mask.find(rMsg.GetSource())!=m_Mask.end())
-        {
-            continue;
-        }
-
-        if(rMsg.IsDataType(MOOS_NOT_SET) && !m_bShowPending)
-        {
-            continue;
-        }
-
-        int nNdx = GetIndex(rMsg.m_sKey);        
-        if(nNdx<0)
-        {
-            m_IndexMap[rMsg.m_sKey] = m_DBData.size();
-            m_DBData.push_back(CVar(rMsg));
-        }
-        else
-        {
-            bool bChanging = !( rMsg.GetTime()==m_DBData[nNdx].GetTimeVal());
-            m_DBData[nNdx]= CVar(rMsg);
-            m_DBData[nNdx].Changed(bChanging);
-        }                
-    }
-    m_Lock.UnLock();
-
-    return true;
-
-}
-
-
-
-
-
-
-
-
-int CDBImage::GetIndex(const std::string & sName)
-{
-    std::map<std::string,int>::iterator q = m_IndexMap.find(sName);    
-
-    if(q!=m_IndexMap.end())
-    {
-        int n = q->second; 
-        return n;
-    }
-    else
-    {
-        return -1;
-    }
-
-}
-
-bool CDBImage:: HasChanged(int n)
-{
-    if(n >= static_cast<int> (m_DBData.size()) || n<0)
-        return false;
-    return m_DBData[n].IsChanged();
-}
-
-
-bool CDBImage::Get(CVar & rVar, int n)
-{
-    m_Lock.Lock();
-
-    if(n>=static_cast<int> (m_DBData.size()) || n<0)
-    {
-        m_Lock.UnLock();
-        return false;
-    }
-
-    rVar = m_DBData[n];
-
-    m_Lock.UnLock();
-
-    return true;    
-}
-
-
-bool CDBImage::SetProcInfo(MOOSMSG_LIST & InMail) 
-{
-    m_Lock.Lock();
-    // TODO: Add your control notification handler code here
-    m_nClients = InMail.size();
-    m_Processes.clear();
-    MOOSMSG_LIST::iterator p;
-    for(p=InMail.begin();p!=InMail.end();p++)
-    {
-
-        CMOOSMsg & rMsg = *p;
-        std::string sTmp =  rMsg.m_sVal;
-        std::string sWho = MOOSChomp(sTmp,":");
-
-        if(m_Processes.find(sWho)==m_Processes.end())
-        {
-            ProcInfo Info;
-            m_Processes[sWho] = Info;
-        }
-
-        std::string sSubscribed,sPublished;
-        sSubscribed = MOOSChomp(sTmp,"PUBLISHED=");
-        sPublished = sTmp;
-        MOOSChomp(sSubscribed,"SUBSCRIBED=");
-
-        while(!sSubscribed.empty())
-        {
-            sTmp = MOOSChomp(sSubscribed,",");
-            if(!sTmp.empty())
-            {
-                m_Processes[sWho].m_Subscribed.push_front(sTmp);
-            }
-        }
-
-        while(!sPublished.empty())
-        {
-            sTmp = MOOSChomp(sPublished,",");
-            if(!sTmp.empty())
-            {
-                m_Processes[sWho].m_Published.push_front(sTmp);
-            }
-        }
-    }
-    m_Lock.UnLock();
-    return true;
-}
-
-bool CDBImage::GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs)
-{
-    bool bRes = false;
-    m_Lock.Lock();
-    PROC_INFO_MAP::iterator q = m_Processes.find(sWhat);
-    if(q!=m_Processes.end())
-    {
-        sSubs = q->second.m_Subscribed;
-        sPubs = q->second.m_Published;
-        bRes = true;
-    }
-    m_Lock.UnLock();
-    return bRes;
-
-}
-
-bool CDBImage::GetProcesses(STRING_LIST & sProcs)
-{
-    m_Lock.Lock();
-
-    sProcs.clear();    
-
-    PROC_INFO_MAP::iterator q;
-    for(q=m_Processes.begin();q!=m_Processes.end();q++)
-    {
-        sProcs.push_back(q->first.c_str());    
-    }
-    m_Lock.UnLock();
-
-    return true;
-}
-
-
-bool CDBImage::SetMask(std::set<std::string> Mask)
-{
-    m_Mask = Mask;
-    return true;
-}
-
-bool CDBImage::Clear()
-{
-    m_Lock.Lock();
-    m_DBData.clear();
-    m_IndexMap.clear();
-    m_Lock.UnLock();
-
-    return true;
-}

src/appPowerMangerWebUI/DBImage.h

@@ -1,170 +0,0 @@
-///////////////////////////////////////////////////////////////////////////
-//
-//   MOOS - Mission Oriented Operating Suite 
-//  
-//   A suit of Applications and Libraries for Mobile Robotics Research 
-//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
-//   Oxford University. 
-//    
-//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
-//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
-//      
-//   This file is part of a  MOOS Utility Component. 
-//        
-//   This program is free software; you can redistribute it and/or 
-//   modify it under the terms of the GNU General Public License as 
-//   published by the Free Software Foundation; either version 2 of the 
-//   License, or (at your option) any later version. 
-//          
-//   This program is distributed in the hope that it will be useful, 
-//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
-//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
-//   General Public License for more details. 
-//            
-//   You should have received a copy of the GNU General Public License 
-//   along with this program; if not, write to the Free Software 
-//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
-//   02111-1307, USA. 
-//
-//////////////////////////    END_GPL    //////////////////////////////////
-// DBImage.h: interface for the CDBImage class.
-
-//
-
-//////////////////////////////////////////////////////////////////////
-
-#ifdef _WIN32
-    #pragma warning(disable : 4786)
-#endif
-
-
-#if !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
-
-#define AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_
-
-#if _MSC_VER > 1000
-#pragma once
-#endif // _MSC_VER > 1000
-
-#include "MOOS/libMOOS/MOOSLib.h"
-#include <string>
-#include <map>
-#include <vector>
-
-
-class CDBImage
-{
-public:
-    bool Clear();
-
-    CDBImage()
-    {
-        m_bShowPending = false;
-    }
-
-    struct ProcInfo
-    {
-        std::string m_sName;
-        STRING_LIST m_Published;
-        STRING_LIST m_Subscribed;
-    };
-
-    typedef std::map<std::string,ProcInfo> PROC_INFO_MAP;
-
-    class CVar
-
-    {
-    public:
-        CVar()
-        {
-            m_dfTime = -1;
-        }
-
-        CVar(CMOOSMsg & rMsg)
-        {
-            m_dfTime = rMsg.m_dfTime;
-            switch(rMsg.m_cDataType)
-            {
-            case MOOS_STRING:
-                m_eType = STR;
-                break;
-            case MOOS_DOUBLE:
-                m_eType = DBL;
-                break;
-            case MOOS_BINARY_STRING:
-                m_eType = BIN;
-                break;
-            default:
-                m_eType = UNKNOWN;
-            }
-            m_sStr = rMsg.GetAsString();
-            m_sCommunity = rMsg.m_sOriginatingCommunity;
-            m_sName = rMsg.m_sKey;
-            m_sFreq = MOOSFormat("%.1f",rMsg.m_dfVal2);
-            m_sSource = rMsg.m_sSrc;
-            m_bChanged = false;
-        }
-
-        std::string GetTime(){return MOOSFormat("%.3f",m_dfTime);};
-        double GetTimeVal(){return m_dfTime;};
-        std::string GetValue(){return m_eType==UNKNOWN?"":m_sStr;};
-        std::string GetCommunity(){return m_sCommunity;};
-        std::string GetName(){return m_sName;};
-        std::string GetFrequency(){return m_sFreq;};
-        std::string GetSource(){return m_sSource;};
-        bool IsChanged(){return m_bChanged;};
-        void Changed(bool b){m_bChanged = b;};
-        std::string GetType()
-        {
-            switch(m_eType)
-            {
-            case STR:
-                return "$";
-            case DBL:
-                return "D";
-            case BIN:
-                return "B";
-            default:
-                return "?";
-            }
-        }
-
-
-    protected:
-        double m_dfTime;
-        std::string m_sStr;
-        enum Type{ STR,DBL,BIN,UNKNOWN};
-        Type m_eType;
-        std::string m_sCommunity;
-        std::string m_sSrc;
-        std::string m_sName;
-        std::string m_sFreq;
-        std::string m_sSource;
-        bool m_bChanged;
-    };
-
-    bool Set(MOOSMSG_LIST & InMail);
-    bool Get(CVar & rVar, int n);
-    bool HasChanged(int n);
-    bool SetProcInfo(MOOSMSG_LIST & InMail) ;
-    bool GetProcesses(STRING_LIST & sProcs);
-    int GetNumVariables(){return m_DBData.size();}
-    bool GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs);
-    bool SetMask(std::set<std::string> Mask);
-    bool ShowPending(bool b){m_bShowPending = b;return true;};
-protected:
-    int GetIndex(const std::string & sName);
-    std::vector<CVar> m_DBData;
-    std::map<std::string,int> m_IndexMap;
-    std::set<std::string> m_Mask;
-
-    bool m_bShowPending ;
-    int m_nClients;
-    int m_nVariables;
-    PROC_INFO_MAP m_Processes;
-    CMOOSLock m_Lock;
-};
-
-
-#endif // !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
-

src/appPowerMangerWebUI/main.cpp

@@ -1,305 +0,0 @@
-#include <string>
-#include "crow.h"
-#include <iostream>
-#include "json/json.h"
-#include <sys/inotify.h>
-#include <unistd.h>
-#include <dirent.h>
-#include <fstream>
-#include <vector>
-#include <thread>
-#include <mutex>
-#include <memory>
-#include "../pPowerManger/SQLiteDB.h"
-#include "../pPowerManger/pmSysvariable.h"
-#include <MOOS/libMOOS/Comms/MOOSAsyncCommClient.h>
-#include "DBImage.h"
-
-using namespace std;
-
-// 定义全局变量
-ccuState ccustate;
-StateData stateData;
-mutex wsMutex;
-vector<crow::websocket::connection*> wsConnections;
-shared_ptr<SQLiteDB> db;
-shared_ptr<MOOS::MOOSAsyncCommClient>  moosClient;
-shared_ptr<CDBImage> dbImage;
-
-bool bContinue = true;
-
-// WebSocket消息处理
-void sendStateUpdate() {
-    crow::json::wvalue msg;
-    string time;
-    {
-        lock_guard<mutex> lock(wsMutex);
-        db->getStateData(stateData, time);
-    }
-    
-    // 基本状态信息
-    msg["state"] = {
-        {"time", time},
-        {"state_id", stateData.state_id},
-        {"state_name", stateData.state_name},
-        {"event", stateData.event},
-        {"event_id", stateData.event_id},
-        {"fault_code", stateData.fault_code},
-        {"note", stateData.note}
-    };
-    
-    // 数据库状态信息
-    msg["db_status"] = {
-        {"connected", db->isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/data", "power_data.db")},
-        {"database", db->getDBPatch()},
-        {"size", db->getDatabaseSize()}
-    };
-    
-    // MOOS数据库状态信息
-    msg["moos_db_status"] = {
-        {"connected", moosClient->IsConnected()},
-        {"host", "localhost"},
-        {"port", 9000}
-    };
-
-    // 进程详细信息
-    {
-        lock_guard<mutex> lock(wsMutex);
-        STRING_LIST processes;
-        dbImage->GetProcesses(processes);
-        
-        crow::json::wvalue::list processList;
-        for(const auto& proc : processes) {
-            STRING_LIST subs, pubs;
-            if(dbImage->GetProcInfo(proc, subs, pubs)) {
-                crow::json::wvalue processInfo;
-                processInfo["name"] = proc;
-                std::vector<std::string> subs_vec(subs.begin(), subs.end());
-                std::vector<std::string> pubs_vec(pubs.begin(), pubs.end());
-                processInfo["subscribed"] = subs_vec;
-                processInfo["published"] = pubs_vec;
-                processList.push_back(std::move(processInfo));
-            }
-        }
-        
-        msg["processes"] = {
-            {"count", processes.size()},
-            {"list", std::move(processList)}
-        };
-    }
-
-    // 数据库变量信息
-    {
-        lock_guard<mutex> lock(wsMutex);
-        int varCount = dbImage->GetNumVariables();
-        crow::json::wvalue::list varList;
-        
-        // 遍历所有变量
-        for(int i = 0; i < varCount; i++) {
-            CDBImage::CVar var;
-            if(dbImage->Get(var, i)) {
-                varList.push_back({
-                    {"name", var.GetName()},
-                    {"value", var.GetValue()},
-                    {"time", var.GetTime()},
-                    {"type", var.GetType()},
-                    {"source", var.GetSource()}
-                });
-            }
-        }
-        
-        msg["variables"] = {
-            {"count", varCount},
-            {"data", std::move(varList)}  // 包含所有变量的数组
-        };
-    }
-
-    // 发送WebSocket消息
-    {
-        lock_guard<mutex> lock(wsMutex);
-        for(auto conn : wsConnections) {
-            conn->send_text(msg.dump());
-        }
-    }
-}
-
-// 订阅MOOS变量
-bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
-{
-    int nCounts = 0;
-    while(true) // 外部需要控制循环退出条件
-    {
-        if(comms->IsConnected())
-        {
-            // 每5次循环获取一次进程摘要
-            if(nCounts++ % 5 == 0)
-            {
-                MOOSMSG_LIST procMail;
-                if(comms->ServerRequest("PROC_SUMMARY", procMail))
-                {
-                    m_DBImage->SetProcInfo(procMail);
-                    
-                    // 打印进程信息
-                    // STRING_LIST processes;
-                    // m_DBImage->GetProcesses(processes);
-                    // std::cout << "Active processes: " << processes.size() << std::endl;
-                }
-            }
-            
-            // 每次循环都获取数据库摘要
-            MOOSMSG_LIST dbMail;
-            if(comms->ServerRequest("ALL", dbMail))
-            {
-                m_DBImage->Set(dbMail);
-                
-                // 打印数据库变量信息
-                int varCount = m_DBImage->GetNumVariables();
-                // std::cout << "Database variables: " << varCount << std::endl;
-                
-                // 打印最近更新的变量
-                if(varCount > 0) {
-                    CDBImage::CVar lastVar;
-                    if(m_DBImage->Get(lastVar, varCount-1)) {
-                        // std::cout << "Last updated variable: " 
-                        //         << lastVar.GetName() << " = " 
-                        //         << lastVar.GetValue() << std::endl;
-                    }
-                }
-            }
-        }
-        
-        // 保持大约4Hz的频率
-        MOOSPause(250);
-    }
-    return true;
-}
-
-int main() {
-    crow::SimpleApp app;
-    db = make_shared<SQLiteDB>("/home/zjk/project/H100/H100PowerManger/data/power_data.db");
-    moosClient = make_shared<MOOS::MOOSAsyncCommClient>();
-    dbImage = make_shared<CDBImage>();
-    moosClient->Run("localhost", 9000, "appPowerMangerWebUI");
-
-    // WebSocket路由
-    CROW_WEBSOCKET_ROUTE(app, "/ws/state")
-    .onopen([&](crow::websocket::connection& conn){
-        lock_guard<mutex> lock(wsMutex);
-        wsConnections.push_back(&conn);
-        cout << "New WebSocket connection" << endl;
-    })
-    .onclose([&](crow::websocket::connection& conn, const string& /*reason*/, uint16_t /*code*/){
-        lock_guard<mutex> lock(wsMutex);
-        wsConnections.erase(
-            remove(wsConnections.begin(), wsConnections.end(), &conn),
-            wsConnections.end());
-        cout << "WebSocket connection closed" << endl;
-    })
-    .onmessage([&](crow::websocket::connection& conn, const string& data, bool is_binary){
-        cout << "Received WebSocket message: " << data << endl;
-    });
-
-    // 状态更新定时器
-    thread([](){
-        while(true) {
-            sendStateUpdate();
-            this_thread::sleep_for(chrono::seconds(1));
-        }
-    }).detach();
-
-    //MOOS数据库更新定时器
-    std::thread fetchThread([&](){
-        while(bContinue) {
-            FetchLoop(moosClient.get(), dbImage.get());
-        }
-    });
-
-    // 绑定主页路由
-    CROW_ROUTE(app, "/")([]() {
-        auto page = crow::mustache::load_text("index.html");
-        return page;
-    });
-
-    // MOOS通知API
-    CROW_ROUTE(app, "/api/moos-notify")
-    .methods("POST"_method)
-    ([](const crow::request& req) {
-        auto json = crow::json::load(req.body);
-        if (!json) {
-            return crow::response(400, "Invalid JSON");
-        }
-
-        string var = json["var"].s();
-        string key = json["key"].s();
-
-        if (var.empty() || key.empty()) {
-            return crow::response(400, "Var and Key are required");
-        }
-
-        try {
-            moosClient->Notify(var, key);
-            return crow::response(200, "{\"success\":true}");
-        } catch (const exception& e) {
-            return crow::response(500, 
-                crow::json::wvalue{{"success", false}, {"message", e.what()}}.dump());
-        }
-    });
-
-    // 下载数据库API
-    CROW_ROUTE(app, "/api/download-db")
-    ([]() {
-        const std::string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
-        const size_t chunkSize = 4096; // 4KB chunks
-        
-        std::ifstream file(dbPath, std::ios::binary | std::ios::ate);
-        if (!file) {
-            return crow::response(404, "Database file not found");
-        }
-        
-        // 获取文件大小
-        std::streamsize fileSize = file.tellg();
-        file.seekg(0, std::ios::beg);
-        
-        if (fileSize == 0) {
-            return crow::response(500, "Database file is empty");
-        }
-        
-        // 创建响应
-        crow::response res;
-        res.code = 200;
-        res.set_header("Content-Type", "application/octet-stream");
-        res.set_header("Content-Disposition", "attachment; filename=power_data.db");
-        res.set_header("Content-Length", std::to_string(fileSize));
-        
-        try {
-            // 分块读取和写入文件
-            auto buffer = std::make_unique<char[]>(chunkSize);
-            size_t totalSent = 0;
-            
-            while (totalSent < fileSize) {
-                size_t remaining = fileSize - totalSent;
-                size_t readSize = std::min(remaining, chunkSize);
-                
-                file.read(buffer.get(), readSize);
-                if (file.gcount() <= 0) break;
-                
-                res.write(std::string(buffer.get(), file.gcount()));
-                totalSent += file.gcount();
-            }
-            
-            file.close();
-            return res;
-        } catch (const std::exception& e) {
-            file.close();
-            return crow::response(500, std::string("Download failed: ") + e.what());
-        }
-    });
-
-    // 启动服务器
-    app.port(18080)
-    .multithreaded()
-    .concurrency(16)
-    .run();
-
-    return 0;
-}

src/bck/pPowerManger/CMakeLists.txt

@@ -1,108 +0,0 @@
-#--------------------------------------------------------
-# The CMakeLists.txt for:                       pPowerManger
-# Author(s):                              
-#--------------------------------------------------------
-
-# Set System Specific Libraries
-if (${WIN32})
-  # Windows Libraries
-  SET(SYSTEM_LIBS
-     wsock32 )
-else (${WIN32})
-  # Linux and Apple Libraries
-  SET(SYSTEM_LIBS
-      m
-      pthread )
-endif (${WIN32})
-
-# Use local SQLite3 source
-SET(SQLITE_SRC
-  sqlit3/SQLite.cpp
-  sqlit3/sqlite3.c
-)
-
-SET(HTTP_SRC
-  httpserver/mongoose.c
-  httpserver/httpserver.cpp)
-
-SET(LOG_SRC
-  logc/loguru.cpp)
-
-SET(UDP_COMM_SRC
-  udpcomm/udpComm.cpp)
-
-SET(FSMLIB_SRC
-  fsm/PowerManagerFsm.cpp  
-  fsm/CruiseMode.cpp
-  fsm/DJMode.cpp
-  fsm/FaultState.cpp
-  fsm/FloatAdjust.cpp
-  fsm/FloatDown.cpp
-  fsm/HighSpeedMode.cpp
-  fsm/InitState.cpp
-  fsm/RemoteControl.cpp
-  fsm/ShoreBasedReady.cpp
-  fsm/StandbyState.cpp
-  fsm/SurfaceSurvey.cpp
-  fsm/UnderwaterSurvey.cpp
-  fsm/WaterBasedReady.cpp
-)
-
-SET(SRC
-  ${FSMLIB_SRC}
-  ${SQLITE_SRC}
-  ${HTTP_SRC}
-  ${UDP_COMM_SRC}
-  ${LOG_SRC}
-  PowerManger.cpp
-  PowerManger_Info.cpp
-  # udpComm.cpp
-  main.cpp
-  # SQLiteDB.cpp
-  driver.cpp
-  LowerCommManager.cpp
-  UpperCommManager.cpp
-  # loguru.cpp
-  upmsg/upmsg_definitions.cpp
-)
-
-ADD_EXECUTABLE(pPowerManger ${SRC})
-
-TARGET_INCLUDE_DIRECTORIES(pPowerManger PRIVATE sqlit3)
-
-TARGET_LINK_LIBRARIES(pPowerManger
-   ${MOOS_LIBRARIES}
-   apputil
-   mbutil
-   m
-   pthread
-   jsoncpp
-   ${SYSTEM_LIBS}
-   dl
-  )
-
-# Add SQLiteDB static library
-SET(UDPCOMM_SRC
-  udpComm.cpp
-)
-
-# SET(SQLITEDB_SRC
-#   SQLiteDB.cpp
-# )
-
-SET(DRIVER_SRC
-  driver.cpp)
-
-# SET(POWERMANGE_SRC
-#   PowerManger.cpp
-#   PowerManger_Info.cpp
-#   udpComm.cpp
-#   SQLiteDB.cpp
-#   driver.cpp
-#   PowerManagerFsm.cpp)
-
-# ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
-# ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
-# # ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
-# ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
-# ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})

src/bck/pPowerManger/LowerCommManager.cpp

@@ -1,929 +0,0 @@
-#include "LowerCommManager.h"
-#include "PowerManger.h"
-#include "driver.h"
-#include "udpcomm/udpComm.h"
-
-bool _ListenCB(void * pParam)
-{
-    LowerCommManager* pMe = (LowerCommManager* )pParam;
-    return pMe->listenThreadFunc();
-}
-
-LowerCommManager::LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost){
-    m_pm = pm;
-    m_udpComm = new udpComm();
-    m_port = myPort;
-    m_udpComm->ccuHost = cccHost;
-    m_udpComm->ccuPort = ccuPort;
-    m_udpComm->udpScoket = new XPCUdpSocket(m_port);
-
-    std::cout << MOOS::ConsoleColours::yellow() << "╔════════════════════════╗" << MOOS::ConsoleColours::reset() << std::endl;
-    std::cout << MOOS::ConsoleColours::yellow() << "║  [LOCAL PORT] " 
-              << MOOS::ConsoleColours::cyan() << m_port 
-              << MOOS::ConsoleColours::yellow() << std::setw(15) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
-              
-    std::cout << MOOS::ConsoleColours::yellow() << "║  [CCU HOST  ] " 
-              << MOOS::ConsoleColours::cyan() << m_udpComm->ccuHost 
-              << MOOS::ConsoleColours::yellow() << std::setw(8) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
-              
-    std::cout << MOOS::ConsoleColours::yellow() << "║  [CCU PORT  ] " 
-              << MOOS::ConsoleColours::cyan() << m_udpComm->ccuPort 
-              << MOOS::ConsoleColours::yellow() << std::setw(15) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
-    std::cout << MOOS::ConsoleColours::yellow() << "╚════════════════════════╝" << MOOS::ConsoleColours::reset() << std::endl;
-}
-
-LowerCommManager::~LowerCommManager(){
-    try {
-        stopListenThread();
-        if (m_udpComm) {
-            delete m_udpComm;
-            m_udpComm = nullptr;
-        }
-    } catch (...) {
-        cerr << "Error during cleanup" << endl;
-    }
-}
-bool LowerCommManager::initUdpComm(){
-    if (m_udpComm->udpScoket) {
-        try {
-            std::cout << MOOS::ConsoleColours::yellow() << "Attempting to bind UDP socket..." << MOOS::ConsoleColours::reset() << std::endl;
-            m_udpComm->udpScoket->vBindSocket();  // 可能会抛出 XPCException 或其他 std::exception
-            std::cout << MOOS::ConsoleColours::green() << "UDP bind succeeded!" << MOOS::ConsoleColours::reset() << std::endl;
-            LOG_F(INFO, "UDP bind succeeded!");
-        }
-        catch (const std::exception& e) {
-            std::cerr << MOOS::ConsoleColours::red()
-                      << "[UDP Bind Failed] Exception: " << e.what()
-                      << MOOS::ConsoleColours::reset() << std::endl;
-            LOG_F(ERROR, "UDP bind failed: %s", e.what());
-            return false;
-        }
-        catch (...) {
-            std::cerr << MOOS::ConsoleColours::red()
-                      << "[UDP Bind Failed] Unknown exception occurred!"
-                      << MOOS::ConsoleColours::reset() << std::endl;
-            LOG_F(ERROR, "Unknown exception occurred during UDP bind");
-            return false;
-        }
-    } else {
-        std::cerr << MOOS::ConsoleColours::red()
-                  << "[UDP Init Failed] udpSocket is null!"
-                  << MOOS::ConsoleColours::reset() << std::endl;
-        LOG_F(ERROR, "udpSocket is null!");
-        return false;
-    }
-    
-    return true;
-}
-void LowerCommManager::processPeriodicTasks() {
-    sendCcuCommand(m_pm->m_CcuColCmd);
-    m_pm->m_db->insertData(m_pm->m_CcuColCmd);
-    //延时5ms
-    usleep(5000);
-    if(m_pm->m_systemData->device_common_status.dis_hv_c1.isTimeout )
-    {
-        disHighVolBusCmd clr1{};
-        m_udpComm->sendDisSysCmd(clr1);
-        MOOSPause(200);
-    }
-    if(m_pm->m_systemData->device_common_status.dis_lv_c1.isTimeout )
-    {
-        disHighBVolBusCmd clr3{};
-        m_udpComm->sendDisSysCmd(clr3);
-        MOOSPause(200);
-    }
-    m_udpComm->clearMsgQueue();
-}
-void LowerCommManager::operate_hold()
-{
-    disHighVolBusCmd clr1{};
-    disHighAVolBusCmd clr2{};
-    disHighBVolBusCmd clr3{};
-    disLowBusCmd clr4{}; 
-    m_udpComm->sendDisSysCmd(clr1);
-    MOOSPause(200);
-    m_udpComm->sendDisSysCmd(clr2);
-    MOOSPause(200);
-    m_udpComm->sendDisSysCmd(clr3);
-    MOOSPause(200);
-    m_udpComm->sendDisSysCmd(clr4);
-}
-bool LowerCommManager::sendCcuCommand(const ccuColCmd cmd){
-    // m_pm->m_db->insertCcuSysCmd(cmd);
-    if(!m_udpComm->sendCcuColCmd(cmd))
-        cout << "send ccu command failed!" << endl;
-    return true;
-}
-
-bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){
-    //根据目标状态进行断路器操作
-    //a. 高压母线的断路器
-    disHighVolBusCmd a;
-    a.fuelCellCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fuelCellCircuitBreaker);
-    a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
-    a.dcDc5ModuleCircuitBreaker = getBreakerOption(cmd.bus1Breaker.dcDc5ModuleCircuitBreaker);
-    a.powerLithiumBatteryCircuitBreaker = getBreakerOption(cmd.bus1Breaker.powerLithiumBatteryCircuitBreaker);
-    a.propulsionMotorCircuitBreaker = getBreakerOption(cmd.bus1Breaker.propulsionMotorCircuitBreaker);
-    a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
-    a.tyzReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.tyzReservedCircuitBreaker);
-    a.sternFTDevice45CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternFTDevice45CircuitBreaker);
-    a.sternRudderSwitch1CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch1CircuitBreaker);
-    a.sternRudderSwitch2CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch2CircuitBreaker);
-    a.reservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.reservedCircuitBreaker);
-    a.fbReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fbReservedCircuitBreaker);
-    a.dcdc5Module = getBreakerOption(cmd.bus1Breaker.dcdcmodel);
-    a.coolingSystem = getBreakerOption(cmd.bus1Breaker.coolingSystem);
-
-    m_udpComm->sendDisSysCmd(a);
-    m_pm->m_db->insertData(a);
-    usleep(5000);
-    //b. 高压汇流排A断路器
-    disHighAVolBusCmd b;
-    b.bowFTDevice123CircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowFTDevice123CircuitBreaker);
-    b.actuatorCircuitBreaker = getBreakerOption(cmd.bus2Breaker.actuatorCircuitBreaker);
-    b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
-    b.xczCircuitBreaker = getBreakerOption(cmd.bus2Breaker.xczCircuitBreaker);
-    b.bowRudderControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowRudderControlBoxCircuitBreaker);
-    b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(cmd.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
-    m_udpComm->sendDisSysCmd(b);
-    m_pm->m_db->insertData(b);
-    usleep(5000);
-    //c. 低压主母线断路器
-    disHighBVolBusCmd c;
-
-    c.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55;
-    c.bowLowVoltageDistributionBoxCircuitBreaker = 0xAA;
-    c.unit4InstrumentDC48VCircuitBreaker = 0xAA;
-    c.dcC1DCDistributionPanelCircuitBreaker = 0xAA;
-    c.reservedCircuitBreaker1 = 0xAA;
-    c.reservedCircuitBreaker2 = 0xAA;
-    c.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA;
-
-    m_udpComm->sendDisSysCmd(c);
-    m_pm->m_db->insertData(c);
-    usleep(5000);
-    //d. 闭合低压汇流排断路器
-    disLowBusCmd d;
-    d.unit1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit1CircuitBreaker);
-    d.unit2CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit2CircuitBreaker);
-    d.unit3CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit3CircuitBreaker);
-    d.unit5CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit5CircuitBreaker);
-    d.bowPZDeviceCircuitBreaker = getBreakerOption(cmd.bus4Breaker.bowPZDeviceCircuitBreaker);
-    d.reservedCircuitBreaker1 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker1);
-    d.reservedCircuitBreaker2 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker2);
-    d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
-    m_udpComm->sendDisSysCmd(d);
-    m_pm->m_db->insertData(d);
-    usleep(5000);
-    return true;
-}
-
-
-void LowerCommManager::clearMsgQueue(){
-    m_udpComm->clearMsgQueue();
-}
-
-
-bool LowerCommManager::updatePoweSystemStates(){
-    // std::cout << "updatePoweSystemStates" << std::endl;
-  if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
-  {
-    double time;
-    m_udpComm->popMsgFormQueue(time,m_CcuCurrentState);
-    m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
-    //DEBUG
-    //写入文件
-    // std::ofstream outFile("ccuState.txt", std::ios::app);
-    // coutMsg(m_CcuCurrentState, outFile);
-    // coutMsg(m_CcuCurrentState,std::cout);
-    msg_CcuStateFbMsg_Update_time = time;
-  }
-  if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
-    m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
-    msg_disHighVolBusFbMsg_Update_time = time;
-
-    disBus1Breaker* pdis1=new disBus1Breaker;
-    (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
-    pdis1 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
-    delete pdis1;
-  }
-  if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState);
-    m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
-    msg_disHighAVolBusFbMsg_Update_time = time;
-
-    disBus2Breaker* pdis2=new disBus2Breaker;
-    (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
-    pdis2 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
-    delete pdis2;
-  }
-  if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
-  {
-    double time;
-    m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState);
-    m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
-    msg_disHighBVolBusFbMsg_Update_time = time;
-
-    disBus3Breaker* pdis3=new disBus3Breaker;
-    (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
-    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
-    (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
-    pdis3->paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
-    delete pdis3;
-  } 
-  if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
-  {
-    double time;
-    m_udpComm->popMsgFormQueue(time,m_disLowBusState);
-    m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
-    msg_disLowBusFbMsg_Update_time = time;
-
-    disBus4Breaker* pdis4=new disBus4Breaker;
-    (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
-    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
-    (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
-    pdis4 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
-    delete pdis4;
-  }
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
-  m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
-  return true;
-}
-
-bool LowerCommManager::listenThreadFunc()
-{
-    cout<<MOOS::ConsoleColours::green()<< "LowerCommManager::listenThreadFunc" << MOOS::ConsoleColours::reset() << endl;
-    unsigned char Buff[1024];
-    while(!m_ListenThread.IsQuitRequested())
-    {
-        try
-        {
-            int nRead = m_udpComm->udpScoket->iRecieveMessage(Buff, sizeof(Buff));
-            cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
-            if(nRead > 0)
-            {
-                try {
-                    if(!m_udpComm->pushMsgToQueue(Buff))
-                    {
-                        for(int i=0; i<m_udpComm->sError.size(); i++)
-                        {
-                            cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
-                        }
-                    }
-                    //更新当前状态
-                    if(!updatePoweSystemStates())
-                    {
-                        std::cerr << "Error updating power system states" << std::endl;
-                    }
-                }
-                catch(const std::exception& e) {
-                    cerr << "Error processing message: " << e.what() << endl;
-                }
-            }
-            
-            // 打印通信错误信息
-            if(!m_udpComm->sError.empty())
-            {
-                for(int i=0; i<m_udpComm->sError.size(); i++)
-                {
-                    cout<<MOOS::ConsoleColours::red() << m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
-                }
-                m_udpComm->sError.clear();
-            }
-        }
-        catch(const XPCException& e)
-        {
-            cerr << "XPCException in listenThreadFunc" << endl;
-            // 短暂休眠后继续尝试
-            MOOSPause(100);
-        }
-        catch(const std::exception& e)
-        {
-            cerr << "Exception in listenThreadFunc: " << e.what() << endl;
-            MOOSPause(100);
-        }
-        catch(...)
-        {
-            cerr << "Unknown exception in listenThreadFunc" << endl;
-            MOOSPause(100);
-        }
-    }
-    return true;
-}
-
-void LowerCommManager::startListenThread()
-{
-    if(!m_ListenThread.IsThreadRunning())
-    {
-        m_ListenThread.Initialise(_ListenCB,this);
-        m_ListenThread.Start();
-        std::cout << "LowerCommManager::startListenThread" << std::endl;
-    }
-}
-
-void LowerCommManager::stopListenThread()
-{
-    if(m_ListenThread.IsThreadRunning())
-    {
-        m_ListenThread.Stop();
-        std::cout << "LowerCommManager::stopListenThread" << std::endl;
-    }
-}
-
-char LowerCommManager::getBreakerOption(char cmd)
-{
-    if(cmd ==1)
-        return 0x55;
-    else if(cmd ==0)
-        return 0xAA;
-    else 
-        return 0x00;
-}
-
-void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
-    os << std::hex << std::setfill('0') << std::uppercase;
-
-    os << "起始符1 (start1): 0x" << std::setw(2) << static_cast<int>(p.header.start1) << "\n";
-    os << "起始符2 (start2): 0x" << std::setw(2) << static_cast<int>(p.header.start2) << "\n";
-    os << "标识符 (identifier): 0x" << std::setw(4) << p.header.id << "\n";
-    os << std::dec << "数据长度 (length): " << p.header.length << "\n";
-
-
-    os << "运行模式 (fc_mode): 0x" << std::hex << std::setw(2) << static_cast<int>(p.data.fc_mode) << "\n";
-    os << "燃料电池状态 (fc_status): 0x" << std::setw(2) << static_cast<int>(p.data.fc_status) << "\n";
-    os << "故障等级 (fc_fault_level): 0x" << std::setw(2) << static_cast<int>(p.data.fc_fault_level) << "\n";
-
-    os << std::dec;
-    os << "输出功率限制 (output_power_limit): " << p.data.output_power_limit << " W\n";
-    os << "累计发电时间 (total_generation_time): " << p.data.total_generation_time * 0.1 << " 小时\n";
-    os << "发电总功率 (total_generation_power): " << p.data.total_generation_power << " W\n";
-    os << "一级故障字 (fault_level_1): 0x" << std::hex << p.data.fault_level_1 << "\n";
-    os << "二级故障字 (fault_level_2): 0x" << p.data.fault_level_2 << "\n";
-    os << "三级故障字 (fault_level_3): 0x" << p.data.fault_level_3 << "\n";
-    os << "四级故障字 (fault_level_4): 0x" << p.data.fault_level_4 << "\n";
-
-    os << std::dec;
-    os << "储氢剩余容量 (hydrogen_capacity): " << static_cast<int>(p.data.hydrogen_capacity) << "%\n";
-    os << "液氧剩余容量 (liquid_oxygen_capacity): " << static_cast<int>(p.data.liquid_oxygen_capacity) << "%\n";
-    os << "钯膜最高温度 (palladium_temp): " << p.data.palladium_temp << " ℃\n";
-    os << "主水路压力 (main_pipe_pressure): " << p.data.main_pipe_pressure * 0.01 << " kPa\n";
-    os << "辅水路压力 (aux_pipe_pressure): " << p.data.aux_pipe_pressure * 0.01 << " kPa\n";
-
-    os << "舱室压力1 (cabin_pressure1): " << p.data.cabin_pressure1 * 0.01 << " kPa\n";
-    os << "舱室压力2 (cabin_pressure2): " << p.data.cabin_pressure2 * 0.01 << " kPa\n";
-    os << "舱室温度1 (cabin_temp1): " << p.data.cabin_temp1 * 0.01 << " ℃\n";
-    os << "舱室温度2 (cabin_temp2): " << p.data.cabin_temp2 * 0.01 << " ℃\n";
-    os << "舱室湿度1 (cabin_humidity1): " << p.data.cabin_humidity1 * 0.01 << " %RH\n";
-    os << "舱室湿度2 (cabin_humidity2): " << p.data.cabin_humidity2 * 0.01 << " %RH\n";
-
-    os << "火焰探测器1状态 (flame_detector1): 0x" << std::hex << static_cast<int>(p.data.flame_detector1) << "\n";
-    os << "火焰探测器2状态 (flame_detector2): 0x" << static_cast<int>(p.data.flame_detector2) << "\n";
-
-    os << std::dec;
-    os << "氢气浓度1 (h2_concentration1): " << p.data.h2_concentration1 * 0.01 << "% LEL\n";
-    os << "氢气浓度2 (h2_concentration2): " << p.data.h2_concentration2 * 0.01 << "% LEL\n";
-    os << "氢气浓度3 (h2_concentration3): " << p.data.h2_concentration3 * 0.01 << "% LEL\n";
-    os << "氧气浓度1 (o2_concentration1): " << p.data.o2_concentration1 * 0.01 << "% LEL\n";
-    os << "氧气浓度2 (o2_concentration2): " << p.data.o2_concentration2 * 0.01 << "% LEL\n";
-    os << "甲醇浓度1 (ch3oh_concentration1): " << p.data.ch3oh_concentration1 * 0.01 << "% LEL\n";
-    os << "甲醇浓度2 (ch3oh_concentration2): " << p.data.ch3oh_concentration2 * 0.01 << "% LEL\n";
-
-    for (int i = 0; i < 10; ++i)
-        os << "保留字段 reserved1[" << i << "]: 0x" << std::hex << p.data.reserved1[i] << "\n";
-
-    os << "仪表舱 氧气浓度 (cabin_ox_concentration): " << p.data.cabin_ox_concentration * 0.1 << "%\n";
-    os << "仪表舱 温度 (cabin_temperature): " << static_cast<int16_t> (p.data.cabin_temperature) * 0.1 << "°C\n";
-    os << "仪表舱 湿度 (cabin_humidity): " << p.data.cabin_humidity * 0.1 << "% RH\n";
-    os << "仪表舱 大气压 (cabin_pressure): " << p.data.cabin_pressure * 0.2 << " kPa\n";
-
-    os << "动力舱 氧气浓度 (power_cabin_ox_concentration): " << p.data.power_cabin_ox_concentration * 0.1 << "%\n";
-    os << "动力舱 温度 (power_cabin_temperature): " << static_cast<int16_t> (p.data.power_cabin_temperature) * 0.1 << "°C\n";
-    os << "动力舱 湿度 (power_cabin_humidity): " << p.data.power_cabin_humidity * 0.1 << "% RH\n";
-    os << "动力舱 大气压 (power_cabin_pressure): " << p.data.power_cabin_pressure * 0.2 << " kPa\n";
-    
-    for (int i = 0; i < 6; ++i)
-        os << "动力电池报警标志 dyn_alarm_flag[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.dyn_alarm_flag[i]) << "\n";
-    for (int i = 0; i < 6; ++i)
-        os << "仪表电池报警标志 ins_alarm_flag[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.ins_alarm_flag[i]) << "\n";
-
-
-    os << "仪表正极/充电继电器状态 (ins_relay_status1): 0x" << std::hex << static_cast<int>(p.data.ins_relay_status1) << "\n";
-    os << "仪表预充/负极继电器状态 (ins_relay_status2): 0x" << static_cast<int>(p.data.ins_relay_status2) << "\n";
-    os << "动力正极/充电继电器状态 (dyn_relay_status1): 0x" << static_cast<int>(p.data.dyn_relay_status1) << "\n";
-    os << "动力预充/负极继电器状态 (dyn_relay_status2): 0x" << static_cast<int>(p.data.dyn_relay_status2) << "\n";
-
-    os << std::dec;
-    os << "仪表最大放电功率 (ins_max_discharge_power): " << p.data.ins_max_discharge_power * 0.05 << " kW\n";
-    os << "动力最大放电功率 (dyn_max_discharge_power): " << p.data.dyn_max_discharge_power * 0.05 << " kW\n";
-
-    os << "仪表SOC (ins_soc): " << static_cast<int>(p.data.ins_soc) << "%\n";
-    os << "动力SOC (dyn_soc): " << static_cast<int>(p.data.dyn_soc) << "%\n";
-
-    os << "仪表电池总能量 (ins_total_energy): " << p.data.ins_total_energy * 0.1 << " kWh\n";
-    os << "动力电池总能量 (dyn_total_energy): " << p.data.dyn_total_energy * 0.1 << " kWh\n";
-
-    os << "仪表输入功率 (ins_power_input): " << p.data.ins_power_input * 0.1 << " kW\n";
-    os << "动力输入功率 (dyn_power_input): " << p.data.dyn_power_input * 0.1 << " kW\n";
-
-    os << "仪表充电状态 (ins_charge_status): 0x" << std::hex << static_cast<int>(p.data.ins_charge_status) << "\n";
-    os << "动力充电状态 (dyn_charge_status): 0x" << static_cast<int>(p.data.dyn_charge_status) << "\n";
-
-    os << std::dec;
-    os << "仪表LINK电压: " << p.data.ins_voltage_link * 0.01 << " V\n";
-    os << "仪表PACK电压: " << p.data.ins_voltage_pack * 0.01 << " V\n";
-    os << "仪表电流: " << static_cast<int16_t> (p.data.ins_current) * 0.05 << " A\n";
-    os << "仪表正端绝缘电阻: " << p.data.ins_resistance_pos << " kΩ\n";
-    os << "仪表负端绝缘电阻: " << p.data.ins_resistance_neg << " kΩ\n";
-    os << "动力LINK电压: " << p.data.dyn_voltage_link * 0.01 << " V\n";
-    os << "动力PACK电压: " << p.data.dyn_voltage_pack * 0.01 << " V\n";
-    os << "动力电流: " << static_cast<int16_t> (p.data.dyn_current) * 0.05 << " A\n";
-    os << "动力正端绝缘电阻: " << p.data.dyn_resistance_pos << " kΩ\n";
-    os << "动力负端绝缘电阻: " << p.data.dyn_resistance_neg << " kΩ\n";
-
-    os << "仪表紧急状态 (ins_emergency_status): 0x" << std::hex << static_cast<int>(p.data.ins_emergency_status) << "\n";
-    os << "动力紧急状态 (dyn_emergency_status): 0x" << static_cast<int>(p.data.dyn_emergency_status) << "\n";
-
-    for (int i = 0; i < 2; ++i)
-        os << "保留字段 reserved2[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.reserved2[i]) << "\n";
-    for (int i = 0; i < 6; ++i)
-        os << "SOC门限值 ins_soc_threshold" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold1) << "\n";
-    for (int i = 0; i < 4; ++i)
-        os << "功率限制 ins_power_limit" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_power_limit1) << "\n";
-
-    os << "设备在线状态1 (device_online_flag1): 0x" << std::hex << p.data.device_online_flag1 << "\n";
-    os << "设备在线状态2 (device_online_flag2): 0x" << p.data.device_online_flag2 << "\n";
-
-    // os << "保留字段 reserved3: 0x" << p.data.reserved1 << "\n";
-    os << "主机心跳 (reserved4): 0x" << p.data.heartbeat << "\n";
-    os << "校验和 (checksum): 0x" << p.checkCode << "\n";
-
-    os << std::dec;
-}
-//================================================================================================================
-// 高电压母线断路器操作函数
-bool LowerCommManager::operate_HV_fuelCellCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_fuelCellCircuit_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.fuelCellCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_powerLithiumBattery_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_powerLithiumBattery_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.powerLithiumBatteryCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_propulsionMotor_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_propulsionMotor_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.propulsionMotorCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_lithiumBatteryMeter_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_lithiumBatteryMeter_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_dcDc5Module_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_dcDc5Module_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.dcDc5ModuleCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_bowHighVoltageBox_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_bowHighVoltageBox_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_sternFt45_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_sternFt45_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.sternFTDevice45CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_sternRudder1_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_sternRudder1_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.sternRudderSwitch1CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_sternRudder2_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_sternRudder2_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.sternRudderSwitch2CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_fbReserved_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_fbReserved_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.fbReservedCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_tyzReserved_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_tyzReserved_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.tyzReservedCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HV_reserved_Breaker(char opt){
-    return operateBreakerGeneric<disHighVolBusCmd, char>(
-        "HV_reserved_Breaker",
-        opt,
-        [&](disHighVolBusCmd& c){ c.reservedCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker; }
-    );
-}
-// bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt){
-//     return operateBreakerGeneric<disHighVolBusCmd, char>(
-//         "HV_dcDc5_Breaker",
-//         opt,
-//         [&](disHighVolBusCmd& c){ c.dcdc5Module = getBreakerOption(opt); },
-//         [&](){ return m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02); }
-//     );
-// }
-bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt)
-{
-    disHighVolBusCmd cmd{};                           // 默认全零
-    double t0 = MOOSTime();
-    bool ok = false;
-    string name = "DCDC Module";
-    LOG_F(INFO, "operate %s: opt=%d", name, opt);
-
-    cmd.dcdc5Module = getBreakerOption(opt);
-
-    m_udpComm->sendDisSysCmd(cmd);
-
-    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
-    ok = m_pm->m_systemData->m_dcdcStatus.workingStatus;
-
-    MOOSPause(100);
-    while ( !ok ) {
-        if( m_pm->m_systemData->m_dcdcStatus.workingStatus )
-        {
-            ok = true;
-            break;
-        }
-        if (!m_udpComm->sendDisSysCmd(cmd)) {
-            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
-            ok =  false;
-            break;
-        }
-        if (MOOSTime() > t0 + 6) {
-            LOG_F(ERROR, "operate %s: timeout", name);
-            ok =  false;
-            break;
-        }
-        MOOSPause(200);
-    }
-    //继电器复位
-    disHighVolBusCmd clr{}; 
-    for (int i = 0; i < 3; ++i)
-    {
-        m_udpComm->sendDisSysCmd(clr);
-        MOOSPause(200);
-    }
-    return ok;
-}
-
-// bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt){
-//     return operateBreakerGeneric<disHighVolBusCmd, char>(
-//         "HV_coolingSystem_Breaker",
-//         opt,
-//         [&](disHighVolBusCmd& c){ c.coolingSystem = getBreakerOption(opt); },
-//         [&](){ return (m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x20) ? 0x55 : 0xAA;  }
-//     );
-// }
-bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt)
-{
-    disHighVolBusCmd cmd{};                           // 默认全零
-    double t0 = MOOSTime();
-    bool ok = false;
-    string name = "CoolingSystem";
-    LOG_F(INFO, "operate %s: opt=%d", name, opt);
-
-    cmd.coolingSystem = getBreakerOption(opt);
-
-    m_udpComm->sendDisSysCmd(cmd);
-
-    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
-    ok = m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running;
-
-    MOOSPause(100);
-    while ( !ok ) {
-        if( (m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running) )
-        {
-            ok = true;
-            break;
-        }
-        if (!m_udpComm->sendDisSysCmd(cmd)) {
-            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
-            ok =  false;
-            break;
-        }
-        if (MOOSTime() > t0 + 6) {
-            LOG_F(ERROR, "operate %s: timeout", name);
-            ok =  false;
-            break;
-        }
-        MOOSPause(200);
-    }
-    //继电器复位
-    disHighVolBusCmd clr{}; 
-    for (int i = 0; i < 3; ++i)
-    {
-        m_udpComm->sendDisSysCmd(clr);
-        MOOSPause(200);
-    }
-    return ok;
-}
-
-// 高压汇流排断路器操作函数
-bool LowerCommManager::operate_HVA_bowFTDevice123Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_bowFTDevice123Circuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.bowFTDevice123CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HVA_actuatorCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_actuatorCircuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.actuatorCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_mastSteeringGearControlBoxCircuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HVA_xczCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_xczCircuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.xczCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_bowRudderControlBoxCircuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.bowRudderControlBoxCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disHighAVolBusCmd, char>(
-        "HVA_openWaterCoverStartCylinderCircuit_Breaker",
-        opt,
-        [&](disHighAVolBusCmd& c){ c.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker; }
-    );
-}
-
-// 仪表汇流排断路器操作函数
-
-bool LowerCommManager::operate_LVA_unit1Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_unit1Circuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.unit1CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LVA_unit2Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_unit2Circuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.unit2CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LVA_unit3Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_unit3Circuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.unit3CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LVA_unit5Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_unit5Circuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.unit5CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LVA_bowPZDeviceCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_bowPZDeviceCircuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.bowPZDeviceCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LVA_reservedCircuit1_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_reservedCircuit1_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1; }
-    );
-}
-bool LowerCommManager::operate_LVA_reservedCircuit2_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_reservedCircuit2_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2; }
-    );
-}
-bool LowerCommManager::operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowBusCmd, char>(
-        "LVA_mergencyLithiumBatteryGroup1Circuit_Breaker",
-        opt,
-        [&](disLowBusCmd& c){ c.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker; }
-    );
-}
-
-// 仪表母线断路器操作函数
-bool LowerCommManager::operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "lithiumBatteryGroupInstrumentCircuitBreaker",
-        opt,
-        [&](disLowMainBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "bowLowVoltageDistributionBoxCircuitBreaker",
-        opt,
-        [&](disLowMainBusCmd& c){ c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LV_unit4Dc48V_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "unit4InstrumentDC48VCircuitBreaker",
-        opt,
-        [&](disLowMainBusCmd& c){ c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LV_dcC1Panel_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "dcC1DCDistributionPanelCircuitBreaker",
-        opt,
-        [&](disLowMainBusCmd& c){ c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker; }
-    );
-}
-bool LowerCommManager::operate_LV_reservedCircuit1_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "reservedCircuitBreaker1",
-        opt,
-        [&](disLowMainBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1; }
-    );
-}
-bool LowerCommManager::operate_LV_reservedCircuit2_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "reservedCircuitBreaker2",
-        opt,
-        [&](disLowMainBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2; }
-    );
-}
-bool LowerCommManager::operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt){
-    return operateBreakerGeneric<disLowMainBusCmd, char>(
-        "emergencyLithiumBatteryGroup2CircuitBreaker",
-        opt,
-        [&](disLowMainBusCmd& c){ c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(opt); },
-        [&](){ return m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker; }
-    );
-}
-
-// 通用模板
-template<typename CmdT, typename StateT>
-bool LowerCommManager::operateBreakerGeneric(
-    char const* name,
-    char opt,
-    std::function<void(CmdT&)>      fillCmd,    // 填 cmd 对应字段
-    std::function<StateT()>         readState   // 读 pmCurrentState 对应字段
-) {
-    CmdT cmd{};                           // 默认全零
-    double t0 = MOOSTime();
-    bool ok = false;
-    LOG_F(INFO, "operate %s: opt=%d", name, opt);
-
-    // 第一次发包
-    fillCmd(cmd);
-    m_udpComm->sendDisSysCmd(cmd);
-    MOOSPause(100);
-    while ( !ok ) {
-        if( readState() == getBreakerOption(opt) )
-        {
-            ok = true;
-            break;
-        }
-        if (!m_udpComm->sendDisSysCmd(cmd)) {
-            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
-            ok =  false;
-            break;
-        }
-        if (MOOSTime() > t0 + 6) {
-            LOG_F(ERROR, "operate %s: timeout", name);
-            ok =  false;
-            break;
-        }
-        MOOSPause(200);
-    }
-    //继电器复位
-    CmdT clr{}; 
-    for (int i = 0; i < 3; ++i) 
-    {
-        m_udpComm->sendDisSysCmd(clr);
-        MOOSPause(200);
-    }
-    return ok;
-}

src/bck/pPowerManger/LowerCommManager.h

@@ -1,128 +0,0 @@
-#ifndef LOWER_COMM_MANAGER_H
-#define LOWER_COMM_MANAGER_H
-#define UNIX
-
-#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
-#include "MOOS/libMOOS/Utils/MOOSThread.h"
-#include "MOOS/libMOOS/Utils/MOOSLock.h"
-#include "../udpcomm/ccuUdpMsg.h"
-#include "pmSysvariable.h"
-#include <queue>
-#include <map>
-#include <functional>
-#include <atomic>
-#include <vector>
-#include "udpcomm/udpComm.h"
-#include <functional>
-
-class PowerManger; // 前向声明
-
-class LowerCommManager {
-public:
-    LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost);
-    ~LowerCommManager();
-
-    //processPeriodicTasks
-    void processPeriodicTasks();
-    //clearMsgQueue
-    void clearMsgQueue();
-    
-public:
-    // 初始化UDP通信
-    bool initUdpComm();
-
-    // 更新设备状态
-    bool updatePoweSystemStates();
-    //================================断路器操作函数=======================================
-    template<typename CmdT, typename StateT>
-    bool operateBreakerGeneric(
-        char const* name,
-        char opt,
-        std::function<void(CmdT&)>      fillCmd,    // 填 cmd 对应字段
-        std::function<StateT()>         readState   // 读 pmCurrentState 对应字段
-    );
-    // 高电压母线
-    bool operate_HV_fuelCellCircuit_Breaker(char opt);  
-    bool operate_HV_powerLithiumBattery_Breaker(char opt);
-    bool operate_HV_propulsionMotor_Breaker(char opt);  
-    bool operate_HV_lithiumBatteryMeter_Breaker(char opt);
-    bool operate_HV_dcDc5Module_Breaker(char opt);
-    bool operate_HV_bowHighVoltageBox_Breaker(char opt);
-    bool operate_HV_sternFt45_Breaker(char opt);
-    bool operate_HV_sternRudder1_Breaker(char opt);
-    bool operate_HV_sternRudder2_Breaker(char opt);
-    bool operate_HV_fbReserved_Breaker(char opt);
-    bool operate_HV_tyzReserved_Breaker(char opt);
-    bool operate_HV_reserved_Breaker(char opt);
-    bool operate_HV_dcDc5_Breaker(char opt);
-    bool operate_HV_coolingSystem_Breaker(char opt);
-    // 高压汇流排
-    bool operate_HVA_bowFTDevice123Circuit_Breaker(char opt);
-    bool operate_HVA_actuatorCircuit_Breaker(char opt);
-    bool operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt);
-    bool operate_HVA_xczCircuit_Breaker(char opt);
-    bool operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt);
-    bool operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt);
-    // 仪表母线
-    bool operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt);
-    bool operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt);
-    bool operate_LV_unit4Dc48V_Breaker(char opt);
-    bool operate_LV_dcC1Panel_Breaker(char opt);
-    bool operate_LV_reservedCircuit1_Breaker(char opt);
-    bool operate_LV_reservedCircuit2_Breaker(char opt);
-    bool operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt);
-    // 仪表汇流排
-    bool operate_LVA_unit1Circuit_Breaker(char opt);
-    bool operate_LVA_unit2Circuit_Breaker(char opt);
-    bool operate_LVA_unit3Circuit_Breaker(char opt);
-    bool operate_LVA_unit5Circuit_Breaker(char opt);
-    bool operate_LVA_bowPZDeviceCircuit_Breaker(char opt);
-    bool operate_LVA_reservedCircuit1_Breaker(char opt);
-    bool operate_LVA_reservedCircuit2_Breaker(char opt);
-    bool operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt);
-
-    //保持指令
-    void operate_hold();
-    //================================复合管控器操作函数====================================
-    // 发送CCU控制命令
-    bool sendCcuCommand(const ccuColCmd cmd);
-    bool sendDisSysCommand(const disSysBreakerList& cmd); //已废弃，不同时操作多个继电器设备
-        
-    // 启动/停止监听线程
-    void startListenThread();
-    void stopListenThread();
-    void coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os = std::cout);
-
-    //转换函数
-    char getBreakerOption(char cmd);
-
-    // 配电和CCU的反馈状态
-    msg_CcuStateFbMsg       m_CcuCurrentState;
-    msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
-    msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
-    msg_disLowMainBusFbMsg  m_disHighBVolBusCurrentState;
-    msg_disLowBusFbMsg      m_disLowBusState;
-    // 配电和CCU的反馈状态时间戳
-    double msg_CcuStateFbMsg_Update_time;
-    // double msg_CcuSetParmFbMsg_Update_time;
-    double msg_disHighVolBusFbMsg_Update_time;
-    double msg_disHighAVolBusFbMsg_Update_time;
-    double msg_disHighBVolBusFbMsg_Update_time;
-    double msg_disLowBusFbMsg_Update_time;
-public:
-    long m_port;
-    long m_ccuPort;
-    std::string m_ccuHost;
-    std::string m_host;
-
-    PowerManger* m_pm;
-    udpComm* m_udpComm;
-
-    CMOOSThread m_ListenThread;
-    int m_connectState;
-    
-    // UDP监听线程函数
-    bool listenThreadFunc();
-};
-
-#endif // LOWER_COMM_MANAGER_H

src/bck/pPowerManger/PowerManger.cpp

@@ -1,403 +0,0 @@
-/************************************************************/
-/*    NAME:                                               */
-/*    ORGN: MIT, Cambridge MA                               */
-/*    FILE: PowerManger.cpp                                        */
-/*    DATE: December 29th, 1963                             */
-/************************************************************/
-
-#include <iterator>
-#include "MBUtils.h"
-#include "ACTable.h"
-#include "PowerManger.h"
-#include "logc/loguru.hpp"
-#include <memory>
-
-using namespace std;
-
-
-bool _FsmCB(void * pParam)
-{
-    PowerManger* pMe = (PowerManger* )pParam;
-    return pMe->FsmLoop();
-}
-
-bool _CommCB(void * pParam)
-{
-    PowerManger* pMe = (PowerManger* )pParam;
-    return pMe->commLoop();
-}
-
-//---------------------------------------------------------
-// Constructor()
-
-PowerManger::PowerManger()
-{
-  workCondition = 0;
-  currentMod = 0;
-  powerState = 0;
-  faultLevel = 0;
-  soc = 0;
-  sustainableTime = 0;
-  m_faultNum = 0;
-  m_ticker = 0;
-  m_leakage = 0;
-  m_thrustRpm = 0;
-  m_thrustEnable = 0;
-  faultCode.clear();
-
-  m_skew = 10;
-
-  m_pmCurrentState = {};
-  m_currentDisBreakerState = {};
-  m_targetDisBreakerState = {};
-  m_currentDriverState = {};
-  m_MSDriverCmd = {};
-  m_subDisSysCmd = {};
-  m_subDisSysState = {};
-  m_subDisSysFault = {};
-  //初始化控制指令
-  initControlCmd();
-
-  //初始化下位机通信
-  m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
-  m_lowerCommManager->initUdpComm();
-  m_lowerCommManager->startListenThread();
-
-  //初始化上位机通信
-  m_upperCommManager = new UpperCommManager(this);
-
-  //初始化数据库
-  m_db = new SQLite("power_data.db");
-  m_db->createTable();
-
-  //初始化系统数据
-  m_systemData = new SystemData();
-
-  //初始化http服务器
-  m_httpServer = new HttpServer(8090);
-  m_httpServer->setPowerManger(this);
-  m_httpServer->setLowerCommManager(m_lowerCommManager);
-  m_httpServer->setSystemData(m_systemData);
-  m_httpServer->start();
-}
-
-//---------------------------------------------------------
-// Destructor
-
-PowerManger::~PowerManger()
-{
-  m_commThread.Stop();
-  delete m_db;
-  delete m_lowerCommManager;
-  delete m_upperCommManager;
-  delete m_systemData;
-  delete m_httpServer;
-}
-
-//---------------------------------------------------------
-// Procedure: OnNewMail()
-
-bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
-{
-  AppCastingMOOSApp::OnNewMail(NewMail);
-
-  MOOSMSG_LIST::iterator p;
-  for(p=NewMail.begin(); p!=NewMail.end(); p++) 
-  {
-    CMOOSMsg &msg = *p;
-    string key    = msg.GetKey();
-    string strJson = msg.GetString();
-    double dfT;
-    msg.IsSkewed(m_curr_time, &dfT);
-    if(fabs(dfT) > m_skew)
-    {
-      LOG_F(INFO, "Message from %s at time %f is Skewed", msg.GetSource().c_str(), dfT);
-      return true;
-    }
-    //处理上位机发送的控制指令
-    if(!m_upperCommManager->processUpperMsg(key,strJson))
-    {
-      LOG_F(ERROR, "上位机消息处理错误: %s", key.c_str());
-    }
-    
-#if 0 // Keep these around just for template
-    string comm  = msg.GetCommunity();
-    double dval  = msg.GetDouble();
-    string sval  = msg.GetString(); 
-    string msrc  = msg.GetSource();
-    double mtime = msg.GetTime();
-    bool   mdbl  = msg.IsDouble();
-    bool   mstr  = msg.IsString();
-#endif
-
-     if(key == "FOO")
-       LOG_F(INFO, "Received FOO message");
-
-     else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
-       reportRunWarning("Unhandled Mail: " + key);
-   }
-	
-   return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: OnConnectToServer()
-
-bool PowerManger::OnConnectToServer()
-{
-   registerVariables();
-   return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: Iterate()
-//            happens AppTick times per second
-//固定为4Hz
-bool PowerManger::Iterate()
-{
-  AppCastingMOOSApp::Iterate();
-  // 触发定时任务
-  CycleTriggeredEvent cycleEvent;
-  PowerManagerFsm::dispatch(cycleEvent);
-  faultLevel = getFaultLevel();
-  m_systemData->updateCommonStatus();
-  // m_CcuColCmd.heartbeat
-  // if (m_ticker++ % 5 == 0)
-  // {
-  //   m_CcuColCmd.heartbeat++;
-  //   m_lowerCommManager->processPeriodicTasks();
-  //   m_upperCommManager->processPeriodicTasks();
-  // }
-  return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: OnStartUp()
-//            happens before connection is open
-
-bool PowerManger::OnStartUp()
-{
-  AppCastingMOOSApp::OnStartUp();
-
-  STRING_LIST sParams;
-  m_MissionReader.EnableVerbatimQuoting(false);
-  if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
-    reportConfigWarning("No config block found for " + GetAppName());
-
-  STRING_LIST::iterator p;
-  for(p=sParams.begin(); p!=sParams.end(); p++) {
-    string orig  = *p;
-    string line  = *p;
-    string param = tolower(biteStringX(line, '='));
-    string value = line;
-
-    bool handled = false;
-    if(param == "foo") {
-      handled = true;
-    }
-    else if(param == "bar") {
-      handled = true;
-    }
-
-    if(!handled)
-      reportUnhandledConfigWarning(orig);
-
-  }
-
-  registerVariables();	
-    
-  // 初始化状态机
-  PowerManagerFsm::init(this);
-  PowerManagerFsm::start();
-  InitEvent initEvent;
-  PowerManagerFsm::dispatch(initEvent);
-
-  //初始化通信线程
-  m_commThread.Initialise(_CommCB,this);
-  m_commThread.Start();
-  return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: registerVariables()
-
-void PowerManger::registerVariables()
-{
-  AppCastingMOOSApp::RegisterVariables();
-  // Register(DB_TO_PM_SUBDISSTATE, 0);
-
-  Register(DB_TO_PM_MSCMD, 0);
-  Register(DB_TO_PM_EQUIPMENTCMD, 0);
-  Register(m_upperCommManager->m_secdistStateMsg.key_fb,0);
-  Register(DB_TO_PM_MISSION,0);
-  Register(DB_TO_PM_DEEPTH,0);
-  Register(DB_TO_PM_SETOPCONDITION,0);
-  Register(DB_TO_PM_SETOPMODE,0);
-  Register(DB_TO_PM_SETPMSYS,0);
-  Register(DB_TO_PM_SETDEVSWITCH,0);
-  Register(DB_TO_PM_TASKSTOP,0);
-
-  Register(uDetect_xcVoltage_cmd::key,0);
-  Register(uDetect_zdpVoltage_cmd::key,0);
-  Register(uDevice_thruster_st::key,0);
-  // Register(uExternComm_setThrustSpeed_cmd::key,0);
-}
-
-
-//------------------------------------------------------------
-// Procedure: buildReport()
-
-bool PowerManger::buildReport() 
-{
-  m_msgs << "============================================" << endl;
-  m_msgs << "File:                                       " << endl;
-  m_msgs << "============================================" << endl;
-
-  ACTable actab(4);
-  actab << "Alpha | Bravo | Charlie | Delta";
-  actab.addHeaderLines();
-  actab << "one" << "two" << "three" << "four";
-  m_msgs << actab.getFormattedString();
-
-  return(true);
-}
-
-
-
-bool PowerManger::FsmLoop()
-{
-  return true;
-}
-
-int PowerManger::checkError()
-{
-  //TODO：更新协议
-  //1.检查复合管控器状态
-  // if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
-  // m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
-  // m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
-  // m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
-  // m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
-  // m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
-  // m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
-  return 0;
-}
-
-void PowerManger::printState(const std::string& stateName, const std::string& desp){
-  if (desp.find("故障") != string::npos) {
-    LOG_F(ERROR, "STATE %s -> %s", stateName.c_str(), desp.c_str());
-  } else {
-    LOG_F(INFO, "STATE %s -> %s", stateName.c_str(), desp.c_str());
-  }
-}
-
-
-void PowerManger::initControlCmd()
-{
-  //================初始化配电指令=============================
-  m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
-  m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
-  m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1; //仪表锂电池默认接入
-  m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
-  m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
-  m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入
-  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker = 0; 
-  m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker = 0;
-
-  m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker = 0;
-  m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker = 0;
-  m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker = 0;
-  m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker = 0;
-  m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker = 0;
-  m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker = 0;
-  //锂电池默认接入
-  m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1;
-  m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker = 1;
-  m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker = 1;
-  m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker = 1;
-  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1 = 0;
-  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2 = 0;
-  m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker = 1;
-
-  m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker = 1;
-  m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker = 1;
-  m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker = 1;
-  m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker = 1;
-  m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker = 1;
-  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1 = 0;
-  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2 = 0;
-  m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker = 1; //紧急锂电池默认接入
-  //================初始化复合管控=============================
-  m_CcuColCmd.fcmode = 0x00; //默认无效
-  m_CcuColCmd.fcuCmd = 0x00; //无效指令
-  m_CcuColCmd.fcuPowerEfficiency = 8; //默认为8kw
-  m_CcuColCmd.insChargeEnable = 0x30; //不允许充电
-  m_CcuColCmd.insBatCmd = 0x00; //无效指令
-  m_CcuColCmd.powerBatCmd = 0x00; //无效指令
-  m_CcuColCmd.powerBatEfficiency = 00; //默认为最大
-  m_CcuColCmd.heartbeat = 0;
-  m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
-  //================初始化上位机指令=========================
-  m_msCmd.modCMD = 99;
-  m_msCmd.powerCMD = 99;
-  m_msCmd.workCMD = 99;
-  //================初始化设备驱动指令========================
-
-}
-
-unsigned char PowerManger::getFaultLevel()
-{
-    unsigned char maxLevel = 0;
-    for (auto code : faultCode) {
-        // 提取0xabcd中的b位 (右移8位后取低4位)
-        unsigned char level = (code >> 8) & 0xF;
-        if (level > maxLevel) {
-            maxLevel = level;
-        }
-    }
-    return maxLevel;
-}
-
-bool PowerManger::commLoop()
-{
-    while(!m_commThread.IsQuitRequested())
-    {
-        m_CcuColCmd.heartbeat++;
-        m_lowerCommManager->processPeriodicTasks();
-        m_upperCommManager->processPeriodicTasks();
-        // 延时1秒
-        usleep(1000000);
-    }
-    return true;
-}
-
-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);
-}
-
-
-void PowerManger::pushDeviceCommand(DeviceSwitchCmd cmd) {
-    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
-    m_deviceCmdQuenue.push(cmd);
-}
-
-bool PowerManger::popDeviceCommand(DeviceSwitchCmd &cmd) {
-    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
-    if(m_deviceCmdQuenue.empty()) {
-        return false;
-    }
-    cmd = m_deviceCmdQuenue.front();
-    m_deviceCmdQuenue.pop();
-    return true;
-}
-
-bool PowerManger::isDeviceCmdEmpty() const {
-    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
-    return m_deviceCmdQuenue.empty();
-}

src/bck/pPowerManger/PowerManger.h

@@ -1,165 +0,0 @@
-/*
- * @Author: zhaojingkui 1553836110@qq.com
- * @Date: 2024-10-22 16:47:01
- * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2024-10-22 18:03:29
- * @FilePath: /H100PowerManger/src/pPowerManger/PowerManger.h
- * @Description:
- * 
- * Copyright (c) 2024 by ${git_name_email}, All Rights Reserved. 
- */
-/************************************************************/
-/*    NAME:                                               */
-/*    ORGN: MIT, Cambridge MA                               */
-/*    FILE: PowerManger.h                                          */
-/*    DATE: December 29th, 1963                             */
-/************************************************************/
-
-#ifndef PowerManger_HEADER
-#define PowerManger_HEADER
-#define UNIX
-#define JSON_USE_EXCEPTION 1
-
-#include <queue>
-#include "logc/loguru.hpp"
-#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
-#include "MOOS/libMOOS/Utils/MOOSThread.h"
-#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
-#include "MOOS/libMOOS/Utils/ConsoleColours.h"
-#include "../udpcomm/ccuUdpMsg.h"
-#include "json/json.h"
-#include "udpcomm/udpComm.h"
-#include "pmSysvariable.h"
-#include "fsm/PowerManagerFsm.hpp"
-#include "driver.h"
-#include "LowerCommManager.h"
-#include "UpperCommManager.h"
-#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 "127.0.0.0"
-#define MAX_UDP_PKT_SIZE 65535
-#define SKEW_TOLERANCE 5
-
-class PowerManger : public AppCastingMOOSApp
-{
- public:
-   PowerManger();
-   ~PowerManger();
- public:
-   bool FsmLoop();
-
- protected: // Standard MOOSApp functions to overload  
-   bool OnNewMail(MOOSMSG_LIST &NewMail);
-   bool Iterate();
-   bool OnConnectToServer();
-   bool OnStartUp();
-   bool buildReport();
-   void registerVariables();
-
-  public: 
-  void updateTime(){m_current_time = MOOSTime();}
-  unsigned char getFaultLevel();
-  //数据库
-  SQLite* m_db;
-  //http
-  HttpServer* m_httpServer;
-  //系统数据
-  SystemData* m_systemData;
-  /************************************************************/
-  /*       |<------------FEEDBACK--------<--                  */
-  /*       |                               |                  */
-  /*  IN-->+-------[STATE CONTROL]---------+--->OUT           */
-  /*                                                          */
-  /************************************************************/  
-  public:
-  //===========================IN============================================
-  DriverTable m_MSDriverCmd;
-  MSControlCmd m_msCmd;
-  //===========================OUT===========================================
-  DriverTable m_subDisSysCmd;
-  ccuColCmd m_CcuColCmd;
-  disSysBreakerList m_targetDisBreakerState;
-  //===========================FEEDBACK======================================
-  pmState m_pmCurrentState; //能源系统的当前状态(由下位机线程修改)
-  disSysBreakerList m_currentDisBreakerState; //配电断路器状态
-  DriverTable m_currentDriverState;
-  DriverTable m_subDisSysState;
-  DriverTable m_subDisSysFault;
-  int m_depth;
-  MissionState m_missionState;
-  //===========================STATE=========================================
-  unsigned char workCondition;
-  unsigned char currentMod;
-  unsigned char powerState;
-  unsigned char faultLevel;
-  vector<unsigned int> faultCode;
-
-  unsigned int soc;
-  unsigned int sustainableTime;
-  unsigned int  m_faultNum;
-  Driver m_driver; //设备表处理
-  unsigned char m_leakage;
-  std::set<unsigned int> m_faultCodes;
-  int m_thrustRpm;
-  int m_thrustEnable;
-  // std::set<unsigned int> m_disSysFaultCodes;
-  //============================Device Option================================
-  std::queue<DeviceSwitchCmd> m_deviceCmdQuenue;
-  mutable std::mutex m_deviceCmdMutex;
-  void pushDeviceCommand(DeviceSwitchCmd cmd);
-  bool popDeviceCommand(DeviceSwitchCmd &cmd);
-  bool isDeviceCmdEmpty() const;
-  //===========================CONFIG========================================
-  long          m_lPort;
-  unsigned int  m_nReceiveBufferSizeKB;
-  unsigned int  m_nSendBufferSizeKB;
-  double        m_current_time; 
-  unsigned int  m_ticker;
-  double m_skew;
-  int  connectState;
-  //=============================过程函数======================================
-  void initControlCmd();
-  
-  public:
-   CMOOSThread   m_commThread;
-   LowerCommManager* m_lowerCommManager;
-   UpperCommManager* m_upperCommManager;
-    
-  //  PowerManagerFsm m_fsm;
- 
-  public:
-  //===========================状态机接口=======================================
-  void printState(const std::string& stateName, const std::string& desp);
-  bool FSM_RUN_IS_OK = true;
-
-  //==================================================================================
-   bool commLoop();
-   int checkError();
-   
-   bool sendNotification(const std::string& key, const std::string& value) {
-       return Notify(key, value);
-   }
-   bool sendNotification(const std::string& key, double value) {
-       return Notify(key, value);
-   }
-   public:
-       double GetPublicAppFreq() { return GetAppFreq(); }
-       unsigned int GetPublicCommsFreq() { return GetCommsFreq(); }
-       double GetPublicAppStartTime() { return GetAppStartTime(); }
-       double GetPublicCPULoad() { return GetCPULoad(); }
-       double GetPublicTimeSinceIterate() { return GetTimeSinceIterate(); }
-       double GetPublicLastIterateTime() { return GetLastIterateTime(); }
-       int GetPublicIterateCount() { return GetIterateCount(); }
-       string GetServerHost() { return m_sServerHost; }
-       int GetServerPort() { return m_lServerPort; }       
-   public:
-   //故障注入
-   void injectFault(unsigned type,unsigned int faultCode);
-};
-
-#endif

src/bck/pPowerManger/PowerManger_Info.h

@@ -1,18 +0,0 @@
-/****************************************************************/
-/*   NAME:                                              */
-/*   ORGN: MIT, Cambridge MA                                    */
-/*   FILE: PowerManger_Info.h                                      */
-/*   DATE: Dececmber 29th, 1963                                 */
-/****************************************************************/
-
-#ifndef PowerManger_INFO_HEADER
-#define PowerManger_INFO_HEADER
-
-void showSynopsis();
-void showHelpAndExit();
-void showExampleConfigAndExit();
-void showInterfaceAndExit();
-void showReleaseInfoAndExit();
-
-#endif
-

src/bck/pPowerManger/UpperCommManager.cpp

@@ -1,242 +0,0 @@
-#include "UpperCommManager.h"
-#include "PowerManger.h"
-#include "driver.h"
-#include "fsm/PowerManagerFsm.hpp"
-
-UpperCommManager::UpperCommManager(PowerManger* pm) : 
-    m_pm(pm),
-    m_secdistStateMsg(),
-    m_setOpConditionMsg(),
-    m_depthMsg(),
-    m_taskStartMsg(),
-    m_equInsStateMsg(),
-    m_equStateMsg(),
-    m_setPMSysMsg(),
-    m_disSysStateMsg(),
-    m_currentStateMsg(),
-    m_pmStateMsg(),
-    m_fcsStateMsg(),
-    m_liBatStateMsg(),
-    m_setOpModeMsg(),
-    m_taskStopMsg(),
-    m_setDevSwitchMsg(),
-    m_sysStateMsg(),
-    m_msCmd(),
-    m_driver() {
-}
-DriverTable uDevice_secdistStateMsg::fault_state = {0};
-
-bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
-    if (key == m_sysStateMsg.key)
-    {
-        #ifdef _DEBUG
-        m_sysStateMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_msCmd = m_sysStateMsg.getMasterControlCmd(key, strJson);
-        MasterCommandEvent event;
-        PowerManagerFsm::dispatch(event);
-        return true;
-    }
-    // 设备状态处理
-    else if(key == m_equStateMsg.key_cmd)
-    {
-        #ifdef _DEBUG
-        m_equStateMsg_cmd_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_MSDriverCmd = m_equStateMsg.getEquipmentCmd(key, strJson);
-        vector<DriverCommand> devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson);
-        if (devCmdExt.empty()) 
-        {
-            LOG_F(WARNING, "控制指令为空");
-        }
-        else {
-            for (auto& cmd : devCmdExt) {
-                DevCmdExt event(cmd.id, cmd.cmd);
-                PowerManagerFsm::dispatch(event);
-            }
-        }
-        return true;
-    }
-    // 次级配电状态处理
-    else if(key == m_secdistStateMsg.key_fb) 
-    {
-       #ifdef _DEBUG
-       m_secdistStateMsg_fb_debug = std::make_pair(key, strJson);
-       #endif
-       m_secdistStateMsg.parseMsg(strJson, m_pm->m_subDisSysState);
-       //TODO:自动更新到设备状态 调试
-       //m_pm->m_subDisSysState = m_pm->m_deviceState;
-       return true;
-    }
-    // 深度获取
-    else if(key == m_depthMsg.key)
-    {
-        #ifdef _DEBUG
-        m_depthMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_depth = m_depthMsg.getDepth(key, strJson);
-        return true;
-    }
-    else if(key == m_taskStartMsg.key) 
-    {
-        #ifdef _DEBUG
-        m_taskStartMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_missionState = m_taskStartMsg.getMission(key, strJson);
-        TaskStartEvent event;
-        event.type = m_pm->m_missionState.type;
-        event.enableBowRudder = m_pm->m_missionState.enableBowRudder;
-        event.enableBuoyancyAdjustment = m_pm->m_missionState.enableBuoyancyAdjustment;
-        PowerManagerFsm::dispatch(event);
-        return true;
-    }
-    else if(key == m_setOpModeMsg.key) 
-    {
-        #ifdef _DEBUG
-        m_setOpModeMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_msCmd.modCMD = m_setOpModeMsg.getSetOpMode(key, strJson);
-        MasterCommandEvent event;
-        PowerManagerFsm::dispatch(event);
-        return true;
-    } else if(key == m_setOpConditionMsg.key) 
-    {
-        #ifdef _DEBUG
-        m_setOpConditionMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_msCmd.workCMD = m_setOpConditionMsg.getSetOpCondition(key, strJson);
-        MasterCommandEvent event;
-        PowerManagerFsm::dispatch(event);
-        return true;
-    } 
-    else if(key == m_setPMSysMsg.key)
-    {
-        #ifdef _DEBUG
-        m_setPMSysMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        m_pm->m_msCmd.powerCMD = m_setPMSysMsg.getSetPMSys(key, strJson);
-        MasterCommandEvent event;
-        PowerManagerFsm::dispatch(event);
-        return true;
-    }
-    else if(key == m_setDevSwitchMsg.key)
-    {
-        #ifdef _DEBUG
-        m_setDevSwitchMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        DeviceSwitchCmd cmd;
-        cmd = m_setDevSwitchMsg.getSetDevSwitch(key, strJson);
-        if (cmd.id < 0) {
-          LOG_F(WARNING, "parse device switch error:%s", strJson.c_str());
-        }
-        else 
-        {
-            DevCmdExt devCmdExt;
-            devCmdExt.id = cmd.id;
-            devCmdExt.cmd = cmd.cmd;
-            PowerManagerFsm::dispatch(devCmdExt);
-            LOG_F(INFO, "set dev switch success");
-            return true;
-        }
-    }
-    else if(key == m_taskStopMsg.key) 
-    {
-        #ifdef _DEBUG
-            m_taskStopMsg_st_debug = std::make_pair(key, strJson);
-        #endif
-        bool stop = m_taskStopMsg.getTaskStop(key, strJson);
-        if (stop) {
-            LOG_F(INFO, "task stop success");
-            return true;
-        }
-        else {
-            LOG_F(WARNING, "task stop error:%s", strJson.c_str());
-            return false;
-        }
-    }
-    else if(key == uDetect_xcVoltage_cmd::key)
-    {
-        uDetect_xcVoltage_cmd xcCmd;
-        xcCmd.xcHighVoltageAdd_int32 = 0;
-        xcCmd.xcLowVoltageAdd_int32 = 0;
-        xcCmd.fromJsonString(strJson);
-        SideSonarCmd sideSonarCmd;
-        sideSonarCmd.xcHighVoltageAdd = xcCmd.xcHighVoltageAdd_int32;
-        sideSonarCmd.xcLowVoltageAdd = xcCmd.xcLowVoltageAdd_int32;
-        PowerManagerFsm::dispatch(sideSonarCmd);
-        return true;
-    }
-    else if(key == uDetect_zdpVoltage_cmd::key)
-    {
-        uDetect_zdpVoltage_cmd zdpCmd;
-        zdpCmd.fromJsonString(strJson);
-
-        DevCmdExt devCmdExt;
-        devCmdExt.id = DeviceId::lowFreqSonar;
-        devCmdExt.cmd = zdpCmd.zdpVoltageAdd_int32;
-        PowerManagerFsm::dispatch(devCmdExt);
-        LOG_F(INFO, "set dev switch success");
-        return true;
-    } 
-    else if(key == uDevice_thruster_st::key)
-    {
-        uDevice_thruster_st thrusterSt;
-        thrusterSt.fromJsonString(strJson);
-        m_pm->m_thrustRpm = thrusterSt.rpm_int16;
-        if(thrusterSt.maxTorque_uint16 == 0)
-            m_pm->m_thrustEnable = 0;
-        else
-            m_pm->m_thrustEnable = 1;
-        return true;
-    };
-    LOG_F(WARNING, "Unknown key: %s", key.c_str());
-    return false;
-}
-
-void UpperCommManager::processPeriodicTasks() {
-    buildSystemReport();
-    std::string strJson;
-    //发送当前设备状态
-    strJson = m_equStateMsg.buildMsg(m_pm->m_currentDriverState);
-    m_pm->sendNotification(m_equStateMsg.key, strJson);
-    //发送次级配电指令 修改后的代码
-    strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd,m_pm->m_subDisSysState, m_pm->m_subDisSysFault);
-    m_pm->sendNotification(m_secdistStateMsg.key_cmd, strJson);
-    //发送仪表电状态
-    m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
-    #ifdef _DEBUG
-        m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
-        m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
-        m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
-        strJson = m_pm->m_driver.saveDriverTableToJson(&m_pm->m_subDisSysFault);
-        m_pm->sendNotification("uPower_subDisFault_st",strJson);
-    #endif
-}
-
-void UpperCommManager::buildSystemReport() {
-  m_pmStateMsg.state.workCondition = m_pm->workCondition;
-  m_pmStateMsg.state.currentMod = m_pm->currentMod;
-  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_leakage = m_pm->m_systemData->generateLeakageCode();
-  m_pmStateMsg.state.m_faultNum = m_pm->m_faultNum;
-
-  m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
-  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_systemData)));
-  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));
-
-  #ifdef _DEBUG
-  m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_fcsStateMsg_st_debug = std::make_pair(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_liBatStateMsg_st_debug = std::make_pair(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
-  m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
-  #endif
-}

src/bck/pPowerManger/UpperCommManager.h

@@ -1,118 +0,0 @@
-#ifndef UPPER_COMM_MANAGER_H
-#define UPPER_COMM_MANAGER_H
-
-#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
-#include "pmSysvariable.h"
-#include "driver.h"
-#include "json/json.h"
-#include <string>
-#include <vector>
-#include <map>
-#include "upmsg/uPower_equInsState.h"
-#include "upmsg/uDevice_secdistState.h"
-#include "upmsg/uPower_equState.h"
-#include "upmsg/uPower_disSysState.h"
-#include "upmsg/uPower_currentState_st.h"
-#include "upmsg/uPower_pmState.h"
-#include "upmsg/uPower_fcsState.h"
-#include "upmsg/uPower_liBatState.h"
-#include "upmsg/uDevice_depth.h"
-#include "upmsg/uExternComm_setOpCondition.h"
-#include "upmsg/uExternComm_setOpMode.h"
-#include "upmsg/uPlan_taskStart.h"
-#include "upmsg/uPlan_planStop.h"
-#include "upmsg/uExternComm_setDeviceSwitch.h"
-#include "upmsg/uExternComm_setPowerSystem.h"
-#include "upmsg/uPower_equState.h"
-#include "upmsg/uPower_sysState.h"
-#include "upmsg/uDetect_zdpVoltage_cmd.h"
-#include "upmsg/uDetect_xcVoltage_cmd.h"
-#include "upmsg/uDevice_thruster_st.h"
-
-#define _DEBUG
-
-using namespace std;
-#define VAR_TO_STR(var) #var
-//控制消息
-#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
-#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
-
-//决策消息
-#define DB_TO_PM_DEEPTH "uDevice_depth_st"
-// #define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
-#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
-
-//外部通信消息
-#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
-#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
-#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
-#define DB_TO_PM_SETDEVSWITCH "uExternComm_setDeviceSwitch_cmd"
-
-class PowerManger; // 前向声明
-
-class UpperCommManager {
-public:
-    UpperCommManager(PowerManger* powerManager);
-    ~UpperCommManager(){};
-
-    // 周期调用
-    void processPeriodicTasks();
-
-    // 处理上位机消息
-    bool processUpperMsg(const std::string& key, const std::string& msg);
-    
-    // 生成系统报告
-    void buildSystemReport();
-
-public:
-    //定义上位机消息
-    uPower_equInsStateMsg m_equInsStateMsg;
-    uDevice_secdistStateMsg m_secdistStateMsg;
-    uPower_equStateMsg m_equStateMsg;
-    uPower_disSysStateMsg m_disSysStateMsg;
-    uPower_currentStateMsg m_currentStateMsg;
-    uPower_pmStateMsg m_pmStateMsg;
-    uPower_fcsStateMsg m_fcsStateMsg;
-    uPower_liBatStateMsg m_liBatStateMsg;
-
-    //上位机订阅消息
-    uDevice_depthMsg m_depthMsg;
-    uExternComm_setOpConditionMsg m_setOpConditionMsg;
-    uExternComm_setOpModeMsg m_setOpModeMsg;
-    uPlan_taskStartMsg m_taskStartMsg;
-    uPlan_planStopMsg m_taskStopMsg;
-    uExternComm_setDeviceSwitchMsg m_setDevSwitchMsg;
-    uExternComm_setPowerSystemMsg m_setPMSysMsg;
-    uPower_sysStateMsg m_sysStateMsg;
-private:
-    PowerManger* m_pm;
-    MSControlCmd m_msCmd;
-    Driver m_driver;
-
-#ifdef _DEBUG
-public:
-    std::pair<string, string> m_equInsStateMsg_fb_degub;
-    std::pair<string, string> m_secdistStateMsg_cmd_debug;
-    std::pair<string, string> m_secdistStateMsg_fb_debug;
-
-    std::pair<string, string> m_equStateMsg_cmd_debug;
-    std::pair<string, string> m_equStateMsg_fb_debug;
-    std::pair<string, string> m_disSysStateMsg_st_debug;
-    std::pair<string, string> m_currentStateMsg_st_debug;
-    std::pair<string, string> m_pmStateMsg_fb_debug;
-    std::pair<string, string> m_fcsStateMsg_st_debug;
-    std::pair<string, string> m_liBatStateMsg_st_debug;
-
-    std::pair<string, string> m_depthMsg_st_debug;
-    std::pair<string, string> m_setOpConditionMsg_st_debug;
-    std::pair<string, string> m_setOpModeMsg_st_debug;
-    std::pair<string, string> m_taskStartMsg_st_debug;
-    std::pair<string, string> m_taskStopMsg_st_debug;
-    std::pair<string, string> m_setDevSwitchMsg_st_debug;
-    std::pair<string, string> m_setPMSysMsg_st_debug;
-    std::pair<string, string> m_sysStateMsg_st_debug;
-#endif
-    // bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
-};
-
-#endif // UPPER_COMM_MANAGER_H

src/bck/pPowerManger/driver.h

@@ -1,138 +0,0 @@
-#ifndef DRIVER_H
-#define DRIVER_H
-#include <memory>
-#include "json/json.h"
-#include "iostream"
-#include <sstream>
-#include <vector>
-#include "pmSysvariable.h"
-
-#define DRIVER_POWER_OFF 0x00
-#define DRIVER_FULL_POWER_ON 0x01
-#define DRIVER_INSTRUMENT_POWER_ON 0x02
-#define DRIVER_MOTIVE_POWER_ON 0x03
-#define DRIVER_STANDBY 0x04
-
-using namespace std;
-struct DriverTable
-{
-    unsigned char depth1;
-    unsigned char depth2;
-    unsigned char depth3;
-    unsigned char overDeep1;
-    unsigned char overDeep2;
-    unsigned char ctd1;
-    unsigned char ctd2;
-    unsigned char soundVeloc;
-    unsigned char commMast;
-    unsigned char ins;
-    unsigned char ntp;
-    unsigned char inputWaterSensor1;
-    unsigned char inputWaterSensor2;
-    unsigned char inputWaterSensor3;
-    //水声设备
-    unsigned char singleBeamSonar1;
-    unsigned char singleBeamSonar2;
-    unsigned char singleBeamSonar3;
-    unsigned char singleBeamSonar4;
-    unsigned char singleBeamSonar5;
-    unsigned char singleBeamSonar6;
-    unsigned char singleBeamSonar7;
-    unsigned char singleBeamSonar8;
-    unsigned char forwardSonar;
-    unsigned char DVL;
-    unsigned char lowFreqSonar;
-    unsigned char USBL;
-    //执行机构
-    unsigned char bowWaterInet1;
-    unsigned char bowWaterInet2;
-    unsigned char bowWaterInet3;
-    unsigned char bowWaterInet4;
-    unsigned char bowWaterInet5;
-    unsigned char bowWaterInet6;
-    unsigned char bowWaterInet7;
-    unsigned char bowWaterInet8;
-    unsigned char bowRudderDeploy;
-    unsigned char bowRudderServo1;
-    unsigned char bowRudderServo2;
-    unsigned char bowCover1;
-    unsigned char bowCover2;
-    unsigned char bowCover3;
-    unsigned char bowCover4;
-    unsigned char bowCover5;
-    unsigned char bowCover6;
-    unsigned char waterInject;
-    unsigned char mastLiftingServo;
-    unsigned char buoyancyAdjust1;
-    unsigned char buoyancyAdjust2;
-    unsigned char buoyancyAdjust3;
-    unsigned char buoyancyAdjust4;
-    unsigned char buoyancyAdjust5;
-    unsigned char sternRudderServo1;
-    unsigned char sternRudderServo2;
-    unsigned char sternRudderServo3;
-    unsigned char sternRudderServo4;
-    unsigned char thruster;
-    unsigned char bowThrow;
-    unsigned char sternThrow;
-    //负载
-    unsigned char photoSensor;
-    unsigned char electSensor;
-    unsigned char launchControler;
-    unsigned char sideSonar;
-    unsigned char buoyage;
-};
-
-struct DriverCommand
-{
-    int id;
-    int cmd;
-};
-
-
-class Driver
-{
-public:
-    Driver();
-    ~Driver();
-    void setDebug(bool debug);
-
-public:
-    std::unique_ptr<DriverTable> currentDriverTable;
-    std::unique_ptr<DriverTable> nextDriverTable;
-
-    //操作函数，操作指定设备
-    void setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s);
-    unsigned char getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId);
-
-    void getSTANDBYTable(DriverTable* driverTable);
-    void getSHORE_BASED_READYable(DriverTable* driverTable);
-    void getWATER_BASED_READYable(DriverTable* driverTable);
-    void getCRUISE_MODEable(DriverTable* driverTable);
-    void getHIGH_SPEED_MODEable(DriverTable* driverTable);
-    void getASCEND_DESCENDable(DriverTable* driverTable);
-    void getBUOYANCY_ADJUSTable(DriverTable* driverTable);
-    void getUNDERWATER_RECONable(DriverTable* driverTable);
-    void getSURFACE_RECONable(DriverTable* driverTable);
-    void getDJ_MODEable(DriverTable* driverTable);
-
-    // void setDriverTable(DriverTable* driverTable, );
-   
-    std::string getDriverTableJson();
-    std::string getSubDisCmdJson(const DriverTable* driverTable);
-    std::string getDriveStateJson(const DriverTable* driverTable);
-    
-    std::string saveDriverTableToJson(const DriverTable* driverTable);
-    int loadDriverTableFromJson(const std::string &strJson, DriverTable& table);
-    vector<DriverCommand> loadDriverIdFromJson(const std::string &strJson);
-
-    int SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value);
-    
-private:
-
-    bool debug;
-};
-
-
-
-#endif // DRIVER_H

src/bck/pPowerManger/faultCode.h

@@ -1,125 +0,0 @@
-#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/bck/pPowerManger/fsm/CruiseMode.cpp

@@ -1,59 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-void CruiseMode::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    // pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);    
-    handleCuriseWork();
-    //解除非必要动力电设备
-    //1 解除启闭机构
-    unsigned char cmd = 0;
-    if(pm->m_currentDriverState.bowCover1 != 0 ||
-       pm->m_currentDriverState.bowCover2 != 0 ||
-       pm->m_currentDriverState.bowCover3 != 0 ||
-       pm->m_currentDriverState.bowCover4 != 0 ||
-       pm->m_currentDriverState.bowCover5 != 0 ||
-       pm->m_currentDriverState.bowCover6 != 0) 
-    {
-        pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
-        MOOSPause(3);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
-        pm->m_upperCommManager->processPeriodicTasks();
-    }
-
-    //2 解除敞水机构
-    if(pm->m_currentDriverState.bowWaterInet1 != 0 ||
-       pm->m_currentDriverState.bowWaterInet2 != 0 ||
-       pm->m_currentDriverState.bowWaterInet3 != 0 ||
-       pm->m_currentDriverState.bowWaterInet4 != 0 ||
-       pm->m_currentDriverState.bowWaterInet5 != 0 ||
-       pm->m_currentDriverState.bowWaterInet6 != 0 ||
-       pm->m_currentDriverState.bowWaterInet7 != 0 ||
-       pm->m_currentDriverState.bowWaterInet8 != 0)
-    {
-        pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
-        MOOSPause(3);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
-    }
-    pm->workCondition = WorkCondition::CRUISE_MODE;
-    LOG_F(INFO, "进入巡航模式");
-}
-
-// CruiseMode实现
-void CruiseMode::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}

src/bck/pPowerManger/fsm/DJMode.cpp

@@ -1,71 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-
-// DJMode实现
-void DJMode::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void DJMode::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    //1 启动载荷装置
-    pm->m_subDisSysCmd.launchControler = 1;
-    //启动启闭机构和电缸
-    unsigned char cmd = 1;
-    //2.1 启闭机构
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(10);
-    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
-    //2.2 敞水电缸
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(10);
-    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
-    pm->workCondition = WorkCondition::DJ_MODE;
-    LOG_F(INFO, "进入DJ模式");
-}
-
-
-void DJMode::exit() {
-    PowerManagerFsm::exit();
-    //1 解除启闭机构
-    unsigned char cmd = 0;
-    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    //2 解除敞水机构
-    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-}

src/bck/pPowerManger/fsm/FaultState.cpp

@@ -1,20 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// FaultState实现
-void FaultState::entry() {
-    PowerManagerFsm::entry();
-    if(pm->m_missionState.type == TaskType::THROW_LOAD)
-    {
-       LOG_F(INFO, "检测到抛载");
-    }
-}
-
-void FaultState::react(FaultEvent const & e) {
-    LOG_F(INFO, "FaultState 处理故障事件");
-}
-
-void FaultState::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}

src/bck/pPowerManger/fsm/FloatAdjust.cpp

@@ -1,16 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// FloatAdjust实现
-void FloatAdjust::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void FloatAdjust::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    pm->workCondition = WorkCondition::BUOYANCY_ADJUST;
-    LOG_F(INFO, "进入浮调模式");
-}

src/bck/pPowerManger/fsm/FloatDown.cpp

@@ -1,16 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-void FloatDown::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    pm->workCondition = WorkCondition::ASCEND_DESCEND;
-    LOG_F(INFO, "进入上浮下潜模式");
-}
-
-// FloatDown实现
-void FloatDown::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}

src/bck/pPowerManger/fsm/HighSpeedMode.cpp

@@ -1,16 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-void HighSpeedMode::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    pm->workCondition = WorkCondition::HIGH_SPEED_MODE;
-    LOG_F(INFO, "进入高速模式");
-}
-
-// HighSpeedMode实现
-void HighSpeedMode::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}

src/bck/pPowerManger/fsm/InitState.cpp

@@ -1,10 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// InitState实现
-void InitState::entry() {
-    PowerManagerFsm::entry();
-    LOG_F(INFO, "进入初始化状态");
-    pm->initControlCmd();
-    pm->m_lowerCommManager->operate_hold();
-    transit<StandbyState>();
-}

src/bck/pPowerManger/fsm/Lifting.cpp

@@ -1,90 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-void Lifting::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    //1. 关闭所有水声设备
-    LOG_F(INFO,"前视声纳关机指令");
-    pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
-    MOOSPause(10000);
-    for(auto iter : underWterDevices)
-    {
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(iter), 0);
-    }
-    //2. 关闭动力电设备
-    //2.1 断开所有艏部高压断路器
-    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
-    MOOSPause(3);
-    //2.2 断开所有艉部高压设备断路器
-    pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_tyzReserved_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_reserved_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(0);
-    MOOSPause(3);
-
-    //2.5 断开动力电断路器
-    pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_dcDc5Module_Breaker(0);
-    MOOSPause(3);
-    pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(0); 
-    //3. 关闭燃料电池
-    //4. 关闭动力锂电池
-    MOOSPause(3);
-    {
-        int count=0;
-        while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
-        {
-            LOG_F(INFO,"动力锂电池下电中...");
-            MOOSPause(3);
-            if(count>10)
-            {
-                LOG_F(INFO, "动力锂电池无下电反馈"); 
-                break;
-            }
-            count++;
-        }
-    }
-    LOG_F(INFO, "动力锂电池已下电");
-    pm->workCondition = WorkCondition::LIFT_MODE;
-    LOG_F(INFO, "WorkCondition %d", pm->workCondition);
-}
-
-void Lifting::react(MasterCommandEvent const &) {
-   PowerManagerFsm::handelPowerCmd();
-   PowerManagerFsm::handleModCmd();
-   PowerManagerFsm::handleWorkCmd();
-}
-
-void Lifting::react(DevCmdExt const &e)
-{
-    LOG_F(INFO, "DevCmdExt 执行");
-    PowerManagerFsm::react(e);
-}

src/bck/pPowerManger/fsm/PowerManagerFsm.hpp

@@ -1,300 +0,0 @@
-#ifndef POWER_MANAGER_FSM_HPP
-#define POWER_MANAGER_FSM_HPP
-#include "tinyfsm.hpp"
-#include "../logc/loguru.hpp"
-#include <iostream>
-#include <chrono>      // 新增头文件
-#include <iomanip>     // 新增头文件
-#include <ctime>       // 新增头文件，用于localtime函数
-#include <cxxabi.h>  // 新增头文件，用于demangle功能
-#include "../pmSysvariable.h"
-#include "../driver.h"
-#include "../PowerManger.h"
-#include "../upmsg/uExternComm_setThrustSpeed_cmd.h"
-
-
-#define OVER_DEPTH 0.1
-
-// 前向声明
-class PowerManger;
-
-enum class PowerSystemState {
-    INIT,
-    STANDBY,
-    FAULT,
-};
-
-//==================状态切换事件=============================
-struct InitEvent : tinyfsm::Event { };
-struct StandbyEvent : tinyfsm::Event { };
-struct TaskStopEvent : tinyfsm::Event { };
-struct TaskStartEvent : tinyfsm::Event {
-    int type;
-    bool enableBowRudder;
-    bool enableBuoyancyAdjustment;
-    TaskStartEvent() : type(0), enableBowRudder(false), enableBuoyancyAdjustment(false) {};
-    TaskStartEvent(int type, bool bowRudder, bool buoyancyAdjustment) : type(type), enableBowRudder(bowRudder), enableBuoyancyAdjustment(buoyancyAdjustment) {};
-};
-//==================状态流程事件============================
-struct CycleTriggeredEvent : tinyfsm::Event {};
-struct MasterCommandEvent : tinyfsm::Event {};
-struct DeviceCmd : tinyfsm::Event {};
-struct DevCmdExt : tinyfsm::Event {
-   int id;
-   int cmd;
-   DevCmdExt() : id(0), cmd(0) {};
-   DevCmdExt(int id, int cmd) : id(id), cmd(cmd) {};
-};
-struct SideSonarCmd : tinyfsm::Event {
-    int xcLowVoltageAdd;
-    int xcHighVoltageAdd;
-    SideSonarCmd() : xcLowVoltageAdd(0),xcHighVoltageAdd(0) {};
-    SideSonarCmd(int xcLowVoltageAdd,int xcHighVoltageAdd) : xcLowVoltageAdd(xcLowVoltageAdd),xcHighVoltageAdd(xcHighVoltageAdd) {};
-};
-//==================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;
-    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 injectionFaultCode)
-        : subDisSysFaultCode(subDisSysFaultCode), 
-        disSysFaultCode(disSysFaultCode), 
-        powerFaultCode(powerFaultCode), 
-        fcsFaultCode(fcsFaultCode), 
-        ccsFaultCode(ccsFaultCode),
-        injectionFaultCode(injectionFaultCode) {};
-};
-
-class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
-protected:
-    static PowerManger* pm;
-    static DriverTable m_currentDriver;
-    
-public:
-    static void init(PowerManger* powerManager) {
-        pm = powerManager;
-    }
-
-    virtual void react(tinyfsm::Event const &) { std::cout << "[ Reseve Envt ] " << "No Idear" << std::endl; }
-    virtual void react(InitEvent const &) {};
-    virtual void react(StandbyEvent const &) {};
-    virtual void react(MasterCommandEvent const &) { LOG_F(INFO, "MasterCommandEvent");};
-    // virtual void react(DeviceCmd const &);
-    virtual void react(DevCmdExt const &e);
-    virtual void react(TaskStartEvent const &e);
-    virtual void react(FaultEvent const &e);
-    virtual void react(TaskStopEvent const &e);
-    virtual void react(CycleTriggeredEvent const &e);
-    virtual void react(SideSonarCmd const &e);
-
-
-    //测试事件
-    virtual void react(TestEvent const &);
-
-    //======================操作函数=============================
-    void handelPowerCmd();
-    void handleModCmd();
-    void handleWorkCmd();
-    void handleDeviceCmd();
-
-    void handleCuriseWork();
-    
-    void handleNoPowerDeviceCmd(int id , int cmd); // 非水声仪表设备
-    void handleHydroacousticDeviceCmd(int id , int cmd); // 水声设备处理
-    void handleBowRudderSystemCmd(int id, int cmd); // 艏舵设备处理
-    void handleActuatorCmd(int id, int cmd); // 启闭机构处理
-    void handleOpenWaterCmd(int id, int cmd); // 敞水机构处理
-    void handleSternRudderCmd(int id, int cmd); // 艉舵设备处理
-    void handlePropulsionMotorCmd(int id, int cmd); // 推进电机处理
-    void handleBuoyancyAdjustmentCmd(int id, int cmd); // 浮调设备处理
-    void handleFBSystemCmd(int id, int cmd); // FB设备处理
-    void handleSideSonarCmd(int id, int cmd); // 舷侧设备处理
-    void handleMastFoldingSystemCmd(int id, int cmd); // 桅杆设备处理
-
-    //获取仅仪表设备状态
-    void getNoPowerDeviceStatus(DriverTable &s);
-    void getBowRudderSystemStatus(DriverTable &s);
-    void getActuatorStatus(DriverTable &s);
-    void getSternRudderStatus(DriverTable &s);
-    void getPropulsionMotorStatus(DriverTable &s);
-    void getBuoyancyAdjustmentStatus(DriverTable &s);
-    void getFBSystemCmdStatus(DriverTable &s);
-    void getSideSonarStatus(DriverTable &s);
-    void getMastFoldingSystem(DriverTable &s);
-    void getOpenWaterStatus(DriverTable &s);
-
-    //故障处理
-    void basicNavigationFault(FaultEvent const &e);
-    void extendedNavigationFault(FaultEvent const &e);
-    void obstacleAvoidanceFault(FaultEvent const &e);
-    void buoyancyControlFault(FaultEvent const &e);
-    void communicationSystemFault(FaultEvent const &e);
-    void payloadSystemFault(FaultEvent const &e);
-    void emergencySystemFault(FaultEvent const &e);
-    void sensorSystemFault(FaultEvent const &e);
-
-    void basicNavigationFault();
-    void extendedNavigationFault();
-    void obstacleAvoidanceFault();
-    void buoyancyControlFault();
-    void communicationSystemFault();
-    void payloadSystemFault();
-    void emergencySystemFault();
-    void sensorSystemFault();
-
-    // void handleFaultOfDisSys();
-    // 状态机生命周期方法
-    virtual void entry() {
-        auto now = std::chrono::system_clock::now();
-        auto now_time = std::chrono::system_clock::to_time_t(now);
-        
-        int status = 0;
-        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
-        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
-        if (demangled) free(demangled);
-        
-        std::cout << "\033[1;38;5;51m╭──────────────────────────────────────────────────────\n"
-                  << "│ \033[1;38;5;226m⮞⮞⮞ \033[0;38;5;51m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S")
-                  << "] \033[1;38;5;255m进入状态: \033[1;38;5;213m" << typeName << "\n"
-                  << "│                                                      \033[0m" << std::endl;
-        
-        LOG_F(INFO, "进入状态: %s", typeName.c_str());
-    }
-    
-    virtual void exit() {
-        auto now = std::chrono::system_clock::now();
-        auto now_time = std::chrono::system_clock::to_time_t(now);
-        
-        int status = 0;
-        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
-        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
-        if (demangled) free(demangled);
-        
-        std::cout << "\033[1;38;5;203m│                                                      \n"
-                  << "│ \033[1;38;5;208m⮜⮜⮜ \033[0;38;5;203m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S")
-                  << "] \033[1;38;5;255m离开状态: \033[1;38;5;213m" << typeName << "\n"
-                  << "╰──────────────────────────────────────────────────────\033[0m" << std::endl;
-        
-        LOG_F(INFO, "离开状态: %s", typeName.c_str());
-    }
-};
-
-// 初始化
-class InitState : public PowerManagerFsm {
-public:
-    void entry() override;
-};
-
-//待机状态
-class StandbyState : public PowerManagerFsm {
-public:
-    void entry() override;
-    void react(StandbyEvent const &) override;
-    void react(DevCmdExt const &e) override;
-    void react(MasterCommandEvent const &) override;
-};
-
-// 岸基备航
-class ShoreBasedReady : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-    };  
-// 水中备航
-class WaterBasedReady : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-        void react(DevCmdExt const &e) override;
-    private:
-};
-// 巡航模式
-class CruiseMode : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-// 上浮下潜
-class FloatDown : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-// 高速模式
-class HighSpeedMode : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-
-// 浮调模式
-class FloatAdjust : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-// 水下侦查
-class UnderwaterSurvey : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-// 水面侦查
-class SurfaceSurvey : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-// DJ模式
-class DJMode : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-        void exit() override;
-    private:
-};
-// 遥控工况
-class RemoteControl : public PowerManagerFsm {
-    public:
-        void entry() override;
-        void react(MasterCommandEvent const &) override;
-    private:
-};
-
-class FaultState : public PowerManagerFsm {
-public:
-    void entry() override;
-    void react(FaultEvent const &);
-    void react(MasterCommandEvent const &) override;
-};
-
-class Lifting : public PowerManagerFsm {
-public:
-    void entry() override;
-    void react(MasterCommandEvent const &) override;
-};
-
-#endif // POWER_MANAGER_FSM_HPP

src/bck/pPowerManger/fsm/RemoteControl.cpp

@@ -1,16 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// RemoteControl实现
-void RemoteControl::react(MasterCommandEvent const &){
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void RemoteControl::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::REMOTE_CONTROL;
-    LOG_F(INFO, "进入遥控工况");
-}
-
-

src/bck/pPowerManger/fsm/ShoreBasedReady.cpp

@@ -1,92 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// ShoreBasedReady实现
-void ShoreBasedReady::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void ShoreBasedReady::entry() {
-    PowerManagerFsm::entry();
-    pm->m_driver.getSHORE_BASED_READYable(&pm->m_subDisSysCmd);
-    pm->workCondition = WorkCondition::CHANING;
-    //依次接入执行机构动力电设备
-    //1. 开启动力电
-    //1.1 动力锂电池上电
-    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
-    //1.2 闭合动力电断路器
-    pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HV_dcDc5Module_Breaker(1);
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(1);
-    pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(1);
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(1);
-    MOOSPause(100);
-    //2.  启动动力电设备 
-    unsigned char cmd = 1;
-    //2.0 艉舵
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
-    //2.1 启闭机构
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
-    //2.2 敞水电缸
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
-    //2.3 艏舵
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
-    //2.4 桅杆舵机
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
-    //2.5 艏部浮调机构
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);    
-    pm->m_upperCommManager->processPeriodicTasks();            
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
-    //2.6 艉部浮调机构
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
-    //2.7 推进电机
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
-    pm->m_upperCommManager->processPeriodicTasks();
-    MOOSPause(100);
-    pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
-    pm->workCondition = WorkCondition::SHORE_BASED_READY;
-    LOG_F(INFO, "进入岸基备航状态");
-}

src/bck/pPowerManger/fsm/StandbyState.cpp

@@ -1,24 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// StandbyState实现
-void StandbyState::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::STANDBY;
-    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
-    pm->m_lowerCommManager->operate_hold();
-    LOG_F(INFO, "WorkCondition %d", pm->workCondition);
-}
-void StandbyState::react(StandbyEvent const &) {
-    transit<StandbyState>();
-}
-void StandbyState::react(MasterCommandEvent const &) {
-   PowerManagerFsm::handelPowerCmd();
-   PowerManagerFsm::handleModCmd();
-   PowerManagerFsm::handleWorkCmd();
-}
-
-void StandbyState::react(DevCmdExt const &e)
-{
-    LOG_F(INFO, "DevCmdExt 执行");
-    PowerManagerFsm::react(e);
-}

src/bck/pPowerManger/fsm/SurfaceSurvey.cpp

@@ -1,16 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-// SurfaceSurvey实现
-void SurfaceSurvey::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void SurfaceSurvey::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    pm->workCondition = WorkCondition::SURFACE_RECON;
-    LOG_F(INFO, "进入水面侦查模式");
-}

src/bck/pPowerManger/fsm/UnderwaterSurvey.cpp

@@ -1,17 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-void UnderwaterSurvey::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    handleCuriseWork();
-    pm->workCondition = WorkCondition::UNDERWATER_RECON;
-    LOG_F(INFO, "进入水下侦查模式");
-}
-
-
-// UnderwaterSurvey实现
-void UnderwaterSurvey::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}

src/bck/pPowerManger/fsm/WaterBasedReady.cpp

@@ -1,62 +0,0 @@
-#include "PowerManagerFsm.hpp"
-
-
-void WaterBasedReady::entry() {
-    PowerManagerFsm::entry();
-    pm->workCondition = WorkCondition::CHANING;
-    PowerManagerFsm::handleCuriseWork();
-    //启动水声设备
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
-    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
-    pm->m_upperCommManager->processPeriodicTasks();
-    pm->workCondition = WorkCondition::WATER_BASED_READY;
-    LOG_F(INFO, "进入水中备航状态");
-}
-
-// WaterBasedReady实现
-void WaterBasedReady::react(MasterCommandEvent const &) {
-    PowerManagerFsm::handelPowerCmd();
-    PowerManagerFsm::handleModCmd();
-    PowerManagerFsm::handleWorkCmd();
-}
-
-void WaterBasedReady::react(DevCmdExt const &e)
-{
-    int id = e.id;
-    int cmd = e.cmd;
-    if(underWterDevices.find(id) != underWterDevices.end())
-    {
-        if (pm->currentMod  != PMMode::Debug)
-        {
-            if(pm->m_depth < OVER_DEPTH)
-            {
-                LOG_F(INFO, "水下设备操作上电保护 %d ", id);
-                return;
-            }
-        }
-        // 如果是前视声纳断电则先关机再断电
-        if(id == DeviceId::forwardSonar)
-        {
-            if(cmd == 0)
-            {
-                LOG_F(INFO,"前视声纳关机指令");
-                pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
-                MOOSPause(10000);
-            }
-        }
-        LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
-        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
-    }
-    else
-    {
-        if(pm->currentMod == PMMode::Normal)
-        {
-            LOG_F(INFO,"正常模式:操作禁止");
-            return;
-        }
-        else
-        {
-            PowerManagerFsm::react(e);
-        }
-    }
-}

src/bck/pPowerManger/httpserver/batteryoperation.h

@@ -1,476 +0,0 @@
-#ifndef HTTP_SERVER_BATTERYOPERATION_H
-#define HTTP_SERVER_BATTERYOPERATION_H
-
-#include <string>
-
-const std::string BATTERY_OPERATION_HTML = R"(
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="UTF-8">
-<title>电池操作</title>
-<link rel="stylesheet" href="/static/style.css">
-<style>
-:root {
-    --primary-color: #2563eb;
-    --primary-hover: #1d4ed8;
-    --bg-color: #f8fafc;
-}
-
-* {
-    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: 220px 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: 220px;
-    height: 36px;
-    z-index: 10;
-}
-
-.header h1 {
-    font-size: 1.25rem;
-    font-weight: 600;
-    color: #1a1a1a;
-}
-
-.sidebar {
-    grid-area: sidebar;
-    background: white;
-    width: 220px;
-    height: 100vh;
-    position: fixed;
-    left: 0;
-    top: 0;
-    padding: 0.5rem 0.25rem;
-    box-shadow: 1px 0 3px rgba(0, 0, 0, 0.1);
-    z-index: 20;
-}
-
-.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;
-}
-
-.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: 36px;
-}
-
-.control-panel {
-    background: white;
-    border-radius: 4px;
-    padding: 20px;
-    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
-    margin: 20px;
-}
-
-.panel-title {
-    font-size: 1.2rem;
-    font-weight: 600;
-    color: #1a1a1a;
-    margin-bottom: 16px;
-    padding-bottom: 8px;
-    border-bottom: 1px solid #e5e7eb;
-}
-
-.control-group {
-    margin-bottom: 20px;
-}
-
-.control-label {
-    display: block;
-    margin-bottom: 8px;
-    font-weight: 500;
-}
-
-.radio-group {
-    display: flex;
-    gap: 16px;
-    margin-bottom: 12px;
-}
-
-.radio-option {
-    display: flex;
-    align-items: center;
-    gap: 8px;
-}
-
-.select-control {
-    width: 100%;
-    padding: 8px 12px;
-    border: 1px solid #d1d5db;
-    border-radius: 4px;
-    background-color: white;
-    margin-bottom: 12px;
-}
-
-.slider-container {
-    display: flex;
-    align-items: center;
-    gap: 12px;
-}
-
-.slider {
-    flex-grow: 1;
-    height: 6px;
-    -webkit-appearance: none;
-    background: #d1d5db;
-    border-radius: 3px;
-    outline: none;
-}
-
-.slider::-webkit-slider-thumb {
-    -webkit-appearance: none;
-    width: 18px;
-    height: 18px;
-    background: var(--primary-color);
-    border-radius: 50%;
-    cursor: pointer;
-}
-
-.slider-value {
-    min-width: 50px;
-    text-align: right;
-}
-
-.button-group {
-    display: flex;
-    gap: 12px;
-    margin-top: 8px;
-}
-
-.button {
-    padding: 8px 16px;
-    border: none;
-    border-radius: 4px;
-    background-color: #e5e7eb;
-    color: #1a1a1a;
-    font-weight: 500;
-    cursor: pointer;
-    transition: all 0.2s;
-}
-
-.button:hover {
-    background-color: #d1d5db;
-}
-
-.button-secondary {
-    background-color: #e5e7eb;
-    color: #1a1a1a;
-}
-
-.button-secondary:hover {
-    background-color: #d1d5db;
-}
-
-.button-active {
-    background-color: var(--primary-color);
-    color: white;
-}
-
-.button-active:hover {
-    background-color: var(--primary-hover);
-}
-
-.form-submit {
-    margin-top: 24px;
-    width: 100%;
-    padding: 12px;
-    font-size: 1rem;
-}
-
-.status-message {
-    margin-top: 16px;
-    padding: 12px;
-    border-radius: 4px;
-    background-color: #f0fdf4;
-    color: #166534;
-    display: none;
-}
-
-.status-message.error {
-    background-color: #fef2f2;
-    color: #991b1b;
-}
-</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="/battery" class="sidebar-button">
-                <span class="sidebar-icon">🔋</span>
-                <span>电池操作</span>
-            </a>
-            <a href="/logs" class="sidebar-button">
-                <span class="sidebar-icon">📝</span>
-                <span>系统日志</span>
-            </a>
-        </div>
-    </div>
-
-    <div class="header">
-        <h1>电池操作系统</h1>
-    </div>
-
-    <div class="main-content">
-        <div class="control-panel">
-            <div class="panel-title">燃料电池控制</div>
-            
-            <form id="batteryForm" method="POST" action="/battery/control">
-                <div class="control-group">
-                    <label class="control-label">燃料电池模式设定</label>
-                    <div class="radio-group">
-                        <label class="radio-option">
-                            <input type="radio" name="fuelCellMode" value="00H" checked>
-                            <span>无效</span>
-                        </label>
-                        <label class="radio-option">
-                            <input type="radio" name="fuelCellMode" value="01H">
-                            <span>调试</span>
-                        </label>
-                        <label class="radio-option">
-                            <input type="radio" name="fuelCellMode" value="02H">
-                            <span>自动</span>
-                        </label>
-                        <label class="radio-option">
-                            <input type="radio" name="fuelCellMode" value="03H">
-                            <span>补给</span>
-                        </label>
-                    </div>
-                </div>
-
-                <div class="control-group">
-                    <label class="control-label">燃料电池指令</label>
-                    <select class="select-control" name="fuelCellCommand">
-                        <option value="00H">无效</option>
-                        <option value="01H">自检</option>
-                        <option value="02H">启动</option>
-                        <option value="03H">停机</option>
-                        <option value="04H">复位</option>
-                        <option value="05H">紧急停机</option>
-                        <option value="06H">补给</option>
-                        <option value="07H">制氢预热</option>
-                        <option value="08H">停机维护</option>
-                    </select>
-                </div>
-
-                <div class="control-group">
-                    <label class="control-label">燃料电池动力通路功率配置 (kW)</label>
-                    <div class="slider-container">
-                        <input type="range" class="slider" name="fuelCellPower" min="0" max="20" value="0" step="1">
-                        <span class="slider-value">0</span>
-                    </div>
-                </div>
-
-                <div class="panel-title">锂电池控制</div>
-
-                <div class="control-group">
-                    <label class="control-label">仪表锂电池启停指令</label>
-                    <div class="button-group">
-                        <button type="button" class="button button-active" data-command="instrumentBattery" data-value="00H">无效</button>
-                        <button type="button" class="button button-secondary" data-command="instrumentBattery" data-value="10H">启动</button>
-                        <button type="button" class="button button-secondary" data-command="instrumentBattery" data-value="20H">关闭</button>
-                    </div>
-                    <input type="hidden" name="instrumentBattery" value="00H">
-                </div>
-
-                <div class="control-group">
-                    <label class="control-label">仪表锂电池允许充电</label>
-                    <div class="button-group">
-                        <button type="button" class="button button-secondary" data-command="instrumentBatteryCharge" data-value="0">允许</button>
-                        <button type="button" class="button button-active" data-command="instrumentBatteryCharge" data-value="48">禁止</button>
-                    </div>
-                    <input type="hidden" name="instrumentBatteryCharge" value="1">
-                </div>
-
-                <div class="control-group">
-                    <label class="control-label">动力锂电池启停指令</label>
-                    <div class="button-group">
-                        <button type="button" class="button button-active" data-command="powerBattery" data-value="00H">无效</button>
-                        <button type="button" class="button button-secondary" data-command="powerBattery" data-value="10H">启动</button>
-                        <button type="button" class="button button-secondary" data-command="powerBattery" data-value="20H">关闭</button>
-                    </div>
-                    <input type="hidden" name="powerBattery" value="00H">
-                </div>
-
-                <div class="control-group">
-                    <label class="control-label">动力锂电池电池功率配置值 (kW)</label>
-                    <div class="slider-container">
-                        <input type="range" class="slider" name="powerBatteryPower" min="0" max="400" value="0" step="10">
-                        <span class="slider-value">0</span>
-                    </div>
-                </div>
-
-                <div class="panel-title">主机状态</div>
-
-                <div class="control-group">
-                    <label class="control-label">主机状态指令</label>
-                    <div class="radio-group">
-                        <label class="radio-option">
-                            <input type="radio" name="hostStatus" value="AAH" checked>
-                            <span>运行</span>
-                        </label>
-                        <label class="radio-option">
-                            <input type="radio" name="hostStatus" value="FFH">
-                            <span>关机</span>
-                        </label>
-                        <label class="radio-option">
-                            <input type="radio" name="hostStatus" value="55H">
-                            <span>故障</span>
-                        </label>
-                    </div>
-                </div>
-
-                <button type="submit" class="button form-submit">提交配置</button>
-                
-                <div id="statusMessage" class="status-message"></div>
-            </form>
-        </div>
-    </div>
-</div>
-
-<script>
-// 更新滑块值显示
-document.querySelectorAll('.slider').forEach(slider => {
-    const valueDisplay = slider.nextElementSibling;
-    valueDisplay.textContent = slider.value;
-    
-    slider.addEventListener('input', () => {
-        valueDisplay.textContent = slider.value;
-    });
-});
-
-// 处理按钮组选择
-document.querySelectorAll('.button-group button').forEach(button => {
-    button.addEventListener('click', () => {
-        const group = button.closest('.button-group');
-        const hiddenInput = group.nextElementSibling;
-        const command = button.dataset.command;
-        const value = button.dataset.value;
-        
-        // 更新按钮样式
-        group.querySelectorAll('button').forEach(btn => {
-            btn.classList.remove('button-active');
-            btn.classList.add('button-secondary');
-        });
-        button.classList.remove('button-secondary');
-        button.classList.add('button-active');
-        
-        // 更新隐藏输入值
-        hiddenInput.value = value;
-    });
-});
-
-// 处理表单提交
-document.getElementById('batteryForm').addEventListener('submit', async (e) => {
-    e.preventDefault();
-    const form = e.target;
-    const formData = new FormData(form);
-    const statusMessage = document.getElementById('statusMessage');
-    
-    try {
-        // 将表单数据转换为URL编码格式
-        const params = new URLSearchParams();
-        for (const [key, value] of formData.entries()) {
-            params.append(key, value);
-        }
-
-        const response = await fetch(form.action, {
-            method: 'POST',
-            headers: {
-                'Content-Type': 'application/x-www-form-urlencoded'
-            },
-            body: params.toString()
-        });
-        
-        const result = await response.json();
-        
-        if (result.success) {
-            statusMessage.textContent = '配置提交成功';
-            statusMessage.className = 'status-message';
-            statusMessage.style.display = 'block';
-        } else {
-            statusMessage.textContent = result.message || '配置提交失败';
-            statusMessage.className = 'status-message error';
-            statusMessage.style.display = 'block';
-        }
-    } catch (error) {
-        statusMessage.textContent = '网络错误: ' + error.message;
-        statusMessage.className = 'status-message error';
-        statusMessage.style.display = 'block';
-    }
-    
-    setTimeout(() => {
-        statusMessage.style.display = 'none';
-    }, 5000);
-});
-</script>
-</body>
-</html>
-)";
-
-#endif // HTTP_SERVER_BATTERYOPERATION_H

src/bck/pPowerManger/httpserver/dashboard.h

@@ -1,580 +0,0 @@
-
-#ifndef HTTP_SERVER_DASHBOARD_H
-#define HTTP_SERVER_DASHBOARD_H
-
-#include <string>
-
-const std::string DASHBOARD_HTML = R"row(
-<!DOCTYPE html>
-<html>
-<head>
-  <title>断路器控制面板</title>
-  <style>
-    body {
-      font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
-      margin: 0;
-      padding: 20px;
-      background-color: #f8f9fa;
-    }
-    .container {
-      display: flex;
-      gap: 25px;
-      max-width: 1400px;
-      margin: 0 auto;
-    }
-    .column {
-      flex: 1;
-      background: white;
-      padding: 20px;
-      border-radius: 8px;
-      box-shadow: 0 2px 10px rgba(0,0,0,0.1);
-      transition: transform 0.2s;
-    }
-    .column:hover {
-      transform: translateY(-2px);
-      box-shadow: 0 4px 12px rgba(0,0,0,0.15);
-    }
-    .column-title {
-      font-weight: 600;
-      margin-bottom: 20px;
-      text-align: center;
-      font-size: 20px;
-      color: #2c3e50;
-      padding-bottom: 10px;
-      border-bottom: 2px solid #eee;
-    }
-    .breaker {
-      margin-bottom: 12px;
-      padding: 10px 15px;
-      background: #f8f9fa;
-      border-radius: 6px;
-      border-left: 4px solid #3498db;
-      display: flex;
-      flex-direction: column;
-      gap: 8px;
-    }
-    .breaker-name {
-      font-weight: 600;
-      font-size: 18px;
-      color: #2c3e50;
-      padding: 6px 10px;
-      background-color: rgba(46, 204, 113, 0.1);
-      border-radius: 4px;
-      display: inline-flex;
-      align-items: center;
-      width: fit-content;
-    }
-    .breaker-controls {
-      display: flex;
-      gap: 10px;
-      align-items: center;
-    }
-    button {
-      padding: 8px 16px;
-      min-width: 70px;
-      cursor: pointer;
-      border: none;
-      border-radius: 4px;
-      font-weight: 500;
-      font-size: 14px;
-      transition: all 0.2s;
-      box-shadow: 0 2px 4px rgba(0,0,0,0.1);
-    }
-    button:hover {
-      opacity: 0.9;
-      transform: translateY(-1px);
-    }
-    button:first-of-type {
-      background-color: #2ecc71;
-      color: white;
-    }
-    button:last-of-type {
-      background-color: #e74c3c;
-      color: white;
-    }
-    .status-message {
-      margin-top: 8px;
-      padding: 6px;
-      font-size: 13px;
-      border-radius: 3px;
-    }
-    .status-success {
-      background-color: rgba(46, 204, 113, 0.1);
-      color: #27ae60;
-    }
-    .status-error {
-      background-color: rgba(231, 76, 60, 0.1);
-      color: #c0392b;
-    }
-    .status-pending {
-      background-color: rgba(241, 196, 15, 0.1);
-      color: #f39c12;
-    }
-    .status-timer {
-      font-size: 12px;
-      color: #7f8c8d;
-      margin-top: 4px;
-    }
-  </style>
-</head>
-<body>
-<div class="container">
-    <div class="column">
-    <div class="column-title">高压母线设备</div>
-    <!-- 高压母线断路器列表 -->
-    <div class="breaker">
-      <div class="breaker-name">燃料电池断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'fuel_cell', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'fuel_cell', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-fuel_cell-status-message" class="status-message"></div>
-      <div id="high_vol_bus-fuel_cell-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">动力锂电池断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'power_battery', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'power_battery', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-power_battery-status-message" class="status-message"></div>
-      <div id="high_vol_bus-power_battery-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">推进电机断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'propulsion_motor', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'propulsion_motor', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-propulsion_motor-status-message" class="status-message"></div>
-      <div id="high_vol_bus-propulsion_motor-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">锂电池组仪表断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'battery_meter', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'battery_meter', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-battery_meter-status-message" class="status-message"></div>
-      <div id="high_vol_bus-battery_meter-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">DC/DC5模块断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'dcdc5', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'dcdc5', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-dcdc5-status-message" class="status-message"></div>
-      <div id="high_vol_bus-dcdc5-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艏部高压配电箱断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'bow_distribution', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'bow_distribution', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-bow_distribution-status-message" class="status-message"></div>
-      <div id="high_vol_bus-bow_distribution-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艉部FT装置4/5断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'stern_ft45', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'stern_ft45', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-stern_ft45-status-message" class="status-message"></div>
-      <div id="high_vol_bus-stern_ft45-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艉舵开关1断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'stern_rudder1', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'stern_rudder1', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-stern_rudder1-status-message" class="status-message"></div>
-      <div id="high_vol_bus-stern_rudder1-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艉舵开关2断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'stern_rudder2', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'stern_rudder2', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-stern_rudder2-status-message" class="status-message"></div>
-      <div id="high_vol_bus-stern_rudder2-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">FB预留断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'fb_reserve', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'fb_reserve', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-fb_reserve-status-message" class="status-message"></div>
-      <div id="high_vol_bus-fb_reserve-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">TYZ预留断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'tyz_reserve', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'tyz_reserve', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-tyz_reserve-status-message" class="status-message"></div>
-      <div id="high_vol_bus-tyz_reserve-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">预留断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'reserve', 'close')">闭合</button>
-        <button onclick="sendCommand('high_vol_bus', 'reserve', 'open')">断开</button>
-      </div>
-      <div id="high_vol_bus-reserve-status-message" class="status-message"></div>
-      <div id="high_vol_bus-reserve-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">DC/DC5模块启动</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'dcdc5_start', 'close')">启动</button>
-        <button onclick="sendCommand('high_vol_bus', 'dcdc5_start', 'open')">停止</button>
-      </div>
-      <div id="high_vol_bus-dcdc5_start-status-message" class="status-message"></div>
-      <div id="high_vol_bus-dcdc5_start-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">冷却系统启动</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('high_vol_bus', 'cooling_system', 'close')">启动</button>
-        <button onclick="sendCommand('high_vol_bus', 'cooling_system', 'open')">停止</button>
-      </div>
-      <div id="high_vol_bus-cooling_system-status-message" class="status-message"></div>
-      <div id="high_vol_bus-cooling_system-timer" class="status-timer"></div>
-    </div>
-  </div>
-
-    <div class="column">
-    <div class="column-title">艏高压设备</div>
-    <!-- 艏高压断路器列表 -->
-    <div class="breaker">
-      <div class="breaker-name">艏部FT装置1-3断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'bow_ft1_3', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'bow_ft1_3', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-bow_ft1_3-status-message" class="status-message"></div>
-      <div id="bow_high_vol-bow_ft1_3-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">启闭机构断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'opening_mechanism', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'opening_mechanism', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-opening_mechanism-status-message" class="status-message"></div>
-      <div id="bow_high_vol-opening_mechanism-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">桅杆舵机控制箱断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'mast_steering', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'mast_steering', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-mast_steering-status-message" class="status-message"></div>
-      <div id="bow_high_vol-mast_steering-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">XCZ断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'xcz', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'xcz', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-xcz-status-message" class="status-message"></div>
-      <div id="bow_high_vol-xcz-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艏舵控制箱断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'bow_rudder', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'bow_rudder', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-bow_rudder-status-message" class="status-message"></div>
-      <div id="bow_high_vol-bow_rudder-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">敞水盖启动电缸断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_high_vol', 'water_cover', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_high_vol', 'water_cover', 'open')">断开</button>
-      </div>
-      <div id="bow_high_vol-water_cover-status-message" class="status-message"></div>
-      <div id="bow_high_vol-water_cover-timer" class="status-timer"></div>
-    </div>
-  </div>
-
-    <div class="column">
-    <div class="column-title">仪表母线设备</div>
-    <!-- 仪表母线断路器列表 -->
-    <div class="breaker">
-      <div class="breaker-name">锂电池组(仪表)断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'battery_meter', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'battery_meter', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-battery_meter-status-message" class="status-message"></div>
-      <div id="meter_bus-battery_meter-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艏部低压配电箱断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'bow_low_dist', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'bow_low_dist', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-bow_low_dist-status-message" class="status-message"></div>
-      <div id="meter_bus-bow_low_dist-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">UNIT4仪表DC48V断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'unit4_dc48v', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'unit4_dc48v', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-unit4_dc48v-status-message" class="status-message"></div>
-      <div id="meter_bus-unit4_dc48v-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">DC-C1直流配电板断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'dc_c1', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'dc_c1', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-dc_c1-status-message" class="status-message"></div>
-      <div id="meter_bus-dc_c1-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">预留断路器1</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'reserve1', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'reserve1', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-reserve1-status-message" class="status-message"></div>
-      <div id="meter_bus-reserve1-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">预留断路器2</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'reserve2', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'reserve2', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-reserve2-status-message" class="status-message"></div>
-      <div id="meter_bus-reserve2-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">应急锂电池组2断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('meter_bus', 'emergency_battery2', 'close')">闭合</button>
-        <button onclick="sendCommand('meter_bus', 'emergency_battery2', 'open')">断开</button>
-      </div>
-      <div id="meter_bus-emergency_battery2-status-message" class="status-message"></div>
-      <div id="meter_bus-emergency_battery2-timer" class="status-timer"></div>
-    </div>
-  </div>
-
-  <div class="column">
-    <div class="column-title">艏低压设备</div>
-    <!-- 艏低压断路器列表 -->
-    <div class="breaker">
-      <div class="breaker-name">UNIT1断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'unit1', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'unit1', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-unit1-status-message" class="status-message"></div>
-      <div id="bow_low_vol-unit1-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">UNIT2断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'unit2', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'unit2', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-unit2-status-message" class="status-message"></div>
-      <div id="bow_low_vol-unit2-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">UNIT3断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'unit3', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'unit3', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-unit3-status-message" class="status-message"></div>
-      <div id="bow_low_vol-unit3-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">UNIT5断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'unit5', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'unit5', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-unit5-status-message" class="status-message"></div>
-      <div id="bow_low_vol-unit5-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">艏部PZ装置断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'bow_pz', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'bow_pz', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-bow_pz-status-message" class="status-message"></div>
-      <div id="bow_low_vol-bow_pz-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">预留断路器1</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'reserve1', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'reserve1', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-reserve1-status-message" class="status-message"></div>
-      <div id="bow_low_vol-reserve1-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">预留断路器2</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'reserve2', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'reserve2', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-reserve2-status-message" class="status-message"></div>
-      <div id="bow_low_vol-reserve2-timer" class="status-timer"></div>
-    </div>
-    <div class="breaker">
-      <div class="breaker-name">应急锂电池组1断路器</div>
-      <div class="breaker-controls">
-        <button onclick="sendCommand('bow_low_vol', 'emergency_battery1', 'close')">闭合</button>
-        <button onclick="sendCommand('bow_low_vol', 'emergency_battery1', 'open')">断开</button>
-      </div>
-      <div id="bow_low_vol-emergency_battery1-status-message" class="status-message"></div>
-      <div id="bow_low_vol-emergency_battery1-timer" class="status-timer"></div>
-    </div>
-  </div>
-</div>
-
-<script>
-// 全局存储所有设备的计时器状态
-const deviceTimers = {};
-
-function sendCommand(type, id, action, value) {
-  const statusEl = document.getElementById(`${type}-${id}-status-message`);
-  const timerEl = document.getElementById(`${type}-${id}-timer`);
-  const buttons = document.querySelectorAll(`button[onclick*="sendCommand('${type}', '${id}'"]`);
-  
-  // 检查是否已有计时器运行
-  if (deviceTimers[`${type}-${id}`]) {
-    return;
-  }
-  
-  // 禁用按钮
-  buttons.forEach(btn => {
-    btn.disabled = true;
-    btn.style.opacity = '0.6';
-    btn.style.cursor = 'not-allowed';
-  });
-  
-  // 显示操作中状态
-  if (statusEl) {
-    statusEl.textContent = '操作中...';
-    statusEl.className = 'status-message status-pending';
-  }
-  
-    // 启动5秒计时器
-    if (timerEl) {
-      let seconds = 8;
-      timerEl.textContent = `等待反馈: ${seconds}秒`;
-      timer = setInterval(() => {
-        seconds--;
-        if (seconds > 0) {
-          timerEl.textContent = `等待反馈: ${seconds}秒`;
-        } else {
-          clearInterval(timer);
-          timerEl.textContent = '';
-          if (statusEl && statusEl.textContent === '操作中...') {
-            statusEl.textContent = '操作超时: 未收到设备反馈';
-            statusEl.className = 'status-message status-error';
-          }
-        }
-      }, 1000);
-    }
-
-  // 设置10秒超时
-  const timeoutPromise = new Promise((_, reject) => 
-    setTimeout(() => reject(new Error('请求超时')), 10000)
-  );
-
-  // 存储计时器
-  deviceTimers[`${type}-${id}`] = timer;
-
-  Promise.race([
-    fetch('/control', {
-      method: 'POST',
-      headers: { 'Content-Type': 'application/json' },
-      body: JSON.stringify({ device_type: type, device_id: id, action: action, value: value })
-    }),
-    timeoutPromise
-  ])
-    .then(res => {
-      // 立即清除计时器
-      const timerEl = document.getElementById(`${type}-${id}-timer`);
-      const buttons = document.querySelectorAll(`button[onclick*="sendCommand('${type}', '${id}'"]`);
-      
-      if (timerEl) {
-        clearInterval(deviceTimers[`${type}-${id}`]);
-        delete deviceTimers[`${type}-${id}`];
-        timerEl.textContent = '';
-      }
-      
-      // 恢复按钮状态
-      buttons.forEach(btn => {
-        btn.disabled = false;
-        btn.style.opacity = '1';
-        btn.style.cursor = 'pointer';
-      });
-      
-      return res.json();
-    })
-    .then(data => {
-      const statusEl = document.getElementById(`${type}-${id}-status-message`);
-      
-      if (statusEl) {
-        statusEl.textContent = data.message || (data.success ? '操作成功' : '操作失败');
-        statusEl.className = data.success ? 'status-message status-success' : 'status-message status-error';
-      }
-  })
-  .catch(error => {
-    const statusEl = document.getElementById(`${type}-${id}-status-message`);
-    const timerEl = document.getElementById(`${type}-${id}-timer`);
-    const buttons = document.querySelectorAll(`button[onclick*="sendCommand('${type}', '${id}'"]`);
-    
-    if (timerEl) {
-      clearInterval(deviceTimers[`${type}-${id}`]);
-      delete deviceTimers[`${type}-${id}`];
-      timerEl.textContent = '';
-    }
-    
-    // 恢复按钮状态
-    buttons.forEach(btn => {
-      btn.disabled = false;
-      btn.style.opacity = '1';
-      btn.style.cursor = 'pointer';
-    });
-    
-    if (statusEl) {
-      if (error.message === '请求超时') {
-        statusEl.textContent = '操作超时: 未收到设备反馈';
-      } else {
-        statusEl.textContent = '通信错误: ' + error.message;
-      }
-      statusEl.className = 'status-message status-error';
-    }
-  });
-}
-</script>
-</body>
-</html>
-)row";
-#endif // HTTP_SERVER_DASHBOARD_H

src/bck/pPowerManger/httpserver/degubpage.h

@@ -1,466 +0,0 @@
-#ifndef HTTP_SERVER_DEBUGPAGE_H
-#define HTTP_SERVER_DEBUGPAGE_H
-
-#include <string>
-
-const std::string DEBUGPAGE_HTML = R"(
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="UTF-8">
-<title>Power Manager - 调试页面</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;
-}
-
-.debug-panel {
-    background: white;
-    border-radius: 4px;
-    padding: 16px;
-    margin: 16px;
-    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
-}
-
-.panel-title {
-    font-size: 1.25rem;
-    font-weight: 600;
-    color: #1a1a1a;
-    margin-bottom: 16px;
-    padding-bottom: 8px;
-    border-bottom: 1px solid #e5e7eb;
-}
-
-.debug-section {
-    margin-bottom: 24px;
-}
-
-.section-title {
-    font-size: 1rem;
-    font-weight: 600;
-    color: #1a1a1a;
-    margin-bottom: 8px;
-}
-
-.message-cards {
-    display: grid;
-    grid-template-columns: 1fr;
-    gap: 12px;
-    margin-top: 16px;
-    max-width: 600px;
-    padding: 0 16px;
-}
-
-.message-card {
-    width: 100%;
-    box-sizing: border-box;
-}
-
-.message-card {
-    background: white;
-    border: 1px solid #e5e7eb;
-    border-radius: 8px;
-    overflow: hidden;
-    box-shadow: 0 1px 3px rgba(0, 0, 0, 0.1);
-}
-
-.card-header {
-    padding: 12px 16px;
-    background: #f3f4f6;
-    border-bottom: 1px solid #e5e7eb;
-    font-weight: 600;
-    cursor: pointer;
-    display: flex;
-    justify-content: space-between;
-    align-items: center;
-}
-
-.card-header:hover {
-    background: #e5e7eb;
-}
-
-.card-content {
-    padding: 16px;
-}
-
-.card-content pre {
-    margin: 0;
-    white-space: pre-wrap;
-    font-family: monospace;
-    max-height: 150px;
-    overflow: hidden;
-    transition: max-height 0.3s ease;
-}
-
-.card-content pre.expanded {
-    max-height: none;
-}
-
-.toggle-button {
-    background: none;
-    border: none;
-    color: #2563eb;
-    cursor: pointer;
-    font-size: 0.9em;
-    padding: 4px 8px;
-    border-radius: 4px;
-}
-
-.toggle-button:hover {
-    background: rgba(37, 99, 235, 0.1);
-}
-
-.raw-data {
-    font-family: monospace;
-    white-space: pre-wrap;
-    background-color: #f3f4f6;
-    padding: 12px;
-    border-radius: 4px;
-    max-height: 300px;
-    overflow: auto;
-}
-
-@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="/debug" class="sidebar-button">
-                <span class="sidebar-icon">🐞</span>
-                <span>调试页面</span>
-            </a>
-        </div>
-    </div>
-
-    <div class="header">
-        <h1>Power Manager - 调试页面</h1>
-        <div class="status-bar">
-            <div class="status-info">
-                <span id="wsStatus">🔴 WebSocket: 未连接</span>
-            </div>
-        </div>
-    </div>
-
-    <div class="main-content">
-        <div class="debug-panel">
-            <div class="panel-title">系统调试信息</div>
-            
-            <div class="debug-section">
-                <div class="section-title">订阅消息</div>
-                <div class="message-cards" id="subscribeDataTable">
-                    <!-- 订阅消息将通过JavaScript动态填充 -->
-                </div>
-            </div>
-
-            <div class="debug-section">
-                <div class="section-title">发布消息</div>
-                <div class="message-cards" id="publishDataTable">
-                    <!-- 发布消息将通过JavaScript动态填充 -->
-                </div>
-            </div>
-
-            <div class="debug-section">
-                <div class="section-title">原始数据</div>
-                <div class="raw-data" id="rawData">
-                    等待数据...
-                </div>
-            </div>
-        </div>
-    </div>
-</div>
-
-<script>
-let ws = null;
-
-function initWebSocket() {
-    ws = new WebSocket('ws://' + window.location.host + '/ws/debug');
-
-    ws.onopen = () => {
-        console.log('WebSocket调试连接已建立');
-        updateStatus('🟢 WebSocket: 已连接');
-    };
-
-    ws.onmessage = (event) => {
-        try {
-            const data = JSON.parse(event.data);
-            console.log('收到调试数据:', data);
-            document.getElementById('rawData').textContent = JSON.stringify(data, null, 2);
-            
-            // 更新订阅消息表格
-            const subscribeTable = document.getElementById('subscribeDataTable');
-            const subscribeMessages = [
-                'm_secdistStateMsg_fb_debug',
-                'm_equStateMsg_cmd_debug',
-                'm_depthMsg_st_debug',
-                'm_setOpConditionMsg_st_debug',
-                'm_setOpModeMsg_st_debug',
-                'm_taskStartMsg_st_debug',
-                'm_taskStopMsg_st_debug',
-                'm_setDevSwitchMsg_st_debug',
-                'm_setPMSysMsg_st_debug',
-                'm_sysStateMsg_st_debug'
-            ];
-            
-            subscribeMessages.forEach(msg => {
-                if (data.debug && data.debug[msg] && data.debug[msg].name) {
-                    const msgName = data.debug[msg].name;
-                    const existingCard = Array.from(subscribeTable.children).find(card => 
-                        card.querySelector('.card-header').textContent === msgName
-                    );
-                    
-                    if (existingCard) {
-                        existingCard.querySelector('pre').textContent = formatJsonContent(data.debug[msg].content || '无内容');
-                    } else if (msgName !== '未知消息') {
-                        addDebugRow(subscribeTable, data.debug[msg]);
-                    }
-                }
-            });
-            
-            // 更新发布消息表格
-            const publishTable = document.getElementById('publishDataTable');
-            const publishMessages = [
-                'm_equInsStateMsg_fb_degub',
-                'm_secdistStateMsg_cmd_debug',
-                'm_equStateMsg_fb_debug',
-                'm_disSysStateMsg_st_debug',
-                'm_currentStateMsg_st_debug',
-                'm_pmStateMsg_fb_debug',
-                'm_fcsStateMsg_st_debug',
-                'm_liBatStateMsg_st_debug'
-            ];
-            
-            publishMessages.forEach(msg => {
-                if (data.debug && data.debug[msg] && data.debug[msg].name) {
-                    const msgName = data.debug[msg].name;
-                    const existingCard = Array.from(publishTable.children).find(card => 
-                        card.querySelector('.card-header').textContent === msgName
-                    );
-                    
-                    if (existingCard) {
-                        existingCard.querySelector('pre').textContent = formatJsonContent(data.debug[msg].content || '无内容');
-                    } else if (msgName !== '未知消息') {
-                        addDebugRow(publishTable, data.debug[msg]);
-                    }
-                }
-            });
-            
-        } catch (e) {
-            console.error('解析调试数据出错:', e);
-            document.getElementById('rawData').textContent = '解析错误: ' + e.message + '\n\n原始数据:\n' + event.data;
-        }
-    };
-
-    ws.onclose = () => {
-        console.log('WebSocket调试连接已关闭');
-        updateStatus('🔴 WebSocket: 已断开');
-        setTimeout(initWebSocket, 5000);
-    };
-
-    ws.onerror = (error) => {
-        console.error('WebSocket调试错误:', error);
-        updateStatus('⚠️ WebSocket: 错误');
-    };
-}
-
-function updateStatus(status) {
-    document.getElementById('wsStatus').textContent = status;
-}
-
-function formatJsonContent(content) {
-    try {
-        const parsed = JSON.parse(content);
-        return JSON.stringify(parsed, null, 2);
-    } catch (e) {
-        return content;
-    }
-}
-
-function addDebugRow(container, msgObj) {
-    const card = document.createElement('div');
-    card.className = 'message-card';
-    
-    const header = document.createElement('div');
-    header.className = 'card-header';
-    header.textContent = msgObj.name || '未知消息';
-    
-    const content = document.createElement('div');
-    content.className = 'card-content';
-    
-    const pre = document.createElement('pre');
-    pre.textContent = formatJsonContent(msgObj.content || '无内容');
-    
-    const toggleBtn = document.createElement('button');
-    toggleBtn.className = 'toggle-button';
-    toggleBtn.textContent = '展开';
-    toggleBtn.onclick = function(e) {
-        e.stopPropagation();
-        pre.classList.toggle('expanded');
-        this.textContent = pre.classList.contains('expanded') ? '收起' : '展开';
-    };
-    
-    header.onclick = function(e) {
-        if(e.target !== toggleBtn) {
-            pre.classList.toggle('expanded');
-            toggleBtn.textContent = pre.classList.contains('expanded') ? '收起' : '展开';
-        }
-    };
-    
-    content.appendChild(pre);
-    content.appendChild(toggleBtn);
-    card.appendChild(header);
-    card.appendChild(content);
-    container.appendChild(card);
-}
-
-window.addEventListener('load', initWebSocket);
-</script>
-</body>
-</html>
-)";
-
-#endif // HTTP_SERVER_DEBUGPAGE_H

src/bck/pPowerManger/httpserver/httpserver.h

@@ -1,90 +0,0 @@
-#ifndef HTTP_SERVER_H
-#define HTTP_SERVER_H
-#include "MOOS/libMOOS/Utils/MOOSThread.h"
-#include "mongoose.h"
-#include "../logc/loguru.hpp"
-#include "../systemData.h"
-#include <vector>
-#include <mutex>
-#include <unordered_map>
-#include <fstream>
-#include <deque>
-#include "../LowerCommManager.h"
-#include <string>
-#include <thread>
-#include <atomic>
-
-class HttpServer {
-public:
-    // 构造函数，传入PowerManger指针和端口号
-    HttpServer(int port = 8000);
-    
-    // 析构函数
-    ~HttpServer();
-    
-    // 启动HTTP服务器线程
-    void start();
-    
-    // 停止HTTP服务器线程
-    void stop();
-    
-    // 检查服务器是否正在运行
-    bool isRunning() const;
-
-    // 设置系统数据
-    void setSystemData(SystemData* systemData){
-        m_systemData = systemData;
-    }
-    void setLowerCommManager(LowerCommManager* lowerCommManager){
-        m_lowerCommManager = lowerCommManager;
-    }
-    void setPowerManger(PowerManger* powerManger){
-        m_powerManger = powerManger;
-    }
-
-    // 推送系统数据到所有WebSocket客户端
-    void pushSystemData();
-
-    // 监控日志文件变化并推送新内容
-    void monitorLogFile();
-
-    // 处理日志请求
-    void handleLogRequest(struct mg_connection* c, const std::string& msg);
-
-    // 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);
-    
-    // 线程回调函数
-    static bool serverThreadCB(void* pParam);
-    bool serverThreadFunc();
-
-    // 后台系统数据
-    SystemData *m_systemData = nullptr;
-    LowerCommManager *m_lowerCommManager = nullptr;
-    PowerManger *m_powerManger = nullptr;
-
-    struct mg_mgr mgr_;         // Mongoose管理器
-    int port_;                  // 监听端口
-    bool running_;              // 运行状态标志
-    CMOOSThread m_ServerThread; // 服务器线程
-    std::mutex ws_connections_mutex_;  // WebSocket连接锁
-    std::vector<mg_connection*> ws_connections_;  // WebSocket连接列表
-    std::unordered_map<mg_connection*, uint64_t> ws_last_io_time_;  // 连接最后活动时间
-
-    // 日志文件相关
-    std::string m_logFilePath = "pPowerManger.log";
-    std::ifstream m_logFile;
-    std::streampos m_lastLogPosition = 0;
-    std::deque<std::string> m_logCache;  // 缓存最近的日志
-    static const size_t MAX_CACHE_SIZE = 1000;  // 最大缓存条数
-
-};
-
-#endif // HTTP_SERVER_H

src/bck/pPowerManger/httpserver/logpage.h

@@ -1,617 +0,0 @@
-#ifndef HTTP_SERVER_LOGPAGE_H
-#define HTTP_SERVER_LOGPAGE_H
-
-#include <string>
-
-const std::string LOG_PAGE_HTML = R"(
-<!DOCTYPE html>
-<html>
-<head>
-    <meta charset="UTF-8">
-    <title>系统日志 - Power Manager</title>
-    <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-button.active {
-            background: var(--primary-color);
-            color: white;
-        }
-
-        .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);
-        }
-
-        .log-panel {
-            background: white;
-            border-radius: 4px;
-            padding: 6px;
-            box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
-            height: calc(100vh - var(--header-height));
-            overflow: hidden;
-            display: flex;
-            flex-direction: column;
-        }
-
-        .log-controls {
-            display: flex;
-            gap: 8px;
-            padding: 4px;
-            border-bottom: 1px solid #e5e7eb;
-            flex-wrap: wrap;
-        }
-
-        .log-button {
-            padding: 4px 12px;
-            border: 1px solid #e5e7eb;
-            border-radius: 4px;
-            background: white;
-            color: #4b5563;
-            cursor: pointer;
-            font-size: 0.875rem;
-            transition: all 0.2s;
-        }
-
-        .log-button:hover {
-            background: var(--bg-color);
-            border-color: var(--primary-color);
-            color: var(--primary-color);
-        }
-
-        .log-filter {
-            display: flex;
-            gap: 8px;
-            align-items: center;
-            margin-left: auto;
-        }
-
-        .log-filter select, .log-filter input {
-            padding: 4px 8px;
-            border: 1px solid #e5e7eb;
-            border-radius: 4px;
-            font-size: 0.875rem;
-            color: #4b5563;
-        }
-
-        .log-filter input {
-            width: 150px;
-        }
-
-        .log-pagination {
-            display: flex;
-            gap: 4px;
-            align-items: center;
-            padding: 4px;
-            border-top: 1px solid #e5e7eb;
-            justify-content: space-between;
-            font-size: 0.875rem;
-            color: #4b5563;
-        }
-
-        .page-info {
-            display: flex;
-            align-items: center;
-            gap: 8px;
-        }
-
-        .page-size {
-            display: flex;
-            align-items: center;
-            gap: 4px;
-        }
-
-        .page-size select {
-            padding: 2px 4px;
-            border: 1px solid #e5e7eb;
-            border-radius: 4px;
-        }
-
-        .page-nav {
-            display: flex;
-            gap: 4px;
-        }
-
-        .page-nav button {
-            padding: 2px 8px;
-            border: 1px solid #e5e7eb;
-            border-radius: 4px;
-            background: white;
-            cursor: pointer;
-        }
-
-        .page-nav button:disabled {
-            opacity: 0.5;
-            cursor: not-allowed;
-        }
-
-        .log-content {
-            flex: 1;
-            overflow: auto;
-            padding: 8px;
-            font-family: monospace;
-            font-size: 0.875rem;
-            line-height: 1.5;
-            white-space: pre-wrap;
-            background: #1a1a1a;
-            color: #f8fafc;
-            margin: 4px;
-            border-radius: 4px;
-        }
-
-        .log-entry {
-            margin: 2px 0;
-            padding: 2px 4px;
-            border-radius: 2px;
-        }
-
-        .log-entry:hover {
-            background: rgba(255, 255, 255, 0.1);
-        }
-
-        .log-entry.error {
-            color: #f87171;
-        }
-
-        .log-entry.warning {
-            color: #fbbf24;
-        }
-
-        .log-entry.info {
-            color: #60a5fa;
-        }
-
-        .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;
-        }
-    </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 active">
-                <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>系统日志</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">2025-05-18 15:52</time></span>
-            </div>
-        </div>
-    </div>
-
-    <div class="main-content">
-        <div class="log-panel">
-            <div class="log-controls">
-                <button class="log-button" id="clearBtn">清空显示</button>
-                <button class="log-button" id="scrollLockBtn">自动滚动</button>
-                <button class="log-button" id="downloadBtn">下载日志</button>
-                <div class="log-filter">
-                    <select id="logLevel">
-                        <option value="ALL">所有级别</option>
-                        <option value="ERROR">错误</option>
-                        <option value="WARNING">警告</option>
-                        <option value="INFO">信息</option>
-                    </select>
-                    <input type="text" id="searchInput" placeholder="搜索日志...">
-                </div>
-            </div>
-            <div class="log-content" id="logContent"></div>
-            <div class="log-pagination">
-                <div class="page-size">
-                    每页显示:
-                    <select id="pageSize">
-                        <option value="100">100</option>
-                        <option value="200" selected>200</option>
-                        <option value="500">500</option>
-                        <option value="1000">1000</option>
-                    </select>
-                </div>
-                <div class="page-info">
-                    <span id="pageInfo">第 0/0 页</span>
-                    <div class="page-nav">
-                        <button id="firstPage">首页</button>
-                        <button id="prevPage">上一页</button>
-                        <button id="nextPage">下一页</button>
-                        <button id="lastPage">末页</button>
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
-</div>
-
-<script>
-let ws = null;
-let autoScroll = true;
-let logContent = document.getElementById('logContent');
-let currentPage = 1;
-let totalPages = 1;
-let pageSize = 200;
-let allLogs = [];
-let filteredLogs = [];
-let searchTimer = 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);
-        requestLogs();
-    };
-
-    ws.onmessage = (event) => {
-        const data = JSON.parse(event.data);
-        if (data.type === 'log') {
-            // 初始加载的日志数据
-            allLogs = data.content;
-            filterAndDisplayLogs();
-        } else if (data.type === 'new_log') {
-            // 新的日志条目
-            if (Array.isArray(data.content)) {
-                let shouldUpdate = false;
-                data.content.forEach(log => {
-                    allLogs.push(log);
-                    if (shouldShowLog(log)) {
-                        filteredLogs.push(log);
-                        shouldUpdate = true;
-                        // 如果在最后一页或自动滚动模式下，直接添加到显示
-                        if (currentPage === totalPages || autoScroll) {
-                            appendLogEntry(log);
-                        }
-                    }
-                });
-                
-                if (shouldUpdate) {
-                    totalPages = Math.ceil(filteredLogs.length / pageSize);
-                    updatePagination();
-                    
-                    // 如果开启了自动滚动，确保滚动到底部
-                    if (autoScroll) {
-                        logContent.scrollTop = logContent.scrollHeight;
-                    }
-                }
-            }
-        } else if (data.moosdb) {
-            // 更新MOOSDB信息
-            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);
-        } else if (data.type === 'system_status') {
-            updateStatus(data.status, true);
-        }
-        updateTime();
-    };
-
-    ws.onclose = () => {
-        console.log('WebSocket连接已关闭');
-        updateStatus('已断开', false);
-        // 增加重连延迟，避免快速重连
-        setTimeout(() => {
-            if (!ws || ws.readyState === WebSocket.CLOSED) {
-                initWebSocket();
-            }
-        }, 2000);
-    };
-
-    ws.onerror = (error) => {
-        console.error('WebSocket错误:', error);
-        updateStatus('错误', false);
-    };
-}
-
-function requestLogs() {
-    ws.send(JSON.stringify({
-        type: 'get_logs',
-        page: currentPage,
-        pageSize: pageSize,
-        filter: {
-            level: document.getElementById('logLevel').value,
-            search: document.getElementById('searchInput').value
-        }
-    }));
-}
-
-function shouldShowLog(logEntry) {
-    const level = document.getElementById('logLevel').value;
-    const search = document.getElementById('searchInput').value.toLowerCase();
-    
-    if (level !== 'ALL') {
-        if (!logEntry.includes(level)) return false;
-    }
-    
-    if (search && !logEntry.toLowerCase().includes(search)) {
-        return false;
-    }
-    
-    return true;
-}
-
-function filterAndDisplayLogs() {
-    filteredLogs = allLogs.filter(shouldShowLog);
-    totalPages = Math.ceil(filteredLogs.length / pageSize);
-    displayCurrentPage();
-    updatePagination();
-}
-
-function displayCurrentPage() {
-    logContent.innerHTML = '';
-    const start = (currentPage - 1) * pageSize;
-    const end = Math.min(start + pageSize, filteredLogs.length);
-    
-    for (let i = start; i < end; i++) {
-        appendLogEntry(filteredLogs[i]);
-    }
-}
-
-function updatePagination() {
-    document.getElementById('pageInfo').textContent = `第 ${currentPage}/${totalPages} 页`;
-    document.getElementById('firstPage').disabled = currentPage === 1;
-    document.getElementById('prevPage').disabled = currentPage === 1;
-    document.getElementById('nextPage').disabled = currentPage === totalPages;
-    document.getElementById('lastPage').disabled = currentPage === totalPages;
-}
-
-// 事件监听器
-document.getElementById('logLevel').addEventListener('change', () => {
-    currentPage = 1;
-    filterAndDisplayLogs();
-});
-
-document.getElementById('searchInput').addEventListener('input', (e) => {
-    clearTimeout(searchTimer);
-    searchTimer = setTimeout(() => {
-        currentPage = 1;
-        filterAndDisplayLogs();
-    }, 300);
-});
-
-document.getElementById('pageSize').addEventListener('change', (e) => {
-    pageSize = parseInt(e.target.value);
-    currentPage = 1;
-    filterAndDisplayLogs();
-});
-
-document.getElementById('firstPage').addEventListener('click', () => {
-    currentPage = 1;
-    displayCurrentPage();
-    updatePagination();
-});
-
-document.getElementById('prevPage').addEventListener('click', () => {
-    if (currentPage > 1) {
-        currentPage--;
-        displayCurrentPage();
-        updatePagination();
-    }
-});
-
-document.getElementById('nextPage').addEventListener('click', () => {
-    if (currentPage < totalPages) {
-        currentPage++;
-        displayCurrentPage();
-        updatePagination();
-    }
-});
-
-document.getElementById('lastPage').addEventListener('click', () => {
-    currentPage = totalPages;
-    displayCurrentPage();
-    updatePagination();
-});
-
-function appendLogEntry(content) {
-    const entry = document.createElement('div');
-    entry.className = 'log-entry';
-    
-    // 根据日志内容设置不同的样式
-    if (content.includes('ERROR') || content.includes('ERR')) {
-        entry.classList.add('error');
-    } else if (content.includes('WARNING') || content.includes('WARN')) {
-        entry.classList.add('warning');
-    } else if (content.includes('INFO')) {
-        entry.classList.add('info');
-    }
-    
-    entry.textContent = content;
-    logContent.appendChild(entry);
-    
-    // 只在自动滚动模式下滚动到底部
-    if (autoScroll) {
-        logContent.scrollTop = logContent.scrollHeight;
-    }
-}
-
-function updateStatus(status, isConnected) {
-    const statusElement = document.querySelector('.status-info span:first-child');
-    statusElement.innerHTML = `${isConnected ? '🟢' : '🔴'} 系统状态: ${status}`;
-}
-
-function updateTime() {
-    const now = new Date();
-    const timeStr = now.toLocaleString('zh-CN', {
-        year: 'numeric',
-        month: '2-digit',
-        day: '2-digit',
-        hour: '2-digit',
-        minute: '2-digit',
-        second: '2-digit',
-        hour12: false
-    });
-    document.getElementById('updateTime').textContent = timeStr;
-}
-
-// 按钮事件处理
-document.getElementById('clearBtn').onclick = () => {
-    logContent.innerHTML = '';
-};
-
-document.getElementById('scrollLockBtn').onclick = function() {
-    autoScroll = !autoScroll;
-    this.textContent = autoScroll ? '自动滚动' : '已锁定';
-    this.style.backgroundColor = autoScroll ? 'white' : '#e5e7eb';
-};
-
-document.getElementById('downloadBtn').onclick = () => {
-    const text = logContent.innerText;
-    const blob = new Blob([text], { type: 'text/plain' });
-    const url = URL.createObjectURL(blob);
-    const a = document.createElement('a');
-    a.href = url;
-    a.download = `system_log_${new Date().toISOString().slice(0,19).replace(/[:-]/g, '')}.txt`;
-    document.body.appendChild(a);
-    a.click();
-    document.body.removeChild(a);
-    URL.revokeObjectURL(url);
-};
-
-window.addEventListener('load', initWebSocket);
-</script>
-</body>
-</html>
-)";
-
-#endif // HTTP_SERVER_LOGPAGE_H

src/bck/pPowerManger/httpserver/testpage.h

@@ -1,458 +0,0 @@
-#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-section">
-                    <div class="panel-subtitle">测试类型/ID设置</div>
-                    <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()">提交类型/ID</button>
-                </div>
-
-                <div class="form-section">
-                    <div class="panel-subtitle">MOOSDB测试消息设置</div>
-                    <div class="form-group">
-                        <label for="key" class="form-label">键(Key)</label>
-                        <input type="text" id="key" name="key" class="form-input" required>
-                    </div>
-                    <div class="form-group">
-                        <label for="value" class="form-label">值(Value)</label>
-                        <input type="text" id="value" name="value" class="form-input" required>
-                    </div>
-                    <button type="button" class="btn" onclick="submitKeyValueForm()" style="background-color: #4f46e5;">提交键值对</button>
-                </div>
-            </form>
-
-            <style>
-                .form-section {
-                    margin-bottom: 24px;
-                    padding: 16px;
-                    background: #f9fafb;
-                    border-radius: 8px;
-                }
-                .panel-subtitle {
-                    font-size: 0.9rem;
-                    font-weight: 600;
-                    color: #4b5563;
-                    margin-bottom: 12px;
-                    padding-bottom: 4px;
-                    border-bottom: 1px solid #e5e7eb;
-                }
-            </style>
-        </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
-    };
-
-    sendFormData(formData);
-}
-
-function submitKeyValueForm() {
-    const key = document.getElementById('key').value.trim();
-    const value = document.getElementById('value').value.trim();
-    
-    if (!key || !value) {
-        alert('请输入键和值');
-        return;
-    }
-
-    // 直接构造JSON对象，不通过form
-    const payload = {
-        key: key,
-        value: value
-    };
-
-    // 专门发送到MOOSDB测试消息接口
-    fetch('/moosdb_test', {
-        method: 'POST',
-        headers: {
-            'Content-Type': 'application/json'
-        },
-        body: JSON.stringify(payload)
-    })
-    .then(response => {
-        if (!response.ok) {
-            throw new Error(`HTTP error! status: ${response.status}`);
-        }
-        return response.json();
-    })
-    .then(data => {
-        if (data.success) {
-            alert('MOOSDB测试消息提交成功: ' + data.message);
-        } else {
-            alert('MOOSDB测试消息提交失败: ' + data.error);
-        }
-    })
-    .catch(error => {
-        console.error('MOOSDB测试消息提交错误:', error);
-        alert('MOOSDB测试消息提交过程中发生错误: ' + error.message);
-    });
-}
-
-function sendFormData(formData) {
-
-    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/bck/pPowerManger/pPowerManger.moos

@@ -1,9 +0,0 @@
-//SERVERHOST = 192.168.0.223
-//SERVERPORT = 9000
-ProcessConfig = pPowerManger
-{
-   AppTick   = 4
-   CommsTick = 4
-   log_level = INFO
-   log_file = /path/to/your/logfile.log
-}

src/bck/pPowerManger/pmSysvariable.h

@@ -1,964 +0,0 @@
-#ifndef PMSYSVARIABLE_H
-#define PMSYSVARIABLE_H
-
-//宏定义
-#include<string>
-#include <map>
-#include <unordered_set> 
-
-#define BREAK_OFF 0xAA
-#define BREAK_ON  0x55
-#define BREAK_FALSE 0x5A
-
-//消息结构体变量定义
-#pragma pack (1)
-typedef struct ccuState
-{
-  uint8_t  fc_mode;                         // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
-  uint8_t  fc_status;                       // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成（详见协议）
-  uint8_t  fc_fault_level;                  // 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
-
-  uint16_t output_power_limit;              // 系统输出功率限制值，单位：W，范围：0~30000W
-  uint16_t total_generation_time;           // 系统累计发电时间，单位：0.1小时，最大值6553.5小时
-  uint16_t total_generation_power;          // 系统累计发电总功率，单位：W
-  uint16_t fault_level_1;                   // 一级故障位，按位表示不同的故障项
-  uint16_t fault_level_2;                   // 二级故障位
-  uint16_t fault_level_3;                   // 三级故障位
-  uint16_t fault_level_4;                   // 四级故障位
-
-  uint8_t  hydrogen_capacity;               // 储氢罐剩余容量百分比，单位：%，范围：0~100
-  uint8_t  liquid_oxygen_capacity;          // 液氧罐剩余容量百分比，单位：%，范围：0~100
-
-  uint16_t palladium_temp;                  // 钯膜最高温度，单位：℃
-  uint16_t main_pipe_pressure;              // 主水路压力，单位：0.01kPa
-  uint16_t aux_pipe_pressure;               // 辅水路压力，单位：0.01kPa
-
-  uint16_t cabin_pressure1;                 // 舱室1压力，单位：0.01kPa
-  uint16_t cabin_pressure2;                 // 舱室2压力，单位：0.01kPa
-  uint16_t cabin_temp1;                     // 舱室1温度，单位：0.01℃
-  uint16_t cabin_temp2;                     // 舱室2温度，单位：0.01℃
-  uint16_t cabin_humidity1;                 // 舱室1湿度，单位：0.01%RH
-  uint16_t cabin_humidity2;                 // 舱室2湿度，单位：0.01%RH
-
-  uint8_t  flame_detector1;                 // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
-  uint8_t  flame_detector2;                 // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
-
-  uint16_t h2_concentration1;               // 舱室H2浓度1，单位：0.01% LEL
-  uint16_t h2_concentration2;               // 舱室H2浓度2，单位：0.01% LEL
-  uint16_t h2_concentration3;               // 舱室H2浓度3，单位：0.01% LEL
-  uint16_t o2_concentration1;               // 舱室O2浓度1，单位：0.01% LEL
-  uint16_t o2_concentration2;               // 舱室O2浓度2，单位：0.01% LEL
-  uint16_t ch3oh_concentration1;            // 舱室甲醇气体浓度1，单位：0.01% LEL
-  uint16_t ch3oh_concentration2;            // 舱室甲醇气体浓度2，单位：0.01% LEL
-
-  uint16_t reserved1[2];                    // 保留字段前2个元素
-  uint16_t emergency_battery1_voltage;      // 应急电池1总电压 [V]
-  uint16_t emergency_battery1_current;      // 应急电池1总电流 [A]
-  uint16_t emergency_battery1_max_temp;     // 应急电池1最高温度 [°C]
-  uint16_t emergency_battery1_fault_word;   // 应急电池1故障字
-  uint16_t emergency_battery2_voltage;      // 应急电池2总电压 [V]
-  uint16_t emergency_battery2_current;      // 应急电池2总电流 [A]
-  uint16_t emergency_battery2_max_temp;     // 应急电池2最高温度 [°C]
-  uint16_t emergency_battery2_fault_word;   // 应急电池2故障字
-  
-  uint16_t cabin_ox_concentration;      // 仪表舱内氧气浓度 [%]
-  uint16_t cabin_temperature;           // 仪表舱内温度 [°C]
-  uint16_t cabin_humidity;              // 仪表舱内湿度 [%RH]
-  uint16_t cabin_pressure;             // 仪表舱内大气压 [kPa]
-
-  uint16_t power_cabin_ox_concentration; // 动力舱内氧气浓度 [%]
-  uint16_t power_cabin_temperature;      // 动力舱内温度 [°C]
-  uint16_t power_cabin_humidity;         // 动力舱内湿度 [%RH]
-  uint16_t power_cabin_pressure;         // 动力舱内大气压 [kPa]
-  uint8_t  reserved2[1];                    // 保留字段，地址范围54~55，共2个uint8_t，协议预留
-
-  uint8_t  dyn_alarm_flag[6];               // 动力锂电池报警标志字数组，共6字节，按位表示各类报警
-  uint8_t  ins_alarm_flag[6];               // 仪表锂电池报警标志字数组，共6字节，按位表示各类报警
-
-  uint8_t  ins_relay_status1;               // 仪表电池继电器状态，高4位表示正极继电器，低4位表示充电继电器
-  uint8_t  ins_relay_status2;               // 仪表电池预充继电器和负极继电器状态
-  uint8_t  dyn_relay_status1;               // 动力电池正极与充电继电器状态
-  uint8_t  dyn_relay_status2;               // 动力电池预充与负极继电器状态
-
-  uint16_t ins_max_discharge_power;         // 仪表电池最大允许放电功率，单位：kW，精度0.05kW
-  uint16_t dyn_max_discharge_power;         // 动力电池最大允许放电功率，单位：kW，精度0.05kW
-
-  uint8_t  ins_soc;                         // 仪表锂电池荷电状态SOC，范围：0~100
-  uint8_t  dyn_soc;                         // 动力锂电池荷电状态SOC，范围：0~100
-
-  uint16_t ins_total_energy;                // 仪表电池总能量，单位：kWh
-  uint16_t dyn_total_energy;                // 动力电池总能量，单位：kWh
-
-  uint16_t ins_power_input;                 // 仪表电池输入功率，单位：kW
-  uint16_t dyn_power_input;                 // 动力电池输入功率，单位：kW
-
-  uint8_t  ins_charge_status;               // 仪表电池充放电状态：00H-无效，10H-充电，20H-放电
-  uint8_t  dyn_charge_status;               // 动力电池充放电状态：00H-无效，10H-充电，20H-放电
-
-  uint16_t ins_voltage_link;                // 仪表电池LINK端电压，单位：0.01V
-  uint16_t ins_voltage_pack;                // 仪表电池PACK端电压，单位：0.01V
-  uint16_t ins_current;                     // 仪表电池电流，单位：0.01A（正值放电）
-  uint16_t ins_resistance_pos;              // 仪表电池正极绝缘电阻，单位：kΩ
-  uint16_t ins_resistance_neg;              // 仪表电池负极绝缘电阻，单位：kΩ
-
-  uint16_t dyn_voltage_link;                // 动力电池LINK端电压，单位：0.01V
-  uint16_t dyn_voltage_pack;                // 动力电池PACK端电压，单位：0.01V
-  uint16_t dyn_current;                     // 动力电池电流，单位：0.01A（正值放电）
-  uint16_t dyn_resistance_pos;              // 动力电池正极绝缘电阻，单位：kΩ
-  uint16_t dyn_resistance_neg;              // 动力电池负极绝缘电阻，单位：kΩ
-
-  uint8_t  ins_emergency_status;            // 仪表电池紧急状态字，按位表示异常或告警状态
-  uint8_t  dyn_emergency_status;            // 动力电池紧急状态字，按位表示异常或告警状态
-
-  uint8_t  reserved3[2];                    // 保留字节，协议预留
-
-  uint8_t  ins_soc_threshold1;              // 仪表电池1 SOC门限，范围：0~100
-  uint8_t  ins_soc_threshold2;              // 仪表电池2 SOC门限，范围：0~100
-  uint8_t  ins_soc_threshold3;              // 仪表电池3 SOC门限，范围：0~100
-  uint8_t  dyn_soc_threshold1;              // 动力电池1 SOC门限，范围：0~100
-  uint8_t  dyn_soc_threshold2;              // 动力电池2 SOC门限，范围：0~100
-  uint8_t  dyn_soc_threshold3;              // 动力电池3 SOC门限，范围：0~100
-
-  uint8_t  ins_power_limit1;                // 仪表电池1功率限制值，单位：%
-  uint8_t  ins_power_limit2;                // 仪表电池2功率限制值，单位：%
-  uint8_t  dyn_power_limit1;                // 动力电池1功率限制值，单位：%
-  uint8_t  dyn_power_limit2;                // 动力电池2功率限制值，单位：%
-
-  uint32_t device_online_flag1;             // 设备在线状态标志1，byte0：低压配电板在线标志位 byte1：复合管控主机在线标志位 byte2：复合管控备机在线标志位
-  uint32_t device_online_flag2;             // 设备在线状态标志2，byte0：仪表锂电在线标志位 byte1：动力锂电在线标志位 byte2：燃电锂电在线标志位 byte3：高压配电板在线标志位
-  
-  uint8_t  dyn_charge_level;                // 动力电池充电状态：01H-1级(不限), 02H-2级(限功率), 03H-3级(关闭)
-  uint8_t  dyn_water_leak_status;          // 动力漏水状态：0XH-正常, 1XH-异常漏水
-  uint8_t  ins_water_leak_dcdc_status;     // 仪表漏水状态与DCDC状态：低4位-漏水状态(0XH正常,1XH异常),高4位-DCDC状态(X0H正常,X1H故障)
-  uint8_t  reserved4;
-  // uint32_t reserved4;                     // 保留字段，协议预留
-  uint32_t heartbeat;                       // 主机心跳计数器或标志值
-} ccuState;
-
-typedef struct {
-  unsigned char insSocHold1;
-  unsigned char insSocHold2;
-  unsigned char insSocHold3;
-  unsigned char fcuToInsLimit1;
-  unsigned char fcuToinsLimit2;
-  unsigned char powerSocHold1;
-  unsigned char powerSocHold2;
-  unsigned char powerSocHold3;
-  unsigned char fcuToPowerLimit1;
-  unsigned char fcuToPowerLimit2;
-}ccuSetParmCmd;
-
-typedef struct {
-  unsigned char fcmode;
-  unsigned char fcuCmd;
-  unsigned char fcuPowerEfficiency;
-  unsigned char insChargeEnable; 
-  unsigned char insBatCmd;
-  unsigned char powerBatCmd;
-  unsigned short powerBatEfficiency;
-  unsigned char heartbeat;
-  unsigned char masterState;
-  unsigned int paceholder1;
-  unsigned int paceholder2;
-}ccuColCmd;
-
-typedef struct disHighVolBusState
-{
-  //断路器状态
-  // 5: 燃料电池断路器
-  unsigned char fuelCellCircuitBreaker;
-  // 6: 动力锂电池断路器
-  unsigned char powerLithiumBatteryCircuitBreaker;
-  // 7: 推进电机断路器
-  unsigned char propulsionMotorCircuitBreaker;
-  // 8: 锂电池组仪表断路器
-  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-  // 9: DC/DC5模块断路器
-  unsigned char dcDc5ModuleCircuitBreaker;
-  // 10: 艏部高压配电箱断路器
-  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
-  // 11:  艉部FT装置4/5断路器
-  unsigned char sternFTDevice45CircuitBreaker;
-  
-  // 14:  FB预留断路器
-  unsigned char fbReservedCircuitBreaker;
-  // 12:  艉舵开关1断路器
-  unsigned char sternRudderSwitch1CircuitBreaker;
-  // 13:  艉舵开关2断路器
-  unsigned char sternRudderSwitch2CircuitBreaker;
-
-  // 15:  TYZ预留断路器
-  unsigned char tyzReservedCircuitBreaker;
-  // 16:  预留断路器
-  unsigned char reservedCircuitBreaker;
-  // unsigned char busInsulationLow;
-  // unsigned char busAInsulationHigh;
-  // 17: DC/DC5故障字低
-  // 0x00: 正常状态
-  // Bit0: DC/DC模块过温关机
-  // Bit1: 输出过流
-  // Bit2: 输出过压
-  // Bit3: 输出欠压
-  // Bit4: 输入过压
-  // Bit5: 输入欠压
-  // Bit6: 输出短路保护
-  // Bit7: 内部故障
-  // 18: DC/DC5故障字高
-  unsigned char dcDcFaultWord1;
-  // 0x00: 正常状态
-  // Bit0: 通讯故障报警
-  // Bit1: 工作状态 1：启动，0：关闭
-  // Bit2: 冷却泵1故障 冷却泵1故障 ： 1故障， 0 正常
-  // Bit3: 冷却泵2故障 冷却泵2故障 ：1故障，0 正常
-  // Bit4: 冷却水泄露  
-  // Bit5：冷却泵1运行状态 ：1 运行，0 停止
-  // Bit6：冷却泵2运行状态 ：1 运行，0 停止
-  unsigned char dcDcFaultWord2;
-  // 19: 动力母排绝缘状态（0x55 正常，0xAA 绝缘低）
-  unsigned char powerBusInsulationStatus;
-  // 20: A汇流排绝缘状态（0x55 正常，0xAA 绝缘低）
-  unsigned char aBusInsulationStatus;
-  // 21: 仪表电源状态 （0x55 正常，0xAA 故障）
-  unsigned char meterPowerLossSignal;
-  // 22: 应急电源状态 （0x55 正常，0xAA 故障）
-  unsigned char emergencyPowerLossSignal;
-  // 22: dc/dc温度
-  unsigned char dcDcTemperature;
-  // 23: 动力汇流排电压
-  unsigned short powerBusVoltage;
-  // 24: DC/DC5模块电流
-  unsigned short dcDc5ModuleCurrent;
-  // 25: 动力汇流排电流
-  unsigned short powerBusCurrent;
-  // 26: A汇流排电压
-  unsigned short busbarAVoltage;
-  // 27: 推进电机控制箱电流
-  unsigned short propulsionMotorControlBoxCurrent;
-  // 28: A汇流排电流
-  unsigned short busbarACurrent;
-  // 29: 锂电池组(仪表)电流
-  unsigned short lithiumBatteryGroupMeterCurrent;
-  // 30: 艏部高压配电箱电流
-  unsigned short bowHighVoltageDistributionBoxCurrent;
-  // 31:  艉部FT装置4/5电流
-  unsigned short sternFTDevice45Current;
-  // 32:  TYZ预留开关电流
-  unsigned short tyzReservedSwitchCurrent;
-  // 33:  艉舵开关1电流
-  unsigned short sternRudderSwitch1Current;
-  // 34:  预留电流
-  unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
-  // 35:  艉舵开关2电流
-  unsigned short sternRudderSwitch2Current;
-  // 36:  预留电流2
-  unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
-  // 37:  FB预留电流
-  unsigned short fbReservedSwitchCurrent;
-  // 38:  预留电流3
-  unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
-  // 39:  冷却水压力
-  unsigned short coolWaterPressure; 
-}disHighVolBusState;
-
-typedef struct disHighAVolBusState
-{
-  //5.   艏部FT装置1/2/3断路器
-  unsigned char bowFTDevice123CircuitBreaker;
-  //6.   启闭机构断路器
-  unsigned char actuatorCircuitBreaker;
-  //7.   桅杆舵机控制箱断路器
-  unsigned char mastSteeringGearControlBoxCircuitBreaker;
-  //8.   XCZ断路器
-  unsigned char xczCircuitBreaker;
-  //9.   艏舵控制箱断路器
-  unsigned char bowRudderControlBoxCircuitBreaker;
-  //10. 敞水盖启动电缸断路器
-  unsigned char openWaterCoverStartCylinderCircuitBreaker;
-  //11.  仪表电源失电信号 （0x55 正常，0xAA 故障）
-  unsigned char instrumentPowerFailureSignal;
-  //12.  应急电源失电信号 （0x55 正常，0xAA 故障）
-  unsigned char emergencyPowerFailureSignal;
-  //13. 浸水报警
-  // unsigned char busbarBInsulationStatus;
-  unsigned char waterIngressionAlarm;
-  //14.  汇流排B电压
-  unsigned short busbarBVoltage;
-  //15.  汇流排B电流
-  unsigned short busbarBCurrent;
-  //16.  艏部FT装置1/2/3电流
-  unsigned short bowFTDevice123Current;
-  //17.  启闭机构电流
-  unsigned short actuatorCurrent;
-  //18.  桅杆舵机控制箱电流
-  unsigned short mastSteeringGearControlBoxCurrent;
-  //19.  XCZ电流
-  unsigned short xczCurrent;
-  //20.  艏舵控制箱电流
-  unsigned short bowRudderControlBoxCurrent;
-  //21.  敞水盖启动电缸电流
-  unsigned short openWaterCoverStartCylinderCurrent;
-}disHighAVolBusState;
-
-typedef struct disHighBVolBusState
-{
-    //5. 锂电池组（仪表）断路器
-    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-    //6. 艏部低压配电箱断路器
-    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
-    //7.  UNIT4仪表DC48V断路器
-    unsigned char unit4InstrumentDC48VCircuitBreaker;
-    //8.  DC-C1直流配电板断路器
-    unsigned char dcC1DCDistributionPanelCircuitBreaker;
-    //9. 预留断路器1
-    unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-    //10. 预留断路器2
-    unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-    //11. 应急锂电池组2断路器
-    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
-    //12. 仪表电源失电信号 （0x55 正常，0xAA 故障）
-    unsigned char instrumentPowerFailureSignal;
-    //13. 应急电源失电信号 （0x55 正常，0xAA 故障）
-    unsigned char emergencyPowerFailureSignal;
-    //14.  仪表汇流排绝缘低 （0x55 正常，0xAA 绝缘低）
-    unsigned char instrumentBusbarInsulationLow;
-    //15.  仪表母排电压
-    unsigned short instrumentBusbarVoltage;
-    //16.  艏部低压配电箱电流
-    unsigned short bowLowVoltageDistributionBoxCurrent;
-    //17.  DC-C1（直流配电板1）仪表DC48V电流
-    unsigned short dcC1InstrumentDC48VCurrent;
-    //18.  预留电流
-    unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
-    //19.  应急锂电池组2电流
-    unsigned short emergencyLithiumBatteryGroup2Current;
-    //20.  锂电池组（仪表）电流
-    unsigned short lithiumBatteryGroupInstrumentCurrent;
-    //21.  UNIT4仪表DC48V电流
-    unsigned short unit4InstrumentDC48VCurrent;
-    //22.  Ushort	预留电流
-    unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
-    //23.  应急2汇流排电压
-    unsigned short emergency2BusbarVoltage;
-    //24.  复合能源管控系统应急DC48V电流
-    unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
-    //25.  燃料电池安全系统应急DC48V电流
-    unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
-    //26.  PLC控制电源电流
-    unsigned short plcControlPowerCurrent;
-} disLowMainBusState;
-
-typedef struct disLowBusState
-{
-  //5.  UNIT1断路器
-  unsigned char unit1CircuitBreaker;
-  //6.  UNIT2断路器
-  unsigned char unit2CircuitBreaker;
-  //7.  UNIT3断路器
-  unsigned char unit3CircuitBreaker;
-  //8.  UNIT5断路器
-  unsigned char unit5CircuitBreaker;
-  //9.   艏部PZ装置断路器
-  unsigned char bowPZDeviceCircuitBreaker;
-  //10.  预留断路器1
-  unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-  //11.  预留断路器2
-  unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-  //12.  应急锂电池组1断路器
-  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
-  //13.  仪表电源失电信号 （0x55 正常，0xAA 故障）
-  unsigned char powerFailureSignal;
-  //14.  应急电源失电信号 （0x55 正常，0xAA 故障）
-  unsigned char emergencyPowerFailureSignal;
-  //15. 浸水报警  （0x55 正常，0xAA 故障）
-  unsigned char waterIngressionAlarm;
-  //16.  仪表母排电压
-  unsigned short instrumentBusbarVoltage;
-  //17.  仪表母排电流
-  unsigned short instrumentBusbarCurrent;
-  //18. UNIT1电流
-  unsigned short unit1Current;
-  //19. UNIT2电流
-  unsigned short unit2Current;
-  //20. UNIT3电流
-  unsigned short unit3Current;
-  //21. UNIT5电流
-  unsigned short unit5Current;
-  //22. 艏部PZ装置电流
-  unsigned short bowPZDeviceCurrent;
-  //23.  应急锂电池组1电流
-  unsigned short emergencyLithiumBatteryGroup1Current;
-  //24.  应急1汇流排电压
-  unsigned short emergency1BusbarVoltage;
-}disLowBusState;
-
-typedef struct disHighVolBusCmd
-{
-  // 5: 燃料电池断路器
-  unsigned char fuelCellCircuitBreaker;
-  // 6: 动力锂电池断路器
-  unsigned char powerLithiumBatteryCircuitBreaker;
-  // 7: 推进电机断路器
-  unsigned char propulsionMotorCircuitBreaker;
-  // 8: 锂电池组仪表断路器
-  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-  // 9: DC/DC5模块断路器
-  unsigned char dcDc5ModuleCircuitBreaker;
-  // 10: 艏部高压配电箱断路器
-  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
-  // 11:  艉部FT装置4/5断路器
-  unsigned char sternFTDevice45CircuitBreaker;
-  // // 12:  艉舵开关1断路器
-  // unsigned char sternRudderSwitch1CircuitBreaker;
-  // // 13:  艉舵开关2断路器
-  // unsigned char sternRudderSwitch2CircuitBreaker;
-  // // 14:  FB预留断路器
-  // unsigned char fbReservedCircuitBreaker;
-
-  // 12:  FB预留断路器
-  unsigned char fbReservedCircuitBreaker;
-  // 13:  艉舵开关1断路器
-  unsigned char sternRudderSwitch1CircuitBreaker;
-  // 14:  艉舵开关2断路器
-  unsigned char sternRudderSwitch2CircuitBreaker;
-  
-  // 15:  TYZ预留断路器
-  unsigned char tyzReservedCircuitBreaker;
-  // 16:  预留断路器
-  unsigned char reservedCircuitBreaker;
-  // 17:  DC/DC5模块启动
-  unsigned char dcdc5Module;
-  // 18:  冷却系统启动
-  unsigned char coolingSystem;
-  // unsigned char inputWater;
-  // unsigned char outputWater;
-}disHighVolBusCmd;
-
-typedef struct disHighAVolBusCmd
-{
-  //5.   艏部FT装置1/2/3断路器
-  unsigned char bowFTDevice123CircuitBreaker;
-  //6.   启闭机构断路器
-  unsigned char actuatorCircuitBreaker;
-  //7.   桅杆舵机控制箱断路器
-  unsigned char mastSteeringGearControlBoxCircuitBreaker;
-  //8.   XCZ断路器
-  unsigned char xczCircuitBreaker;
-  //9.   艏舵控制箱断路器
-  unsigned char bowRudderControlBoxCircuitBreaker;
-  //10. 敞水盖启动电缸断路器
-  unsigned char openWaterCoverStartCylinderCircuitBreaker;
-}disHighAVolBusCmd;
-
-typedef struct disHighBVolBusCmd
-{
-    //5. 锂电池组（仪表）断路器
-    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-    //6. 艏部低压配电箱断路器
-    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
-    //7.  UNIT4仪表DC48V断路器
-    unsigned char unit4InstrumentDC48VCircuitBreaker;
-    //8.  DC-C1直流配电板断路器
-    unsigned char dcC1DCDistributionPanelCircuitBreaker;
-    //9. 预留断路器1
-    unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-    //10. 预留断路器2
-    unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-    //11. 应急锂电池组2断路器
-    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
-}disLowMainBusCmd;
-
-typedef struct disLowBusCmd
-{
-  unsigned char unit1CircuitBreaker;
-  unsigned char unit2CircuitBreaker;
-  unsigned char unit3CircuitBreaker;
-  unsigned char unit5CircuitBreaker;
-  unsigned char bowPZDeviceCircuitBreaker;
-  unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-  unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
-}disLowBusCmd;
-
-#pragma pack (0)
-
-//状态结构体定义
-typedef struct pmState
-{
-  ccuState            ccustate;
-  disHighVolBusState  bus1State;
-  disHighAVolBusState bus2State;
-  disLowMainBusState  bus3State;
-  disLowBusState      bus4State;
-} PmState;
-
-  typedef struct disBus1Breaker
-  {
-    unsigned char fuelCellCircuitBreaker : 1;
-    unsigned char powerLithiumBatteryCircuitBreaker : 1;
-    unsigned char propulsionMotorCircuitBreaker : 1;
-    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
-    unsigned char dcDc5ModuleCircuitBreaker : 1;
-    unsigned char bowHighVoltageDistributionBoxCircuitBreaker : 1;
-    unsigned char sternFTDevice45CircuitBreaker : 1;
-    unsigned char sternRudderSwitch1CircuitBreaker : 1;
-    unsigned char sternRudderSwitch2CircuitBreaker : 1;
-    unsigned char fbReservedCircuitBreaker : 1;
-    unsigned char tyzReservedCircuitBreaker : 1;
-    unsigned char reservedCircuitBreaker : 1;
-    unsigned char dcdcmodel : 1;
-    unsigned char coolingSystem : 1;
-    unsigned short paceholder : 4;
-  } disBus1Breaker;
-
-
- typedef struct disBus2Breaker
-  {
-    unsigned char bowFTDevice123CircuitBreaker : 1;
-    unsigned char actuatorCircuitBreaker : 1;
-    unsigned char mastSteeringGearControlBoxCircuitBreaker : 1;
-    unsigned char xczCircuitBreaker : 1;
-    unsigned char bowRudderControlBoxCircuitBreaker : 1;
-    unsigned char openWaterCoverStartCylinderCircuitBreaker : 1;
-    unsigned short paceholder : 10;
-    /* data */
-  } disBus2Breaker;
-
-
-   typedef struct disBus3Breaker
-  {
-    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
-    unsigned char bowLowVoltageDistributionBoxCircuitBreaker : 1;
-    unsigned char unit4InstrumentDC48VCircuitBreaker : 1;
-    unsigned char dcC1DCDistributionPanelCircuitBreaker : 1;
-    unsigned char reservedCircuitBreaker1 : 1;
-    unsigned char reservedCircuitBreaker2 : 1;
-    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker : 1;
-    unsigned short paceholder : 9;
-    /* data */
-  } disBus3Breaker;
-
-
-   typedef struct disBus4Breaker
-  {
-  unsigned char unit1CircuitBreaker : 1;
-  unsigned char unit2CircuitBreaker : 1;
-  unsigned char unit3CircuitBreaker : 1;
-  unsigned char unit5CircuitBreaker : 1;
-  unsigned char bowPZDeviceCircuitBreaker : 1;
-  unsigned char reservedCircuitBreaker1 : 1; // 为了区分，添加了数字后缀
-  unsigned char reservedCircuitBreaker2 : 1; // 为了区分，添加了数字后缀
-  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker : 1;
-  unsigned short paceholder : 8;
-    /* data */
-  } disBus4Breaker;
-
-  typedef struct disSysBreakerList
-  {
-    disBus1Breaker bus1Breaker;
-    disBus2Breaker bus2Breaker;
-    disBus3Breaker bus3Breaker;
-    disBus4Breaker bus4Breaker;
-  } disSysBreaker;
-
-  typedef struct MSControlCmd
-  {
-    unsigned int powerCMD;
-    unsigned int modCMD;
-    unsigned int workCMD;
-  }MSControlCmd;
-
-  
-namespace FcuCommand {
-  enum Type : unsigned char {
-    SelfCheck = 0x01,
-    Start = 0x02,
-    Stop = 0x03,
-    Reset = 0x04,
-    EmergencyStop = 0x05,
-    Supply = 0x06,
-    WarmUp = 0x07,
-    Maintenance = 0x08
-  };
-}
-
-enum class FcuState : unsigned char {
- //初始化
-  Init = 0x01,
-  //待机
-  Standby = 0x02,
-  //自检异常
-  SelfCheckError = 0x03,
-  //就绪
-  Ready = 0x04,
-  //启动
-  Start = 0x05,
-  //运行
-  Running = 0x06,
-  //停机
-  Stop = 0x07,
-  //故障
-  Fault = 0x08,
-  //补给
-  Supply = 0x09,
-  //预热
-  WarmUp = 0x0A,
-  //预热完成
-  WarmUpComplete = 0x0B,
-  //维护
-  Maintenance = 0x0C,
-  //维护完成
-  MaintenanceComplete = 0x0D
-};
-
-namespace BatteryCommand {
-  enum Type : unsigned char {
-      Start = 0x10,
-      Stop = 0x20,
-      Hold = 0x00
-  };
-};
-
-namespace PMMode {
-  enum Type : unsigned char {
-  Normal = 0,
-  Test = 1,
-  Debug = 2
-  };
-};
-
-//工况定义
-namespace WorkCondition {
-  enum Type : unsigned char {
-    CHANING = 0,                // 工况切换中
-    STANDBY = 1,                // 待机工况
-    SHORE_BASED_READY = 2,      // 岸基备航
-    WATER_BASED_READY = 3,      // 水中备航
-    REMOTE_CONTROL = 4,         // 遥控工况
-    CRUISE_MODE = 5,            // 巡航模式
-    HIGH_SPEED_MODE = 6,        // 高速模式
-    ASCEND_DESCEND = 7,         // 上浮下潜
-    BUOYANCY_ADJUST = 8,        // 浮调模式
-    UNDERWATER_RECON = 9,       // 水下侦查
-    SURFACE_RECON = 10,          // 水面侦查
-    DJ_MODE = 11,                // DJ模式
-    LIFT_MODE = 12             // 调试模式
-  };
-};
-
-namespace RunMode {
-  enum Type : unsigned char {
-    //正常模式
-    Normal = 0,
-    //测试模式
-    Test = 1,
-    //调试模式
-    Debug = 2
-  };
-};
-
-namespace TaskType {
-  enum Type : unsigned char {
-    THROW_LOAD = 1,      // 抛载
-    FLOAT_UP = 2,        // 运动上浮
-    RECYCLE = 3,         // 回收
-    HOVER = 4,           // 悬停
-    SAT_COMM = 5,        // 上浮通信
-    SAT_CALIBRATE = 6,   // 上浮校准 
-    TOUR = 7,            // 游曳 
-    SAIL = 8,             // 航行 
-
-    EMER_SAT_COMM = 9,    //紧急上浮通信
-    EMER_SAIL = 10      //紧急航行
-  };
-  
-  inline const std::string toString(Type type) {
-    static const std::map<Type, std::string> names = {
-        {THROW_LOAD, "throwLoad"},
-        {FLOAT_UP, "floatUp"},
-        {RECYCLE, "recycle"},
-        {HOVER, "hover"},
-        {SAT_COMM, "satComm"},
-        {SAT_CALIBRATE, "satCalibrate"},
-        {TOUR, "tour"},
-        {SAIL, "sail"},
-        {EMER_SAT_COMM,"emerSatComm"},
-        {EMER_SAIL,"emerSail"}
-    };
-    auto it = names.find(type);
-    return it != names.end() ? it->second : "unknown";
-}
-  inline Type fromString(const std::string& str) {
-    static const std::map<std::string, Type> stringToEnum = {
-      {"throwLoad", THROW_LOAD},
-      {"floatUp", FLOAT_UP},
-      {"recycle", RECYCLE},
-      {"hover", HOVER},
-      {"satComm", SAT_COMM},
-      {"emerSatComm",SAT_COMM},
-      {"satCalibrate",SAT_CALIBRATE},
-      {"tour", TOUR},
-      {"sail", SAIL},
-      {"emerSatComm",EMER_SAT_COMM},
-      {"emerSail",EMER_SAIL}
-    };
-    auto it = stringToEnum.find(str);
-    return it != stringToEnum.end() ? it->second : static_cast<Type>(0); // 返回0表示无效类型
-  }
-}
-
-namespace EquipmentCommand {
-  enum Type : unsigned char {
-    OFF = 0, //断电
-    ON = 1,  //上电
-    //仪表电上电
-    METER_ON = 2,
-    //动力电上电
-    POWER_ON = 3,
-    //仪表电断电
-    METER_OFF = 4,
-    //动力电断电
-    POWER_OFF = 5,
-  };
-};
-
-
-struct MissionState
-{
-  int type;
-  bool enableBowRudder;
-  bool enableBuoyancyAdjustment;
-};
-
-struct DeviceSwitchCmd
-{
-  int id;
-  int cmd;
-};
-
-namespace DeviceId {
-  enum Type : unsigned char {
-    singleBeamSonar1 = 0,
-    singleBeamSonar2 = 1,
-    singleBeamSonar3 = 2,
-    singleBeamSonar4 = 3,
-    singleBeamSonar5 = 4,
-    singleBeamSonar6 = 5,
-    singleBeamSonar7 = 6,
-    singleBeamSonar8 = 7,
-    forwardSonar = 8,
-    bowCover1 = 9,
-    bowCover2 = 10,
-    bowCover3 = 11,
-    bowCover4 = 12,
-    bowCover5 = 13,
-    bowCover6 = 14,
-    bowRudderDeploy = 15,
-    bowRudderServo1 = 16,
-    bowRudderServo2 = 17,
-    depth1 = 18,
-    depth2 = 19,
-    depth3 = 20,
-    overDeep1 = 21,
-    overDeep2 = 22,
-    ctd1 = 23,
-    ctd2 = 24,
-    soundVeloc = 25,
-    waterInject = 26,
-    bowWaterInet1 = 27,
-    bowWaterInet2 = 28,
-    bowWaterInet3 = 29,
-    bowWaterInet4 = 30,
-    bowWaterInet5 = 31,
-    bowWaterInet6 = 32,
-    bowWaterInet7 = 33,
-    bowWaterInet8 = 34,
-    sideSonar = 35,
-    lowFreqSonar = 36,
-    launchControler = 37,
-    photoSensor = 38,
-    electSensor = 39,
-    commMast = 40,
-    mastLiftingServo = 41,
-    USBL = 42,
-    DVL = 43,
-    buoyancyAdjust1 = 44,
-    buoyancyAdjust2 = 45,
-    buoyancyAdjust3 = 46,
-    buoyancyAdjust4 = 47,
-    buoyancyAdjust5 = 48,
-    sternRudderServo1 = 49,
-    sternRudderServo2 = 50,
-    sternRudderServo3 = 51,
-    sternRudderServo4 = 52,
-    thruster = 53,
-    bowThrow = 54,
-    sternThrow = 55,
-    buoyage = 56,
-    ins = 57,
-    ntp = 58,
-    inputWaterSensor1 = 59,
-    inputWaterSensor2 = 60,
-    inputWaterSensor3 = 61,
-  };
-  inline const std::string toString(Type type) {
-    static const std::map<Type, std::string> names = {
-        {singleBeamSonar1, "singleBeamSonar1"},
-        {singleBeamSonar2, "singleBeamSonar2"},
-        {singleBeamSonar3, "singleBeamSonar3"},
-        {singleBeamSonar4, "singleBeamSonar4"},
-        {singleBeamSonar5, "singleBeamSonar5"},
-        {singleBeamSonar6, "singleBeamSonar6"},
-        {singleBeamSonar7, "singleBeamSonar7"},
-        {singleBeamSonar8, "singleBeamSonar8"},
-        {forwardSonar, "forwardSonar"},
-        {bowCover1, "bowCover1"},
-        {bowCover2, "bowCover2"},
-        {bowCover3, "bowCover3"},
-        {bowCover4, "bowCover4"},
-        {bowCover5, "bowCover5"},
-        {bowCover6, "bowCover6"},
-        {bowRudderDeploy, "bowRudderDeploy"},
-        {bowRudderServo1, "bowRudderServo1"},
-        {bowRudderServo2, "bowRudderServo2"},
-        {depth1, "depth1"},
-        {depth2, "depth2"},
-        {depth3, "depth3"},
-        {overDeep1, "overDeep1"},
-        {overDeep2, "overDeep2"},
-        {ctd1, "ctd1"},
-        {ctd2, "ctd2"},
-        {soundVeloc, "soundVeloc"},
-        {waterInject, "waterInject"},
-        {bowWaterInet1, "bowWaterInet1"},
-        {bowWaterInet2, "bowWaterInet2"},
-        {bowWaterInet3, "bowWaterInet3"},
-        {bowWaterInet4, "bowWaterInet4"},
-        {bowWaterInet5, "bowWaterInet5"},
-        {bowWaterInet6, "bowWaterInet6"},
-        {bowWaterInet7, "bowWaterInet7"},
-        {bowWaterInet8, "bowWaterInet8"},
-        {sideSonar, "sideSonar"},
-        {lowFreqSonar, "lowFreqSonar"},
-        {launchControler, "launchControler"},
-        {photoSensor, "photoSensor"},
-        {electSensor, "electSensor"},
-        {commMast, "commMast"},
-        {mastLiftingServo, "mastLiftingServo"},
-        {USBL, "USBL"},
-        {DVL, "DVL"},
-        {buoyancyAdjust1, "buoyancyAdjust1"},
-        {buoyancyAdjust2, "buoyancyAdjust2"},
-        {buoyancyAdjust3, "buoyancyAdjust3"},
-        {buoyancyAdjust4, "buoyancyAdjust4"},
-        {buoyancyAdjust5, "buoyancyAdjust5"},
-        {sternRudderServo1, "sternRudderServo1"},
-        {sternRudderServo2, "sternRudderServo2"},
-        {sternRudderServo3, "sternRudderServo3"},
-        {sternRudderServo4, "sternRudderServo4"},
-        {thruster, "thruster"},
-        {bowThrow, "bowThrow"},
-        {sternThrow, "sternThrow"},
-        {buoyage, "buoyage"},
-        {ins, "ins"},
-        {ntp, "ntp"},
-        {inputWaterSensor1, "inputWaterSensor1"},
-        {inputWaterSensor2, "inputWaterSensor2"},
-        {inputWaterSensor3, "inputWaterSensor3"}
-    };
-    auto it = names.find(type);
-    return it != names.end() ? it->second : "unknown";
-  }
-}
-
-// 设备类id存储
-static const std::unordered_set<int> underWterDevices = {
-    DeviceId::singleBeamSonar1,
-    DeviceId::singleBeamSonar2,
-    DeviceId::singleBeamSonar3,
-    DeviceId::singleBeamSonar4,
-    DeviceId::singleBeamSonar5,
-    DeviceId::singleBeamSonar6,
-    DeviceId::singleBeamSonar7,
-    DeviceId::singleBeamSonar8,
-    DeviceId::forwardSonar,
-    DeviceId::USBL,
-    DeviceId::DVL,
-    DeviceId::lowFreqSonar
-};
-static const std::unordered_set<int> noPowerDevices = {
-    DeviceId::depth1,
-    DeviceId::depth2,
-    DeviceId::depth3,
-    DeviceId::overDeep1,
-    DeviceId::overDeep2,
-    DeviceId::ctd1,
-    DeviceId::ctd2,
-    DeviceId::soundVeloc,
-    DeviceId::waterInject,
-    DeviceId::launchControler,
-    DeviceId::photoSensor,
-    DeviceId::electSensor,
-    DeviceId::commMast,
-    DeviceId::ntp,
-    DeviceId::bowThrow,
-    DeviceId::sternThrow,
-    DeviceId::ins,
-    DeviceId::inputWaterSensor1,
-    DeviceId::inputWaterSensor2,
-    DeviceId::inputWaterSensor3
-};
-namespace FaultEnable {
-  enum Type : bool {
-    BasicNavigationFault_1 = false, // 使能故障
-    BasicNavigationFault_2 = false,
-    BasicNavigationFault_3 = false,
-    BasicNavigationFault_4 = false,
-    BasicNavigationFault_5 = false,
-    BasicNavigationFault_6 = false,
-    BasicNavigationFault_7 = false,
-    BasicNavigationFault_8 = false,
-    BasicNavigationFault_9 = false,
-    BasicNavigationFault_10 = false,
-
-    ExtendedNavigationFault_1 = false, // 使能故障
-    ExtendedNavigationFault_2 = false,
-    ExtendedNavigationFault_3 = false,
-    ExtendedNavigationFault_4 = false,
-
-    ObstacleAvoidanceFault_1 = false, // 使能故障
-    ObstacleAvoidanceFault_2 = false,
-    ObstacleAvoidanceFault_3 = false,
-
-    BuoyancyControlFault_1 = false, // 使能故障
-    BuoyancyControlFault_2 = false,
-    BuoyancyControlFault_3 = false,
-    BuoyancyControlFault_4 = false,
-
-    CommunicationSystemFault_1 = false, // 使能故障
-    CommunicationSystemFault_2 = false,
-    CommunicationSystemFault_3 = false,
-
-    PayloadSystemFault_1 = false, // 使能故障
-    PayloadSystemFault_2 = false,
-    PayloadSystemFault_3 = false,
-    PayloadSystemFault_4 = false,
-    PayloadSystemFault_5 = false,
-    PayloadSystemFault_6 = false,
-    PayloadSystemFault_7 = false,
-
-    EmergencySystemFault_1 = false, // 使能故障
-    EmergencySystemFault_2 = false,
-    EmergencySystemFault_3 = false,
-    EmergencySystemFault_4 = false,
-    EmergencySystemFault_5 = false,
-    EmergencySystemFault_6 = false,
-    
-    SensorSystemFault_1 = false, // 使能故障
-    SensorSystemFault_2 = false,
-    SensorSystemFault_3 = false,
-  };
-}
-
-#endif
-
-

src/bck/pPowerManger/sqlit3/SQLite.h

@@ -1,36 +0,0 @@
-#ifndef SQLITE_H
-#define SQLITE_H
-#include "sqlite3.h"
-#include <string>
-#include "../pmSysvariable.h"
-
-class SQLite
-{
-private:
-    sqlite3* m_db;
-public:
-    std::string m_dbPath;
-    SQLite(const std::string& dbName);
-    ~SQLite();
-
-    //创建表
-    bool createTable();
-    bool createTable(const std::string& tableName, const std::string& columns);
-
-    // 插入数据函数
-    bool insertData(ccuState data);
-    bool insertData(disHighVolBusState data);
-    bool insertData(disHighAVolBusState data);
-    bool insertData(disLowMainBusState data);
-    bool insertData(disLowBusState data);
-
-    //插入指令数据
-    bool insertData(ccuColCmd cmd);
-    bool insertData(disHighVolBusCmd cmd);
-    bool insertData(disHighAVolBusCmd cmd);
-    bool insertData(disLowMainBusCmd cmd);
-    bool insertData(disLowBusCmd cmd);
-};
-
-
-#endif

src/bck/pPowerManger/sqlit3/sqlite3ext.h

@@ -1,719 +0,0 @@
-/*
-** 2006 June 7
-**
-** The author disclaims copyright to this source code.  In place of
-** a legal notice, here is a blessing:
-**
-**    May you do good and not evil.
-**    May you find forgiveness for yourself and forgive others.
-**    May you share freely, never taking more than you give.
-**
-*************************************************************************
-** This header file defines the SQLite interface for use by
-** shared libraries that want to be imported as extensions into
-** an SQLite instance.  Shared libraries that intend to be loaded
-** as extensions by SQLite should #include this file instead of 
-** sqlite3.h.
-*/
-#ifndef SQLITE3EXT_H
-#define SQLITE3EXT_H
-#include "sqlite3.h"
-
-/*
-** The following structure holds pointers to all of the SQLite API
-** routines.
-**
-** WARNING:  In order to maintain backwards compatibility, add new
-** interfaces to the end of this structure only.  If you insert new
-** interfaces in the middle of this structure, then older different
-** versions of SQLite will not be able to load each other's shared
-** libraries!
-*/
-struct sqlite3_api_routines {
-  void * (*aggregate_context)(sqlite3_context*,int nBytes);
-  int  (*aggregate_count)(sqlite3_context*);
-  int  (*bind_blob)(sqlite3_stmt*,int,const void*,int n,void(*)(void*));
-  int  (*bind_double)(sqlite3_stmt*,int,double);
-  int  (*bind_int)(sqlite3_stmt*,int,int);
-  int  (*bind_int64)(sqlite3_stmt*,int,sqlite_int64);
-  int  (*bind_null)(sqlite3_stmt*,int);
-  int  (*bind_parameter_count)(sqlite3_stmt*);
-  int  (*bind_parameter_index)(sqlite3_stmt*,const char*zName);
-  const char * (*bind_parameter_name)(sqlite3_stmt*,int);
-  int  (*bind_text)(sqlite3_stmt*,int,const char*,int n,void(*)(void*));
-  int  (*bind_text16)(sqlite3_stmt*,int,const void*,int,void(*)(void*));
-  int  (*bind_value)(sqlite3_stmt*,int,const sqlite3_value*);
-  int  (*busy_handler)(sqlite3*,int(*)(void*,int),void*);
-  int  (*busy_timeout)(sqlite3*,int ms);
-  int  (*changes)(sqlite3*);
-  int  (*close)(sqlite3*);
-  int  (*collation_needed)(sqlite3*,void*,void(*)(void*,sqlite3*,
-                           int eTextRep,const char*));
-  int  (*collation_needed16)(sqlite3*,void*,void(*)(void*,sqlite3*,
-                             int eTextRep,const void*));
-  const void * (*column_blob)(sqlite3_stmt*,int iCol);
-  int  (*column_bytes)(sqlite3_stmt*,int iCol);
-  int  (*column_bytes16)(sqlite3_stmt*,int iCol);
-  int  (*column_count)(sqlite3_stmt*pStmt);
-  const char * (*column_database_name)(sqlite3_stmt*,int);
-  const void * (*column_database_name16)(sqlite3_stmt*,int);
-  const char * (*column_decltype)(sqlite3_stmt*,int i);
-  const void * (*column_decltype16)(sqlite3_stmt*,int);
-  double  (*column_double)(sqlite3_stmt*,int iCol);
-  int  (*column_int)(sqlite3_stmt*,int iCol);
-  sqlite_int64  (*column_int64)(sqlite3_stmt*,int iCol);
-  const char * (*column_name)(sqlite3_stmt*,int);
-  const void * (*column_name16)(sqlite3_stmt*,int);
-  const char * (*column_origin_name)(sqlite3_stmt*,int);
-  const void * (*column_origin_name16)(sqlite3_stmt*,int);
-  const char * (*column_table_name)(sqlite3_stmt*,int);
-  const void * (*column_table_name16)(sqlite3_stmt*,int);
-  const unsigned char * (*column_text)(sqlite3_stmt*,int iCol);
-  const void * (*column_text16)(sqlite3_stmt*,int iCol);
-  int  (*column_type)(sqlite3_stmt*,int iCol);
-  sqlite3_value* (*column_value)(sqlite3_stmt*,int iCol);
-  void * (*commit_hook)(sqlite3*,int(*)(void*),void*);
-  int  (*complete)(const char*sql);
-  int  (*complete16)(const void*sql);
-  int  (*create_collation)(sqlite3*,const char*,int,void*,
-                           int(*)(void*,int,const void*,int,const void*));
-  int  (*create_collation16)(sqlite3*,const void*,int,void*,
-                             int(*)(void*,int,const void*,int,const void*));
-  int  (*create_function)(sqlite3*,const char*,int,int,void*,
-                          void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
-                          void (*xStep)(sqlite3_context*,int,sqlite3_value**),
-                          void (*xFinal)(sqlite3_context*));
-  int  (*create_function16)(sqlite3*,const void*,int,int,void*,
-                            void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
-                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
-                            void (*xFinal)(sqlite3_context*));
-  int (*create_module)(sqlite3*,const char*,const sqlite3_module*,void*);
-  int  (*data_count)(sqlite3_stmt*pStmt);
-  sqlite3 * (*db_handle)(sqlite3_stmt*);
-  int (*declare_vtab)(sqlite3*,const char*);
-  int  (*enable_shared_cache)(int);
-  int  (*errcode)(sqlite3*db);
-  const char * (*errmsg)(sqlite3*);
-  const void * (*errmsg16)(sqlite3*);
-  int  (*exec)(sqlite3*,const char*,sqlite3_callback,void*,char**);
-  int  (*expired)(sqlite3_stmt*);
-  int  (*finalize)(sqlite3_stmt*pStmt);
-  void  (*free)(void*);
-  void  (*free_table)(char**result);
-  int  (*get_autocommit)(sqlite3*);
-  void * (*get_auxdata)(sqlite3_context*,int);
-  int  (*get_table)(sqlite3*,const char*,char***,int*,int*,char**);
-  int  (*global_recover)(void);
-  void  (*interruptx)(sqlite3*);
-  sqlite_int64  (*last_insert_rowid)(sqlite3*);
-  const char * (*libversion)(void);
-  int  (*libversion_number)(void);
-  void *(*malloc)(int);
-  char * (*mprintf)(const char*,...);
-  int  (*open)(const char*,sqlite3**);
-  int  (*open16)(const void*,sqlite3**);
-  int  (*prepare)(sqlite3*,const char*,int,sqlite3_stmt**,const char**);
-  int  (*prepare16)(sqlite3*,const void*,int,sqlite3_stmt**,const void**);
-  void * (*profile)(sqlite3*,void(*)(void*,const char*,sqlite_uint64),void*);
-  void  (*progress_handler)(sqlite3*,int,int(*)(void*),void*);
-  void *(*realloc)(void*,int);
-  int  (*reset)(sqlite3_stmt*pStmt);
-  void  (*result_blob)(sqlite3_context*,const void*,int,void(*)(void*));
-  void  (*result_double)(sqlite3_context*,double);
-  void  (*result_error)(sqlite3_context*,const char*,int);
-  void  (*result_error16)(sqlite3_context*,const void*,int);
-  void  (*result_int)(sqlite3_context*,int);
-  void  (*result_int64)(sqlite3_context*,sqlite_int64);
-  void  (*result_null)(sqlite3_context*);
-  void  (*result_text)(sqlite3_context*,const char*,int,void(*)(void*));
-  void  (*result_text16)(sqlite3_context*,const void*,int,void(*)(void*));
-  void  (*result_text16be)(sqlite3_context*,const void*,int,void(*)(void*));
-  void  (*result_text16le)(sqlite3_context*,const void*,int,void(*)(void*));
-  void  (*result_value)(sqlite3_context*,sqlite3_value*);
-  void * (*rollback_hook)(sqlite3*,void(*)(void*),void*);
-  int  (*set_authorizer)(sqlite3*,int(*)(void*,int,const char*,const char*,
-                         const char*,const char*),void*);
-  void  (*set_auxdata)(sqlite3_context*,int,void*,void (*)(void*));
-  char * (*xsnprintf)(int,char*,const char*,...);
-  int  (*step)(sqlite3_stmt*);
-  int  (*table_column_metadata)(sqlite3*,const char*,const char*,const char*,
-                                char const**,char const**,int*,int*,int*);
-  void  (*thread_cleanup)(void);
-  int  (*total_changes)(sqlite3*);
-  void * (*trace)(sqlite3*,void(*xTrace)(void*,const char*),void*);
-  int  (*transfer_bindings)(sqlite3_stmt*,sqlite3_stmt*);
-  void * (*update_hook)(sqlite3*,void(*)(void*,int ,char const*,char const*,
-                                         sqlite_int64),void*);
-  void * (*user_data)(sqlite3_context*);
-  const void * (*value_blob)(sqlite3_value*);
-  int  (*value_bytes)(sqlite3_value*);
-  int  (*value_bytes16)(sqlite3_value*);
-  double  (*value_double)(sqlite3_value*);
-  int  (*value_int)(sqlite3_value*);
-  sqlite_int64  (*value_int64)(sqlite3_value*);
-  int  (*value_numeric_type)(sqlite3_value*);
-  const unsigned char * (*value_text)(sqlite3_value*);
-  const void * (*value_text16)(sqlite3_value*);
-  const void * (*value_text16be)(sqlite3_value*);
-  const void * (*value_text16le)(sqlite3_value*);
-  int  (*value_type)(sqlite3_value*);
-  char *(*vmprintf)(const char*,va_list);
-  /* Added ??? */
-  int (*overload_function)(sqlite3*, const char *zFuncName, int nArg);
-  /* Added by 3.3.13 */
-  int (*prepare_v2)(sqlite3*,const char*,int,sqlite3_stmt**,const char**);
-  int (*prepare16_v2)(sqlite3*,const void*,int,sqlite3_stmt**,const void**);
-  int (*clear_bindings)(sqlite3_stmt*);
-  /* Added by 3.4.1 */
-  int (*create_module_v2)(sqlite3*,const char*,const sqlite3_module*,void*,
-                          void (*xDestroy)(void *));
-  /* Added by 3.5.0 */
-  int (*bind_zeroblob)(sqlite3_stmt*,int,int);
-  int (*blob_bytes)(sqlite3_blob*);
-  int (*blob_close)(sqlite3_blob*);
-  int (*blob_open)(sqlite3*,const char*,const char*,const char*,sqlite3_int64,
-                   int,sqlite3_blob**);
-  int (*blob_read)(sqlite3_blob*,void*,int,int);
-  int (*blob_write)(sqlite3_blob*,const void*,int,int);
-  int (*create_collation_v2)(sqlite3*,const char*,int,void*,
-                             int(*)(void*,int,const void*,int,const void*),
-                             void(*)(void*));
-  int (*file_control)(sqlite3*,const char*,int,void*);
-  sqlite3_int64 (*memory_highwater)(int);
-  sqlite3_int64 (*memory_used)(void);
-  sqlite3_mutex *(*mutex_alloc)(int);
-  void (*mutex_enter)(sqlite3_mutex*);
-  void (*mutex_free)(sqlite3_mutex*);
-  void (*mutex_leave)(sqlite3_mutex*);
-  int (*mutex_try)(sqlite3_mutex*);
-  int (*open_v2)(const char*,sqlite3**,int,const char*);
-  int (*release_memory)(int);
-  void (*result_error_nomem)(sqlite3_context*);
-  void (*result_error_toobig)(sqlite3_context*);
-  int (*sleep)(int);
-  void (*soft_heap_limit)(int);
-  sqlite3_vfs *(*vfs_find)(const char*);
-  int (*vfs_register)(sqlite3_vfs*,int);
-  int (*vfs_unregister)(sqlite3_vfs*);
-  int (*xthreadsafe)(void);
-  void (*result_zeroblob)(sqlite3_context*,int);
-  void (*result_error_code)(sqlite3_context*,int);
-  int (*test_control)(int, ...);
-  void (*randomness)(int,void*);
-  sqlite3 *(*context_db_handle)(sqlite3_context*);
-  int (*extended_result_codes)(sqlite3*,int);
-  int (*limit)(sqlite3*,int,int);
-  sqlite3_stmt *(*next_stmt)(sqlite3*,sqlite3_stmt*);
-  const char *(*sql)(sqlite3_stmt*);
-  int (*status)(int,int*,int*,int);
-  int (*backup_finish)(sqlite3_backup*);
-  sqlite3_backup *(*backup_init)(sqlite3*,const char*,sqlite3*,const char*);
-  int (*backup_pagecount)(sqlite3_backup*);
-  int (*backup_remaining)(sqlite3_backup*);
-  int (*backup_step)(sqlite3_backup*,int);
-  const char *(*compileoption_get)(int);
-  int (*compileoption_used)(const char*);
-  int (*create_function_v2)(sqlite3*,const char*,int,int,void*,
-                            void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
-                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
-                            void (*xFinal)(sqlite3_context*),
-                            void(*xDestroy)(void*));
-  int (*db_config)(sqlite3*,int,...);
-  sqlite3_mutex *(*db_mutex)(sqlite3*);
-  int (*db_status)(sqlite3*,int,int*,int*,int);
-  int (*extended_errcode)(sqlite3*);
-  void (*log)(int,const char*,...);
-  sqlite3_int64 (*soft_heap_limit64)(sqlite3_int64);
-  const char *(*sourceid)(void);
-  int (*stmt_status)(sqlite3_stmt*,int,int);
-  int (*strnicmp)(const char*,const char*,int);
-  int (*unlock_notify)(sqlite3*,void(*)(void**,int),void*);
-  int (*wal_autocheckpoint)(sqlite3*,int);
-  int (*wal_checkpoint)(sqlite3*,const char*);
-  void *(*wal_hook)(sqlite3*,int(*)(void*,sqlite3*,const char*,int),void*);
-  int (*blob_reopen)(sqlite3_blob*,sqlite3_int64);
-  int (*vtab_config)(sqlite3*,int op,...);
-  int (*vtab_on_conflict)(sqlite3*);
-  /* Version 3.7.16 and later */
-  int (*close_v2)(sqlite3*);
-  const char *(*db_filename)(sqlite3*,const char*);
-  int (*db_readonly)(sqlite3*,const char*);
-  int (*db_release_memory)(sqlite3*);
-  const char *(*errstr)(int);
-  int (*stmt_busy)(sqlite3_stmt*);
-  int (*stmt_readonly)(sqlite3_stmt*);
-  int (*stricmp)(const char*,const char*);
-  int (*uri_boolean)(const char*,const char*,int);
-  sqlite3_int64 (*uri_int64)(const char*,const char*,sqlite3_int64);
-  const char *(*uri_parameter)(const char*,const char*);
-  char *(*xvsnprintf)(int,char*,const char*,va_list);
-  int (*wal_checkpoint_v2)(sqlite3*,const char*,int,int*,int*);
-  /* Version 3.8.7 and later */
-  int (*auto_extension)(void(*)(void));
-  int (*bind_blob64)(sqlite3_stmt*,int,const void*,sqlite3_uint64,
-                     void(*)(void*));
-  int (*bind_text64)(sqlite3_stmt*,int,const char*,sqlite3_uint64,
-                      void(*)(void*),unsigned char);
-  int (*cancel_auto_extension)(void(*)(void));
-  int (*load_extension)(sqlite3*,const char*,const char*,char**);
-  void *(*malloc64)(sqlite3_uint64);
-  sqlite3_uint64 (*msize)(void*);
-  void *(*realloc64)(void*,sqlite3_uint64);
-  void (*reset_auto_extension)(void);
-  void (*result_blob64)(sqlite3_context*,const void*,sqlite3_uint64,
-                        void(*)(void*));
-  void (*result_text64)(sqlite3_context*,const char*,sqlite3_uint64,
-                         void(*)(void*), unsigned char);
-  int (*strglob)(const char*,const char*);
-  /* Version 3.8.11 and later */
-  sqlite3_value *(*value_dup)(const sqlite3_value*);
-  void (*value_free)(sqlite3_value*);
-  int (*result_zeroblob64)(sqlite3_context*,sqlite3_uint64);
-  int (*bind_zeroblob64)(sqlite3_stmt*, int, sqlite3_uint64);
-  /* Version 3.9.0 and later */
-  unsigned int (*value_subtype)(sqlite3_value*);
-  void (*result_subtype)(sqlite3_context*,unsigned int);
-  /* Version 3.10.0 and later */
-  int (*status64)(int,sqlite3_int64*,sqlite3_int64*,int);
-  int (*strlike)(const char*,const char*,unsigned int);
-  int (*db_cacheflush)(sqlite3*);
-  /* Version 3.12.0 and later */
-  int (*system_errno)(sqlite3*);
-  /* Version 3.14.0 and later */
-  int (*trace_v2)(sqlite3*,unsigned,int(*)(unsigned,void*,void*,void*),void*);
-  char *(*expanded_sql)(sqlite3_stmt*);
-  /* Version 3.18.0 and later */
-  void (*set_last_insert_rowid)(sqlite3*,sqlite3_int64);
-  /* Version 3.20.0 and later */
-  int (*prepare_v3)(sqlite3*,const char*,int,unsigned int,
-                    sqlite3_stmt**,const char**);
-  int (*prepare16_v3)(sqlite3*,const void*,int,unsigned int,
-                      sqlite3_stmt**,const void**);
-  int (*bind_pointer)(sqlite3_stmt*,int,void*,const char*,void(*)(void*));
-  void (*result_pointer)(sqlite3_context*,void*,const char*,void(*)(void*));
-  void *(*value_pointer)(sqlite3_value*,const char*);
-  int (*vtab_nochange)(sqlite3_context*);
-  int (*value_nochange)(sqlite3_value*);
-  const char *(*vtab_collation)(sqlite3_index_info*,int);
-  /* Version 3.24.0 and later */
-  int (*keyword_count)(void);
-  int (*keyword_name)(int,const char**,int*);
-  int (*keyword_check)(const char*,int);
-  sqlite3_str *(*str_new)(sqlite3*);
-  char *(*str_finish)(sqlite3_str*);
-  void (*str_appendf)(sqlite3_str*, const char *zFormat, ...);
-  void (*str_vappendf)(sqlite3_str*, const char *zFormat, va_list);
-  void (*str_append)(sqlite3_str*, const char *zIn, int N);
-  void (*str_appendall)(sqlite3_str*, const char *zIn);
-  void (*str_appendchar)(sqlite3_str*, int N, char C);
-  void (*str_reset)(sqlite3_str*);
-  int (*str_errcode)(sqlite3_str*);
-  int (*str_length)(sqlite3_str*);
-  char *(*str_value)(sqlite3_str*);
-  /* Version 3.25.0 and later */
-  int (*create_window_function)(sqlite3*,const char*,int,int,void*,
-                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
-                            void (*xFinal)(sqlite3_context*),
-                            void (*xValue)(sqlite3_context*),
-                            void (*xInv)(sqlite3_context*,int,sqlite3_value**),
-                            void(*xDestroy)(void*));
-  /* Version 3.26.0 and later */
-  const char *(*normalized_sql)(sqlite3_stmt*);
-  /* Version 3.28.0 and later */
-  int (*stmt_isexplain)(sqlite3_stmt*);
-  int (*value_frombind)(sqlite3_value*);
-  /* Version 3.30.0 and later */
-  int (*drop_modules)(sqlite3*,const char**);
-  /* Version 3.31.0 and later */
-  sqlite3_int64 (*hard_heap_limit64)(sqlite3_int64);
-  const char *(*uri_key)(const char*,int);
-  const char *(*filename_database)(const char*);
-  const char *(*filename_journal)(const char*);
-  const char *(*filename_wal)(const char*);
-  /* Version 3.32.0 and later */
-  const char *(*create_filename)(const char*,const char*,const char*,
-                           int,const char**);
-  void (*free_filename)(const char*);
-  sqlite3_file *(*database_file_object)(const char*);
-  /* Version 3.34.0 and later */
-  int (*txn_state)(sqlite3*,const char*);
-  /* Version 3.36.1 and later */
-  sqlite3_int64 (*changes64)(sqlite3*);
-  sqlite3_int64 (*total_changes64)(sqlite3*);
-  /* Version 3.37.0 and later */
-  int (*autovacuum_pages)(sqlite3*,
-     unsigned int(*)(void*,const char*,unsigned int,unsigned int,unsigned int),
-     void*, void(*)(void*));
-  /* Version 3.38.0 and later */
-  int (*error_offset)(sqlite3*);
-  int (*vtab_rhs_value)(sqlite3_index_info*,int,sqlite3_value**);
-  int (*vtab_distinct)(sqlite3_index_info*);
-  int (*vtab_in)(sqlite3_index_info*,int,int);
-  int (*vtab_in_first)(sqlite3_value*,sqlite3_value**);
-  int (*vtab_in_next)(sqlite3_value*,sqlite3_value**);
-  /* Version 3.39.0 and later */
-  int (*deserialize)(sqlite3*,const char*,unsigned char*,
-                     sqlite3_int64,sqlite3_int64,unsigned);
-  unsigned char *(*serialize)(sqlite3*,const char *,sqlite3_int64*,
-                              unsigned int);
-  const char *(*db_name)(sqlite3*,int);
-  /* Version 3.40.0 and later */
-  int (*value_encoding)(sqlite3_value*);
-  /* Version 3.41.0 and later */
-  int (*is_interrupted)(sqlite3*);
-  /* Version 3.43.0 and later */
-  int (*stmt_explain)(sqlite3_stmt*,int);
-  /* Version 3.44.0 and later */
-  void *(*get_clientdata)(sqlite3*,const char*);
-  int (*set_clientdata)(sqlite3*, const char*, void*, void(*)(void*));
-};
-
-/*
-** This is the function signature used for all extension entry points.  It
-** is also defined in the file "loadext.c".
-*/
-typedef int (*sqlite3_loadext_entry)(
-  sqlite3 *db,                       /* Handle to the database. */
-  char **pzErrMsg,                   /* Used to set error string on failure. */
-  const sqlite3_api_routines *pThunk /* Extension API function pointers. */
-);
-
-/*
-** The following macros redefine the API routines so that they are
-** redirected through the global sqlite3_api structure.
-**
-** This header file is also used by the loadext.c source file
-** (part of the main SQLite library - not an extension) so that
-** it can get access to the sqlite3_api_routines structure
-** definition.  But the main library does not want to redefine
-** the API.  So the redefinition macros are only valid if the
-** SQLITE_CORE macros is undefined.
-*/
-#if !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION)
-#define sqlite3_aggregate_context      sqlite3_api->aggregate_context
-#ifndef SQLITE_OMIT_DEPRECATED
-#define sqlite3_aggregate_count        sqlite3_api->aggregate_count
-#endif
-#define sqlite3_bind_blob              sqlite3_api->bind_blob
-#define sqlite3_bind_double            sqlite3_api->bind_double
-#define sqlite3_bind_int               sqlite3_api->bind_int
-#define sqlite3_bind_int64             sqlite3_api->bind_int64
-#define sqlite3_bind_null              sqlite3_api->bind_null
-#define sqlite3_bind_parameter_count   sqlite3_api->bind_parameter_count
-#define sqlite3_bind_parameter_index   sqlite3_api->bind_parameter_index
-#define sqlite3_bind_parameter_name    sqlite3_api->bind_parameter_name
-#define sqlite3_bind_text              sqlite3_api->bind_text
-#define sqlite3_bind_text16            sqlite3_api->bind_text16
-#define sqlite3_bind_value             sqlite3_api->bind_value
-#define sqlite3_busy_handler           sqlite3_api->busy_handler
-#define sqlite3_busy_timeout           sqlite3_api->busy_timeout
-#define sqlite3_changes                sqlite3_api->changes
-#define sqlite3_close                  sqlite3_api->close
-#define sqlite3_collation_needed       sqlite3_api->collation_needed
-#define sqlite3_collation_needed16     sqlite3_api->collation_needed16
-#define sqlite3_column_blob            sqlite3_api->column_blob
-#define sqlite3_column_bytes           sqlite3_api->column_bytes
-#define sqlite3_column_bytes16         sqlite3_api->column_bytes16
-#define sqlite3_column_count           sqlite3_api->column_count
-#define sqlite3_column_database_name   sqlite3_api->column_database_name
-#define sqlite3_column_database_name16 sqlite3_api->column_database_name16
-#define sqlite3_column_decltype        sqlite3_api->column_decltype
-#define sqlite3_column_decltype16      sqlite3_api->column_decltype16
-#define sqlite3_column_double          sqlite3_api->column_double
-#define sqlite3_column_int             sqlite3_api->column_int
-#define sqlite3_column_int64           sqlite3_api->column_int64
-#define sqlite3_column_name            sqlite3_api->column_name
-#define sqlite3_column_name16          sqlite3_api->column_name16
-#define sqlite3_column_origin_name     sqlite3_api->column_origin_name
-#define sqlite3_column_origin_name16   sqlite3_api->column_origin_name16
-#define sqlite3_column_table_name      sqlite3_api->column_table_name
-#define sqlite3_column_table_name16    sqlite3_api->column_table_name16
-#define sqlite3_column_text            sqlite3_api->column_text
-#define sqlite3_column_text16          sqlite3_api->column_text16
-#define sqlite3_column_type            sqlite3_api->column_type
-#define sqlite3_column_value           sqlite3_api->column_value
-#define sqlite3_commit_hook            sqlite3_api->commit_hook
-#define sqlite3_complete               sqlite3_api->complete
-#define sqlite3_complete16             sqlite3_api->complete16
-#define sqlite3_create_collation       sqlite3_api->create_collation
-#define sqlite3_create_collation16     sqlite3_api->create_collation16
-#define sqlite3_create_function        sqlite3_api->create_function
-#define sqlite3_create_function16      sqlite3_api->create_function16
-#define sqlite3_create_module          sqlite3_api->create_module
-#define sqlite3_create_module_v2       sqlite3_api->create_module_v2
-#define sqlite3_data_count             sqlite3_api->data_count
-#define sqlite3_db_handle              sqlite3_api->db_handle
-#define sqlite3_declare_vtab           sqlite3_api->declare_vtab
-#define sqlite3_enable_shared_cache    sqlite3_api->enable_shared_cache
-#define sqlite3_errcode                sqlite3_api->errcode
-#define sqlite3_errmsg                 sqlite3_api->errmsg
-#define sqlite3_errmsg16               sqlite3_api->errmsg16
-#define sqlite3_exec                   sqlite3_api->exec
-#ifndef SQLITE_OMIT_DEPRECATED
-#define sqlite3_expired                sqlite3_api->expired
-#endif
-#define sqlite3_finalize               sqlite3_api->finalize
-#define sqlite3_free                   sqlite3_api->free
-#define sqlite3_free_table             sqlite3_api->free_table
-#define sqlite3_get_autocommit         sqlite3_api->get_autocommit
-#define sqlite3_get_auxdata            sqlite3_api->get_auxdata
-#define sqlite3_get_table              sqlite3_api->get_table
-#ifndef SQLITE_OMIT_DEPRECATED
-#define sqlite3_global_recover         sqlite3_api->global_recover
-#endif
-#define sqlite3_interrupt              sqlite3_api->interruptx
-#define sqlite3_last_insert_rowid      sqlite3_api->last_insert_rowid
-#define sqlite3_libversion             sqlite3_api->libversion
-#define sqlite3_libversion_number      sqlite3_api->libversion_number
-#define sqlite3_malloc                 sqlite3_api->malloc
-#define sqlite3_mprintf                sqlite3_api->mprintf
-#define sqlite3_open                   sqlite3_api->open
-#define sqlite3_open16                 sqlite3_api->open16
-#define sqlite3_prepare                sqlite3_api->prepare
-#define sqlite3_prepare16              sqlite3_api->prepare16
-#define sqlite3_prepare_v2             sqlite3_api->prepare_v2
-#define sqlite3_prepare16_v2           sqlite3_api->prepare16_v2
-#define sqlite3_profile                sqlite3_api->profile
-#define sqlite3_progress_handler       sqlite3_api->progress_handler
-#define sqlite3_realloc                sqlite3_api->realloc
-#define sqlite3_reset                  sqlite3_api->reset
-#define sqlite3_result_blob            sqlite3_api->result_blob
-#define sqlite3_result_double          sqlite3_api->result_double
-#define sqlite3_result_error           sqlite3_api->result_error
-#define sqlite3_result_error16         sqlite3_api->result_error16
-#define sqlite3_result_int             sqlite3_api->result_int
-#define sqlite3_result_int64           sqlite3_api->result_int64
-#define sqlite3_result_null            sqlite3_api->result_null
-#define sqlite3_result_text            sqlite3_api->result_text
-#define sqlite3_result_text16          sqlite3_api->result_text16
-#define sqlite3_result_text16be        sqlite3_api->result_text16be
-#define sqlite3_result_text16le        sqlite3_api->result_text16le
-#define sqlite3_result_value           sqlite3_api->result_value
-#define sqlite3_rollback_hook          sqlite3_api->rollback_hook
-#define sqlite3_set_authorizer         sqlite3_api->set_authorizer
-#define sqlite3_set_auxdata            sqlite3_api->set_auxdata
-#define sqlite3_snprintf               sqlite3_api->xsnprintf
-#define sqlite3_step                   sqlite3_api->step
-#define sqlite3_table_column_metadata  sqlite3_api->table_column_metadata
-#define sqlite3_thread_cleanup         sqlite3_api->thread_cleanup
-#define sqlite3_total_changes          sqlite3_api->total_changes
-#define sqlite3_trace                  sqlite3_api->trace
-#ifndef SQLITE_OMIT_DEPRECATED
-#define sqlite3_transfer_bindings      sqlite3_api->transfer_bindings
-#endif
-#define sqlite3_update_hook            sqlite3_api->update_hook
-#define sqlite3_user_data              sqlite3_api->user_data
-#define sqlite3_value_blob             sqlite3_api->value_blob
-#define sqlite3_value_bytes            sqlite3_api->value_bytes
-#define sqlite3_value_bytes16          sqlite3_api->value_bytes16
-#define sqlite3_value_double           sqlite3_api->value_double
-#define sqlite3_value_int              sqlite3_api->value_int
-#define sqlite3_value_int64            sqlite3_api->value_int64
-#define sqlite3_value_numeric_type     sqlite3_api->value_numeric_type
-#define sqlite3_value_text             sqlite3_api->value_text
-#define sqlite3_value_text16           sqlite3_api->value_text16
-#define sqlite3_value_text16be         sqlite3_api->value_text16be
-#define sqlite3_value_text16le         sqlite3_api->value_text16le
-#define sqlite3_value_type             sqlite3_api->value_type
-#define sqlite3_vmprintf               sqlite3_api->vmprintf
-#define sqlite3_vsnprintf              sqlite3_api->xvsnprintf
-#define sqlite3_overload_function      sqlite3_api->overload_function
-#define sqlite3_prepare_v2             sqlite3_api->prepare_v2
-#define sqlite3_prepare16_v2           sqlite3_api->prepare16_v2
-#define sqlite3_clear_bindings         sqlite3_api->clear_bindings
-#define sqlite3_bind_zeroblob          sqlite3_api->bind_zeroblob
-#define sqlite3_blob_bytes             sqlite3_api->blob_bytes
-#define sqlite3_blob_close             sqlite3_api->blob_close
-#define sqlite3_blob_open              sqlite3_api->blob_open
-#define sqlite3_blob_read              sqlite3_api->blob_read
-#define sqlite3_blob_write             sqlite3_api->blob_write
-#define sqlite3_create_collation_v2    sqlite3_api->create_collation_v2
-#define sqlite3_file_control           sqlite3_api->file_control
-#define sqlite3_memory_highwater       sqlite3_api->memory_highwater
-#define sqlite3_memory_used            sqlite3_api->memory_used
-#define sqlite3_mutex_alloc            sqlite3_api->mutex_alloc
-#define sqlite3_mutex_enter            sqlite3_api->mutex_enter
-#define sqlite3_mutex_free             sqlite3_api->mutex_free
-#define sqlite3_mutex_leave            sqlite3_api->mutex_leave
-#define sqlite3_mutex_try              sqlite3_api->mutex_try
-#define sqlite3_open_v2                sqlite3_api->open_v2
-#define sqlite3_release_memory         sqlite3_api->release_memory
-#define sqlite3_result_error_nomem     sqlite3_api->result_error_nomem
-#define sqlite3_result_error_toobig    sqlite3_api->result_error_toobig
-#define sqlite3_sleep                  sqlite3_api->sleep
-#define sqlite3_soft_heap_limit        sqlite3_api->soft_heap_limit
-#define sqlite3_vfs_find               sqlite3_api->vfs_find
-#define sqlite3_vfs_register           sqlite3_api->vfs_register
-#define sqlite3_vfs_unregister         sqlite3_api->vfs_unregister
-#define sqlite3_threadsafe             sqlite3_api->xthreadsafe
-#define sqlite3_result_zeroblob        sqlite3_api->result_zeroblob
-#define sqlite3_result_error_code      sqlite3_api->result_error_code
-#define sqlite3_test_control           sqlite3_api->test_control
-#define sqlite3_randomness             sqlite3_api->randomness
-#define sqlite3_context_db_handle      sqlite3_api->context_db_handle
-#define sqlite3_extended_result_codes  sqlite3_api->extended_result_codes
-#define sqlite3_limit                  sqlite3_api->limit
-#define sqlite3_next_stmt              sqlite3_api->next_stmt
-#define sqlite3_sql                    sqlite3_api->sql
-#define sqlite3_status                 sqlite3_api->status
-#define sqlite3_backup_finish          sqlite3_api->backup_finish
-#define sqlite3_backup_init            sqlite3_api->backup_init
-#define sqlite3_backup_pagecount       sqlite3_api->backup_pagecount
-#define sqlite3_backup_remaining       sqlite3_api->backup_remaining
-#define sqlite3_backup_step            sqlite3_api->backup_step
-#define sqlite3_compileoption_get      sqlite3_api->compileoption_get
-#define sqlite3_compileoption_used     sqlite3_api->compileoption_used
-#define sqlite3_create_function_v2     sqlite3_api->create_function_v2
-#define sqlite3_db_config              sqlite3_api->db_config
-#define sqlite3_db_mutex               sqlite3_api->db_mutex
-#define sqlite3_db_status              sqlite3_api->db_status
-#define sqlite3_extended_errcode       sqlite3_api->extended_errcode
-#define sqlite3_log                    sqlite3_api->log
-#define sqlite3_soft_heap_limit64      sqlite3_api->soft_heap_limit64
-#define sqlite3_sourceid               sqlite3_api->sourceid
-#define sqlite3_stmt_status            sqlite3_api->stmt_status
-#define sqlite3_strnicmp               sqlite3_api->strnicmp
-#define sqlite3_unlock_notify          sqlite3_api->unlock_notify
-#define sqlite3_wal_autocheckpoint     sqlite3_api->wal_autocheckpoint
-#define sqlite3_wal_checkpoint         sqlite3_api->wal_checkpoint
-#define sqlite3_wal_hook               sqlite3_api->wal_hook
-#define sqlite3_blob_reopen            sqlite3_api->blob_reopen
-#define sqlite3_vtab_config            sqlite3_api->vtab_config
-#define sqlite3_vtab_on_conflict       sqlite3_api->vtab_on_conflict
-/* Version 3.7.16 and later */
-#define sqlite3_close_v2               sqlite3_api->close_v2
-#define sqlite3_db_filename            sqlite3_api->db_filename
-#define sqlite3_db_readonly            sqlite3_api->db_readonly
-#define sqlite3_db_release_memory      sqlite3_api->db_release_memory
-#define sqlite3_errstr                 sqlite3_api->errstr
-#define sqlite3_stmt_busy              sqlite3_api->stmt_busy
-#define sqlite3_stmt_readonly          sqlite3_api->stmt_readonly
-#define sqlite3_stricmp                sqlite3_api->stricmp
-#define sqlite3_uri_boolean            sqlite3_api->uri_boolean
-#define sqlite3_uri_int64              sqlite3_api->uri_int64
-#define sqlite3_uri_parameter          sqlite3_api->uri_parameter
-#define sqlite3_uri_vsnprintf          sqlite3_api->xvsnprintf
-#define sqlite3_wal_checkpoint_v2      sqlite3_api->wal_checkpoint_v2
-/* Version 3.8.7 and later */
-#define sqlite3_auto_extension         sqlite3_api->auto_extension
-#define sqlite3_bind_blob64            sqlite3_api->bind_blob64
-#define sqlite3_bind_text64            sqlite3_api->bind_text64
-#define sqlite3_cancel_auto_extension  sqlite3_api->cancel_auto_extension
-#define sqlite3_load_extension         sqlite3_api->load_extension
-#define sqlite3_malloc64               sqlite3_api->malloc64
-#define sqlite3_msize                  sqlite3_api->msize
-#define sqlite3_realloc64              sqlite3_api->realloc64
-#define sqlite3_reset_auto_extension   sqlite3_api->reset_auto_extension
-#define sqlite3_result_blob64          sqlite3_api->result_blob64
-#define sqlite3_result_text64          sqlite3_api->result_text64
-#define sqlite3_strglob                sqlite3_api->strglob
-/* Version 3.8.11 and later */
-#define sqlite3_value_dup              sqlite3_api->value_dup
-#define sqlite3_value_free             sqlite3_api->value_free
-#define sqlite3_result_zeroblob64      sqlite3_api->result_zeroblob64
-#define sqlite3_bind_zeroblob64        sqlite3_api->bind_zeroblob64
-/* Version 3.9.0 and later */
-#define sqlite3_value_subtype          sqlite3_api->value_subtype
-#define sqlite3_result_subtype         sqlite3_api->result_subtype
-/* Version 3.10.0 and later */
-#define sqlite3_status64               sqlite3_api->status64
-#define sqlite3_strlike                sqlite3_api->strlike
-#define sqlite3_db_cacheflush          sqlite3_api->db_cacheflush
-/* Version 3.12.0 and later */
-#define sqlite3_system_errno           sqlite3_api->system_errno
-/* Version 3.14.0 and later */
-#define sqlite3_trace_v2               sqlite3_api->trace_v2
-#define sqlite3_expanded_sql           sqlite3_api->expanded_sql
-/* Version 3.18.0 and later */
-#define sqlite3_set_last_insert_rowid  sqlite3_api->set_last_insert_rowid
-/* Version 3.20.0 and later */
-#define sqlite3_prepare_v3             sqlite3_api->prepare_v3
-#define sqlite3_prepare16_v3           sqlite3_api->prepare16_v3
-#define sqlite3_bind_pointer           sqlite3_api->bind_pointer
-#define sqlite3_result_pointer         sqlite3_api->result_pointer
-#define sqlite3_value_pointer          sqlite3_api->value_pointer
-/* Version 3.22.0 and later */
-#define sqlite3_vtab_nochange          sqlite3_api->vtab_nochange
-#define sqlite3_value_nochange         sqlite3_api->value_nochange
-#define sqlite3_vtab_collation         sqlite3_api->vtab_collation
-/* Version 3.24.0 and later */
-#define sqlite3_keyword_count          sqlite3_api->keyword_count
-#define sqlite3_keyword_name           sqlite3_api->keyword_name
-#define sqlite3_keyword_check          sqlite3_api->keyword_check
-#define sqlite3_str_new                sqlite3_api->str_new
-#define sqlite3_str_finish             sqlite3_api->str_finish
-#define sqlite3_str_appendf            sqlite3_api->str_appendf
-#define sqlite3_str_vappendf           sqlite3_api->str_vappendf
-#define sqlite3_str_append             sqlite3_api->str_append
-#define sqlite3_str_appendall          sqlite3_api->str_appendall
-#define sqlite3_str_appendchar         sqlite3_api->str_appendchar
-#define sqlite3_str_reset              sqlite3_api->str_reset
-#define sqlite3_str_errcode            sqlite3_api->str_errcode
-#define sqlite3_str_length             sqlite3_api->str_length
-#define sqlite3_str_value              sqlite3_api->str_value
-/* Version 3.25.0 and later */
-#define sqlite3_create_window_function sqlite3_api->create_window_function
-/* Version 3.26.0 and later */
-#define sqlite3_normalized_sql         sqlite3_api->normalized_sql
-/* Version 3.28.0 and later */
-#define sqlite3_stmt_isexplain         sqlite3_api->stmt_isexplain
-#define sqlite3_value_frombind         sqlite3_api->value_frombind
-/* Version 3.30.0 and later */
-#define sqlite3_drop_modules           sqlite3_api->drop_modules
-/* Version 3.31.0 and later */
-#define sqlite3_hard_heap_limit64      sqlite3_api->hard_heap_limit64
-#define sqlite3_uri_key                sqlite3_api->uri_key
-#define sqlite3_filename_database      sqlite3_api->filename_database
-#define sqlite3_filename_journal       sqlite3_api->filename_journal
-#define sqlite3_filename_wal           sqlite3_api->filename_wal
-/* Version 3.32.0 and later */
-#define sqlite3_create_filename        sqlite3_api->create_filename
-#define sqlite3_free_filename          sqlite3_api->free_filename
-#define sqlite3_database_file_object   sqlite3_api->database_file_object
-/* Version 3.34.0 and later */
-#define sqlite3_txn_state              sqlite3_api->txn_state
-/* Version 3.36.1 and later */
-#define sqlite3_changes64              sqlite3_api->changes64
-#define sqlite3_total_changes64        sqlite3_api->total_changes64
-/* Version 3.37.0 and later */
-#define sqlite3_autovacuum_pages       sqlite3_api->autovacuum_pages
-/* Version 3.38.0 and later */
-#define sqlite3_error_offset           sqlite3_api->error_offset
-#define sqlite3_vtab_rhs_value         sqlite3_api->vtab_rhs_value
-#define sqlite3_vtab_distinct          sqlite3_api->vtab_distinct
-#define sqlite3_vtab_in                sqlite3_api->vtab_in
-#define sqlite3_vtab_in_first          sqlite3_api->vtab_in_first
-#define sqlite3_vtab_in_next           sqlite3_api->vtab_in_next
-/* Version 3.39.0 and later */
-#ifndef SQLITE_OMIT_DESERIALIZE
-#define sqlite3_deserialize            sqlite3_api->deserialize
-#define sqlite3_serialize              sqlite3_api->serialize
-#endif
-#define sqlite3_db_name                sqlite3_api->db_name
-/* Version 3.40.0 and later */
-#define sqlite3_value_encoding         sqlite3_api->value_encoding
-/* Version 3.41.0 and later */
-#define sqlite3_is_interrupted         sqlite3_api->is_interrupted
-/* Version 3.43.0 and later */
-#define sqlite3_stmt_explain           sqlite3_api->stmt_explain
-/* Version 3.44.0 and later */
-#define sqlite3_get_clientdata         sqlite3_api->get_clientdata
-#define sqlite3_set_clientdata         sqlite3_api->set_clientdata
-#endif /* !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION) */
-
-#if !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION)
-  /* This case when the file really is being compiled as a loadable 
-  ** extension */
-# define SQLITE_EXTENSION_INIT1     const sqlite3_api_routines *sqlite3_api=0;
-# define SQLITE_EXTENSION_INIT2(v)  sqlite3_api=v;
-# define SQLITE_EXTENSION_INIT3     \
-    extern const sqlite3_api_routines *sqlite3_api;
-#else
-  /* This case when the file is being statically linked into the 
-  ** application */
-# define SQLITE_EXTENSION_INIT1     /*no-op*/
-# define SQLITE_EXTENSION_INIT2(v)  (void)v; /* unused parameter */
-# define SQLITE_EXTENSION_INIT3     /*no-op*/
-#endif
-
-#endif /* SQLITE3EXT_H */

src/bck/pPowerManger/systemData.h

@@ -1,953 +0,0 @@
-#ifndef SYSTEMDATA_H
-#define SYSTEMDATA_H
-#include "pmSysvariable.h"
-#include "sqlit3/SQLite.h"
-#include <set>
-#include <mutex>  
-#define DEBUFG
-class SystemData
-{
-private:
-    SQLite* m_db;
-    std::set<unsigned int> sysFaultCodes;
-    mutable std::mutex sysFaultCodesMutex;
-public:
-    /**
-     * @brief 向系统故障码集合中插入一个故障码
-     * @param faultCode 要插入的故障码
-     */
-    void insertFaultCode(unsigned int faultCode) {
-        std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
-        sysFaultCodes.insert(faultCode);
-    }
-    /**
-     * @brief 从系统故障码集合中消除一个故障码
-     * @param faultCode 要消除的故障码
-     */
-    void eraseFaultCode(unsigned int faultCode) {
-        std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
-        sysFaultCodes.erase(faultCode);
-    }
-    /**
-     * @brief 获取系统当前的故障等级
-     * @return uint8_t 故障等级，00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
-     */
-    uint8_t getFaultCodeLevel() const {
-        uint8_t maxLevel = 0;
-        // 遍历 sysFaultCodes 集合中的每个故障码
-        for (auto code : sysFaultCodes) {
-            // 提取0xabcd中的b位 (右移8位后取低4位)
-            uint8_t level = (code >> 8) & 0xF;
-            if (level > maxLevel) {
-                maxLevel = level;
-            }
-        }
-        return maxLevel;
-    }
-    /**
-     * @brief 获取系统当前的故障码集合
-     * @return std::set<unsigned int>& 系统当前的故障码集合
-     */
-    const std::set<unsigned int>& getFaultCode() const {
-        return sysFaultCodes;
-    }
-    //燃料电池系统参数
-    uint8_t fc_mode;                         // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
-    uint8_t fc_status;                       // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成
-    uint8_t fc_fault_level;                  // 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
-
-    //功率和时间参数
-    float output_power_limit;             // 系统输出功率限制值，单位：W
-    float total_generation_time;          // 系统累计发电时间，单位：0.1小时
-    float total_generation_power;         // 系统累计发电总功率，单位：W
-
-    //故障信息
-    uint16_t fc_fault_level_1;                  // 一级故障位
-    uint16_t fc_fault_level_2;                  // 二级故障位
-    uint16_t fc_fault_level_3;                  // 三级故障位
-    uint16_t fc_fault_level_4;                  // 四级故障位
-
-    //燃料容量
-    float hydrogen_capacity;               // 储氢罐剩余容量百分比，单位：%
-    float liquid_oxygen_capacity;          // 液氧罐剩余容量百分比，单位：%
-
-    //温度压力参数
-    float palladium_temp;                 // 钯膜最高温度，单位：℃
-    float main_pipe_pressure;             // 主水路压力，单位：0.01kPa
-    float aux_pipe_pressure;              // 辅水路压力，单位：0.01kPa
-
-    //舱室环境参数
-    float cabin_pressure1;                // 舱室1压力，单位：0.01kPa
-    float cabin_pressure2;                // 舱室2压力，单位：0.01kPa
-    float cabin_temp1;                    // 舱室1温度，单位：0.01℃
-    float cabin_temp2;                    // 舱室2温度，单位：0.01℃
-    float cabin_humidity1;                // 舱室1湿度，单位：0.01%RH
-    float cabin_humidity2;                // 舱室2湿度，单位：0.01%RH
-
-    //火焰探测器
-    uint8_t flame_detector1;                 // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
-    uint8_t flame_detector2;                 // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
-
-    //气体浓度
-    float h2_concentration1;              // 舱室H2浓度1，单位：0.01% LEL
-    float h2_concentration2;              // 舱室H2浓度2，单位：0.01% LEL
-    float h2_concentration3;              // 舱室H2浓度3，单位：0.01% LEL
-    float o2_concentration1;              // 舱室O2浓度1，单位：0.01% LEL
-    float o2_concentration2;              // 舱室O2浓度2，单位：0.01% LEL
-    float ch3oh_concentration1;           // 舱室甲醇气体浓度1，单位：0.01% LEL
-    float ch3oh_concentration2;           // 舱室甲醇气体浓度2，单位：0.01% LEL
-
-    //保留字段
-    float reserved1[10];                  // 保留字段
-    float cabin_ox_concentration;         // 仪表舱内氧气浓度，单位：0.1%
-    float cabin_temperature;              // 仪表舱内温度，单位：0.1℃
-    float cabin_humidity;                 // 仪表舱内湿度，单位：0.1%RH
-    float cabin_pressure;                 // 仪表舱内大气压，单位：0.2kPa
-
-    //动力舱参数
-    float power_cabin_ox_concentration;   // 动力舱内氧气浓度，单位：0.1%
-    float power_cabin_temperature;        // 动力舱内温度，单位：0.1℃
-    float power_cabin_humidity;           // 动力舱内湿度，单位：0.1%RH
-    float power_cabin_pressure;           // 动力舱内大气压，单位：0.2kPa
-    uint8_t reserved2[2];                    // 保留字段
-
-    //电池报警标志
-    uint8_t dyn_alarm_flag[6];               // 动力锂电池报警标志
-    uint8_t ins_alarm_flag[6];               // 仪表锂电池报警标志
-
-    //继电器状态
-    uint8_t ins_relay_status1;               // 仪表电池继电器状态
-    uint8_t ins_relay_status2;               // 仪表电池预充继电器和负极继电器状态
-    uint8_t dyn_relay_status1;               // 动力电池正极与充电继电器状态
-    uint8_t dyn_relay_status2;               // 动力电池预充与负极继电器状态
-
-    //仪表电池继电器状态
-    uint8_t ins_pos_relay_status;       // 仪表电池正极继电器状态 (X0H:无效 X1H:接通 X2H:断开)
-    uint8_t ins_charge_relay_status;    // 仪表电池充电继电器状态 (0XH:无效 1XH:接通 2XH:断开)
-    uint8_t ins_precharge_relay_status; // 仪表电池预充继电器状态 (X0H:无效 X1H:接通 X2H:断开) 
-    uint8_t ins_neg_relay_status;       // 仪表电池负极继电器状态 (0XH:无效 1XH:接通 2XH:断开)
-
-    //动力电池继电器状态
-    uint8_t dyn_pos_relay_status;       // 动力电池正极继电器状态 (X0H:无效 X1H:接通 X2H:断开)
-    uint8_t dyn_charge_relay_status;    // 动力电池充电继电器状态 (0XH:无效 1XH:接通 2XH:断开)
-    uint8_t dyn_precharge_relay_status; // 动力电池预充继电器状态 (X0H:无效 X1H:接通 X2H:断开)
-    uint8_t dyn_neg_relay_status;       // 动力电池负极继电器状态 (0XH:无效 1XH:接通 2XH:断开)
-
-    //电池功率参数
-    float ins_max_discharge_power;        // 仪表电池最大允许放电功率，单位：0.05kW
-    float dyn_max_discharge_power;        // 动力电池最大允许放电功率，单位：0.05kW
-
-    //电池SOC
-    int ins_soc;                         // 仪表锂电池荷电状态SOC，范围：0~100
-    int dyn_soc;                         // 动力锂电池荷电状态SOC，范围：0~100
-
-    //电池能量
-    float ins_total_energy;               // 仪表电池总能量，单位：0.1kWh
-    float dyn_total_energy;               // 动力电池总能量，单位：0.1kWh
-
-    //电池输入功率
-    float ins_power_input;                // 仪表电池输入功率，单位：0.1kW
-    float dyn_power_input;                // 动力电池输入功率，单位：0.1kW
-
-    //电池充放电状态
-    uint8_t ins_charge_status;               // 仪表电池充放电状态：00H-无效，10H-充电，20H-放电
-    uint8_t dyn_charge_status;               // 动力电池充放电状态：00H-无效，10H-充电，20H-放电
-
-    //电池电压电流
-    float ins_voltage_link;               // 仪表电池LINK端电压，单位：0.01V
-    float ins_voltage_pack;               // 仪表电池PACK端电压，单位：0.01V
-    float ins_current;                    // 仪表电池电流，单位：0.01A
-    float ins_resistance_pos;             // 仪表电池正极绝缘电阻，单位：kΩ
-    float ins_resistance_neg;             // 仪表电池负极绝缘电阻，单位：kΩ
-    float dyn_voltage_link;               // 动力电池LINK端电压，单位：0.01V
-    float dyn_voltage_pack;               // 动力电池PACK端电压，单位：0.01V
-    float dyn_current;                    // 动力电池电流，单位：0.05A
-    float dyn_resistance_pos;             // 动力电池正极绝缘电阻，单位：kΩ
-    float dyn_resistance_neg;             // 动力电池负极绝缘电阻，单位：kΩ
-
-    //紧急状态
-    uint8_t ins_emergency_status;            // 仪表电池紧急状态
-    uint8_t dyn_emergency_status;            // 动力电池紧急状态
-
-    //保留字段
-    uint8_t reserved3[2];                    // 保留字段
-    float ins_soc_threshold1;              // 仪表电池1 SOC门限
-    float ins_soc_threshold2;              // 仪表电池2 SOC门限
-    float ins_soc_threshold3;              // 仪表电池3 SOC门限
-    float dyn_soc_threshold1;              // 动力电池1 SOC门限
-    float dyn_soc_threshold2;              // 动力电池2 SOC门限
-    float dyn_soc_threshold3;              // 动力电池3 SOC门限
-    float ins_power_limit1;                // 仪表电池1功率限制值
-    float ins_power_limit2;                // 仪表电池2功率限制值
-    float dyn_power_limit1;                // 动力电池1功率限制值
-    float dyn_power_limit2;                // 动力电池2功率限制值
-
-    //设备在线状态
-    uint32_t device_online_flag1;            // 设备在线状态标志1
-    uint32_t device_online_flag2;            // 设备在线状态标志2
-
-    //其他锂电池状态
-    uint8_t  dyn_charge_level;                // 动力电池充电状态：01H-1级(不限), 02H-2级(限功率), 03H-3级(关闭)
-    uint8_t  dyn_water_leak_status;          // 动力漏水状态：0XH-正常, 1XH-异常漏水
-    uint8_t  ins_water_leak_dcdc_status;     // 仪表漏水状态与DCDC状态：低4位-漏水状态(0XH正常,1XH异常),高4位-DCDC状态(X0H正常,X1H故障)
-    uint8_t  reserved4;
-
-    unsigned char water_leak_status_from_insbat; // 仪表漏水状态
-    unsigned char water_leak_status_from_dynbat; // 动力漏水状态
-    unsigned char dcdc_status_from_insbat;       // 仪表DCDC状态
-
-    //保留字段
-    // 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;
-
-
-    //应急电池
-    double emergency_battery1_voltage;      // 应急电池1总电压 [V]
-    double emergency_battery1_current;      // 应急电池1总电流 [A]
-    double emergency_battery1_max_temp;     // 应急电池1最高温度 [°C]
-    uint16_t emergency_battery1_fault_word;   // 应急电池1故障字
-    double emergency_battery2_voltage;      // 应急电池2总电压 [V]
-    double emergency_battery2_current;      // 应急电池2总电流 [A]
-    double emergency_battery2_max_temp;     // 应急电池2最高温度 [°C]
-    uint16_t emergency_battery2_fault_word;   // 应急电池2故障字
-
-    // MOOSD 状态
-    bool moosd_status;
-    //配电系统状态
-    //DC/DC状态字
-    struct DcdcStatus
-    {
-        // DC/DC5故障字低
-        union {
-            unsigned char lowFaultWord;
-            struct {
-                bool overTemperatureShutdown : 1;  // Bit0: DC/DC模块过温关机
-                bool outputOverCurrent : 1;        // Bit1: 输出过流
-                bool outputOverVoltage : 1;       // Bit2: 输出过压
-                bool outputUnderVoltage : 1;       // Bit3: 输出欠压
-                bool inputOverVoltage : 1;        // Bit4: 输入过压
-                bool inputUnderVoltage : 1;        // Bit5: 输入欠压
-                bool outputShortCircuit : 1;      // Bit6: 输出短路保护
-                bool internalFault : 1;            // Bit7: 内部故障
-            };
-        };
-        // DC/DC5故障字高
-        union {
-            unsigned char highFaultWord;
-            struct {
-                bool communicationFault : 1;       // Bit0: 通讯故障报警
-                bool workingStatus : 1;            // Bit1: 工作状态(1:启动, 0:关闭)
-                bool coolingPump1Fault : 1;        // Bit2: 冷却泵1故障
-                bool coolingPump2Fault : 1;        // Bit3: 冷却泵2故障
-                bool coolingWaterLeak : 1;         // Bit4: 冷却水泄露
-                bool coolingPump1Running : 1;     // Bit5: 冷却泵1运行状态
-                bool coolingPump2Running : 1;      // Bit6: 冷却泵2运行状态
-                bool reserved : 1;                // Bit7: 保留位
-            };
-        };
-
-        // 构造函数，初始化所有状态为正常
-        DcdcStatus() : lowFaultWord(0x00), highFaultWord(0x00) {}
-    } m_dcdcStatus;
-    
-    
-    //动力母线状态
-    struct POWER_BUS_STATUS
-    {
-        // 5: 燃料电池断路器 0 断开 1 闭合 2 故障
-        unsigned char fuelCellCircuitBreaker;
-        // 6: 动力锂电池断路器 0 断开 1 闭合 2 故障
-        unsigned char powerLithiumBatteryCircuitBreaker;
-        // 7: 推进电机断路器 0 断开 1 闭合 2 故障
-        unsigned char propulsionMotorCircuitBreaker;
-        // 8: 锂电池组仪表断路器 0 断开 1 闭合 2 故障
-        unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-        // 9: DC/DC5模块断路器 0 断开 1 闭合 2 故障
-        unsigned char dcDc5ModuleCircuitBreaker;
-        // 10: 艏部高压配电箱断路器 0 断开 1 闭合 2 故障
-        unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
-        // 11:  艉部FT装置4/5断路器 0 断开 1 闭合 2 故障
-        unsigned char sternFTDevice45CircuitBreaker;
-        // 12:  艉舵开关1断路器 0 断开 1 闭合 2 故障
-        unsigned char sternRudderSwitch1CircuitBreaker;
-        // 13:  艉舵开关2断路器 0 断开 1 闭合 2 故障
-        unsigned char sternRudderSwitch2CircuitBreaker;
-        // 14:  FB预留断路器 0 断开 1 闭合 2 故障
-        unsigned char fbReservedCircuitBreaker;
-        // 15:  TYZ预留断路器 0 断开 1 闭合 2 故障
-        unsigned char tyzReservedCircuitBreaker;
-        // 16:  预留断路器 0 断开 1 闭合 2 故障
-        unsigned char reservedCircuitBreaker;
-        // 17: DC/DC5模块状态 0 未运行；1 运行；2 DC/DC模块过温关机；3 输出过流；4 输出过压；5 输出欠压；6 输入过压；7 输入欠压；8 输出短路保护；9 内部故障 
-        unsigned char dcDcModuleStatus;
-        // 18：冷却系统状态 0 未运行 1 运行 2 冷却泵1故障 3 冷却泵2故障 4 冷却水泄露
-        unsigned char coolingSystemStatus;
-        // 19: 动力母排绝缘状态 0 正常 1 绝缘低
-        unsigned char powerBusInsulationStatus;
-        // 20: A汇流排绝缘状态 0 正常 1 绝缘低
-        unsigned char aBusInsulationStatus;
-        // 21: 仪表电源状态 0 正常 1 故障
-        unsigned char meterPowerLossSignal;
-        // 22: 应急电源状态  0 正常 1 故障
-        unsigned char emergencyPowerLossSignal;
-        // 22: dc/dc温度 
-        float dcDcTemperature;
-        // 23: 动力汇流排电压
-        float powerBusVoltage;
-        // 24: DC/DC5模块电流
-        float dcDc5ModuleCurrent;
-        // 25: 动力汇流排电流
-        float powerBusCurrent;
-        // 26: A汇流排电压
-        float busbarAVoltage;
-        // 27: 推进电机控制箱电流
-        float propulsionMotorControlBoxCurrent;
-        // 28: A汇流排电流
-        float busbarACurrent;
-        // 29: 锂电池组(仪表)电流
-        float lithiumBatteryGroupMeterCurrent;
-        // 30: 艏部高压配电箱电流
-        float bowHighVoltageDistributionBoxCurrent;
-        // 31:  艉部FT装置4/5电流
-        float sternFTDevice45Current;
-        // 32:  TYZ预留开关电流
-        float tyzReservedSwitchCurrent;
-        // 33:  艉舵开关1电流
-        float sternRudderSwitch1Current;
-        // 34:  预留电流
-        float reservedCurrent1; // 改为 reservedCurrent1 以避免重名
-        // 35:  艉舵开关2电流
-        float sternRudderSwitch2Current;
-        // 36:  预留电流2
-        float reservedCurrent2; // 改为 reservedCurrent2 以避免重名
-        // 37:  FB预留电流
-        float fbReservedSwitchCurrent;
-        // 38:  预留电流3
-        float reservedCurrent3; // 改为 reservedCurrent3 以避免重名
-        // 39:  冷却水压力
-        float coolWaterPressure; 
-    }power_bus_status;
-    
-    struct POWER_A_BUS_STATUS
-    {
-        //动力汇流排状态
-        //5.   艏部FT装置1/2/3断路器 0 断开 1 闭合 2 故障
-        unsigned char bowFTDevice123CircuitBreaker;
-        //6.   启闭机构断路器 0 断开 1 闭合 2 故障
-        unsigned char actuatorCircuitBreaker;
-        //7.   桅杆舵机控制箱断路器 0 断开 1 闭合 2 故障
-        unsigned char mastSteeringGearControlBoxCircuitBreaker; 
-        //8.   XCZ断路器 0 断开 1 闭合 2 故障
-        unsigned char xczCircuitBreaker;
-        //9.   艏舵控制箱断路器 0 断开 1 闭合 2 故障
-        unsigned char bowRudderControlBoxCircuitBreaker;
-        //10. 敞水盖启动电缸断路器 0 断开 1 闭合 2 故障
-        unsigned char openWaterCoverStartCylinderCircuitBreaker;
-        //11.  仪表电源失电信号 0 正常 1 故障
-        unsigned char instrumentPowerFailureSignal;
-        //12.  应急电源失电信号 0 正常 1 故障
-        unsigned char emergencyPowerFailureSignal;
-        //13. 浸水报警 0 无 1 有
-        unsigned char waterIngressionAlarm;
-        //14.  汇流排B电压 
-        float busbarBVoltage;
-        //15.  汇流排B电流
-        float busbarBCurrent;
-        //16.  艏部FT装置1/2/3电流
-        float bowFTDevice123Current;
-        //17.  启闭机构电流
-        float actuatorCurrent;
-        //18.  桅杆舵机控制箱电流
-        float mastSteeringGearControlBoxCurrent;
-        //19.  XCZ电流
-        float xczCurrent;
-        //20.  艏舵控制箱电流
-        float bowRudderControlBoxCurrent;
-        //21.  敞水盖启动电缸电流
-        float openWaterCoverStartCylinderCurrent;
-    } power_a_bus_status;
-
-    //仪表主母线状态
-    struct INSTRUMENT_MAIN_BUS_STATUS
-    {
-        //5. 锂电池组（仪表）断路器 0 断开 1 闭合 2 故障
-        unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-        //6. 艏部低压配电箱断路器 0 断开 1 闭合 2 故障
-        unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
-        //7.  UNIT4仪表DC48V断路器 0 断开 1 闭合 2 故障
-        unsigned char unit4InstrumentDC48VCircuitBreaker;
-        //8.  DC-C1直流配电板断路器 0 断开 1 闭合 2 故障
-        unsigned char dcC1DCDistributionPanelCircuitBreaker;
-        //9. 预留断路器1 0 断开 1 闭合 2 故障
-        unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-        //10. 预留断路器2 0 断开 1 闭合 2 故障
-        unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-        //11. 应急锂电池组2断路器 0 断开 1 闭合 2 故障
-        unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
-        //12. 仪表电源失电信号 0 正常 1 故障
-        unsigned char instrumentPowerFailureSignal;
-        //13. 应急电源失电信号 0 正常 1 故障
-        unsigned char emergencyPowerFailureSignal;
-        //14.  仪表汇流排绝缘低 0 正常 1 绝缘低
-        unsigned char instrumentBusbarInsulationLow;
-        //15.  仪表母排电压
-        float instrumentBusbarVoltage;
-        //16.  艏部低压配电箱电流
-        float bowLowVoltageDistributionBoxCurrent;
-        //17.  DC-C1（直流配电板1）仪表DC48V电流
-        float dcC1InstrumentDC48VCurrent;
-        //18.  预留电流
-        float reservedCurrent1; // 为了区分，添加了数字后缀
-        //19.  应急锂电池组2电流
-        float emergencyLithiumBatteryGroup2Current;
-        //20.  锂电池组（仪表）电流
-        float lithiumBatteryGroupInstrumentCurrent;
-        //21.  UNIT4仪表DC48V电流
-        float unit4InstrumentDC48VCurrent;
-        //22.  Ushort	预留电流
-        float reservedCurrent2; // 为了区分，添加了数字后缀
-        //23.  应急2汇流排电压
-        float emergency2BusbarVoltage;
-        //24.  复合能源管控系统应急DC48V电流
-        float compositeEnergyManagementSystemEmergencyDC48VCurrent;
-        //25.  燃料电池安全系统应急DC48V电流
-        float fuelCellSecuritySystemEmergencyDC48VCurrent;
-        //26.  PLC控制电源电流
-        float plcControlPowerCurrent;
-    } instrument_main_bus_status;
-
-    //仪表汇流排状态
-    struct INSTRUMENT_BUS_STATUS
-    {
-        //5.  UNIT1断路器 0 断开 1 闭合 2 故障
-        unsigned char unit1CircuitBreaker;
-        //6.  UNIT2断路器 0 断开 1 闭合 2 故障
-        unsigned char unit2CircuitBreaker;
-        //7.  UNIT3断路器 0 断开 1 闭合 2 故障
-        unsigned char unit3CircuitBreaker;
-        //8.  UNIT5断路器 0 断开 1 闭合 2 故障
-        unsigned char unit5CircuitBreaker;
-        //9.   艏部PZ装置断路器 0 断开 1 闭合 2 故障
-        unsigned char bowPZDeviceCircuitBreaker;
-        //10.  预留断路器1 0 断开 1 闭合 2 故障
-        unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-        //11.  预留断路器2 0 断开 1 闭合 2 故障
-        unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-        //12.  应急锂电池组1断路器 0 断开 1 闭合 2 故障
-        unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
-        //13.  仪表电源失电信号 0 正常 1 故障
-        unsigned char powerFailureSignal;
-        //14.  应急电源失电信号  0 正常 1 故障
-        unsigned char emergencyPowerFailureSignal;
-        //15. 浸水报警  0 无 1 有
-        unsigned char waterIngressionAlarm;
-        //16.  仪表母排电压
-        float instrumentBusbarVoltage;
-        //17.  仪表母排电流
-        float instrumentBusbarCurrent;
-        //18. UNIT1电流
-        float unit1Current;
-        //19. UNIT2电流
-        float unit2Current;
-        //20. UNIT3电流
-        float unit3Current;
-        //21. UNIT5电流
-        float unit5Current;
-        //22. 艏部PZ装置电流
-        float bowPZDeviceCurrent;
-        //23.  应急锂电池组1电流
-        float emergencyLithiumBatteryGroup1Current;
-        //24.  应急1汇流排电压
-        float emergency1BusbarVoltage;
-    } instrument_bus_status;
-
-    struct COMMON_STATUS
-    {
-        //超时状态
-        bool isTimeout;
-        //最后更新时间
-        double lastUpdateTime;
-    };
-    
-    struct DeviceCommonStatus
-    {
-        COMMON_STATUS ccu_status;
-        COMMON_STATUS dis_hv_c1;
-        COMMON_STATUS dis_hv_c2;
-        COMMON_STATUS dis_lv_c1;
-        COMMON_STATUS dis_lv_c2;
-    } device_common_status;
-
-    struct DeviceOnlineStatus
-    {
-        //在线状态
-        //0x00: 未上线
-        //0x01: 在线
-        //0x02: 上线后掉线
-        uint8_t ins_online_state; //仪表锂电在线标志位 
-        uint8_t dyn_online_state; //动力锂电在线标志位
-        uint8_t fuel_online_state; //燃电锂电在线标志位
-        uint8_t high_voltage_online_state; //高压配电板在线标志位
-        uint8_t low_voltage_online_state; //低压配电板在线标志位
-        uint8_t composite_online_state; //复合管控主机在线标志位
-        uint8_t composite_backup_online_state; //复合管控备机在线标志位
-    } device_online_status;
-
-    enum LeakageStatus {
-        LEAKAGE_BOW_EMERGENCY = 0,   // 艏部应急漏水 (0x01)
-        LEAKAGE_BOW_HIGH_VOLTAGE,    // 艏高压漏水 (0x02)
-        LEAKAGE_BOW_LOW_VOLTAGE,     // 艏低压漏水 (0x04)
-        LEAKAGE_FUEL_CELL,           // 燃电舱漏水 (0x08)
-        LEAKAGE_LI_BATTERY,          // 锂电池舱漏水 (0x10)
-        LEAKAGE_STERN_EMERGENCY,     // 艉应急漏水 (0x20)
-        LEAKAGE_FUEL_CELL_CABIN,     // 燃料电池舱漏水 (0x40)
-        LEAKAGE_BOW_EMERGENCY2       // 艏部应急漏水2 (0x80)
-    };
-
-    unsigned char leakageCode = 0;
-    bool leakStatus[8] = {false};
-
-    unsigned char generateLeakageCode() {
-        unsigned char code = 0;
-        if(leakStatus[LEAKAGE_BOW_EMERGENCY])    code |= 0x01;
-        if(leakStatus[LEAKAGE_BOW_HIGH_VOLTAGE]) code |= 0x02;
-        if(leakStatus[LEAKAGE_BOW_LOW_VOLTAGE])  code |= 0x04;
-        if(leakStatus[LEAKAGE_FUEL_CELL])        code |= 0x08;
-        if(leakStatus[LEAKAGE_LI_BATTERY])       code |= 0x10;
-        if(leakStatus[LEAKAGE_STERN_EMERGENCY])  code |= 0x20;
-        if(leakStatus[LEAKAGE_FUEL_CELL_CABIN])  code |= 0x40;
-        if(leakStatus[LEAKAGE_BOW_EMERGENCY2])   code |= 0x80;
-        return code;
-    }
-public:
-    SystemData(){
-        //初始化变量全部为0
-        memset(this, 0, sizeof(SystemData));
-        disSysFaultCode.clear();
-        sysFaultCodes.clear();
-    };
-    ~SystemData(){};
-
-    void updateCommonStatus(double time_out=10){
-        //更新时间
-        double currentTime = MOOSTime();
-        //判断是否超时
-        device_common_status.ccu_status.isTimeout = abs(currentTime - device_common_status.ccu_status.lastUpdateTime) > time_out;
-        device_common_status.dis_hv_c1.isTimeout = abs(currentTime - device_common_status.dis_hv_c1.lastUpdateTime) > time_out;
-        device_common_status.dis_hv_c2.isTimeout = abs(currentTime - device_common_status.dis_hv_c2.lastUpdateTime) > time_out;
-        device_common_status.dis_lv_c1.isTimeout = abs(currentTime - device_common_status.dis_lv_c1.lastUpdateTime) > time_out;
-        device_common_status.dis_lv_c2.isTimeout = abs(currentTime - device_common_status.dis_lv_c2.lastUpdateTime) > time_out;
-    };
-
-    void updateSystemData(ccuState data){
-
-        fc_mode = data.fc_mode;
-        fc_status = data.fc_status;
-        fc_fault_level = data.fc_fault_level;
-        
-        //功率和时间参数
-        output_power_limit = data.output_power_limit;
-        total_generation_time = data.total_generation_time * 0.1;
-        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);
-        liquid_oxygen_capacity = static_cast<int>(data.liquid_oxygen_capacity);
-        
-        //温度压力参数
-        palladium_temp = data.palladium_temp;
-        main_pipe_pressure = data.main_pipe_pressure * 0.01;
-        aux_pipe_pressure = data.aux_pipe_pressure * 0.01;
-        
-        //舱室环境参数
-        cabin_pressure1 = data.cabin_pressure1 * 0.01;
-        cabin_pressure2 = data.cabin_pressure2 * 0.01;
-        cabin_temp1 = data.cabin_temp1 * 0.01;
-        cabin_temp2 = data.cabin_temp2 * 0.01;
-        cabin_humidity1 = data.cabin_humidity1 * 0.01;
-        cabin_humidity2 = data.cabin_humidity2 * 0.01;
-        
-        //火焰探测器
-        flame_detector1 = data.flame_detector1;
-        flame_detector2 = data.flame_detector2;
-        
-        //气体浓度
-        h2_concentration1 = data.h2_concentration1 * 0.01;
-        h2_concentration2 = data.h2_concentration2 * 0.01;
-        h2_concentration3 = data.h2_concentration3 * 0.01;
-        o2_concentration1 = data.o2_concentration1 * 0.01;
-        o2_concentration2 = data.o2_concentration2 * 0.01;
-        ch3oh_concentration1 = data.ch3oh_concentration1 * 0.01;
-        ch3oh_concentration2 = data.ch3oh_concentration2 * 0.01;
-        
-        //保留字段
-        for(int i=0; i<10; i++) {
-            reserved1[i] = data.reserved1[i];
-        }
-        
-        //仪表舱参数
-        cabin_ox_concentration = data.cabin_ox_concentration * 0.1;
-        cabin_temperature = static_cast<int16_t>(data.cabin_temperature) * 0.1;
-        cabin_humidity = data.cabin_humidity * 0.1;
-        cabin_pressure = data.cabin_pressure * 0.2;
-        
-        //动力舱参数
-        power_cabin_ox_concentration = data.power_cabin_ox_concentration * 0.1;
-        power_cabin_temperature = static_cast<int16_t>(data.power_cabin_temperature) * 0.1;
-        power_cabin_humidity = data.power_cabin_humidity * 0.1;
-        power_cabin_pressure = data.power_cabin_pressure * 0.2;
-        
-        //电池报警标志
-        for(int i=0; i<6; i++) {
-            dyn_alarm_flag[i] = data.dyn_alarm_flag[i];
-            ins_alarm_flag[i] = data.ins_alarm_flag[i];
-        }
-        
-        //继电器状态
-        ins_relay_status1 = data.ins_relay_status1;
-        ins_relay_status2 = data.ins_relay_status2;
-        dyn_relay_status1 = data.dyn_relay_status1;
-        dyn_relay_status2 = data.dyn_relay_status2;
-        
-        //继电器状态
-        ins_pos_relay_status = (data.ins_relay_status1 ) & 0x0F;       // 取高4位作为正极继电器状态
-        ins_charge_relay_status = ( data.ins_relay_status1 >> 4)& 0x0F;          // 取低4位作为充电继电器状态
-        ins_precharge_relay_status = (data.ins_relay_status2 ) & 0x0F; // 取高4位作为预充继电器状态
-        ins_neg_relay_status = (data.ins_relay_status2 >> 4) & 0x0F;             // 取低4位作为负极继电器状态
-
-        dyn_pos_relay_status = (data.dyn_relay_status1 ) & 0x0F;       // 取高4位作为正极继电器状态
-        dyn_charge_relay_status = (data.dyn_relay_status1  >> 4) & 0x0F;           // 取低4位作为充电继电器状态
-        dyn_precharge_relay_status = (data.dyn_relay_status2) & 0x0F;  // 取高4位作为预充继电器状态
-        dyn_neg_relay_status = (data.dyn_relay_status2 >> 4) & 0x0F;              // 取低4位作为负极继电器状态
-
-        //电池功率参数
-        ins_max_discharge_power = data.ins_max_discharge_power * 0.05;
-        dyn_max_discharge_power = data.dyn_max_discharge_power * 0.05;
-        
-        //电池SOC
-        ins_soc = static_cast<int>(data.ins_soc);
-        dyn_soc = static_cast<int>(data.dyn_soc);
-        
-        //电池能量
-        ins_total_energy = data.ins_total_energy * 0.1;
-        dyn_total_energy = data.dyn_total_energy * 0.1;
-        
-        //电池输入功率
-        ins_power_input = data.ins_power_input ;
-        dyn_power_input = data.dyn_power_input ;
-        
-        //电池充放电状态
-        ins_charge_status = data.ins_charge_status;
-        dyn_charge_status = data.dyn_charge_status;
-        
-        //电池电压电流
-        ins_voltage_link = data.ins_voltage_link * 0.1;
-        ins_voltage_pack = data.ins_voltage_pack * 0.1;
-        ins_current = static_cast<int16_t>(data.ins_current) * 0.05;
-        ins_resistance_pos = data.ins_resistance_pos;
-        ins_resistance_neg = data.ins_resistance_neg;
-        dyn_voltage_link = data.dyn_voltage_link * 0.1;
-        dyn_voltage_pack = data.dyn_voltage_pack * 0.1;
-        dyn_current = static_cast<int16_t>(data.dyn_current) * 0.05;
-        dyn_resistance_pos = data.dyn_resistance_pos;
-        dyn_resistance_neg = data.dyn_resistance_neg;
-        
-        //紧急状态
-        ins_emergency_status = data.ins_emergency_status;
-        dyn_emergency_status = data.dyn_emergency_status;
-        
-        //保留字段
-        for(int i=0; i<2; i++) {
-            reserved2[i] = data.reserved2[i];
-        }
-        
-        //SOC门限值
-        ins_soc_threshold1 = data.ins_soc_threshold1;
-        ins_soc_threshold2 = data.ins_soc_threshold2;
-        ins_soc_threshold3 = data.ins_soc_threshold3;
-        
-        //功率限制值
-        ins_power_limit1 = data.ins_power_limit1;
-        ins_power_limit2 = data.ins_power_limit2;
-        
-        //设备在线状态
-        device_online_flag1 = data.device_online_flag1;
-        device_online_flag2 = data.device_online_flag2;
-
-        //更新设备在线状态
-        device_online_status.ins_online_state = (data.device_online_flag1 >> 0) & 0xFF;  // byte0：仪表锂电在线标志位
-        device_online_status.dyn_online_state = (data.device_online_flag1 >> 8) & 0xFF;  // byte1：动力锂电在线标志位
-        device_online_status.fuel_online_state = (data.device_online_flag1 >> 16) & 0xFF; // byte2：燃电锂电在线标志位
-        device_online_status.high_voltage_online_state = (data.device_online_flag1 >> 24) & 0xFF; // byte3：高压配电板在线标志位
-        
-        device_online_status.low_voltage_online_state = (data.device_online_flag2 >> 0) & 0xFF;  // byte0：低压配电板在线标志位
-        device_online_status.composite_online_state = (data.device_online_flag2 >> 8) & 0xFF;  // byte1：复合管控主机在线标志位
-        device_online_status.composite_backup_online_state = (data.device_online_flag2 >> 16) & 0xFF; // byte2：复合管控备机在线标志位
-
-        // 更新锂电池其他状态
-        dyn_water_leak_status = data.dyn_water_leak_status;
-        ins_water_leak_dcdc_status = data.ins_water_leak_dcdc_status;
-        
-        dyn_charge_level = data.dyn_charge_level;  //01H：1级（不限）02H：2级（限功率）03H：3级（关闭）
-        water_leak_status_from_insbat = ( data.ins_water_leak_dcdc_status >> 4) & 0x0F; // 00 正常，01 异常漏水
-        water_leak_status_from_dynbat = (data.dyn_water_leak_status  >> 4) & 0x0F; // 00 正常，01 异常漏水
-        dcdc_status_from_insbat = (data.ins_water_leak_dcdc_status) & 0x0F; // 00 正常，01 故障
-        //更新漏水状态
-        if(water_leak_status_from_insbat == 0x01)
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = true;
-        }
-        else
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = false;
-        }
-        if(water_leak_status_from_dynbat == 0x01)
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = true;
-        }
-        else
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = false;
-        }
-        //应急电池
-        emergency_battery1_voltage = data.emergency_battery1_voltage * 0.1;
-        emergency_battery1_current = data.emergency_battery1_current * 0.05;
-        emergency_battery1_max_temp = data.emergency_battery1_max_temp * 0.1;
-        emergency_battery1_fault_word = data.emergency_battery1_fault_word;
-        emergency_battery2_voltage = data.emergency_battery2_voltage * 0.1;
-        emergency_battery2_current = data.emergency_battery2_current * 0.05;
-        emergency_battery2_max_temp = data.emergency_battery2_max_temp * 0.1;
-        emergency_battery2_fault_word = data.emergency_battery2_fault_word;
-        //心跳计数器
-        heartbeat = data.heartbeat;
-    }
-    std::set<unsigned int> disSysFaultCode;
-    mutable std::mutex faultCodeMutex;
-    void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus, unsigned int faultCode)
-    {
-        std::lock_guard<std::mutex> lock(faultCodeMutex);  
-        unsigned char newStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
-        breakerStatus = newStatus;  // 保证状态更新也是原子的
-        
-        if(newStatus == 2) {
-            disSysFaultCode.insert(faultCode);
-        } else {
-            disSysFaultCode.erase(faultCode);
-        }
-    }
-    void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus)
-    {
-        std::lock_guard<std::mutex> lock(faultCodeMutex);  
-        unsigned char newStatus = rawStatus == 0x55 ? 1 : (rawStatus == 0xAA ? 0 : 2);
-        breakerStatus = newStatus;  // 保证状态更新也是原子的
-    }
-    void updateSystemData(disHighVolBusState data){
-        updateBreakerFault(power_bus_status.fuelCellCircuitBreaker, data.fuelCellCircuitBreaker, 1);
-        updateBreakerFault(power_bus_status.powerLithiumBatteryCircuitBreaker, data.powerLithiumBatteryCircuitBreaker, 2);
-        updateBreakerFault(power_bus_status.propulsionMotorCircuitBreaker, data.propulsionMotorCircuitBreaker, 3);
-        updateBreakerFault(power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker, data.lithiumBatteryGroupInstrumentCircuitBreaker, 4);
-        updateBreakerFault(power_bus_status.dcDc5ModuleCircuitBreaker, data.dcDc5ModuleCircuitBreaker, 5);
-        updateBreakerFault(power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker, data.bowHighVoltageDistributionBoxCircuitBreaker, 6);
-        updateBreakerFault(power_bus_status.sternFTDevice45CircuitBreaker, data.sternFTDevice45CircuitBreaker, 7);
-        updateBreakerFault(power_bus_status.sternRudderSwitch1CircuitBreaker, data.sternRudderSwitch1CircuitBreaker, 8);
-        updateBreakerFault(power_bus_status.sternRudderSwitch2CircuitBreaker, data.sternRudderSwitch2CircuitBreaker, 9);
-        updateBreakerFault(power_bus_status.fbReservedCircuitBreaker, data.fbReservedCircuitBreaker);
-        updateBreakerFault(power_bus_status.tyzReservedCircuitBreaker, data.tyzReservedCircuitBreaker);
-        updateBreakerFault(power_bus_status.reservedCircuitBreaker, data.reservedCircuitBreaker);       
-        //模块状态
-        power_bus_status.dcDcModuleStatus = data.dcDcFaultWord1;
-        power_bus_status.coolingSystemStatus = data.dcDcFaultWord2;
-
-        m_dcdcStatus.lowFaultWord = data.dcDcFaultWord1;
-        m_dcdcStatus.highFaultWord = data.dcDcFaultWord2;
-        
-        //绝缘状态
-        power_bus_status.powerBusInsulationStatus = data.powerBusInsulationStatus == 0x55 ? 0 : 1;
-        // if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
-
-        power_bus_status.aBusInsulationStatus = data.aBusInsulationStatus == 0x55 ? 0 : 1;
-        // if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
-        
-        //电源状态  
-        power_bus_status.meterPowerLossSignal = data.meterPowerLossSignal == 0x55 ? 0 : 1;
-        // if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
-
-        power_bus_status.emergencyPowerLossSignal = data.emergencyPowerLossSignal == 0x55 ? 0 : 1;
-
-        // if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
-        {
-            std::lock_guard<std::mutex> lock(faultCodeMutex);  
-            if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
-            if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
-            if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
-            if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
-        }
-        
-        //温度
-        power_bus_status.dcDcTemperature = data.dcDcTemperature-40;
-        
-        //电压电流参数
-        power_bus_status.powerBusVoltage = data.powerBusVoltage * 0.1;
-        power_bus_status.dcDc5ModuleCurrent = data.dcDc5ModuleCurrent * 0.1;
-        power_bus_status.powerBusCurrent = data.powerBusCurrent * 0.1;
-        power_bus_status.busbarAVoltage = data.busbarAVoltage * 0.1;
-        power_bus_status.propulsionMotorControlBoxCurrent = data.propulsionMotorControlBoxCurrent * 0.1;
-        power_bus_status.busbarACurrent = data.busbarACurrent * 0.1;
-        power_bus_status.lithiumBatteryGroupMeterCurrent = data.lithiumBatteryGroupMeterCurrent * 0.1;
-        power_bus_status.bowHighVoltageDistributionBoxCurrent = data.bowHighVoltageDistributionBoxCurrent * 0.1;
-        power_bus_status.sternFTDevice45Current = data.sternFTDevice45Current * 0.1;
-        power_bus_status.tyzReservedSwitchCurrent = data.tyzReservedSwitchCurrent * 0.1;
-        power_bus_status.sternRudderSwitch1Current = data.sternRudderSwitch1Current * 0.1;
-        power_bus_status.reservedCurrent1 = data.reservedCurrent1 * 0.1;
-        power_bus_status.sternRudderSwitch2Current = data.sternRudderSwitch2Current * 0.1;
-        power_bus_status.reservedCurrent2 = data.reservedCurrent2 * 0.1;
-        power_bus_status.fbReservedSwitchCurrent = data.fbReservedSwitchCurrent * 0.1;
-        power_bus_status.reservedCurrent3 = data.reservedCurrent3 * 0.1;
-        
-        //冷却水压力
-        power_bus_status.coolWaterPressure = data.coolWaterPressure * 0.1;
-    };
-    void updateSystemData(disHighAVolBusState data){
-        //断路器状态 (0x55 1 0xAA 0 0x5A 2)
-        updateBreakerFault(power_a_bus_status.bowFTDevice123CircuitBreaker, data.bowFTDevice123CircuitBreaker, 13);       
-        updateBreakerFault(power_a_bus_status.actuatorCircuitBreaker, data.actuatorCircuitBreaker, 14);       
-        updateBreakerFault(power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker, data.mastSteeringGearControlBoxCircuitBreaker, 15);       
-        updateBreakerFault(power_a_bus_status.xczCircuitBreaker, data.xczCircuitBreaker, 16);
-        updateBreakerFault(power_a_bus_status.bowRudderControlBoxCircuitBreaker, data.bowRudderControlBoxCircuitBreaker, 17);
-        updateBreakerFault(power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker, data.openWaterCoverStartCylinderCircuitBreaker, 18);
-        
-        //电源状态
-        power_a_bus_status.instrumentPowerFailureSignal = data.instrumentPowerFailureSignal == 0x55 ? 0 : 1;
-        // if(power_a_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(38); else disSysFaultCode.erase(38);
-
-        power_a_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
-        // if(power_a_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(39); else disSysFaultCode.erase(39);
-        {
-            std::lock_guard<std::mutex> lock(faultCodeMutex);  
-            if(power_a_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(39); else disSysFaultCode.erase(39);
-            if(power_a_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(38); else disSysFaultCode.erase(38);
-        }
-        
-        //浸水报警
-        power_a_bus_status.waterIngressionAlarm = data.waterIngressionAlarm == 0x55 ? 0 : 1;
-        //更新漏水状态
-        if(power_a_bus_status.waterIngressionAlarm == 1)
-        {
-            leakStatus[LEAKAGE_BOW_HIGH_VOLTAGE] = true;
-        }
-        else
-        {
-            leakStatus[LEAKAGE_BOW_HIGH_VOLTAGE] = false;
-        }
-
-        
-        //电压电流参数
-        power_a_bus_status.busbarBVoltage = data.busbarBVoltage * 0.1;
-        power_a_bus_status.busbarBCurrent = data.busbarBCurrent * 0.1;
-        power_a_bus_status.bowFTDevice123Current = data.bowFTDevice123Current * 0.1;
-        power_a_bus_status.actuatorCurrent = data.actuatorCurrent * 0.1;
-        power_a_bus_status.mastSteeringGearControlBoxCurrent = data.mastSteeringGearControlBoxCurrent * 0.1;
-        power_a_bus_status.xczCurrent = data.xczCurrent * 0.1;
-        power_a_bus_status.bowRudderControlBoxCurrent = data.bowRudderControlBoxCurrent * 0.1;
-        power_a_bus_status.openWaterCoverStartCylinderCurrent = data.openWaterCoverStartCylinderCurrent * 0.1;
-    };
-    void updateSystemData(disLowMainBusState data){
-        //断路器状态 (0x55 1 0xAA 0 0x5A 2)
-        updateBreakerFault(instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker, data.lithiumBatteryGroupInstrumentCircuitBreaker, 19);
-        updateBreakerFault(instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker,data.bowLowVoltageDistributionBoxCircuitBreaker, 20);
-        updateBreakerFault(instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker,data.unit4InstrumentDC48VCircuitBreaker, 21);
-        updateBreakerFault(instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker, data.dcC1DCDistributionPanelCircuitBreaker, 22);
-        updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1);
-        updateBreakerFault(instrument_main_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2);
-        updateBreakerFault(instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker, data.emergencyLithiumBatteryGroup2CircuitBreaker, 25);
-        
-        //电源状态
-        instrument_main_bus_status.instrumentPowerFailureSignal = data.instrumentPowerFailureSignal == 0x55 ? 0 : 1;
-        // if(instrument_main_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(40); else disSysFaultCode.erase(41);
-
-        instrument_main_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
-        // if(instrument_main_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(41); else disSysFaultCode.erase(42);
-        
-        //绝缘状态
-        instrument_main_bus_status.instrumentBusbarInsulationLow = data.instrumentBusbarInsulationLow == 0x55 ? 0 : 1;
-        // if(instrument_main_bus_status.instrumentBusbarInsulationLow == 1) disSysFaultCode.insert(42); else disSysFaultCode.erase(43);
-        {
-            std::lock_guard<std::mutex> lock(faultCodeMutex);  
-            if(instrument_main_bus_status.instrumentPowerFailureSignal == 1) disSysFaultCode.insert(41); else disSysFaultCode.erase(41);
-            if(instrument_main_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(42); else disSysFaultCode.erase(42);
-            if(instrument_main_bus_status.instrumentBusbarInsulationLow == 1) disSysFaultCode.insert(43); else disSysFaultCode.erase(43);
-        }
-        
-        //电压电流参数
-        instrument_main_bus_status.instrumentBusbarVoltage = data.instrumentBusbarVoltage * 0.1;
-        instrument_main_bus_status.bowLowVoltageDistributionBoxCurrent = data.bowLowVoltageDistributionBoxCurrent * 0.1;
-        instrument_main_bus_status.dcC1InstrumentDC48VCurrent = data.dcC1InstrumentDC48VCurrent * 0.1;
-        instrument_main_bus_status.reservedCurrent1 = data.reservedCurrent1 * 0.1;
-        instrument_main_bus_status.emergencyLithiumBatteryGroup2Current = data.emergencyLithiumBatteryGroup2Current * 0.1;
-        instrument_main_bus_status.lithiumBatteryGroupInstrumentCurrent = data.lithiumBatteryGroupInstrumentCurrent * 0.1;
-        instrument_main_bus_status.unit4InstrumentDC48VCurrent = data.unit4InstrumentDC48VCurrent * 0.1;
-        instrument_main_bus_status.reservedCurrent2 = data.reservedCurrent2 * 0.1;
-        instrument_main_bus_status.emergency2BusbarVoltage = data.emergency2BusbarVoltage * 0.1;
-        instrument_main_bus_status.compositeEnergyManagementSystemEmergencyDC48VCurrent = data.compositeEnergyManagementSystemEmergencyDC48VCurrent * 0.1;
-        instrument_main_bus_status.fuelCellSecuritySystemEmergencyDC48VCurrent = data.fuelCellSecuritySystemEmergencyDC48VCurrent * 0.1;
-        instrument_main_bus_status.plcControlPowerCurrent = data.plcControlPowerCurrent * 0.1;
-    }
-    void updateSystemData(disLowBusState data){
-        //断路器状态 (0x55 1 0xAA 0 0x5A 2)
-        updateBreakerFault(instrument_bus_status.unit1CircuitBreaker, data.unit1CircuitBreaker, 26);
-        updateBreakerFault(instrument_bus_status.unit2CircuitBreaker, data.unit2CircuitBreaker, 27);
-        updateBreakerFault(instrument_bus_status.unit3CircuitBreaker, data.unit3CircuitBreaker, 28);
-        updateBreakerFault(instrument_bus_status.unit5CircuitBreaker, data.unit5CircuitBreaker, 29);
-        updateBreakerFault(instrument_bus_status.bowPZDeviceCircuitBreaker, data.bowPZDeviceCircuitBreaker);
-        updateBreakerFault(instrument_bus_status.reservedCircuitBreaker1, data.reservedCircuitBreaker1);
-        updateBreakerFault(instrument_bus_status.reservedCircuitBreaker2, data.reservedCircuitBreaker2);
-        updateBreakerFault(instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker, data.emergencyLithiumBatteryGroup1CircuitBreaker, 33);
-
-        //电源状态
-        instrument_bus_status.powerFailureSignal = data.powerFailureSignal == 0x55 ? 0 : 1;
-        // if(instrument_bus_status.powerFailureSignal == 1) disSysFaultCode.insert(44); else disSysFaultCode.erase(44);
-
-        instrument_bus_status.emergencyPowerFailureSignal = data.emergencyPowerFailureSignal == 0x55 ? 0 : 1;
-        // if(instrument_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(45); else disSysFaultCode.erase(45);
-        {
-            std::lock_guard<std::mutex> lock(faultCodeMutex);  
-            if(instrument_bus_status.emergencyPowerFailureSignal == 1) disSysFaultCode.insert(45); else disSysFaultCode.erase(45);
-            if(instrument_bus_status.powerFailureSignal == 1) disSysFaultCode.insert(44); else disSysFaultCode.erase(44);
-        }
-        
-        //浸水报警
-        instrument_bus_status.waterIngressionAlarm = data.waterIngressionAlarm == 0x55 ? 0 : 1;
-        //更新漏水状态
-        if(instrument_bus_status.waterIngressionAlarm == 1)
-        {
-            leakStatus[LEAKAGE_BOW_LOW_VOLTAGE] = true;
-        }
-        else
-        {
-            leakStatus[LEAKAGE_BOW_LOW_VOLTAGE] = false;
-        }
-        //电压电流参数
-        instrument_bus_status.instrumentBusbarVoltage = data.instrumentBusbarVoltage * 0.1;
-        instrument_bus_status.instrumentBusbarCurrent = data.instrumentBusbarCurrent * 0.1; 
-        instrument_bus_status.unit1Current = data.unit1Current * 0.1;
-        instrument_bus_status.unit2Current = data.unit2Current * 0.1;
-        instrument_bus_status.unit3Current = data.unit3Current * 0.1;
-        instrument_bus_status.unit5Current = data.unit5Current * 0.1;
-        instrument_bus_status.bowPZDeviceCurrent = data.bowPZDeviceCurrent * 0.1;
-        instrument_bus_status.emergencyLithiumBatteryGroup1Current = data.emergencyLithiumBatteryGroup1Current * 0.1;
-        instrument_bus_status.emergency1BusbarVoltage = data.emergency1BusbarVoltage * 0.1;
-    }
-};
-#endif

src/bck/pPowerManger/udpcomm/ccuUdpMsg.h

@@ -1,139 +0,0 @@
-#ifndef CCUUDPMSG__H
-#define CCUUDPMSG__H
-#include "../pmSysvariable.h"
-
-#define CCU_UDPMSG_START1 0x20
-#define CCU_UDPMSG_START2 0x20
-
-#define DIS_MSG_HEAD1 0x40
-#define DIS_MSG_HEAD2 0x40
-
-#define CCU_CMD_ID 0x0040
-#define CCU_SET_PARM_ID 0x0041
-#define CCU_STATE_FB_ID 0x0051
-#define CCU_SET_PARM_FB_ID 0x0040
-
-#define DIS_HVBUS_FB_ID 0x0005
-#define DIS_HVBUSA_FB_ID 0x0006
-#define DIS_HVBUSB_FB_ID 0x0007
-#define DIS_LVBUS_FB_ID 0x0008
-
-#define DIS_HVBUS_CMD_ID  0x0001
-#define DIS_HVBUSA_CMD_ID 0x0002
-#define DIS_HVBUSB_CMD_ID 0x0003
-#define DIS_LVBUS_CMD_ID  0x0004
-
-#define DIS_BREAKER_ON 0x55
-#define DIS_BREAKER_OFF 0xAA
-#define DIS_FAULTOFF 0x5A
-
-typedef unsigned int Checksum;
-typedef unsigned char cChecksum;
-
-#pragma pack (1)
-typedef struct {
-  unsigned char start1;
-  unsigned char start2;
-  unsigned short id;
-  unsigned short length;
-} m_header;
-
-typedef struct {
-  unsigned short year;
-  unsigned char month;
-  unsigned char day;
-  unsigned char hour;
-  unsigned char minute;
-  unsigned char second;
-  unsigned char milliseconds; //每10毫秒
-} m_date;
-// 复合管控器操作指令
-typedef struct {
-  m_header header;
-  m_date date;
-  ccuColCmd cmd;
-  Checksum checkCode;
-} msg_CcuColCmdMsg;
-
-// 复合管控器参数设定指令
-typedef struct {
-  m_header header;
-  ccuSetParmCmd cmd;
-  Checksum checkCode;
-} msg_CcuSetParmMsg;
-
-// 配电指令
-typedef struct 
-{
-  m_header header;
-  disHighVolBusCmd data;
-  cChecksum checkCode;
-}msg_disHVBCmd;
-
-typedef struct 
-{
-  m_header header;
-  disHighAVolBusCmd data;
-  cChecksum checkCode;
-}msg_disHVBACmd;
-
-typedef struct msg_disHVBBCmd
-{
-  m_header header;
-  disHighBVolBusCmd data;
-  cChecksum checkCode;
-}msg_disLVMBCmd;
-
-typedef struct
-{
-  m_header header;
-  disLowBusCmd data;
-  cChecksum checkCode;
-}msg_disLVBCmd;
-
-
-// 复合管控参数设定反馈指令
-typedef struct {
-  m_header header;
-  unsigned char flag;
-  unsigned char failureCode;
-  Checksum checkCode;
-} msg_CcuSetParmFbMsg;
-
-// 复合管控状态反馈
-typedef struct {
-  m_header header;
-  ccuState data;
-  Checksum checkCode;
-} msg_CcuStateFbMsg;
-
-//高压母线配电反馈
-typedef struct {
-  m_header header;
-  disHighVolBusState data;
-  cChecksum checkCode;
-} msg_disHighVolBusFbMsg;
-
-// 高压母线A配电反馈
-typedef struct {
-  m_header header;
-  disHighAVolBusState data;
-  cChecksum checkCode;
-} msg_disHighAVolBusFbMsg;
-
-// 仪表母线配电反馈
-typedef struct {
-  m_header header;
-  disLowMainBusState data;
-  cChecksum checkCode;
-} msg_disLowMainBusFbMsg;
-
-//仪表汇流排配电反馈
-typedef struct {
-  m_header header;
-  disLowBusState data;
-  cChecksum checkCode;
-} msg_disLowBusFbMsg;
-
-#pragma pack ()
-#endif

src/bck/pPowerManger/udpcomm/udpComm.cpp

@@ -1,627 +0,0 @@
-#include "udpComm.h"
-#include <iostream>
-#include <memory>
-
-udpComm::udpComm() 
-{
-  udpScoket = nullptr;
-  ccuHost = "";
-  ccuPort = 0;
-}
-
-udpComm::~udpComm() {
-  if (udpScoket) {
-    delete udpScoket;
-    udpScoket = nullptr;
-  }
-}
-
-
-Checksum udpComm::calculateChecksum(const unsigned char* data, int size) 
-{
-  Checksum checksum = 0;
-  int size_data = size - sizeof(Checksum);
-  for (int i = 0; i < size_data; i++) {
-      checksum += data[i];
-  }
-  return checksum;
-}
-Checksum udpComm::calculateChecksum(const unsigned char* data, int dataSize, int checkSize)
-{
-  Checksum checksum = 0;
-  int size_data = dataSize - checkSize;
-  for (int i = 0; i < size_data; i++) {
-      checksum += data[i];
-  }
-  return checksum;
-}
-bool udpComm::getMsgId(char *m,unsigned short &id)
-{
-  m_header h;
-  h = *reinterpret_cast<m_header *>(m);
-  // 判断消息是否有效
-  if (h.start1== DIS_MSG_HEAD1 && h.start2==DIS_MSG_HEAD2)
-  {
-    id = h.id;
-    return true;
-  }
-  else if (h.start1==CCU_UDPMSG_START1 && h.start2==CCU_UDPMSG_START2)
-  {
-    id = h.id;
-    return true;
-  }
-  else
-    // sError.push_back("Msg Header errar");
-    // LOG_F(ERROR, "Msg Header errar start1: %d, start2: %d", h.start1, h.start2);
-  return false;
-}
-bool udpComm::getMsgFromBuff(char *m, msg_CcuStateFbMsg &s) {
-  Checksum sum;
-  msg_CcuStateFbMsg *p;
-  p = reinterpret_cast<msg_CcuStateFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuStateFbMsg));
-
-  if (sum != p->checkCode) {
-    sError.push_back("CcuStat Msg Check error");
-    return false; 
-  }
-  s = *p;
-  return true;
-}
-
-bool udpComm::getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s)
-{
-  Checksum sum;
-  msg_CcuSetParmFbMsg *p;
-  p = reinterpret_cast<msg_CcuSetParmFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuSetParmFbMsg));
-
-  if (sum!= p->checkCode) {
-    sError.push_back("CcuSetParm Msg Check error");
-    return false;
-  }
-
-  s = *p;
-  return true;
-}
-
-bool udpComm::getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s)
-{
-  cChecksum sum;
-  msg_disHighVolBusFbMsg *p;
-  p = reinterpret_cast<msg_disHighVolBusFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
-  if (sum != p->checkCode) {
-    sError.push_back("DisSys HVBus Msg Check error");
-    LOG_F(ERROR, "DisSys HVBus Msg Check error sum: %d, source checkCode: %d", sum, p->checkCode);
-    return false;
-  }
-  s = *p;
-  // cout << s.data.busbarAVoltage << endl;
-  return true;
-}
-
-bool udpComm::getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s)
-{
-  cChecksum sum;
-  msg_disHighAVolBusFbMsg *p;
-  p = reinterpret_cast<msg_disHighAVolBusFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighAVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
-  if (sum!= p->checkCode) {
-    sError.push_back("DisSys HVABus Msg Check error");
-    LOG_F(ERROR, "DisSys HVABus Msg Check error sum: %d, source checkCode: %d", sum, p->checkCode);
-    return false;
-  }
-  s = *p;
-  return true;
-}
-bool udpComm::getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s)
-{
-  cChecksum sum;
-  msg_disLowMainBusFbMsg *p;
-  p = reinterpret_cast<msg_disLowMainBusFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowMainBusFbMsg), sizeof(cChecksum)) & 0xFF;
-  if (sum!= p->checkCode) {
-    sError.push_back("DisSys HVBBus Msg Check error");
-    LOG_F(ERROR, "DisSys HVBBus Msg Check error sum: %d, source checkCode: %d", sum, p->checkCode);
-    return false;
-  }
-  s = *p;
-  return true;
-}
-
-bool udpComm::getMsgFromBuff(char *m, msg_disLowBusFbMsg &s)
-{
-  cChecksum sum;
-  msg_disLowBusFbMsg *p;
-  p = reinterpret_cast<msg_disLowBusFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowBusFbMsg), sizeof(cChecksum)) & 0xFF;
-  if (sum!= p->checkCode) {
-    sError.push_back("DisSys LVBus Msg Check error");
-    LOG_F(ERROR, "DisSys LVBus Msg Check error sum: %d, source checkCode: %d", sum, p->checkCode);
-    return false;
-  }
-  s = *p;
-  return true;
-}
-
-bool udpComm::pushMsgToQueue(unsigned char *m)
-{
-  if(m==NULL)
-  {
-    // sError.push_back("pushMsgToQueue faile,Msg is NULL");
-    LOG_F(ERROR, "pushMsgToQueue faile,Msg is NULL m: %p", m);
-    return false;
-  }
-
-  unsigned char* Buff = m;
-  //消息头鉴定
-  char *header = new char[sizeof(m_header)];
-  unsigned short id;
-  memcpy(header,Buff,sizeof(m_header));
-  if(!getMsgId(header,id))
-  {
-    // sError.push_back("pushMsgToQueue faile,Msg ID error");
-    // LOG_F(INFO, "pushMsgToQueue faile,Msg ID error header: %p", header);
-    delete []header;
-    return false;
-  }
-  delete []header;
-  //输入消息
-  switch (id)
-  {
-  case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
-   { 
-    msg_CcuStateFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
-      {
-        double time = MOOSTime();
-        m_qReceiveCcuStateBuffer.push(std::make_pair(time, s));
-      }
-      else
-      {
-        // sError.push_back("pushMsgToQueue faile,CcuState buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,CcuState buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  case CCU_SET_PARM_FB_ID: //CCU_SET_PARM_FB 0x0040
-  {
-    msg_CcuSetParmFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
-      {
-        double time = MOOSTime();
-        m_qReceiveCcuSetParmBuffer.push(std::make_pair(time, s));
-      }
-      else
-      {
-        // sError.push_back("pushMsgToQueue faile,CcuSetParm buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,CcuSetParm buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  case DIS_HVBUS_FB_ID: //DIS_HVBUS_FB 0x0020
-  {
-    msg_disHighVolBusFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
-      {
-        double time = MOOSTime();
-        m_qReceiveDisHighVolBusBuffer.push(std::make_pair(time, s));
-      }
-      else 
-      {
-        // sError.push_back("pushMsgToQueue faile,DisSysHVBus buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,DisSysHVBus buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  case DIS_HVBUSA_FB_ID: //DIS_HVBUSA_FB 0x0006
-  {
-    msg_disHighAVolBusFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
-        {
-          double time = MOOSTime();
-          m_qReceiveDisHighAVolBusBuffer.push(std::make_pair(time, s));
-        }
-      else
-      {
-        // sError.push_back("pushMsgToQueue faile,DisSysHVABus buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,DisSysHVABus buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
-  {
-    msg_disLowMainBusFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
-      {
-          double time = MOOSTime();
-          m_qReceiveDisHighBVolBusBuffer.push(std::make_pair(time, s));
-      }
-      else
-      {
-        // sError.push_back("pushMsgToQueue faile,DisSysHVBBus buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,DisSysHVBBus buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  case DIS_LVBUS_FB_ID: //DIS_LVBUS_FB 0x0008
-  {
-    msg_disLowBusFbMsg s;
-    if(getMsgFromBuff((char *)Buff,s))
-    {
-      if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
-       {
-          double time = MOOSTime();
-          m_qReceiveDisLowBusBuffer.push(std::make_pair(time, s));
-       }
-      else
-      {
-        // sError.push_back("pushMsgToQueue faile,DisSysLVBus buffer is full");
-        LOG_F(INFO, "pushMsgToQueue faile,DisSysLVBus buffer is full");
-        return false;
-      }
-    }
-    else
-    {
-      return false;
-    }
-    break;
-  }
-  default:
-    break;
-  }  
-}
-
-bool udpComm::clearMsgQueue()
-{
-    {
-        std::lock_guard<std::mutex> lock(m_mutexCcuState);
-        while(!m_qReceiveCcuStateBuffer.empty())
-            m_qReceiveCcuStateBuffer.pop();
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(m_mutexCcuSetParm);
-        while(!m_qReceiveCcuSetParmBuffer.empty())
-            m_qReceiveCcuSetParmBuffer.pop();
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(m_mutexDisHighVolBus);
-        while(!m_qReceiveDisHighVolBusBuffer.empty())
-            m_qReceiveDisHighVolBusBuffer.pop();
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(m_mutexDisHighAVolBus);
-        while(!m_qReceiveDisHighAVolBusBuffer.empty())
-            m_qReceiveDisHighAVolBusBuffer.pop();
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(m_mutexDisHighBVolBus);
-        while(!m_qReceiveDisHighBVolBusBuffer.empty())
-            m_qReceiveDisHighBVolBusBuffer.pop();
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(m_mutexDisLowBus);
-        while(!m_qReceiveDisLowBusBuffer.empty())
-            m_qReceiveDisLowBusBuffer.pop();
-    }
-    return true;
-}
-
-
-bool udpComm::popMsgFormQueue(double &time,msg_CcuStateFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexCcuState);
-    if(m_qReceiveCcuStateBuffer.empty())
-        return false;
-    time = m_qReceiveCcuStateBuffer.front().first;
-    m = m_qReceiveCcuStateBuffer.front().second;
-    m_qReceiveCcuStateBuffer.pop();
-    return true;
-}
-
-bool udpComm::popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexCcuSetParm);
-    if(m_qReceiveCcuSetParmBuffer.empty())
-        return false;
-    time = m_qReceiveCcuSetParmBuffer.front().first;
-    m = m_qReceiveCcuSetParmBuffer.front().second;
-    m_qReceiveCcuSetParmBuffer.pop();
-    return true;
-}
-
-bool udpComm::popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexDisHighVolBus);
-    if(m_qReceiveDisHighVolBusBuffer.empty())
-        return false;
-    time = m_qReceiveDisHighVolBusBuffer.front().first;
-    m = m_qReceiveDisHighVolBusBuffer.front().second;
-    m_qReceiveDisHighVolBusBuffer.pop();
-    return true;
-}
-
-bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexDisHighAVolBus);
-    if(m_qReceiveDisHighAVolBusBuffer.empty())
-        return false;
-    time = m_qReceiveDisHighAVolBusBuffer.front().first;
-    m = m_qReceiveDisHighAVolBusBuffer.front().second;
-    m_qReceiveDisHighAVolBusBuffer.pop();
-    return true;
-}
-
-bool udpComm::popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexDisHighBVolBus);
-    if(m_qReceiveDisHighBVolBusBuffer.empty())
-        return false;
-    time = m_qReceiveDisHighBVolBusBuffer.front().first;
-    m = m_qReceiveDisHighBVolBusBuffer.front().second;
-    m_qReceiveDisHighBVolBusBuffer.pop();
-    return true;
-}
-
-bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m)
-{
-    std::lock_guard<std::mutex> lock(m_mutexDisLowBus);
-    if(m_qReceiveDisLowBusBuffer.empty())
-        return false;
-    time = m_qReceiveDisLowBusBuffer.front().first;
-    m = m_qReceiveDisLowBusBuffer.front().second;
-    m_qReceiveDisLowBusBuffer.pop();
-    return true;
-}
-
-
-bool udpComm::sendDisSysCmd(const disHighVolBusCmd cmd)
-{
-  unsigned char* msgBuf;
-  cChecksum cc;
-  msg_disHVBCmd* msg = new msg_disHVBCmd;
-  msg->header.id = DIS_HVBUS_CMD_ID;
-  msg->header.start1 = DIS_MSG_HEAD1;
-  msg->header.start2 = DIS_MSG_HEAD2;
-  //TODO : 阈字节长度固定了，后续会修改
-  msg->header.length = 18;
-  // msg->header.length = sizeof(disHighVolBusCmd);
-  msg->data = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd),sizeof(cChecksum));
-  msg->checkCode = cc;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disHVBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-  }
-  delete msg;
-  return true;
-}
-
-bool udpComm::sendDisSysCmd(const disHighAVolBusCmd cmd)
-{
-  unsigned char* msgBuf;
-  cChecksum cc;
-  msg_disHVBACmd* msg = new msg_disHVBACmd;
-  msg->header.id = DIS_HVBUSA_CMD_ID;
-  msg->header.start1 = DIS_MSG_HEAD1;
-  msg->header.start2 = DIS_MSG_HEAD2;
-  //TODO : 阈字节长度固定了，后续会修改
-  msg->header.length = 6;
-  // msg->header.length = sizeof(disHighAVolBusCmd);
-  msg->data = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd),sizeof(cChecksum));
-  msg->checkCode = cc;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disHVBACmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-  }
-  delete msg;
-  return true;
-}
-
-bool udpComm::sendDisSysCmd(const disHighBVolBusCmd cmd)
-{
-  unsigned char* msgBuf;
-  cChecksum cc;
-  msg_disHVBBCmd* msg = new msg_disHVBBCmd;
-  msg->header.id = DIS_HVBUSB_CMD_ID;
-  msg->header.start1 = DIS_MSG_HEAD1;
-  msg->header.start2 = DIS_MSG_HEAD2;
-  //TODO : 阈字节长度固定了，后续会修改
-  msg->header.length = 8;
-  // msg->header.length = sizeof(disHighBVolBusCmd);
-  msg->data = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd),sizeof(cChecksum));
-  msg->checkCode = cc;
-  try
-  {
-    // cout << "=========" <<(int)sizeof(msg_disHVBBCmd) << endl;
-    sendMsg(msgBuf,sizeof(msg_disHVBBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-  }
-  delete msg;
-  return true;
-}
-
-bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
-{
-  unsigned char* msgBuf;
-  cChecksum cc;
-  msg_disLVBCmd* msg = new msg_disLVBCmd;
-  msg->header.id = DIS_LVBUS_CMD_ID;
-  msg->header.start1 = DIS_MSG_HEAD1;
-  msg->header.start2 = DIS_MSG_HEAD2;
-  //TODO : 阈字节长度固定了，后续会修改
-  msg->header.length = 8;
-  // msg->header.length = sizeof(disLowBusCmd);
-  msg->data = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd),sizeof(cChecksum));
-  // msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
-  msg->checkCode = cc;
-  cout << "cc======disLowBusCmd=============================" << (int) msg->checkCode << endl;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disLVBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-  }
-  delete msg;
-  return true;
-}
-
-bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
-{
-  unsigned char* msgBuf;
-  Checksum cc;
-  msg_CcuColCmdMsg* msg = new msg_CcuColCmdMsg();
-  memset(msg, 0, sizeof(msg_CcuColCmdMsg)); // 初始化所有字段为0
-  
-  msg->header.id = CCU_CMD_ID;
-  msg->header.start1 = CCU_UDPMSG_START1;
-  msg->header.start2 = CCU_UDPMSG_START2;
-  msg->header.length = sizeof(ccuColCmd);
-  
-  // 确保日期获取成功
-  if(!getDate(msg->date.year,msg->date.month,msg->date.day,
-             msg->date.hour,msg->date.minute,msg->date.second,msg->date.milliseconds)) {
-    LOG_F(ERROR, "Failed to get current date/time");
-    delete msg;
-    return false;
-  }
-  
-  msg->cmd = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
-  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
-  
-  bool sendResult = false;
-  try {
-    sendResult = sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
-    if (!sendResult) {
-      LOG_F(ERROR, "Failed to send CCU command");
-    }
-  } catch (const std::exception& e) {
-    LOG_F(ERROR, "Exception in sendCcuColCmd: %s", e.what());
-  }
-  
-  delete msg;
-  return sendResult;
-}
-bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
-{
-  unsigned char* msgBuf;
-  Checksum cc;
-  msg_CcuSetParmMsg* msg = new msg_CcuSetParmMsg;
-  msg->header.id = CCU_SET_PARM_ID;
-  msg->header.start1 = CCU_UDPMSG_START1;
-  msg->header.start2 = CCU_UDPMSG_START2;
-  msg->header.length = sizeof(ccuSetParmCmd);
-  msg->cmd = cmd;
-  msgBuf = reinterpret_cast<unsigned char *>(msg);
-  cc = calculateChecksum(msgBuf,sizeof(msg_CcuSetParmMsg));
-  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_CcuSetParmMsg));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
-  }
-  delete msg;
-  return true;
-}
-
-bool udpComm::getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds) {
-  // 获取当前时间
-  std::time_t now = std::time(nullptr);
-  if (now == -1) {
-      return false; // 获取时间失败
-  }
-
-  // 转换为本地时间
-  std::tm *localTime = std::localtime(&now);
-  if (!localTime) {
-      return false; // 转换失败
-  }
-
-  // 获取年、月、日、时、分、秒
-  year = localTime->tm_year + 1900;  // tm_year 是从 1900 年开始的
-  month = localTime->tm_mon + 1;     // tm_mon 是从 0 开始的，0 对应 1 月
-  day = localTime->tm_mday;
-  hour = localTime->tm_hour;
-  minute = localTime->tm_min;
-  second = localTime->tm_sec;
-
-  // 获取毫秒，使用 std::chrono
-  auto now_ms = std::chrono::system_clock::now();
-  auto duration = now_ms.time_since_epoch();
-  auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count() % 1000; // 取毫秒部分
-  ms = ms/10;
-  milliseconds = static_cast<unsigned char>(ms);
-
-  return true;
-}

src/bck/pPowerManger/udpcomm/udpComm.h

@@ -1,108 +0,0 @@
-#ifndef UDPCOMM__H
-#define UDPCOMM__H
-#define UNIX
-
-#include "ccuUdpMsg.h"
-#include <string>
-#include <vector>
-#include <queue>
-#include <string.h>
-#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
-#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
-#include <ctime>
-#include <mutex>
-#include <chrono>
-#include <iostream>
-#include <utility> 
-#include "../logc/loguru.hpp"
-using namespace std;
-#define QUENUE_SIZE 100
-
-class udpComm {
-public:
-  udpComm();
-  ~udpComm();
-  XPCUdpSocket *udpScoket;
-  string ccuHost;
-  long int ccuPort;
-  
-  bool pushMsgToQueue(unsigned char *m);
-  bool clearMsgQueue();
-
-  bool getMsgFromBuff(char *m, msg_CcuStateFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);
-
-  bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
-
-  bool sendCcuColCmd(const ccuColCmd cmd);
-  bool sendCcuSetParmCmd(const ccuSetParmCmd cmd);
-
-  bool sendDisSysCmd(const disHighVolBusCmd cmd);
-  bool sendDisSysCmd(const disHighAVolBusCmd cmd);
-  bool sendDisSysCmd(const disHighBVolBusCmd cmd);
-  bool sendDisSysCmd(const disLowBusCmd cmd);
-  bool sendMsg(const unsigned char* msg, unsigned int size) {
-    if (!udpScoket) {
-        LOG_F(ERROR, "UDP socket is null in sendMsg");
-        return false;
-    }
-    if (!msg || size == 0) {
-        LOG_F(ERROR, "Invalid message parameters in sendMsg");
-        return false;
-    }
-    if (ccuHost.empty() || ccuPort <= 0) {
-        LOG_F(ERROR, "Invalid CCU address: %s:%d", ccuHost.c_str(), ccuPort);
-        return false;
-    }
-
-    try {
-        udpScoket->iSendMessageTo((void*)msg, size, ccuPort, ccuHost);
-        return true;
-    } catch (const XPCException& e) {
-        LOG_F(ERROR, "XPCException in sendMsg");
-    } catch (const std::exception& e) {
-        LOG_F(ERROR, "Exception in sendMsg: %s", e.what());
-    } catch (...) {
-        LOG_F(ERROR, "Unknown exception in sendMsg");
-    }
-    return false;
-  }
-
-  bool getMsgId(char *m,unsigned short &id);
-  Checksum calculateChecksum(const unsigned char* data, int size);
-  Checksum calculateChecksum(const unsigned char* data, int dataSize, int checkSize);
-
-  bool getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds);
-
-  std::vector<std::string> sError;
-
-
-  std::mutex m_mutexCcuState;
-  std::mutex m_mutexCcuSetParm;
-  std::mutex m_mutexDisHighVolBus;
-  std::mutex m_mutexDisHighAVolBus;
-  std::mutex m_mutexDisHighBVolBus;
-  std::mutex m_mutexDisLowBus;
-  // std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
-  std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;
-  std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
-  std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
-  std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
-  std::queue<std::pair<double,msg_disLowMainBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
-  std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;
-
-private:
-  msg_CcuColCmdMsg m_ccuColCmd;
-  msg_CcuSetParmMsg m_ccuSetParmCmd;
-};
-
-#endif

src/bck/pPowerManger/upmsg/uDetect_xcVoltage_cmd.h

@@ -1,60 +0,0 @@
-/* json 格式 XC阵控制软件→复合能源管控系统
-{
-	"xcLowVoltageAdd_int32 " : XX		  //命令类型：“无命令”0，“申请仪表上电”1，“申请仪表断电”2；类型:int
-	"xcHighVoltageAdd_int32 " : XX, 		  //命令类型：“无命令”0，“申请高压上电”1，“申请高压断电”2；类型:int
-}
-*/
-#ifndef UDETECT_XCVOLTAGE_CMD_H
-#define UDETECT_XCVOLTAGE_CMD_H
-#include "../logc/loguru.hpp"
-#include "json/json.h"
-#include <string>
-#include <memory>
-
-class uDetect_xcVoltage_cmd
-{
-private:
-    /* data */
-public:
-    uDetect_xcVoltage_cmd(){};
-    ~uDetect_xcVoltage_cmd(){};
-
-    int xcLowVoltageAdd_int32;
-    int xcHighVoltageAdd_int32;
-
-    static std::string key;
-
-    std::string toJsonString()
-    {
-        Json::Value j;
-        j["xcLowVoltageAdd_int32"] = xcLowVoltageAdd_int32;
-        j["xcHighVoltageAdd_int32"] = xcHighVoltageAdd_int32;
-        
-        Json::StreamWriterBuilder builder;
-        builder.settings_["indentation"] = "";
-        return Json::writeString(builder, j);
-    }
-    bool fromJsonString(std::string jsonString)
-    {
-        Json::CharReaderBuilder readerBuilder;
-        std::unique_ptr<Json::CharReader> reader(readerBuilder.newCharReader());
-        Json::Value j;
-        std::string errors;
-        LOG_F(INFO, "jsonString: %s", jsonString.c_str());
-        bool parsingSuccessful = reader->parse(jsonString.c_str(), jsonString.c_str() + jsonString.length(), &j, &errors);
-        if (!parsingSuccessful) {
-            LOG_F(ERROR, "Failed to parse JSON: %s", errors.c_str());
-            return false;
-        }
-        
-        if (j.isMember("xcLowVoltageAdd_int32") && j.isMember("xcHighVoltageAdd_int32")) {
-            xcLowVoltageAdd_int32 = j["xcLowVoltageAdd_int32"].asInt();
-            xcHighVoltageAdd_int32 = j["xcHighVoltageAdd_int32"].asInt();
-            return true;
-        }
-        LOG_F(ERROR, "JSON does not contain required fields");
-        return false;
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uDetect_zdpVoltage_cmd.h

@@ -1,56 +0,0 @@
-/* json 格式 XC阵控制软件→复合能源管控系统
-{
-	"zdpVoltageAdd_int32 " : XX		  //命令类型：“无命令”0，“申请仪表上电”1，“申请仪表断电”2；类型:int
-}
-*/
-#ifndef UDETECT_ZDPVOLTAGE_CMD_H
-#define UDETECT_ZDPVOLTAGE_CMD_H
-#include "../logc/loguru.hpp"
-#include "json/json.h"
-#include <string>
-#include <memory>
-
-class uDetect_zdpVoltage_cmd
-{
-private:
-    /* data */
-public:
-    uDetect_zdpVoltage_cmd(){};
-    ~uDetect_zdpVoltage_cmd(){};
-
-    int zdpVoltageAdd_int32;
-
-    static std::string key;
-
-    std::string toJsonString()
-    {
-        Json::Value j;
-        j["zdpVoltageAdd_int32"] = zdpVoltageAdd_int32;
-        
-        Json::StreamWriterBuilder builder;
-        builder.settings_["indentation"] = "";
-        return Json::writeString(builder, j);
-    }
-    bool fromJsonString(std::string jsonString)
-    {
-        Json::CharReaderBuilder readerBuilder;
-        std::unique_ptr<Json::CharReader> reader(readerBuilder.newCharReader());
-        Json::Value j;
-        std::string errors;
-        LOG_F(INFO, "jsonString: %s", jsonString.c_str());
-        bool parsingSuccessful = reader->parse(jsonString.c_str(), jsonString.c_str() + jsonString.length(), &j, &errors);
-        if (!parsingSuccessful) {
-            LOG_F(ERROR, "Failed to parse JSON: %s", errors.c_str());
-            return false;
-        }
-        
-        if (j.isMember("zdpVoltageAdd_int32")) {
-            zdpVoltageAdd_int32 = j["zdpVoltageAdd_int32"].asInt();
-            return true;
-        }
-        LOG_F(ERROR, "JSON does not contain required fields");
-        return false;
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uDevice_depth.h

@@ -1,52 +0,0 @@
-//决策消息
-#ifndef UDEVICE_DEPTH_ST_H
-#define UDEVICE_DEPTH_ST_H
-#include <string>
-#include "../logc/loguru.hpp"
-#define DB_TO_PM_DEEPTH "uDevice_depth_st"
-class uDevice_depthMsg
-{
-private:
-    
-public:
-    std::string key = "uDevice_depth_st";
-    uDevice_depthMsg(/* args */){};
-    ~uDevice_depthMsg(){};
-    int getDepth(const std::string& msgkey, const std::string& msg){
-        if (msgkey != DB_TO_PM_DEEPTH)
-        {
-            LOG_F(WARNING, "消息类型错误 %s", msgkey.c_str());
-            return 0;
-        }
-        int deepth;
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            std::cerr << "JSON解析失败: " << errs << std::endl;
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return -1;
-        }
-        // 检查并读取深度数组
-        if (root.isMember("value_array_int32") && root["value_array_int32"].isArray()) {
-            const Json::Value& array = root["value_array_int32"];
-            if (array.size() >= 3) {
-                // 计算三个深度值的平均值
-                deepth = (array[0].asInt() + array[1].asInt() + array[2].asInt()) / 3;
-            } else {
-                LOG_F(WARNING, "深度数组元素不足3个");
-                return -1;
-            }
-        } else {
-            LOG_F(WARNING, "缺少或类型不匹配: value_array_int32");
-            return -1;
-        }
-        
-        return deepth;
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uDevice_secdistState.h

@@ -1,531 +0,0 @@
-#ifndef UDEVICE_SECDISTSTATE_H
-#define UDEVICE_SECDISTSTATE_H
-#include <string>
-#include <json/json.h>
-#include "../driver.h"
-#include "../logc/loguru.hpp"
-#include <cstring> 
-
-class uDevice_secdistStateMsg
-{
-private:
-    /* data */
-public:
-    uDevice_secdistStateMsg(){};
-    ~uDevice_secdistStateMsg(){};
-    std::string key_fb = "uDevice_secdistState_st";
-    std::string key_cmd = "uPower_secdistState_cmd";
-
-    struct DeviceSecdistState
-    {
-        // UNIT1
-        u_int8_t bowCover1;
-        u_int8_t bowCover2;
-        u_int8_t bowCover3;
-        u_int8_t bowCover4;
-        u_int8_t bowCover5;
-        u_int8_t bowCover6;
-        u_int8_t singleBeamSonar1;
-        u_int8_t singleBeamSonar2;
-        u_int8_t singleBeamSonar3;
-        u_int8_t singleBeamSonar4;
-        u_int8_t singleBeamSonar5;
-        u_int8_t singleBeamSonar6;
-        u_int8_t forwardSonar;
-        u_int8_t depth3;
-        u_int8_t soundVeloc;
-        u_int8_t bowRudderServo;
-        u_int8_t bowRudderDeploy;
-        u_int8_t ctd1;
-        u_int8_t waterInject;
-
-        // UNIT2
-        u_int8_t sideSonar;
-        u_int8_t bowWaterInet1;
-        u_int8_t bowWaterInet2;
-        u_int8_t bowWaterInet3;
-        u_int8_t bowWaterInet4;
-        u_int8_t bowWaterInet5;
-        u_int8_t bowWaterInet6;
-        u_int8_t bowWaterInet7;
-        u_int8_t bowWaterInet8;
-        u_int8_t launchControler;
-        u_int8_t electSensor;
-        u_int8_t lowFreqSonar;
-
-        // UNIT3
-        u_int8_t buoyancyAdjust1;
-        u_int8_t buoyancyAdjust2;
-        u_int8_t buoyancyAdjust3;
-        u_int8_t USBL;
-        u_int8_t depth1;
-        u_int8_t commDev;
-        u_int8_t mastLiftingServo;
-        u_int8_t DVL;
-        u_int8_t ADCP;
-        u_int8_t inOutLetWater1;
-        u_int8_t inOutLetWater2;
-
-        // UNIT4
-        u_int8_t singleBeamSonar7;
-        u_int8_t singleBeamSonar8;
-        u_int8_t buoyage;
-        u_int8_t bowThrow;
-        u_int8_t depth2;
-        u_int8_t thruster;
-        u_int8_t dragSonar;
-        u_int8_t haulingMachine;
-        u_int8_t buoyancyAdjust4;
-        u_int8_t buoyancyAdjust5;
-        u_int8_t sternRudderServo1;
-        u_int8_t sternRudderServo2;
-        u_int8_t sternRudderServo3;
-        u_int8_t sternRudderServo4;
-        u_int8_t ctd2;
-        u_int8_t commDevStern;
-        u_int8_t inOutLetWater3;
-
-        // UNIT5
-        u_int8_t secINS;
-        u_int8_t photoSensor;
-        u_int8_t sternThrow;
-        u_int8_t mainINS;
-    } deviceSecdistState;
-
-
-
-    bool parseSecdistStateFromJson(DeviceSecdistState &state, const std::string &strJson){
-        Json::Value root;
-        Json::CharReaderBuilder readerBuilder;
-        std::unique_ptr<Json::CharReader> reader(readerBuilder.newCharReader());
-        std::string errors;
-        
-        if(!reader->parse(strJson.c_str(), strJson.c_str() + strJson.length(), &root, &errors)){
-            LOG_F(ERROR, "Failed to parse JSON: %s", errors.c_str());
-            return false;
-        }
-        
-        auto checkField = [&root](const std::string& field) -> bool {
-            if(!root.isMember(field) || !root[field].isUInt()) {
-                // std::cerr << "Missing or invalid field: " << field << std::endl;
-                // LOG_F(ERROR, "Missing or invalid field: %s", field.c_str());
-                return false;
-            }
-            return true;
-        };
-
-        bool ok = true;
-        
-        // UNIT1
-        if(!checkField("bowCover1_uint8")) ok=false; state.bowCover1 = root["bowCover1_uint8"].asUInt();
-        if(!checkField("bowCover2_uint8")) ok=false; state.bowCover2 = root["bowCover2_uint8"].asUInt();
-        if(!checkField("bowCover3_uint8")) ok=false; state.bowCover3 = root["bowCover3_uint8"].asUInt();
-        if(!checkField("bowCover4_uint8")) ok=false; state.bowCover4 = root["bowCover4_uint8"].asUInt();
-        if(!checkField("bowCover5_uint8")) ok=false; state.bowCover5 = root["bowCover5_uint8"].asUInt();
-        if(!checkField("bowCover6_uint8")) ok=false; state.bowCover6 = root["bowCover6_uint8"].asUInt();
-        if(!checkField("singleBeamSonar1_uint8")) ok=false; state.singleBeamSonar1 = root["singleBeamSonar1_uint8"].asUInt();
-        if(!checkField("singleBeamSonar2_uint8")) ok=false; state.singleBeamSonar2 = root["singleBeamSonar2_uint8"].asUInt();
-        if(!checkField("singleBeamSonar3_uint8")) ok=false; state.singleBeamSonar3 = root["singleBeamSonar3_uint8"].asUInt();
-        if(!checkField("singleBeamSonar4_uint8")) ok=false; state.singleBeamSonar4 = root["singleBeamSonar4_uint8"].asUInt();
-        if(!checkField("singleBeamSonar5_uint8")) ok=false; state.singleBeamSonar5 = root["singleBeamSonar5_uint8"].asUInt();
-        if(!checkField("singleBeamSonar6_uint8")) ok=false; state.singleBeamSonar6 = root["singleBeamSonar6_uint8"].asUInt();
-        if(!checkField("forwardSonar_uint8")) ok=false; state.forwardSonar = root["forwardSonar_uint8"].asUInt();
-        if(!checkField("depth3_uint8")) ok=false; state.depth3 = root["depth3_uint8"].asUInt();
-        if(!checkField("soundVeloc_uint8")) ok=false; state.soundVeloc = root["soundVeloc_uint8"].asUInt();
-        if(!checkField("bowRudderServo_uint8")) ok=false; state.bowRudderServo = root["bowRudderServo_uint8"].asUInt();
-        if(!checkField("bowRudderDeploy_uint8")) ok=false; state.bowRudderDeploy = root["bowRudderDeploy_uint8"].asUInt();
-        if(!checkField("ctd1_uint8")) ok=false; state.ctd1 = root["ctd1_uint8"].asUInt();
-        if(!checkField("waterInject_uint8")) ok=false; state.waterInject = root["waterInject_uint8"].asUInt();
-
-        // UNIT2
-        if(!checkField("sideSonar_uint8")) ok=false; state.sideSonar = root["sideSonar_uint8"].asUInt();
-        if(!checkField("bowWaterInet1_uint8")) ok=false; state.bowWaterInet1 = root["bowWaterInet1_uint8"].asUInt();
-        if(!checkField("bowWaterInet2_uint8")) ok=false; state.bowWaterInet2 = root["bowWaterInet2_uint8"].asUInt();
-        if(!checkField("bowWaterInet3_uint8")) ok=false; state.bowWaterInet3 = root["bowWaterInet3_uint8"].asUInt();
-        if(!checkField("bowWaterInet4_uint8")) ok=false; state.bowWaterInet4 = root["bowWaterInet4_uint8"].asUInt();
-        if(!checkField("bowWaterInet5_uint8")) ok=false; state.bowWaterInet5 = root["bowWaterInet5_uint8"].asUInt();
-        if(!checkField("bowWaterInet6_uint8")) ok=false; state.bowWaterInet6 = root["bowWaterInet6_uint8"].asUInt();
-        if(!checkField("bowWaterInet7_uint8")) ok=false; state.bowWaterInet7 = root["bowWaterInet7_uint8"].asUInt();
-        if(!checkField("bowWaterInet8_uint8")) ok=false; state.bowWaterInet8 = root["bowWaterInet8_uint8"].asUInt();
-        if(!checkField("launchControler_uint8")) ok=false; state.launchControler = root["launchControler_uint8"].asUInt();
-        if(!checkField("electSensor_uint8")) ok=false; state.electSensor = root["electSensor_uint8"].asUInt();
-        if(!checkField("lowFreqSonar_uint8")) ok=false; state.lowFreqSonar = root["lowFreqSonar_uint8"].asUInt();
-
-        // UNIT3
-        if(!checkField("buoyancyAdjust1_uint8")) ok=false; state.buoyancyAdjust1 = root["buoyancyAdjust1_uint8"].asUInt();
-        if(!checkField("buoyancyAdjust2_uint8")) ok=false; state.buoyancyAdjust2 = root["buoyancyAdjust2_uint8"].asUInt();
-        if(!checkField("buoyancyAdjust3_uint8")) ok=false; state.buoyancyAdjust3 = root["buoyancyAdjust3_uint8"].asUInt();
-        if(!checkField("USBL_uint8")) ok=false; state.USBL = root["USBL_uint8"].asUInt();
-        if(!checkField("depth1_uint8")) ok=false; state.depth1 = root["depth1_uint8"].asUInt();
-        if(!checkField("commDev_uint8")) ok=false; state.commDev = root["commDev_uint8"].asUInt();
-        if(!checkField("mastLiftingServo_uint8")) ok=false; state.mastLiftingServo = root["mastLiftingServo_uint8"].asUInt();
-        if(!checkField("DVL_uint8")) ok=false; state.DVL = root["DVL_uint8"].asUInt();
-        if(!checkField("ADCP_uint8")) ok=false; state.ADCP = root["ADCP_uint8"].asUInt();
-        if(!checkField("inOutLetWater1_uint8")) ok=false; state.inOutLetWater1 = root["inOutLetWater1_uint8"].asUInt();
-        if(!checkField("inOutLetWater2_uint8")) ok=false; state.inOutLetWater2 = root["inOutLetWater2_uint8"].asUInt();
-
-        // UNIT4
-        if(!checkField("singleBeamSonar7_uint8")) ok=false; state.singleBeamSonar7 = root["singleBeamSonar7_uint8"].asUInt();
-        if(!checkField("singleBeamSonar8_uint8")) ok=false; state.singleBeamSonar8 = root["singleBeamSonar8_uint8"].asUInt();
-        if(!checkField("buoyage_uint8")) ok=false; state.buoyage = root["buoyage_uint8"].asUInt();
-        if(!checkField("bowThrow_uint8")) ok=false; state.bowThrow = root["bowThrow_uint8"].asUInt();
-        if(!checkField("depth2_uint8")) ok=false; state.depth2 = root["depth2_uint8"].asUInt();
-        if(!checkField("thruster_uint8")) ok=false; state.thruster = root["thruster_uint8"].asUInt();
-        if(!checkField("dragSonar_uint8")) ok=false; state.dragSonar = root["dragSonar_uint8"].asUInt();
-        if(!checkField("haulingMachine_uint8")) ok=false; state.haulingMachine = root["haulingMachine_uint8"].asUInt();
-        if(!checkField("buoyancyAdjust4_uint8")) ok=false; state.buoyancyAdjust4 = root["buoyancyAdjust4_uint8"].asUInt();
-        if(!checkField("buoyancyAdjust5_uint8")) ok=false; state.buoyancyAdjust5 = root["buoyancyAdjust5_uint8"].asUInt();
-        if(!checkField("sternRudderServo1_uint8")) ok=false; state.sternRudderServo1 = root["sternRudderServo1_uint8"].asUInt();
-        if(!checkField("sternRudderServo2_uint8")) ok=false; state.sternRudderServo2 = root["sternRudderServo2_uint8"].asUInt();
-        if(!checkField("sternRudderServo3_uint8")) ok=false; state.sternRudderServo3 = root["sternRudderServo3_uint8"].asUInt();
-        if(!checkField("sternRudderServo4_uint8")) ok=false; state.sternRudderServo4 = root["sternRudderServo4_uint8"].asUInt();
-        if(!checkField("ctd2_uint8")) ok=false; state.ctd2 = root["ctd2_uint8"].asUInt();
-        if(!checkField("commDevStern_uint8")) ok=false; state.commDevStern = root["commDevStern_uint8"].asUInt();
-        if(!checkField("inOutLetWater3_uint8")) ok=false; state.inOutLetWater3 = root["inOutLetWater3_uint8"].asUInt();
-
-        // UNIT5
-        if(!checkField("secINS_uint8")) ok=false; state.secINS = root["secINS_uint8"].asUInt();
-        if(!checkField("photoSensor_uint8")) ok=false; state.photoSensor = root["photoSensor_uint8"].asUInt();
-        if(!checkField("sternThrow_uint8")) ok=false; state.sternThrow = root["sternThrow_uint8"].asUInt();
-        if(!checkField("mainINS_uint8")) ok=false; state.mainINS = root["mainINS_uint8"].asUInt();
-
-        //不检查字段缺失
-        ok = true;
-        return ok;
-    };
-    std::string buildSecdistStateToJson(DeviceSecdistState &state){
-        Json::Value root;
-        
-        // UNIT1
-        root["bowCover1_uint8"] = state.bowCover1;
-        root["bowCover2_uint8"] = state.bowCover2;
-        root["bowCover3_uint8"] = state.bowCover3;
-        root["bowCover4_uint8"] = state.bowCover4;
-        root["bowCover5_uint8"] = state.bowCover5;
-        root["bowCover6_uint8"] = state.bowCover6;
-        root["singleBeamSonar1_uint8"] = state.singleBeamSonar1;
-        root["singleBeamSonar2_uint8"] = state.singleBeamSonar2;
-        root["singleBeamSonar3_uint8"] = state.singleBeamSonar3;
-        root["singleBeamSonar4_uint8"] = state.singleBeamSonar4;
-        root["singleBeamSonar5_uint8"] = state.singleBeamSonar5;
-        root["singleBeamSonar6_uint8"] = state.singleBeamSonar6;
-        root["forwardSonar_uint8"] = state.forwardSonar;
-        root["depth3_uint8"] = state.depth3;
-        root["soundVeloc_uint8"] = state.soundVeloc;
-        root["bowRudderServo_uint8"] = state.bowRudderServo;
-        root["bowRudderDeploy_uint8"] = state.bowRudderDeploy;
-        root["ctd1_uint8"] = state.ctd1;
-        root["waterInject_uint8"] = state.waterInject;
-
-        // UNIT2
-        root["sideSonar_uint8"] = state.sideSonar;
-        root["bowWaterInet1_uint8"] = state.bowWaterInet1;
-        root["bowWaterInet2_uint8"] = state.bowWaterInet2;
-        root["bowWaterInet3_uint8"] = state.bowWaterInet3;
-        root["bowWaterInet4_uint8"] = state.bowWaterInet4;
-        root["bowWaterInet5_uint8"] = state.bowWaterInet5;
-        root["bowWaterInet6_uint8"] = state.bowWaterInet6;
-        root["bowWaterInet7_uint8"] = state.bowWaterInet7;
-        root["bowWaterInet8_uint8"] = state.bowWaterInet8;
-        root["launchControler_uint8"] = state.launchControler;
-        root["electSensor_uint8"] = state.electSensor;
-        root["lowFreqSonar_uint8"] = state.lowFreqSonar;
-
-        // UNIT3
-        root["buoyancyAdjust1_uint8"] = state.buoyancyAdjust1;
-        root["buoyancyAdjust2_uint8"] = state.buoyancyAdjust2;
-        root["buoyancyAdjust3_uint8"] = state.buoyancyAdjust3;
-        root["USBL_uint8"] = state.USBL;
-        root["depth1_uint8"] = state.depth1;
-        root["commDev_uint8"] = state.commDev;
-        root["mastLiftingServo_uint8"] = state.mastLiftingServo;
-        root["DVL_uint8"] = state.DVL;
-        root["ADCP_uint8"] = state.ADCP;
-        root["inOutLetWater1_uint8"] = state.inOutLetWater1;
-        root["inOutLetWater2_uint8"] = state.inOutLetWater2;
-
-        // UNIT4
-        root["singleBeamSonar7_uint8"] = state.singleBeamSonar7;
-        root["singleBeamSonar8_uint8"] = state.singleBeamSonar8;
-        root["buoyage_uint8"] = state.buoyage;
-        root["bowThrow_uint8"] = state.bowThrow;
-        root["depth2_uint8"] = state.depth2;
-        root["thruster_uint8"] = state.thruster;
-        root["dragSonar_uint8"] = state.dragSonar;
-        root["haulingMachine_uint8"] = state.haulingMachine;
-        root["buoyancyAdjust4_uint8"] = state.buoyancyAdjust4;
-        root["buoyancyAdjust5_uint8"] = state.buoyancyAdjust5;
-        root["sternRudderServo1_uint8"] = state.sternRudderServo1;
-        root["sternRudderServo2_uint8"] = state.sternRudderServo2;
-        root["sternRudderServo3_uint8"] = state.sternRudderServo3;
-        root["sternRudderServo4_uint8"] = state.sternRudderServo4;
-        root["ctd2_uint8"] = state.ctd2;
-        root["commDevStern_uint8"] = state.commDevStern;
-        root["inOutLetWater3_uint8"] = state.inOutLetWater3;
-
-        // UNIT5
-        root["secINS_uint8"] = state.secINS;
-        root["photoSensor_uint8"] = state.photoSensor;
-        root["sternThrow_uint8"] = state.sternThrow;
-        root["mainINS_uint8"] = state.mainINS;
-
-        Json::StreamWriterBuilder writerBuilder;
-        writerBuilder.settings_["indentation"] = ""; // 紧凑格式，无缩进
-        return Json::writeString(writerBuilder, root);
-    };
-
-    bool converFromDriverTable(DeviceSecdistState &state,const  DriverTable &driver){
-        // UNIT1
-        state.bowCover1 = driver.bowCover1;
-        state.bowCover2 = driver.bowCover2;
-        state.bowCover3 = driver.bowCover3;
-        state.bowCover4 = driver.bowCover4;
-        state.bowCover5 = driver.bowCover5;
-        state.bowCover6 = driver.bowCover6;
-        state.singleBeamSonar1 = driver.singleBeamSonar1;
-        state.singleBeamSonar2 = driver.singleBeamSonar2;
-        state.singleBeamSonar3 = driver.singleBeamSonar3;
-        state.singleBeamSonar4 = driver.singleBeamSonar4;
-        state.singleBeamSonar5 = driver.singleBeamSonar5;
-        state.singleBeamSonar6 = driver.singleBeamSonar6;
-        state.forwardSonar = driver.forwardSonar;
-        state.depth3 = driver.depth3;
-        state.soundVeloc = driver.soundVeloc;
-        state.bowRudderServo = driver.bowRudderServo1;
-        state.bowRudderDeploy = driver.bowRudderDeploy;
-        state.ctd1 = driver.ctd1;
-        state.waterInject = driver.waterInject;
-
-        // UNIT2
-        state.sideSonar = driver.sideSonar;
-        state.bowWaterInet1 = driver.bowWaterInet1;
-        state.bowWaterInet2 = driver.bowWaterInet2;
-        state.bowWaterInet3 = driver.bowWaterInet3;
-        state.bowWaterInet4 = driver.bowWaterInet4;
-        state.bowWaterInet5 = driver.bowWaterInet5;
-        state.bowWaterInet6 = driver.bowWaterInet6;
-        state.bowWaterInet7 = driver.bowWaterInet7;
-        state.bowWaterInet8 = driver.bowWaterInet8;
-        state.launchControler = driver.launchControler;
-        state.electSensor = driver.electSensor;
-        state.lowFreqSonar = driver.lowFreqSonar;
-
-        // UNIT3
-        state.buoyancyAdjust1 = driver.buoyancyAdjust1;
-        state.buoyancyAdjust2 = driver.buoyancyAdjust2;
-        state.buoyancyAdjust3 = driver.buoyancyAdjust3;
-        state.USBL = driver.USBL;
-        state.depth1 = driver.depth1;
-        state.commDev = driver.commMast;
-        state.mastLiftingServo = driver.mastLiftingServo;
-        state.DVL = driver.DVL;
-        state.ADCP = driver.DVL; // Assuming ADCP is same as DVL
-        //出入水传感器1、2共用一个继电器
-        state.inOutLetWater1 = driver.inputWaterSensor1;
-        state.inOutLetWater2 = driver.inputWaterSensor1;
-        // state.inOutLetWater2 = driver.inputWaterSensor2;
-
-        // UNIT4
-        state.singleBeamSonar7 = driver.singleBeamSonar7;
-        state.singleBeamSonar8 = driver.singleBeamSonar8;
-        state.buoyage = driver.buoyage;
-        state.bowThrow = driver.bowThrow;
-        state.depth2 = driver.depth2;
-        state.thruster = driver.thruster;
-        state.haulingMachine = 2; // No corresponding field in DriverTable
-        state.buoyancyAdjust4 = driver.buoyancyAdjust4;
-        state.buoyancyAdjust5 = driver.buoyancyAdjust5;
-        state.sternRudderServo1 = driver.sternRudderServo1;
-        state.sternRudderServo2 = driver.sternRudderServo2;
-        state.sternRudderServo3 = driver.sternRudderServo3;
-        state.sternRudderServo4 = driver.sternRudderServo4;
-        state.ctd2 = driver.ctd2;
-        state.commDevStern = 2; // No corresponding field in DriverTable
-        state.inOutLetWater3 = driver.inputWaterSensor3;
-
-        // UNIT5
-        state.secINS = driver.ins;
-        state.photoSensor = driver.photoSensor;
-        state.sternThrow = driver.sternThrow;
-        state.mainINS = driver.ins;
-
-        // 未映射字段
-        // driver.overDeep1 
-        // driver.overDeep2
-        // driver.ntp
-        state.dragSonar = 2; // Assuming dragSonar is same as lowFreqSonar
-
-
-        return true;
-    };
-
-    bool converToDriverTable(const DeviceSecdistState &state, DriverTable &driver){
-        // UNIT1
-        driver.bowCover1 = state.bowCover1;
-        driver.bowCover2 = state.bowCover2;
-        driver.bowCover3 = state.bowCover3;
-        driver.bowCover4 = state.bowCover4;
-        driver.bowCover5 = state.bowCover5;
-        driver.bowCover6 = state.bowCover6;
-        driver.singleBeamSonar1 = state.singleBeamSonar1;
-        driver.singleBeamSonar2 = state.singleBeamSonar2;
-        driver.singleBeamSonar3 = state.singleBeamSonar3;
-        driver.singleBeamSonar4 = state.singleBeamSonar4;
-        driver.singleBeamSonar5 = state.singleBeamSonar5;
-        driver.singleBeamSonar6 = state.singleBeamSonar6;
-        driver.forwardSonar = state.forwardSonar;
-        driver.depth3 = state.depth3;
-        driver.soundVeloc = state.soundVeloc;
-        driver.bowRudderServo1 = state.bowRudderServo;
-        driver.bowRudderServo2 = state.bowRudderServo;
-        driver.bowRudderDeploy = state.bowRudderDeploy;
-        driver.ctd1 = state.ctd1;
-        driver.waterInject = state.waterInject;
-
-        // UNIT2
-        driver.sideSonar = state.sideSonar;
-        driver.bowWaterInet1 = state.bowWaterInet1;
-        driver.bowWaterInet2 = state.bowWaterInet2;
-        driver.bowWaterInet3 = state.bowWaterInet3;
-        driver.bowWaterInet4 = state.bowWaterInet4;
-        driver.bowWaterInet5 = state.bowWaterInet5;
-        driver.bowWaterInet6 = state.bowWaterInet6;
-        driver.bowWaterInet7 = state.bowWaterInet7;
-        driver.bowWaterInet8 = state.bowWaterInet8;
-        driver.launchControler = state.launchControler;
-        driver.electSensor = state.electSensor;
-        driver.lowFreqSonar = state.lowFreqSonar;
-
-        // UNIT3
-        driver.buoyancyAdjust1 = state.buoyancyAdjust1;
-        driver.buoyancyAdjust2 = state.buoyancyAdjust2;
-        driver.buoyancyAdjust3 = state.buoyancyAdjust3;
-        driver.USBL = state.USBL;
-        driver.depth1 = state.depth1;
-        driver.commMast = state.commDev;
-        driver.ntp = 1;
-        driver.mastLiftingServo = state.mastLiftingServo;
-        driver.DVL = state.DVL;
-        driver.inputWaterSensor1 = state.inOutLetWater1;
-        driver.inputWaterSensor2 = state.inOutLetWater2;
-        driver.overDeep1 = (state.depth1 == 1) ? 1 : 0;
-        driver.overDeep2 = (state.depth2 == 1 || state.depth3 == 1) ? 1 : 0;
-
-        // UNIT4
-        driver.singleBeamSonar7 = state.singleBeamSonar7;
-        driver.singleBeamSonar8 = state.singleBeamSonar8;
-        driver.buoyage = state.buoyage;
-        driver.bowThrow = state.bowThrow;
-        driver.depth2 = state.depth2;
-        driver.thruster = state.thruster;
-        driver.buoyancyAdjust4 = state.buoyancyAdjust4;
-        driver.buoyancyAdjust5 = state.buoyancyAdjust5;
-        driver.sternRudderServo1 = state.sternRudderServo1;
-        driver.sternRudderServo2 = state.sternRudderServo2;
-        driver.sternRudderServo3 = state.sternRudderServo3;
-        driver.sternRudderServo4 = state.sternRudderServo4;
-        driver.ctd2 = state.ctd2;
-        driver.inputWaterSensor3 = state.inOutLetWater3;
-
-        // UNIT5
-        driver.ins = state.secINS | state.mainINS;
-        driver.photoSensor = state.photoSensor;
-        driver.sternThrow = state.sternThrow;
-
-        return true;
-    }
-
-    std::string buildMsg(DriverTable &driver){
-        DeviceSecdistState s;
-        converFromDriverTable(s,driver);
-        // std::cout << (int)s.depth1 << std::endl;
-        // std::cout << buildSecdistStateToJson(s) << std::endl;
-        return buildSecdistStateToJson(s);
-    };
-
-    bool parseMsg(const std::string &strJson,DriverTable &driver){
-        DeviceSecdistState s;
-        if(!parseSecdistStateFromJson(s,strJson)){
-            LOG_F(WARNING, "parseSecdistStateFromJson failed");
-            return false;
-        }
-        converToDriverTable(s,driver);
-        return true;
-    };
-
-    std::string buildMsg(DriverTable driver, DriverTable driver_state){
-        DeviceSecdistState s;
-        DriverTable driverCopy = driver;
-        for (size_t i = 0; i < sizeof(DriverTable); ++i) {
-            unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
-            unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
-            if (*driverCopyPtr == *statePtr) {
-                *driverCopyPtr = 2;
-            }
-        }
-        converFromDriverTable(s, driverCopy);
-        // std::cout << (int)s.depth1 << std::endl;
-        // std::cout << buildSecdistStateToJson(s) << std::endl;
-        return buildSecdistStateToJson(s);
-    };
-
-    std::string buildMsg(DriverTable driver, DriverTable driver_state,  unsigned int nCheck){
-        static size_t callCount = 0; // 静态变量，记录函数调用次数
-        DeviceSecdistState s;
-        DriverTable driverCopy = driver;
-        if (nCheck > 0 && callCount % nCheck == 0)
-        {
-            for (size_t i = 0; i < sizeof(DriverTable); ++i) {
-                unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
-                unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
-                if (*driverCopyPtr == *statePtr) {
-                    *driverCopyPtr = 2;
-                }
-            }
-        } 
-        else {
-            memset(&driverCopy, 2, sizeof(DriverTable));
-        }
-        callCount ++;
-        converFromDriverTable(s, driverCopy);
-        // std::cout << (int)s.depth1 << std::endl;
-        // std::cout << buildSecdistStateToJson(s) << std::endl;
-        return buildSecdistStateToJson(s);
-    };
-
-    static DriverTable fault_state;
-    std::string buildMsg(DriverTable driver, DriverTable driver_state,  DriverTable &driver_fault_state){
-    static size_t f_callCount = 0; // 静态变量，记录函数调用次数
-    unsigned int nCheck = 10;
-    DeviceSecdistState s;
-    DriverTable driverCopy = driver;
-    for (size_t i = 0; i < sizeof(DriverTable); ++i)
-    {
-        unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
-        unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
-        unsigned char* faultStatePtr = reinterpret_cast<unsigned char*>(&driver_fault_state) + i;
-        unsigned char* faultState = reinterpret_cast<unsigned char*>(&fault_state) + i;
-        if (*driverCopyPtr == *statePtr) 
-        {
-            *driverCopyPtr = 2;
-            *faultStatePtr = 0;
-            *faultState = 0;
-        }
-        else
-        {
-            *faultState = *faultState + 1;
-            if(*faultState >= 5)
-            {
-                //只有开启失败才计入故障
-                if(*driverCopyPtr == 1)
-                    *faultStatePtr = 1;
-                *faultState = 5;
-            }
-        }
-    }
-    f_callCount ++;
-    converFromDriverTable(s, driverCopy);
-    return buildSecdistStateToJson(s);
-    };
-};
-#endif

src/bck/pPowerManger/upmsg/uDevice_thruster_st.h

@@ -1,124 +0,0 @@
-/*
-{
-"rpm int16": "xxx", // 实际转速，类型：int16_t
-"voltage_uint16": "xxx", // 电压，类型：uint16_t，单位 V
-"current_uint16": "xxx", // 电流，类型：uint16_t，单位 A
-"ctrlTemp_uint16": "xxx", // 控制器温度，类型：uint16_t，单位 °C
-"motorTemp_uint16": "xxx", // 电机温度，类型：uint16_t，单位 °C
-"motorTorque_uint16": "xxx", // 电机扭矩，类型：uint16_t，单位 N・m
-"maxTorque_uint16": "xxx", // 电机最大扭矩，类型：uint16_t，单位 N・m，电机使能时该字段非零，无使能地址报警，含使能整标标识字，00 无故障，按位常量零
-"error_int64": "xxx" // 见表 [1]，类型：int64_t
-}
-*/
-#ifndef UDEVICE_THRUSTER_ST_H
-#define UDEVICE_THRUSTER_ST_H
-
-#include "../logc/loguru.hpp"
-#include "json/json.h"
-#include <string>
-#include <memory>
-#include <sstream>
-
-class uDevice_thruster_st
-{
-private:
-    /* data */
-public:
-    uDevice_thruster_st(){};
-    ~uDevice_thruster_st(){};
-
-    int16_t rpm_int16;
-    uint16_t voltage_uint16;
-    uint16_t current_uint16;
-    uint16_t ctrlTemp_uint16;
-    uint16_t motorTemp_uint16;
-    uint16_t motorTorque_uint16;
-    uint16_t maxTorque_uint16;
-    int64_t error_int64;
-
-    static std::string key;
-
-    std::string toJsonString()
-    {
-        Json::Value j;
-        j["rpm_int16"] = rpm_int16;
-        j["voltage_uint16"] = voltage_uint16;
-        j["current_uint16"] = current_uint16;
-        j["ctrlTemp_uint16"] = ctrlTemp_uint16;
-        j["motorTemp_uint16"] = motorTemp_uint16;
-        j["motorTorque_uint16"] = motorTorque_uint16;
-        j["maxTorque_uint16"] = maxTorque_uint16;
-        j["error_int64"] = static_cast<Json::Int64>(error_int64);
-        
-        Json::StreamWriterBuilder builder;
-        builder.settings_["indentation"] = "";
-        return Json::writeString(builder, j);
-    }
-
-    bool fromJsonString(std::string jsonString)
-    {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(jsonString);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return false;
-        }
-        
-        // 提取rpm_int16
-        if (root.isMember("rpm_int16") && root["rpm_int16"].isInt()) {
-            rpm_int16 = root["rpm_int16"].asInt();
-            // LOG_F(INFO, "rpm_int16: %d", rpm_int16);
-        }
-        
-        // 提取voltage_uint16
-        if (root.isMember("voltage_uint16") && root["voltage_uint16"].isUInt()) {
-            voltage_uint16 = root["voltage_uint16"].asUInt();
-            // LOG_F(INFO, "voltage_uint16: %u", voltage_uint16);
-        }
-        
-        // 提取current_uint16
-        if (root.isMember("current_uint16") && root["current_uint16"].isUInt()) {
-            current_uint16 = root["current_uint16"].asUInt();
-            // LOG_F(INFO, "current_uint16: %u", current_uint16);
-        }
-        
-        // 提取ctrlTemp_uint16
-        if (root.isMember("ctrlTemp_uint16") && root["ctrlTemp_uint16"].isUInt()) {
-            ctrlTemp_uint16 = root["ctrlTemp_uint16"].asUInt();
-            // LOG_F(INFO, "ctrlTemp_uint16: %u", ctrlTemp_uint16);
-        }
-        
-        // 提取motorTemp_uint16
-        if (root.isMember("motorTemp_uint16") && root["motorTemp_uint16"].isUInt()) {
-            motorTemp_uint16 = root["motorTemp_uint16"].asUInt();
-            // LOG_F(INFO, "motorTemp_uint16: %u", motorTemp_uint16);
-        }
-        
-        // 提取motorTorque_uint16
-        if (root.isMember("motorTorque_uint16") && root["motorTorque_uint16"].isUInt()) {
-            motorTorque_uint16 = root["motorTorque_uint16"].asUInt();
-            // LOG_F(INFO, "motorTorque_uint16: %u", motorTorque_uint16);
-        }
-        
-        // 提取maxTorque_uint16
-        if (root.isMember("maxTorque_uint16") && root["maxTorque_uint16"].isUInt()) {
-            maxTorque_uint16 = root["maxTorque_uint16"].asUInt();
-            // LOG_F(INFO, "maxTorque_uint16: %u", maxTorque_uint16);
-        }
-        
-        // 提取error_int64
-        if (root.isMember("error_int64") && root["error_int64"].isInt64()) {
-            error_int64 = root["error_int64"].asInt64();
-            // LOG_F(INFO, "error_int64: %lld", error_int64);
-        }
-        
-        // LOG_F(INFO, "jsonString: %s", jsonString.c_str());
-        return true;
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h

@@ -1,43 +0,0 @@
-#ifndef UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#define UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#include <string>
-
-class uExternComm_setDeviceSwitchMsg
-{
-private:
-    /* data */
-public:
-    std::string key = "uExternComm_setDeviceSwitch_cmd";
-
-    uExternComm_setDeviceSwitchMsg(/* args */){};
-    ~uExternComm_setDeviceSwitchMsg(){};
-    DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg)
-    {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        DeviceSwitchCmd cmd{};
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            cmd.id = -1;
-        }
-    
-        // 检查并读取设备开关状态
-        if (root.isMember("id_uint8") && root["id_uint8"].isUInt()) {
-            cmd.id = root["id_uint8"].asUInt();
-        } else {
-            cmd.id = -1;
-            LOG_F(WARNING, "缺少或类型不匹配: id_uint8");
-        }
-        if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
-            cmd.cmd = root["cmd_uint8"].asUInt();
-        } else {
-            LOG_F(WARNING, "缺少或类型不匹配: state_bool");
-        }
-        return cmd;
-    };
-};
-
-#endif

src/bck/pPowerManger/upmsg/uExternComm_setOpCondition.h

@@ -1,43 +0,0 @@
-#ifndef UEXTERCOMM_SETOPCONDITION_CMD_H
-#define UEXTERCOMM_SETOPCONDITION_CMD_H
-#include <string>
-#include "../logc/loguru.hpp"
-#include "json/json.h"
-//外部通信消息
-#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
-
-class uExternComm_setOpConditionMsg
-{
-private:
-    /* data */
-public:
-    std::string key = "uExternComm_setOpCondition_cmd";
-    uExternComm_setOpConditionMsg(/* args */){};
-    ~uExternComm_setOpConditionMsg(){};
-
-    int getSetOpCondition(const std::string& key, const std::string& msg)
-    {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return -1;
-        }
-    
-        // 检查并读取操作条件
-        if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
-            return root["state_uint8"].asUInt();
-            LOG_F(INFO, "上位机指令:opCondition: %d", root["state_uint8"].asUInt());
-        } else {
-            LOG_F(WARNING, "缺少或类型不匹配: opCondition");
-            return -1;
-        }
-    }
-
-};
-
-#endif

src/bck/pPowerManger/upmsg/uExternComm_setOpMode.h

@@ -1,46 +0,0 @@
-#ifndef UEXTERCOMM_SETOPMODE_CMD_H
-#define UEXTERCOMM_SETOPMODE_CMD_H
-#include <string>
-#include "../logc/loguru.hpp"
-
-//外部通信消息
-#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
-
-class uExternComm_setOpModeMsg
-{
-private:
-    /* data */
-public:
-    std::string key = "uExternComm_setOpMode_cmd";
-    uExternComm_setOpModeMsg(/* args */){};
-    ~uExternComm_setOpModeMsg(){};
-
-    int getSetOpMode(const std::string& msgkey, const std::string& msg){
-        if (msgkey!= key)
-        {
-            LOG_F(WARNING, "消息类型错误 %s", msgkey.c_str());
-            return 0;
-        }
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return -1;
-        }
-    
-        // 检查并读取操作模式
-        if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
-            return root["state_uint8"].asUInt();
-        } else {
-            LOG_F(WARNING, "缺少或类型不匹配: opMode");
-            return -1;
-        }
-    };
-};
-
-
-#endif

src/bck/pPowerManger/upmsg/uExternComm_setPowerSystem.h

@@ -1,39 +0,0 @@
-#ifndef UEXTERNCONM_SETPMSYS_H
-#define UEXTERNCONM_SETPMSYS_H
-#include <string>
-#include "../logc/loguru.hpp"
-#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
-class uExternComm_setPowerSystemMsg
-{
-private:
-
-public:
-    std::string key = "uExternComm_setPowerSystem_cmd";
-    uExternComm_setPowerSystemMsg(/* args */){};
-    ~uExternComm_setPowerSystemMsg(){};
-
-    int getSetPMSys(const std::string& key, const std::string& msg)
-    {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            std::cerr << "JSON解析失败: " << errs << std::endl;
-            return -1;
-        }
-
-        // 检查并读取电源系统设置
-        if (root.isMember("powerCmd_uint8") && root["powerCmd_uint8"].isUInt()) {
-            return root["powerCmd_uint8"].asUInt();
-        } else {
-            LOG_F(WARNING, "缺少或类型不匹配: powerCmd_uint8");
-            return -1;
-        }
-    }
-};
-
-#endif
-

src/bck/pPowerManger/upmsg/uExternComm_setThrustSpeed_cmd.h

@@ -1,70 +0,0 @@
-/*
-{
-    "rpm_int16": "xx", // 期望转速；单位：rpm；类型 int16_t
-    "enable_int16": "xx" // 使能指令，1 - 使能，0 - 去使能。类型 int16_t
-}
-*/
-#ifndef UEXTERNCOMM_SETTHRUSTSPEED_CMD_H
-#define UEXTERNCOMM_SETTHRUSTSPEED_CMD_H
-
-#include "../logc/loguru.hpp"
-#include "json/json.h"
-#include <string>
-#include <memory>
-#include <sstream>
-
-class uExternComm_setThrustSpeed_cmd
-{
-private:
-    /* data */
-public:
-    uExternComm_setThrustSpeed_cmd(){};
-    ~uExternComm_setThrustSpeed_cmd(){};
-
-    int16_t rpm_int16;
-    int16_t enable_int16;
-
-    static std::string key;
-
-    std::string toJsonString()
-    {
-        Json::Value j;
-        j["rpm_int16"] = rpm_int16;
-        j["enable_int16"] = enable_int16;
-        
-        Json::StreamWriterBuilder builder;
-        builder.settings_["indentation"] = "";
-        return Json::writeString(builder, j);
-    }
-
-    bool fromJsonString(std::string jsonString)
-    {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(jsonString);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return false;
-        }
-        
-        // 提取rpm_int16
-        if (root.isMember("rpm_int16") && root["rpm_int16"].isInt()) {
-            rpm_int16 = root["rpm_int16"].asInt();
-            // LOG_F(INFO, "rpm_int16: %d", rpm_int16);
-        }
-        
-        // 提取enable_int16
-        if (root.isMember("enable_int16") && root["enable_int16"].isInt()) {
-            enable_int16 = root["enable_int16"].asInt();
-            // LOG_F(INFO, "enable_int16: %d", enable_int16);
-        }
-        
-        // LOG_F(INFO, "jsonString: %s", jsonString.c_str());
-        return true;
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uPlan_planStop.h

@@ -1,35 +0,0 @@
-#ifndef UPLAN_PLANSTOP_CMD_H
-#define UPLAN_PLANSTOP_CMD_H
-#include <string>
-#include "../logc/loguru.hpp"
-#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
-class uPlan_planStopMsg
-{
-private:
-    /* data */
-public:
-    std::string key = "uPlan_planStop_st";
-    uPlan_planStopMsg(/* args */){};
-    ~uPlan_planStopMsg(){};
-    bool getTaskStop(const std::string& key, const std::string& msg) {
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return false;
-        }
-    
-        // 检查op_int32字段
-        if (root.isMember("op_int32") && root["op_int32"].isInt()) {
-            return root["op_int32"].asInt() == 1;
-        }
-        return false;
-    };
-};
-
-#endif
-

src/bck/pPowerManger/upmsg/uPlan_taskStart.h

@@ -1,55 +0,0 @@
-#ifndef UPPERCOMMMANAGER_H
-#define UPPERCOMMMANAGER_H
-#include <string>
-#include "../pmSysvariable.h"
-#include "../logc/loguru.hpp"
-//决策消息
-#define DB_TO_PM_MISSION "uPlan_taskStart_st"
-
-class uPlan_taskStartMsg
-{
-private:
-    /* data */
-public:
-    std::string key = "uPlan_taskStart_st";
-    uPlan_taskStartMsg(/* args */){};
-    ~uPlan_taskStartMsg(){};
-
-    MissionState getMission(const std::string& key, const std::string& msg) {
-        MissionState mission{};
-        Json::Value root;
-        Json::CharReaderBuilder builder;
-        JSONCPP_STRING errs;
-        
-        // 解析JSON字符串
-        std::istringstream stream(msg);
-        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-            std::cerr << "JSON解析失败: " << errs << std::endl;
-            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-            return mission;
-        }
-        
-        // 提取taskType_str
-        if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
-            mission.type = TaskType::fromString(root["taskType_str"].asString());
-            LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
-        }
-    
-        // 提取balanceEnabled_bool
-        if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
-            mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
-            LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
-        }
-        
-        // 提取bowRudderUnfold_bool
-        if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
-            mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
-            LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
-        }
-    
-        
-        return mission;
-    };
-};
-
-#endif

src/bck/pPowerManger/upmsg/uPower_currentState_st.h

@@ -1,81 +0,0 @@
-#ifndef U_POWER_CURRENTSTATE_ST_H
-#define U_POWER_CURRENTSTATE_ST_H
-#include "../driver.h"
-#include "string"
-#include "json/json.h"
-#include <bitset> 
-
-class uPower_currentStateMsg
-{
-private:
-    /* data */
-public:
-    uPower_currentStateMsg() {
-        memset(&state, 0, sizeof(state));
-    };
-    ~uPower_currentStateMsg() {};
-    std::string key = "uPower_currentState_st";
-
-    pmState state; 
-    std::string buildMsg(pmState state)
-    {
-        // 状态赋值
-        Json::Value currentBusState;
-        currentBusState["HVBpowerBusVol_uint16"] = state.bus1State.powerBusVoltage;
-        currentBusState["HVBdcDc5Cur_uint16"] = state.bus1State.dcDc5ModuleCurrent;
-        currentBusState["HVBpowerBusCur_uint16"] = state.bus1State.powerBusCurrent;
-        currentBusState["HVBbusAVol_uint16"] = state.bus1State.busbarAVoltage;
-        currentBusState["HVBmotorCur_uint16"] = state.bus1State.propulsionMotorControlBoxCurrent;
-        currentBusState["HVBbusACur_uint16"] = state.bus1State.busbarACurrent;
-        currentBusState["HVBbatGroupCur_uint16"] = state.bus1State.lithiumBatteryGroupMeterCurrent;
-        currentBusState["HVBbowHVolDisBoxCur_uint16"] = state.bus1State.bowHighVoltageDistributionBoxCurrent;
-        currentBusState["HVBFTDev45Cur_uint16"] = state.bus1State.sternFTDevice45Current;
-        currentBusState["HVBtyzCur_uint16"] = state.bus1State.tyzReservedSwitchCurrent;
-        currentBusState["HVBsternRud1Cur_uint16"] = state.bus1State.sternRudderSwitch1Current;
-        currentBusState["HVBreservedCur1_uint16"] = state.bus1State.reservedCurrent1;
-        currentBusState["HVBsternRud2Cur_uint16"] = state.bus1State.sternRudderSwitch2Current;
-        currentBusState["HVBreservedCur2_uint16"] = state.bus1State.reservedCurrent2;
-        currentBusState["HVBfbCur_uint16"] = state.bus1State.fbReservedSwitchCurrent;
-        currentBusState["HVBreservedCur3_uint16"] = state.bus1State.reservedCurrent3;
-      
-        currentBusState["HVABbusBVol_uint16"] = state.bus2State.busbarBVoltage;
-        currentBusState["HVABbusBCur_uint16"] = state.bus2State.busbarBCurrent;
-        currentBusState["HVABFTDev123Cur_uint16"] = state.bus2State.bowFTDevice123Current;
-        currentBusState["HVABactCur_uint16"] = state.bus2State.actuatorCurrent;
-        currentBusState["HVABmastSteGeaCur_uint16"] = state.bus2State.mastSteeringGearControlBoxCurrent;
-        currentBusState["HVABxczCur_uint16"] = state.bus2State.xczCurrent;
-        currentBusState["HVABbowRudCur_uint16"] = state.bus2State.bowRudderControlBoxCurrent;
-        currentBusState["HVABopenWaterCur_uint16"] = state.bus2State.openWaterCoverStartCylinderCurrent;
-      
-        currentBusState["HVBBinsBusVol_uint16"] = state.bus3State.instrumentBusbarVoltage;
-        currentBusState["HVBBbowLowVolDisBoxCur_uint16"] = state.bus3State.bowLowVoltageDistributionBoxCurrent;
-        currentBusState["HVBBdcC1InsCur_uint16"] = state.bus3State.dcC1InstrumentDC48VCurrent;
-        currentBusState["HVBBreservedCur1_uint16"] = state.bus3State.reservedCurrent1;
-        currentBusState["HVBBemerBatCur_uint16"] = state.bus3State.emergencyLithiumBatteryGroup2Current;
-        currentBusState["HVBBbatInsCur_uint16"] = state.bus3State.lithiumBatteryGroupInstrumentCurrent;
-        currentBusState["HVBBunit4Cur_uint16"] = state.bus3State.unit4InstrumentDC48VCurrent;
-        currentBusState["HVBBreservedCur2_uint16"] = state.bus3State.reservedCurrent2;
-        currentBusState["HVBBemer2BusVol_uint16"] = state.bus3State.emergency2BusbarVoltage;
-        currentBusState["HVBBCCUCur_uint16"] = state.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
-        currentBusState["HVBBFCSSecurSysCur_uint16"] = state.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
-        currentBusState["HVBBplcCur_uint16"] = state.bus3State.plcControlPowerCurrent;
-      
-        currentBusState["LVBinsBusVol_uint16"] = state.bus4State.instrumentBusbarVoltage;
-        currentBusState["LVBBinsBusCur_uint16"] = state.bus4State.instrumentBusbarCurrent;
-        currentBusState["LVBBunit1Cur_uint16"] = state.bus4State.unit1Current;
-        currentBusState["LVBBunit2Cur_uint16"] = state.bus4State.unit2Current;
-        currentBusState["LVBBunit3Cur_uint16"] = state.bus4State.unit3Current;
-        currentBusState["LVBBunit5Cur_uint16"] = state.bus4State.unit5Current;
-        currentBusState["LVBBbowPZDevCur_uint16"] = state.bus4State.bowPZDeviceCurrent;
-        currentBusState["LVBBemerBatCur_uint16"] = state.bus4State.emergencyLithiumBatteryGroup1Current;
-        currentBusState["LVBBemerBusVol_uint16"] = state.bus4State.emergency1BusbarVoltage;
-
-        // 转化为json格式
-
-        Json::StreamWriterBuilder writerBuilder;
-        writerBuilder.settings_["indentation"] = "";
-        return Json::writeString(writerBuilder, currentBusState);
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uPower_disSysState.h

@@ -1,203 +0,0 @@
-#ifndef U_POWER_DISSYSSTATE_ST_H
-#define U_POWER_DISSYSSTATE_ST_H
-#include "../driver.h"
-#include "string"
-#include "json/json.h"
-#include <bitset> 
-#include "../pmSysvariable.h"
-#include "../systemData.h"
-class uPower_disSysStateMsg
-{
-private:
-    /* data */
-public:
-    uPower_disSysStateMsg() {
-        // state_of_bus_hv = {};
-        // state_of_bus_hv_a = {};
-        // state_of_bus_lv = {};
-        // state_of_bus_lv_a = {};
-    };
-    ~uPower_disSysStateMsg() {};
-    std::string key = "uPower_disSysState_st";
-
-    struct state_of_bus_hv
-    {
-        // 使用 std::bitset 存储 16 位继电器状态
-        std::bitset<16> relay_states;
-
-        // 燃料电池断路器
-        void set_fuel_cell_breaker(bool state) { relay_states[0] = state; }
-        // 动力锂电池断路器
-        void set_power_lithium_battery_breaker(bool state) { relay_states[1] = state; }
-        // 推进电机断路器
-        void set_propulsion_motor_breaker(bool state) { relay_states[2] = state; }
-        // 锂电池组仪表断路器
-        void set_lithium_battery_meter_breaker(bool state) { relay_states[3] = state; }
-        // DC/DC5模块断路器
-        void set_dc_dc5_module_breaker(bool state) { relay_states[4] = state; }
-        // 艏部高压配电箱断路器
-        void set_bow_high_voltage_box_breaker(bool state) { relay_states[5] = state; }
-        // 艉部FT装置4/5断路器
-        void set_stern_ft_device_breaker(bool state) { relay_states[6] = state; }
-        // 艉舵开关1断路器
-        void set_stern_rudder_switch1_breaker(bool state) { relay_states[7] = state; }
-        // 艉舵开关2断路器
-        void set_stern_rudder_switch2_breaker(bool state) { relay_states[8] = state; }
-        // FB预留断路器
-        void set_fb_reserved_breaker(bool state) { relay_states[9] = state; }
-        // TYZ预留断路器
-        void set_tyz_reserved_breaker(bool state) { relay_states[10] = state; }
-        // 预留断路器
-        void set_reserved_breaker(bool state) { relay_states[11] = state; }
-        // 初始化后 16 - 12 位为 0
-        state_of_bus_hv() {
-            relay_states.reset(12);
-            relay_states.reset(13);
-            relay_states.reset(14);
-            relay_states.reset(15);
-        }
-    } m_state_of_bus_hv;
-
-    struct state_of_bus_hv_a
-    {
-        std::bitset<16> relay_states;
-        // 艏部FT装置1 - 3 断路器
-        void set_bow_ft_device_1_3_breaker(bool state) { relay_states[0] = state; }
-        // 启闭机构断路器
-        void set_opening_closing_mechanism_breaker(bool state) { relay_states[1] = state; }
-        // 桅杆舵机控制箱断路器
-        void set_mast_servo_control_box_breaker(bool state) { relay_states[2] = state; }
-        // XCZ 断路器
-        void set_xcz_breaker(bool state) { relay_states[3] = state; }
-        // 艏舵控制箱断路器
-        void set_bow_rudder_control_box_breaker(bool state) { relay_states[4] = state; }
-        // 敞水盖启动电缸断路器
-        void set_open_water_cover_actuator_breaker(bool state) { relay_states[5] = state; }
-        // 初始化后 6 - 15 位为 0
-        state_of_bus_hv_a() {
-            for (int i = 6; i < 16; ++i) {
-                relay_states.reset(i);
-            }
-        }
-    }m_state_of_bus_hv_a;
-
-    struct state_of_bus_lv
-    {
-        std::bitset<16> relay_states;
-        // 锂电池组（仪表）断路器
-        void set_lithium_battery_group_meter_breaker(bool state) { relay_states[0] = state; }
-        // 艏部低压配电箱断路器
-        void set_bow_low_voltage_box_breaker(bool state) { relay_states[1] = state; }
-        // UNIT4仪表DC48V断路器
-        void set_unit4_meter_dc48v_breaker(bool state) { relay_states[2] = state; }
-        // DC - C1直流配电板断路器
-        void set_dc_c1_dc_distribution_board_breaker(bool state) { relay_states[3] = state; }
-        // 预留断路器
-        void set_reserved_breaker_1(bool state) { relay_states[4] = state; }
-        // 预留断路器
-        void set_reserved_breaker_2(bool state) { relay_states[5] = state; }
-        // 应急锂电池组2断路器
-        void set_emergency_lithium_battery_group_2_breaker(bool state) { relay_states[6] = state; }
-        // 初始化后 7 - 15 位为 0
-        state_of_bus_lv() {
-            for (int i = 7; i < 16; ++i) {
-                relay_states.reset(i);
-            }
-        }
-    }m_state_of_bus_lv;
-
-    struct state_of_bus_lv_a
-    {
-        // 使用 std::bitset 存储 16 位继电器状态
-        std::bitset<16> relay_states;
-        // UNIT1断路器
-        void set_unit1_breaker(bool state) { relay_states[0] = state; }
-        // UNIT2断路器
-        void set_unit2_breaker(bool state) { relay_states[1] = state; }
-        // UNIT3断路器
-        void set_unit3_breaker(bool state) { relay_states[2] = state; }
-        // UNIT5断路器
-        void set_unit5_breaker(bool state) { relay_states[3] = state; }
-        // 艏部PZ装置断路器
-        void set_bow_pz_device_breaker(bool state) { relay_states[4] = state; }
-        // 预留断路器
-        void set_reserved_breaker_1(bool state) { relay_states[5] = state; }
-        // 预留断路器
-        void set_reserved_breaker_2(bool state) { relay_states[6] = state; }
-        // 应急锂电池组1断路器
-        void set_emergency_lithium_battery_group_1_breaker(bool state) { relay_states[7] = state; }
-        // 初始化后 8 - 15 位为 0
-        state_of_bus_lv_a() {
-            for (int i = 8; i < 16; ++i) {
-                relay_states.reset(i);
-            }
-        }
-    }m_state_of_bus_lv_a;
-
-    // std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
-    std::string buildMsg(const SystemData& data,disSysBreakerList currentDisBreakerState)
-    {
-        //构建配电系统状态报告
-        Json::Value dis;
-        // disBus1Breaker dis1 = currentDisBreakerState.bus1Breaker;
-        m_state_of_bus_hv.set_fuel_cell_breaker((data.power_bus_status.fuelCellCircuitBreaker == 1));
-        m_state_of_bus_hv.set_power_lithium_battery_breaker((data.power_bus_status.powerLithiumBatteryCircuitBreaker == 1));
-        m_state_of_bus_hv.set_propulsion_motor_breaker((data.power_bus_status.propulsionMotorCircuitBreaker == 1));
-        m_state_of_bus_hv.set_lithium_battery_meter_breaker((data.power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker == 1));
-        m_state_of_bus_hv.set_dc_dc5_module_breaker((data.power_bus_status.dcDc5ModuleCircuitBreaker == 1));
-        m_state_of_bus_hv.set_bow_high_voltage_box_breaker((data.power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker == 1));
-        m_state_of_bus_hv.set_stern_ft_device_breaker((data.power_bus_status.sternFTDevice45CircuitBreaker == 1));
-        m_state_of_bus_hv.set_stern_rudder_switch1_breaker((data.power_bus_status.sternRudderSwitch1CircuitBreaker == 1));
-        m_state_of_bus_hv.set_stern_rudder_switch2_breaker((data.power_bus_status.sternRudderSwitch2CircuitBreaker == 1));
-        m_state_of_bus_hv.set_fb_reserved_breaker((data.power_bus_status.fbReservedCircuitBreaker == 1));
-        m_state_of_bus_hv.set_tyz_reserved_breaker((data.power_bus_status.tyzReservedCircuitBreaker == 1));
-        m_state_of_bus_hv.set_reserved_breaker((data.power_bus_status.reservedCircuitBreaker == 1));
-        dis["HVolABusBreaker_uint16"]  = m_state_of_bus_hv.relay_states.to_ulong();
-
-
-        m_state_of_bus_hv_a.set_bow_ft_device_1_3_breaker((data.power_a_bus_status.bowFTDevice123CircuitBreaker == 1));
-        m_state_of_bus_hv_a.set_opening_closing_mechanism_breaker((data.power_a_bus_status.actuatorCircuitBreaker == 1));
-        m_state_of_bus_hv_a.set_mast_servo_control_box_breaker((data.power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker == 1));
-        m_state_of_bus_hv_a.set_xcz_breaker((data.power_a_bus_status.xczCircuitBreaker == 1));
-        m_state_of_bus_hv_a.set_bow_rudder_control_box_breaker((data.power_a_bus_status.bowRudderControlBoxCircuitBreaker == 1));
-        m_state_of_bus_hv_a.set_open_water_cover_actuator_breaker((data.power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker == 1));
-        dis["HVolBBusBreaker_uint16"]  = m_state_of_bus_hv_a.relay_states.to_ulong();
-
-        m_state_of_bus_lv.set_bow_low_voltage_box_breaker((data.instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker == 1));
-        m_state_of_bus_lv.set_dc_c1_dc_distribution_board_breaker((data.instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker == 1));
-        m_state_of_bus_lv.set_unit4_meter_dc48v_breaker((data.instrument_main_bus_status.unit4InstrumentDC48VCircuitBreaker == 1));
-        m_state_of_bus_lv.set_lithium_battery_group_meter_breaker((data.instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker == 1));
-        m_state_of_bus_lv.set_emergency_lithium_battery_group_2_breaker((data.instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker == 1));
-        m_state_of_bus_lv.set_reserved_breaker_1((data.instrument_main_bus_status.reservedCircuitBreaker1 == 1));
-        m_state_of_bus_lv.set_reserved_breaker_2((data.instrument_main_bus_status.reservedCircuitBreaker2 == 1));
-        dis["HVolBusBreaker_uint16"]  = m_state_of_bus_lv.relay_states.to_ulong();
-
-
-        m_state_of_bus_lv_a.set_unit1_breaker((data.instrument_bus_status.unit1CircuitBreaker == 1));
-        m_state_of_bus_lv_a.set_unit2_breaker((data.instrument_bus_status.unit2CircuitBreaker == 1));
-        m_state_of_bus_lv_a.set_unit3_breaker((data.instrument_bus_status.unit3CircuitBreaker == 1));
-        m_state_of_bus_lv_a.set_unit5_breaker((data.instrument_bus_status.unit5CircuitBreaker == 1));
-        m_state_of_bus_lv_a.set_bow_pz_device_breaker((data.instrument_bus_status.bowPZDeviceCircuitBreaker == 1));
-        m_state_of_bus_lv_a.set_reserved_breaker_1((data.instrument_bus_status.reservedCircuitBreaker1 == 1));
-        m_state_of_bus_lv_a.set_reserved_breaker_2((data.instrument_bus_status.reservedCircuitBreaker2 == 1));
-        m_state_of_bus_lv_a.set_emergency_lithium_battery_group_1_breaker((data.instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker == 1));
-        dis["LVolBusBreaker_uint16"]  = m_state_of_bus_lv_a.relay_states.to_ulong();
-        
-        //构建配电系统故障码
-        Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
-        {
-            std::lock_guard<std::mutex> lock(data.faultCodeMutex);
-            for(auto val : data.disSysFaultCode)
-            {
-                faultCodeDis_array.append(val);
-            }
-        }        
-        dis["faultCode_array"] = faultCodeDis_array;
-
-        Json::StreamWriterBuilder writerBuilder;
-        writerBuilder.settings_["indentation"] = "";
-        return Json::writeString(writerBuilder, dis);
-    }
-};
-
-#endif

src/bck/pPowerManger/upmsg/uPower_equInsState.h

@@ -1,220 +0,0 @@
-#ifndef U_POWER_EQUINSSTATE_H
-#define U_POWER_EQUINSSTATE_H
-#include "../driver.h"
-#include "string"
-#include "json/json.h"
-#include <bitset> 
-class uPower_equInsStateMsg
-{
-private:
-    /* data */
-public:
-    uPower_equInsStateMsg() {
-        // 初始化成员变量
-        //state全部初始化为0
-        memset(&state, 0, sizeof(state));
-    };  // 添加默认构造函数实现
-    ~uPower_equInsStateMsg() {}; // 添加析构函数实现
-    std::string key = "uPower_equInsState_fb";
-
-    struct SensorState
-    {
-        unsigned int singleBeamSonar1 : 1;  // 单波束声呐1
-        unsigned int singleBeamSonar2 : 1;  // 单波束声呐2
-        unsigned int singleBeamSonar3 : 1;  // 单波束声呐3
-        unsigned int singleBeamSonar4 : 1;  // 单波束声呐4
-        unsigned int singleBeamSonar5 : 1;  // 单波束声呐5
-        unsigned int singleBeamSonar6 : 1;  // 单波束声呐6
-        unsigned int singleBeamSonar7 : 1;  // 单波束声呐7
-        unsigned int singleBeamSonar8 : 1;  // 单波束声呐8
-        unsigned int forwardSonar : 1;        // 前视声呐
-        unsigned int ctd1 : 1;     // CTD1
-        unsigned int ctd2 : 1;     // CTD2
-        unsigned int soundVelocityMeter : 1;  // 声速仪
-        unsigned int ntp : 1;        // 深度计
-        unsigned int depthMeter1 : 1;        // 深度计1
-        unsigned int depthMeter2 : 1;        // 深度计2
-        unsigned int depthMeter3 : 1;        // 深度计3
-    };
-    struct ActuatorState
-    {
-        unsigned int openCloseMechanism1 : 1;  // bit 0  启闭机构1
-        unsigned int openCloseMechanism2 : 1;  // bit 1  启闭机构2
-        unsigned int openCloseMechanism3 : 1;  // bit 2  启闭机构3
-        unsigned int openCloseMechanism4 : 1;  // bit 3  启闭机构4
-        unsigned int openCloseMechanism5 : 1;  // bit 4  启闭机构5
-        unsigned int openCloseMechanism6 : 1;  // bit 5  启闭机构6
-        unsigned int reserved1 : 2;           // bit 6-7 保留
-        unsigned int openWaterMechanism1 : 1;  // bit 8  敞水机构1
-        unsigned int openWaterMechanism2 : 1;  // bit 9  敞水机构2
-        unsigned int openWaterMechanism3 : 1;  // bit 10 敞水机构3
-        unsigned int openWaterMechanism4 : 1;  // bit 11 敞水机构4
-        unsigned int openWaterMechanism5 : 1;  // bit 12 敞水机构5
-        unsigned int openWaterMechanism6 : 1;  // bit 13 敞水机构6
-        unsigned int openWaterMechanism7 : 1;  // bit 14 敞水机构7
-        unsigned int openWaterMechanism8 : 1;  // bit 15 敞水机构8
-    };
-    
-    struct MotionState
-    {
-        unsigned int sternRudder1 : 1;    // bit 0  艉部舵机1
-        unsigned int sternRudder2 : 1;    // bit 1  艉部舵机2
-        unsigned int sternRudder3 : 1;    // bit 2  艉部舵机3
-        unsigned int sternRudder4 : 1;    // bit 3  艉部舵机4
-        unsigned int bowRudder : 1;       // bit 4  艏舵电缸
-        unsigned int waterInjection : 1;  // bit 5  注水机构
-        unsigned int propulsionMotor : 1; // bit 6  推进电机
-        unsigned int buoyancyAdjust1 : 1; // bit 7  浮调机构(艏部)1
-        unsigned int buoyancyAdjust2 : 1; // bit 8  浮调机构(艏部)2
-        unsigned int buoyancyAdjust3 : 1; // bit 9  浮调机构(艏部)3
-        unsigned int buoyancyAdjust4 : 1; // bit 10 浮调机构(艉部)4
-        unsigned int buoyancyAdjust5 : 1; // bit 11 浮调机构(艉部)5
-        unsigned int DVL : 1;            // bit 12 DVL
-        unsigned int INS : 1;            // bit 13 惯导系统
-        unsigned int bowRudderLeft : 1;  // bit 14 艏舵左舵机
-        unsigned int bowRudderRight : 1; // bit 15 艏右舵舵机
-    };
-    struct LoadcommState
-    {
-        unsigned int payloadControl : 1;      // bit 0  载荷发控
-        unsigned int optMast : 1;             // bit 1  光电桅杆
-        unsigned int emMast : 1;              // bit 2  电磁桅杆
-        unsigned int reserved1 : 1;           // bit 3  保留
-        unsigned int sideSonar : 1;           // bit 4  舷侧声纳
-        unsigned int towedSonar : 1;          // bit 5  拖曳声纳
-        unsigned int reserved2 : 2;           // bit 6-7 保留
-        unsigned int commMast : 1;            // bit 8  通信桅杆
-        unsigned int midLowFreqSonar : 1;     // bit 9  中低频声呐
-        unsigned int highFreqComm : 1;        // bit 10 高频声通机
-        unsigned int buoySystem : 1;           // bit 11 浮标系统
-        unsigned int commMastRudder : 1;      // bit 12 通信桅杆舵机
-        unsigned int optMastRudder : 1;       // bit 13 光电桅杆舵机
-        unsigned int emMastRudder : 1;        // bit 14 电磁桅杆舵机
-        unsigned int reserved3 : 1;           // bit 15 保留
-    };
-    struct ThrowPowerState
-    {
-        unsigned int bowThrow : 1;          // bit 0  艏部抛载
-        unsigned int reserved1 : 7;         // bit 1-7 保留
-        unsigned int fuelCellController : 1; // bit 8  燃料电池控制器
-        unsigned int instrumentPanel : 1;    // bit 9  仪表配电板
-        unsigned int powerPanel : 1;         // bit 10 动力配电板
-        unsigned int instrumentBattery : 1;  // bit 11 仪表锂电池
-        unsigned int powerBattery : 1;       // bit 12 动力锂电
-        unsigned int sternThrow : 1;         // bit 13 艉部抛载
-        unsigned int reserved2 : 2;         // bit 14-15 保留
-    };
-    struct uPower_equInsState
-    {
-        SensorState sensorState;
-        ActuatorState actuatorState;
-        MotionState motionState;
-        LoadcommState loadcommState;
-        ThrowPowerState throwPowerState;
-    } state;
-    std::string buildMsg(DriverTable s)
-    {
-        // 按照协议格式填充数据
-
-        // 传感器状态赋值
-        state.sensorState.singleBeamSonar1 = s.singleBeamSonar1;
-        state.sensorState.singleBeamSonar2 = s.singleBeamSonar2;
-        state.sensorState.singleBeamSonar3 = s.singleBeamSonar3;
-        state.sensorState.singleBeamSonar4 = s.singleBeamSonar4;
-        state.sensorState.singleBeamSonar5 = s.singleBeamSonar5;
-        state.sensorState.singleBeamSonar6 = s.singleBeamSonar6;
-        state.sensorState.singleBeamSonar7 = s.singleBeamSonar7;
-        state.sensorState.singleBeamSonar8 = s.singleBeamSonar8;
-        state.sensorState.forwardSonar = s.forwardSonar;
-        state.sensorState.ctd1 = s.ctd1;
-        state.sensorState.ctd2 = s.ctd2;
-        state.sensorState.soundVelocityMeter = s.soundVeloc;
-        state.sensorState.ntp = s.ntp;
-        state.sensorState.depthMeter1 = s.depth1;
-        state.sensorState.depthMeter2 = s.depth2;
-        state.sensorState.depthMeter3 = s.depth3;
-
-        // 执行机构状态赋值
-        state.actuatorState.openCloseMechanism1 = s.bowCover1;
-        state.actuatorState.openCloseMechanism2 = s.bowCover2;
-        state.actuatorState.openCloseMechanism3 = s.bowCover3;
-        state.actuatorState.openCloseMechanism4 = s.bowCover4;
-        state.actuatorState.openCloseMechanism5 = s.bowCover5;
-        state.actuatorState.openCloseMechanism6 = s.bowCover6;
-        state.actuatorState.openWaterMechanism1 = s.bowWaterInet1;
-        state.actuatorState.openWaterMechanism2 = s.bowWaterInet2;
-        state.actuatorState.openWaterMechanism3 = s.bowWaterInet3;
-        state.actuatorState.openWaterMechanism4 = s.bowWaterInet4;
-        state.actuatorState.openWaterMechanism5 = s.bowWaterInet5;
-        state.actuatorState.openWaterMechanism6 = s.bowWaterInet6;
-        state.actuatorState.openWaterMechanism7 = s.bowWaterInet7;
-        state.actuatorState.openWaterMechanism8 = s.bowWaterInet8;
-
-        // 运动状态赋值
-        state.motionState.sternRudder1 = s.sternRudderServo1;
-        state.motionState.sternRudder2 = s.sternRudderServo2;
-        state.motionState.sternRudder3 = s.sternRudderServo3;
-        state.motionState.sternRudder4 = s.sternRudderServo4;
-
-        state.motionState.bowRudder = s.bowRudderDeploy;
-
-        state.motionState.waterInjection = s.waterInject;
-
-        state.motionState.propulsionMotor = s.thruster;
-        state.motionState.buoyancyAdjust1 = s.buoyancyAdjust1;
-        state.motionState.buoyancyAdjust2 = s.buoyancyAdjust2;
-        state.motionState.buoyancyAdjust3 = s.buoyancyAdjust3;
-        state.motionState.buoyancyAdjust4 = s.buoyancyAdjust4;
-        state.motionState.buoyancyAdjust5 = s.buoyancyAdjust5;
-        state.motionState.DVL = s.DVL;
-        state.motionState.INS = s.ins;
-
-        state.motionState.bowRudderLeft = s.bowRudderServo1;
-        state.motionState.bowRudderRight = s.bowRudderServo2;
-
-        // 负载通信状态赋值
-        state.loadcommState.payloadControl = s.launchControler;
-        state.loadcommState.sideSonar = s.sideSonar;
-        state.loadcommState.optMast = s.photoSensor;
-        state.loadcommState.emMast = s.electSensor;
-        state.loadcommState.buoySystem = s.buoyage;
-        state.loadcommState.commMastRudder = s.mastLiftingServo;
-        state.loadcommState.optMastRudder = s.mastLiftingServo;
-        state.loadcommState.emMastRudder = s.mastLiftingServo;
-        state.loadcommState.highFreqComm = s.USBL;
-        state.loadcommState.midLowFreqSonar = s.lowFreqSonar;
-        state.loadcommState.commMast = s.commMast;
-        state.loadcommState.towedSonar = 0; //拖曳声纳未安装，默认为0
-        
-        // 抛载和电源状态赋值
-        state.throwPowerState.bowThrow = s.bowThrow;          // 艏部抛载
-        state.throwPowerState.sternThrow = s.sternThrow;      // 艉部抛载
-        state.throwPowerState.fuelCellController = 1;  // 燃料电池控制器 默认开启
-        state.throwPowerState.instrumentPanel = 1;    // 仪表配电板 默认开启
-        state.throwPowerState.powerPanel = 1;      // 动力配电板 默认开启
-        state.throwPowerState.instrumentBattery = 1;      // 仪表锂电池 默认开启
-        state.throwPowerState.powerBattery = 1;         // 动力锂电 默认开启
-       
-        // 转化为json格式
-        Json::Value root;
-        root["sensor_int16"] = *reinterpret_cast<uint16_t*>(&state.sensorState);
-        root["actuator_int16"] = *reinterpret_cast<uint16_t*>(&state.actuatorState);
-        root["motion_int16"] = *reinterpret_cast<uint16_t*>(&state.motionState);
-        root["loadcomm_int16"] = *reinterpret_cast<uint16_t*>(&state.loadcommState);
-        root["throwpower_int16"] = *reinterpret_cast<uint16_t*>(&state.throwPowerState);
-
-        //以二进制形式打印
-        // std::cout << "sensor_int16: " << std::bitset<16>(*reinterpret_cast<uint16_t*>(&state.sensorState)) << std::endl;
-        // std::cout << "actuator_int16: " << std::bitset<16>(*reinterpret_cast<uint16_t*>(&state.actuatorState)) << std::endl;
-        // std::cout << "motion_int16: " << std::bitset<16>(*reinterpret_cast<uint16_t*>(&state.motionState)) << std::endl;
-        // std::cout << "loadcomm_int16: " << std::bitset<16>(*reinterpret_cast<uint16_t*>(&state.loadcommState)) << std::endl;
-        // std::cout << "throwpower_int16: " << std::bitset<16>(*reinterpret_cast<uint16_t*>(&state.throwPowerState)) << std::endl;
-
-        // 返回json字符串
-        Json::StreamWriterBuilder writerBuilder;
-        writerBuilder.settings_["indentation"] = ""; // 紧凑格式，无缩进
-        return Json::writeString(writerBuilder, root);
-    }
-};
-
-#endif