Compare commits
12
Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 zjk
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a870071490 | ||
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zjk
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b653f17b03 | ||
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zjk
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785a47ff99 | ||
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bac5f5291e | ||
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35e5d5230e | ||
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zjk
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b5a746c2ef | ||
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zjk
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7ef9ec5ac0 | ||
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zjk
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c47660fcb1 | ||
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zjk
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ebf1701335 | ||
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zjk
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002df307d7 | ||
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zjk
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8677811dac | ||
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zjk
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c51eb7073a |
@@ -0,0 +1,26 @@
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||||
@startuml PowerManagerFsm状态图
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||||
[*] --> InitState
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||||
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||||
state InitState {
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||||
[*] --> 等待复合管控消息
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||||
等待复合管控消息 --> 等待关键断路器闭合: 连接成功
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等待复合管控消息 --> FaultState: 超时(10秒)
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等待关键断路器闭合 --> StandbyState: 关键断路器闭合
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||||
等待关键断路器闭合 --> FaultState: 系统错误
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||||
}
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||||
|
||||
state StandbyState {
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||||
[*] --> 待机
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待机 --> FaultState: 检测到错误
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||||
待机 --> 处理电源命令: 收到命令
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||||
处理电源命令 --> 待机: 完成处理
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||||
}
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||||
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||||
state FaultState {
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||||
[*] --> 故障处理
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||||
}
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||||
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||||
InitState --> FaultState : FaultEvent(faultCode=1/2)
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||||
StandbyState --> FaultState : FaultEvent(faultCode)
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InitState --> StandbyState : StandbyEvent
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@enduml
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@@ -1,8 +1,5 @@
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//------------------------------------------------
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// pPowerManger config block
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||||
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||||
ProcessConfig = pPowerManger
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{
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AppTick = 5
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AppTick = 4
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CommsTick = 4
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}
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||||
@@ -0,0 +1,3 @@
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{
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||||
"value_array_uint16" :[2,1,3]
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}
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@@ -6,7 +6,7 @@
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||||
"HVABbusBVol_uint16": 0,
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||||
"HVABmastSteGeaCur_uint16": 0,
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||||
"HVABopenWaterCur_uint16": 0,
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||||
"HVABxczCur_uint16": 0,
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||||
"HVABxczCur_uint16": 1,
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||||
"HVBBCCUCur_uint16": 0,
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||||
"HVBBFCSSecurSysCur_uint16": 0,
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||||
"HVBBbatInsCur_uint16": 0,
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||||
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||||
@@ -1,8 +1,8 @@
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{
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||||
"HVolABusBreaker_unit16": 0,
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||||
"HVolBBusBreaker_unit16": 0,
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||||
"HVolBusBreaker_uint16": 0,
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||||
"LVolBusBreaker_uint16": 0,
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||||
"HVolBBusBreaker_unit16": 79,
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||||
"HVolBusBreaker_uint16": 58,
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||||
"LVolBusBreaker_uint16": 159,
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||||
"faultCode_array":
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[
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0
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||||
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||||
@@ -1,30 +1,30 @@
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||||
{
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||||
"backpressure1_fp32": 0.0,
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||||
"backpressure2_fp32": 0.0,
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||||
"ch4oConcent1_fp32": 0.0,
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||||
"ch4oConcent2_fp32": 0.0,
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||||
"backpressure1_fp32": 1.0,
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||||
"backpressure2_fp32": 2.0,
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||||
"ch4oConcent1_fp32": 29.0,
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||||
"ch4oConcent2_fp32": 96.0,
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||||
"ch4o_fp32": 0.0,
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||||
"excTemp_fp32": 0.0,
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||||
"excTemp_fp32": 23.0,
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||||
"faultCode1_uint16": 0,
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||||
"faultCode2_uint16": 0,
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||||
"faultCode3_uint16": 0,
|
||||
"fcuCurIns_fp32": 0.0,
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||||
"fcuCurPower_fp32": 0.0,
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||||
"fcuCur_fp32": 0.0,
|
||||
"fcuCur_fp32": 84.0,
|
||||
"fcuFaultLeve_uint8": 0,
|
||||
"fcuOutIns_fp32": 0.0,
|
||||
"fcuOutPower_fp32": 0.0,
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||||
"fcuOutIns_fp32": 53.0,
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||||
"fcuOutPower_fp32": 100.0,
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||||
"fcuState_uint8": 0,
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||||
"fcuVolIns_fp32": 0.0,
|
||||
"fcuVolPower_fp32": 0.0,
|
||||
"fcuVol_fp32": 0.0,
|
||||
"flameDet_uint8": 0,
|
||||
"h2Concent1_fp32": 0.0,
|
||||
"h2Concent2_fp32": 0.0,
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||||
"o2Concent1_fp32": 0.0,
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||||
"o2Concent2_fp32": 0.0,
|
||||
"fcuVol_fp32": 377.0,
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||||
"flameDet_uint8": 1,
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||||
"h2Concent1_fp32": 89.0,
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||||
"h2Concent2_fp32": 62.0,
|
||||
"o2Concent1_fp32": 74.0,
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||||
"o2Concent2_fp32": 21.0,
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||||
"o2Level_fp32": 0.0,
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||||
"o2_fp32": 0.0,
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||||
"powLimit_fp32": 0.0,
|
||||
"powerGen_fp32": 0.0
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||||
"powLimit_fp32": 88.0,
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||||
"powerGen_fp32": 622.0
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||||
}
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||||
@@ -2,37 +2,37 @@
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||||
"fcuCurToInsLimit1_uint8": 0,
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||||
"fcuCurToinsLimit2_uint8": 0,
|
||||
"insBatCurElect_uint16": 0,
|
||||
"insBatLimit_uint16": 0,
|
||||
"insBatSoc_uint8": 0,
|
||||
"insBatTotalElect_uint16": 0,
|
||||
"insBatLimit_uint16": 41,
|
||||
"insBatSoc_uint8": 42,
|
||||
"insBatTotalElect_uint16": 617,
|
||||
"insChargeState_uint8": 0,
|
||||
"insCurSocHold1_uint8": 0,
|
||||
"insCurSocHold2_uint8": 0,
|
||||
"insCurSocHold3_uint8": 0,
|
||||
"insCurrent_uint16": 0,
|
||||
"insCurrent_uint16": 2,
|
||||
"insLinkVol_uint16": 0,
|
||||
"insNegRelayState_uint8": 0,
|
||||
"insNegRes_uint16": 0,
|
||||
"insPackVol_uint16": 0,
|
||||
"insPosRelayState_uint8": 0,
|
||||
"insPosRelayState_uint8": 1,
|
||||
"insPosRes_uint16": 0,
|
||||
"insfaultCode_uint8": 0,
|
||||
"powBatCurElect_uint16": 0,
|
||||
"powBatSoc_uint8": 0,
|
||||
"powBatTotalElect_uint16": 0,
|
||||
"powBatSoc_uint8": 31,
|
||||
"powBatTotalElect_uint16": 763,
|
||||
"powChargeState_uint8": 0,
|
||||
"powCurSocHold1_uint8": 0,
|
||||
"powCurSocHold2_uint8": 0,
|
||||
"powCurSocHold3_uint8": 0,
|
||||
"powCurToInsLimit1_uint8": 0,
|
||||
"powCurToinsLimit2_uint8": 0,
|
||||
"powCur_uint16": 0,
|
||||
"powCur_uint16": 21,
|
||||
"powLinkVol_uint16": 0,
|
||||
"powNegRelayState_uint8": 0,
|
||||
"powNegRelayState_uint8": 1,
|
||||
"powNegRes_uint16": 0,
|
||||
"powPosRelayState_uint8": 0,
|
||||
"powPosRelayState_uint8": 1,
|
||||
"powPosRes_uint16": 0,
|
||||
"powerBatLimit_uint16": 0,
|
||||
"powerBatLimit_uint16": 13,
|
||||
"powerPackVol_uint16": 0,
|
||||
"powfaultCode_uint8": 0
|
||||
}
|
||||
@@ -0,0 +1,52 @@
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||||
{
|
||||
"protocol_name": "CCU参数设置反馈",
|
||||
"message_id": "0x0040",
|
||||
"length": 10,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 6,
|
||||
"algorithm": "sum"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0040",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 10,
|
||||
"description": "消息长度"
|
||||
},
|
||||
{
|
||||
"name": "flag",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "设置标志位"
|
||||
},
|
||||
{
|
||||
"name": "failvreCode",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "故障代码"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,637 @@
|
||||
{
|
||||
"message_name": "CCUStateFbMsg",
|
||||
"protocol_id": "0x0041",
|
||||
"endianness": "little",
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0041",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"dynamic": true,
|
||||
"description": "数据长度（自动计算）"
|
||||
},
|
||||
{
|
||||
"name": "currentWorkCondition",
|
||||
"offset": 6,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"enum": {"0x00":"待机","0x01":"运行","0x02":"故障"},
|
||||
"description": "当前工作状态"
|
||||
},
|
||||
{
|
||||
"name": "fcuState",
|
||||
"offset": 7,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "燃料电池状态"
|
||||
},
|
||||
{
|
||||
"name": "fcuFaultLeve",
|
||||
"offset": 8,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障等级"
|
||||
},
|
||||
{
|
||||
"name": "powerLimit",
|
||||
"offset": 9,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kW",
|
||||
"description": "功率限制值"
|
||||
},
|
||||
{
|
||||
"name": "totalPowerGeneration",
|
||||
"offset": 13,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kWh",
|
||||
"description": "总发电量"
|
||||
},
|
||||
{
|
||||
"name": "ch4o",
|
||||
"offset": 17,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "ppm",
|
||||
"description": "甲醇浓度"
|
||||
},
|
||||
{
|
||||
"name": "o2",
|
||||
"offset": 21,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "%",
|
||||
"description": "氧气浓度"
|
||||
},
|
||||
{
|
||||
"name": "fcuVoltage",
|
||||
"offset": 25,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "V",
|
||||
"description": "燃料电池电压"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrent",
|
||||
"offset": 29,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "A",
|
||||
"description": "燃料电池电流"
|
||||
},
|
||||
{
|
||||
"name": "o2Level",
|
||||
"offset": 33,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "%",
|
||||
"description": "氧气含量"
|
||||
},
|
||||
{
|
||||
"name": "placeholder1",
|
||||
"offset": 37,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段1"
|
||||
},
|
||||
{
|
||||
"name": "exchangerTemperature",
|
||||
"offset": 41,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "°C",
|
||||
"description": "换热器温度"
|
||||
},
|
||||
{
|
||||
"name": "fcuOutPower",
|
||||
"offset": 45,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kW",
|
||||
"description": "燃料电池输出功率"
|
||||
},
|
||||
{
|
||||
"name": "fcuOutIns",
|
||||
"offset": 49,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kΩ",
|
||||
"description": "绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "fcuVoltageIns",
|
||||
"offset": 53,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "V",
|
||||
"description": "绝缘监测电压"
|
||||
},
|
||||
{
|
||||
"name": "fcuVoltagePower",
|
||||
"offset": 57,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "V",
|
||||
"description": "功率电压"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentIns",
|
||||
"offset": 61,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "A",
|
||||
"description": "绝缘监测电流"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentPower",
|
||||
"offset": 65,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "A",
|
||||
"description": "功率电流"
|
||||
},
|
||||
{
|
||||
"name": "h2Concentration1",
|
||||
"offset": 69,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "ppm",
|
||||
"description": "氢气浓度1"
|
||||
},
|
||||
{
|
||||
"name": "h2Concentration2",
|
||||
"offset": 73,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "ppm",
|
||||
"description": "氢气浓度2"
|
||||
},
|
||||
{
|
||||
"name": "o2Concentration1",
|
||||
"offset": 77,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "%",
|
||||
"description": "氧气浓度1"
|
||||
},
|
||||
{
|
||||
"name": "o2Concentration2",
|
||||
"offset": 81,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "%",
|
||||
"description": "氧气浓度2"
|
||||
},
|
||||
{
|
||||
"name": "ch4oConcentration1",
|
||||
"offset": 85,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "ppm",
|
||||
"description": "甲醇浓度1"
|
||||
},
|
||||
{
|
||||
"name": "ch4oConcentration2",
|
||||
"offset": 89,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "ppm",
|
||||
"description": "甲醇浓度2"
|
||||
},
|
||||
{
|
||||
"name": "backpressure1",
|
||||
"offset": 93,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kPa",
|
||||
"description": "背压1"
|
||||
},
|
||||
{
|
||||
"name": "backpressure2",
|
||||
"offset": 97,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"unit": "kPa",
|
||||
"description": "背压2"
|
||||
},
|
||||
{
|
||||
"name": "flameDetection",
|
||||
"offset": 101,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "火焰检测状态"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_1L",
|
||||
"offset": 102,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字1低字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_1H",
|
||||
"offset": 103,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字1高字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_2L",
|
||||
"offset": 104,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字2低字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_2H",
|
||||
"offset": 105,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字2高字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_3L",
|
||||
"offset": 106,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字3低字节"
|
||||
},
|
||||
{
|
||||
"name": "fcuGZ_3H",
|
||||
"offset": 107,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "故障字3高字节"
|
||||
},
|
||||
{
|
||||
"name": "insPosRelayState",
|
||||
"offset": 108,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘正极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "insNegRelayState",
|
||||
"offset": 109,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘负极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "powerPosRelayState",
|
||||
"offset": 110,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率正极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "powerNegRelayState",
|
||||
"offset": 111,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率负极继电器状态"
|
||||
},
|
||||
{
|
||||
"name": "insBatLimit",
|
||||
"offset": 112,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电池电流限制"
|
||||
},
|
||||
{
|
||||
"name": "powerBatLimit",
|
||||
"offset": 114,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电池电流限制"
|
||||
},
|
||||
{
|
||||
"name": "insBatSoc",
|
||||
"offset": 116,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电池SOC"
|
||||
},
|
||||
{
|
||||
"name": "powerBatSoc",
|
||||
"offset": 117,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电池SOC"
|
||||
},
|
||||
{
|
||||
"name": "insBatTotalElectricity",
|
||||
"offset": 118,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kWh",
|
||||
"description": "绝缘电池总电量"
|
||||
},
|
||||
{
|
||||
"name": "powerBatTotalElectricity",
|
||||
"offset": 120,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kWh",
|
||||
"description": "功率电池总电量"
|
||||
},
|
||||
{
|
||||
"name": "insBatCurrentElectricity",
|
||||
"offset": 122,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电池当前电流"
|
||||
},
|
||||
{
|
||||
"name": "powerBatCurrentElectricity",
|
||||
"offset": 124,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电池当前电流"
|
||||
},
|
||||
{
|
||||
"name": "insChargeState",
|
||||
"offset": 126,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘电池充电状态"
|
||||
},
|
||||
{
|
||||
"name": "powerChargeState",
|
||||
"offset": 127,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率电池充电状态"
|
||||
},
|
||||
{
|
||||
"name": "insLinkVoltage",
|
||||
"offset": 128,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "绝缘链路电压"
|
||||
},
|
||||
{
|
||||
"name": "insPackVoltage",
|
||||
"offset": 130,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "绝缘电池组电压"
|
||||
},
|
||||
{
|
||||
"name": "insCurrent",
|
||||
"offset": 132,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "绝缘电流"
|
||||
},
|
||||
{
|
||||
"name": "insPosInsulationResistance",
|
||||
"offset": 134,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "正极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "insNegInsulationResistance",
|
||||
"offset": 136,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "负极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "powerLinkVoltage",
|
||||
"offset": 138,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "功率链路电压"
|
||||
},
|
||||
{
|
||||
"name": "powerPackVoltage",
|
||||
"offset": 140,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "V",
|
||||
"description": "功率电池组电压"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrent",
|
||||
"offset": 142,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "A",
|
||||
"description": "功率电流"
|
||||
},
|
||||
{
|
||||
"name": "powerPosInsulationResistance",
|
||||
"offset": 144,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "功率正极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "powerNegInsulationResistance",
|
||||
"offset": 146,
|
||||
"length": 2,
|
||||
"type": "uint16",
|
||||
"unit": "kΩ",
|
||||
"description": "功率负极绝缘电阻"
|
||||
},
|
||||
{
|
||||
"name": "insEmergencyStatusWord",
|
||||
"offset": 148,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘紧急状态字"
|
||||
},
|
||||
{
|
||||
"name": "powerEmergencyStatusWord",
|
||||
"offset": 149,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率紧急状态字"
|
||||
},
|
||||
{
|
||||
"name": "insAlarmIdentificationWord",
|
||||
"offset": 150,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "绝缘报警标识字"
|
||||
},
|
||||
{
|
||||
"name": "powerAlarmIdentificationWord",
|
||||
"offset": 151,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"description": "功率报警标识字"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold1",
|
||||
"offset": 152,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持1"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold2",
|
||||
"offset": 153,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持2"
|
||||
},
|
||||
{
|
||||
"name": "insCurrentSocHold3",
|
||||
"offset": 154,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "绝缘电流SOC保持3"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentToInsLimit1",
|
||||
"offset": 155,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "FCU到绝缘限制1"
|
||||
},
|
||||
{
|
||||
"name": "fcuCurrentToinsLimit2",
|
||||
"offset": 156,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "FCU到绝缘限制2"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold1",
|
||||
"offset": 157,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持1"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold2",
|
||||
"offset": 158,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持2"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentSocHold3",
|
||||
"offset": 159,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "%",
|
||||
"description": "功率电流SOC保持3"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentToInsLimit1",
|
||||
"offset": 160,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "功率到绝缘限制1"
|
||||
},
|
||||
{
|
||||
"name": "powerCurrentToinsLimit2",
|
||||
"offset": 161,
|
||||
"length": 1,
|
||||
"type": "uint8",
|
||||
"unit": "A",
|
||||
"description": "功率到绝缘限制2"
|
||||
},
|
||||
{
|
||||
"name": "placeholder2",
|
||||
"offset": 162,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段2"
|
||||
},
|
||||
{
|
||||
"name": "placeholder3",
|
||||
"offset": 166,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段3"
|
||||
},
|
||||
{
|
||||
"name": "placeholder4",
|
||||
"offset": 170,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段4"
|
||||
},
|
||||
{
|
||||
"name": "placeholder5",
|
||||
"offset": 174,
|
||||
"length": 4,
|
||||
"type": "float32",
|
||||
"description": "预留字段5"
|
||||
},
|
||||
{
|
||||
"name": "checkCode",
|
||||
"offset": 178,
|
||||
"length": 4,
|
||||
"type": "uint32",
|
||||
"description": "校验码（从start1到placeholder5的字节累加和）"
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"total_length": 182,
|
||||
"data_section_start": 6,
|
||||
"data_section_end": 178,
|
||||
"checksum_range": "0-178",
|
||||
"float_precision": "IEEE-754单精度",
|
||||
"reserved_fields": [
|
||||
"placeholder1",
|
||||
"placeholder2",
|
||||
"placeholder3",
|
||||
"placeholder4",
|
||||
"placeholder5"
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,142 @@
|
||||
{
|
||||
"protocol_name": "高压A母线状态反馈",
|
||||
"message_id": "0x0006",
|
||||
"length": 10,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 30,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0006",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 10,
|
||||
"description": "消息长度"
|
||||
},
|
||||
{
|
||||
"name": "bowFTDevice123CircuitBreaker",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "艏部FT设备123断路器"
|
||||
},
|
||||
{
|
||||
"name": "actuatorCircuitBreaker",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "执行机构断路器"
|
||||
},
|
||||
{
|
||||
"name": "mastSteeringGearControlBoxCircuitBreaker",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "桅杆舵机控制箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "xczCircuitBreaker",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "XCZ断路器"
|
||||
},
|
||||
{
|
||||
"name": "bowRudderControlBoxCircuitBreaker",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "艏舵控制箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "openWaterCoverStartCylinderCircuitBreaker",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "开盖启动气缸断路器"
|
||||
},
|
||||
{
|
||||
"name": "instrumentPowerFailureSignal",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "仪表电源失效信号"
|
||||
},
|
||||
{
|
||||
"name": "emergencyPowerFailureSignal",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "应急电源失效信号"
|
||||
},
|
||||
{
|
||||
"name": "waterIngressionAlarm",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "进水报警"
|
||||
},
|
||||
{
|
||||
"name": "busbarBVoltage",
|
||||
"offset": 15,
|
||||
"type": "uint16",
|
||||
"description": "B排电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "busbarBCurrent",
|
||||
"offset": 17,
|
||||
"type": "uint16",
|
||||
"description": "B排电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowFTDevice123Current",
|
||||
"offset": 19,
|
||||
"type": "uint16",
|
||||
"description": "艏部FT设备123电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "actuatorCurrent",
|
||||
"offset": 21,
|
||||
"type": "uint16",
|
||||
"description": "执行机构电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "mastSteeringGearControlBoxCurrent",
|
||||
"offset": 23,
|
||||
"type": "uint16",
|
||||
"description": "桅杆舵机控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "xczCurrent",
|
||||
"offset": 25,
|
||||
"type": "uint16",
|
||||
"description": "XCZ电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowRudderControlBoxCurrent",
|
||||
"offset": 27,
|
||||
"type": "uint16",
|
||||
"description": "艏舵控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "openWaterCoverStartCylinderCurrent",
|
||||
"offset": 29,
|
||||
"type": "uint16",
|
||||
"description": "开盖启动气缸电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,154 @@
|
||||
{
|
||||
"protocol_name": "高压B母线状态反馈",
|
||||
"message_id": "0x0007",
|
||||
"length": 36,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 34,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0007",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 36,
|
||||
"description": "消息长度（包含校验码）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupInstrumentCircuitBreaker",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "锂电池组仪表断路器"
|
||||
},
|
||||
{
|
||||
"name": "bowLowVoltageDistributionBoxCircuitBreaker",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "艏部低压配电箱断路器"
|
||||
},
|
||||
{
|
||||
"name": "unit4InstrumentDC48VCircuitBreaker",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "单元4仪表DC48V断路器"
|
||||
},
|
||||
{
|
||||
"name": "dcC1DCDistributionPanelCircuitBreaker",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "DC C1直流配电板断路器"
|
||||
},
|
||||
{
|
||||
"name": "reservedCircuitBreaker1",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "备用断路器1"
|
||||
},
|
||||
{
|
||||
"name": "reservedCircuitBreaker2",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "备用断路器2"
|
||||
},
|
||||
{
|
||||
"name": "emergencyLithiumBatteryGroup2CircuitBreaker",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "应急锂电池组2断路器"
|
||||
},
|
||||
{
|
||||
"name": "instrumentPowerFailureSignal",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "仪表电源故障信号"
|
||||
},
|
||||
{
|
||||
"name": "emergencyPowerFailureSignal",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "应急电源故障信号"
|
||||
},
|
||||
{
|
||||
"name": "instrumentBusbarVoltage",
|
||||
"offset": 15,
|
||||
"type": "uint16",
|
||||
"description": "仪表母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "bowLowVoltageDistributionBoxCurrent",
|
||||
"offset": 17,
|
||||
"type": "uint16",
|
||||
"description": "艏部低压配电箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "dcC1InstrumentDC48VCurrent",
|
||||
"offset": 19,
|
||||
"type": "uint16",
|
||||
"description": "DC C1仪表DC48V电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "reservedCurrent1",
|
||||
"offset": 21,
|
||||
"type": "uint16",
|
||||
"description": "备用电流1（A）"
|
||||
},
|
||||
{
|
||||
"name": "emergencyLithiumBatteryGroup2Current",
|
||||
"offset": 23,
|
||||
"type": "uint16",
|
||||
"description": "应急锂电池组2电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupInstrumentCurrent",
|
||||
"offset": 25,
|
||||
"type": "uint16",
|
||||
"description": "锂电池组仪表电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "unit4InstrumentDC48VCurrent",
|
||||
"offset": 27,
|
||||
"type": "uint16",
|
||||
"description": "单元4仪表DC48V电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "reservedCurrent2",
|
||||
"offset": 29,
|
||||
"type": "uint16",
|
||||
"description": "备用电流2（A）"
|
||||
},
|
||||
{
|
||||
"name": "emergency2BusbarVoltage",
|
||||
"offset": 31,
|
||||
"type": "uint16",
|
||||
"description": "应急2母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "compositeEnergyManagementSystemEmergencyDC48VCurrent",
|
||||
"offset": 33,
|
||||
"type": "uint16",
|
||||
"description": "综合能源管理系统应急DC48V电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,184 @@
|
||||
{
|
||||
"protocol_name": "高压母线状态反馈",
|
||||
"message_id": "0x0005",
|
||||
"length": 38,
|
||||
"checksum": {
|
||||
"start_offset": 0,
|
||||
"end_offset": 37,
|
||||
"algorithm": "sum_low_byte"
|
||||
},
|
||||
"fields": [
|
||||
{
|
||||
"name": "start1",
|
||||
"offset": 0,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节1"
|
||||
},
|
||||
{
|
||||
"name": "start2",
|
||||
"offset": 1,
|
||||
"type": "uint8",
|
||||
"value": "0x20",
|
||||
"description": "起始字节2"
|
||||
},
|
||||
{
|
||||
"name": "id",
|
||||
"offset": 2,
|
||||
"type": "uint16",
|
||||
"value": "0x0005",
|
||||
"description": "消息ID"
|
||||
},
|
||||
{
|
||||
"name": "length",
|
||||
"offset": 4,
|
||||
"type": "uint16",
|
||||
"value": 38,
|
||||
"description": "消息长度"
|
||||
},
|
||||
{
|
||||
"name": "DCB1",
|
||||
"offset": 6,
|
||||
"type": "uint8",
|
||||
"description": "直流断路器1状态"
|
||||
},
|
||||
{
|
||||
"name": "DCB2",
|
||||
"offset": 7,
|
||||
"type": "uint8",
|
||||
"description": "直流断路器2状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK1",
|
||||
"offset": 8,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器1状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK2",
|
||||
"offset": 9,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器2状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK3",
|
||||
"offset": 10,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器3状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK4",
|
||||
"offset": 11,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器4状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK5",
|
||||
"offset": 12,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器5状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK6",
|
||||
"offset": 13,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器6状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK7",
|
||||
"offset": 14,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器7状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK8",
|
||||
"offset": 15,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器8状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK9",
|
||||
"offset": 16,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器9状态"
|
||||
},
|
||||
{
|
||||
"name": "ZK10",
|
||||
"offset": 17,
|
||||
"type": "uint8",
|
||||
"description": "真空接触器10状态"
|
||||
},
|
||||
{
|
||||
"name": "busInsulationLow",
|
||||
"offset": 18,
|
||||
"type": "uint8",
|
||||
"description": "母线绝缘低报警"
|
||||
},
|
||||
{
|
||||
"name": "busAInsulationHigh",
|
||||
"offset": 19,
|
||||
"type": "uint8",
|
||||
"description": "A母线绝缘高报警"
|
||||
},
|
||||
{
|
||||
"name": "lostPower",
|
||||
"offset": 20,
|
||||
"type": "uint8",
|
||||
"description": "失电信号"
|
||||
},
|
||||
{
|
||||
"name": "lostEmerPower",
|
||||
"offset": 21,
|
||||
"type": "uint8",
|
||||
"description": "应急失电信号"
|
||||
},
|
||||
{
|
||||
"name": "powerBusVoltage",
|
||||
"offset": 22,
|
||||
"type": "uint16",
|
||||
"description": "动力母线电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "dcDc5ModuleCurrent",
|
||||
"offset": 24,
|
||||
"type": "uint16",
|
||||
"description": "DC/DC5模块电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "powerBusCurrent",
|
||||
"offset": 26,
|
||||
"type": "uint16",
|
||||
"description": "动力母线电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "busbarAVoltage",
|
||||
"offset": 28,
|
||||
"type": "uint16",
|
||||
"description": "A排电压（V）"
|
||||
},
|
||||
{
|
||||
"name": "propulsionMotorControlBoxCurrent",
|
||||
"offset": 30,
|
||||
"type": "uint16",
|
||||
"description": "推进电机控制箱电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "busbarACurrent",
|
||||
"offset": 32,
|
||||
"type": "uint16",
|
||||
"description": "A排电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "lithiumBatteryGroupMeterCurrent",
|
||||
"offset": 34,
|
||||
"type": "uint16",
|
||||
"description": "锂电池组表计电流（A）"
|
||||
},
|
||||
{
|
||||
"name": "bowHighVoltageDistributionBoxCurrent",
|
||||
"offset": 36,
|
||||
"type": "uint16",
|
||||
"description": "艏部高压配电箱电流（A）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
{
|
||||
"powerCMD":0,
|
||||
"modCMD":0,
|
||||
"workCMD":0
|
||||
}
|
||||
@@ -0,0 +1,128 @@
|
||||
# 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 |
|
||||
@@ -0,0 +1,5 @@
|
||||
ProcessConfig = pPowerManger
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
@@ -19,13 +19,15 @@ endif (${WIN32})
|
||||
find_package(SQLite3 REQUIRED)
|
||||
|
||||
SET(SRC
|
||||
PowerManagerFsm.cpp
|
||||
PowerManger.cpp
|
||||
PowerManger_Info.cpp
|
||||
udpComm.cpp
|
||||
fsm.cpp
|
||||
main.cpp
|
||||
SQLiteDB.cpp
|
||||
driver.cpp
|
||||
LowerCommManager.cpp
|
||||
UpperCommManager.cpp
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(pPowerManger ${SRC})
|
||||
@@ -51,22 +53,23 @@ SET(SQLITEDB_SRC
|
||||
)
|
||||
|
||||
SET(FSMLIB_SRC
|
||||
fsm.cpp)
|
||||
PowerManagerFsm.cpp)
|
||||
|
||||
SET(DRIVER_SRC
|
||||
driver.cpp)
|
||||
|
||||
SET(POWERMANGE_SRC
|
||||
PowerManger.cpp
|
||||
PowerManger_Info.cpp
|
||||
udpComm.cpp
|
||||
fsm.cpp
|
||||
SQLiteDB.cpp
|
||||
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})
|
||||
# ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,326 @@
|
||||
#include "LowerCommManager.h"
|
||||
#include "PowerManger.h"
|
||||
#include "driver.h"
|
||||
#include "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 << "PORT = " << m_port << std::endl;
|
||||
std::cout << "CCUHOST = " << m_udpComm->ccuHost << std::endl;
|
||||
std::cout << "CCUPORT = " << m_udpComm->ccuPort << std::endl;
|
||||
}
|
||||
|
||||
LowerCommManager::~LowerCommManager(){
|
||||
try {
|
||||
stopListenThread();
|
||||
if (m_udpComm) {
|
||||
delete m_udpComm;
|
||||
m_udpComm = nullptr;
|
||||
}
|
||||
} catch (...) {
|
||||
cerr << "Error during cleanup" << endl;
|
||||
}
|
||||
}
|
||||
bool LowerCommManager::initUdpComm(){
|
||||
//设置UDP监听端口
|
||||
if(m_udpComm->udpScoket)
|
||||
{
|
||||
try
|
||||
{
|
||||
m_udpComm->udpScoket->vBindSocket();
|
||||
cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
|
||||
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
void LowerCommManager::processPeriodicTasks() {
|
||||
sendCcuCommand(m_pm->m_CcuColCmd);
|
||||
sendDisSysCommand(m_pm->m_targetDisBreakerState);
|
||||
m_udpComm->clearMsgQueue();
|
||||
}
|
||||
|
||||
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);
|
||||
m_udpComm->sendDisSysCmd(a);
|
||||
//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);
|
||||
//c. 高压汇流排B断路器
|
||||
disHighBVolBusCmd c;
|
||||
c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
|
||||
c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
|
||||
c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(cmd.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
|
||||
c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(cmd.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
|
||||
c.reservedCircuitBreaker1 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker1);
|
||||
c.reservedCircuitBreaker2 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker2);
|
||||
c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(cmd.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
|
||||
m_udpComm->sendDisSysCmd(c);
|
||||
//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);
|
||||
//将指令写入数据库
|
||||
m_pm->m_db->insertDisSysCmd(a);
|
||||
m_pm->m_db->insertDisSysCmd(b);
|
||||
m_pm->m_db->insertDisSysCmd(c);
|
||||
m_pm->m_db->insertDisSysCmd(d);
|
||||
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_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
|
||||
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_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //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_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //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_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //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_db->insertDisLowBusData(m_disLowBusState.data); //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;
|
||||
}
|
||||
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;
|
||||
}
|
||||
|
||||
//TODO:根据心跳检查连接状态
|
||||
bool LowerCommManager::checkConnection()
|
||||
{
|
||||
m_pm->connectState =5;
|
||||
}
|
||||
@@ -0,0 +1,82 @@
|
||||
#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 "ccuUdpMsg.h"
|
||||
#include "pmSysvariable.h"
|
||||
#include <queue>
|
||||
#include <map>
|
||||
#include <functional>
|
||||
#include <atomic>
|
||||
#include <vector>
|
||||
#include "udpComm.h"
|
||||
|
||||
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();
|
||||
|
||||
// TODO:实现连接检查功能
|
||||
bool checkConnection();
|
||||
|
||||
// 更新设备状态
|
||||
bool updatePoweSystemStates();
|
||||
|
||||
// 发送CCU控制命令
|
||||
bool sendCcuCommand(const ccuColCmd cmd);
|
||||
bool sendDisSysCommand(const disSysBreakerList& cmd);
|
||||
|
||||
// 获取通信状态
|
||||
int getConnectionState() const { return m_connectState; }
|
||||
|
||||
// 启动/停止监听线程
|
||||
void startListenThread();
|
||||
void stopListenThread();
|
||||
|
||||
//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_disHighBVolBusFbMsg 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
|
||||
@@ -0,0 +1,65 @@
|
||||
#include "PowerManagerFsm.hpp"
|
||||
#include "PowerManger.h"
|
||||
#include <string>
|
||||
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
|
||||
|
||||
// 定义静态成员
|
||||
PowerManger* PowerManagerFsm::pm = nullptr;
|
||||
|
||||
// InitState实现
|
||||
void InitState::entry() {
|
||||
PowerManagerFsm::entry();
|
||||
std::cout << "初始化配电指令" << std::endl;
|
||||
pm->initControlCmd();
|
||||
// PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
|
||||
transit<StandbyState>();
|
||||
}
|
||||
|
||||
// StandbyState实现
|
||||
void StandbyState::entry() {
|
||||
PowerManagerFsm::entry();
|
||||
pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
|
||||
pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
|
||||
pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
|
||||
}
|
||||
|
||||
void StandbyState::react(StandbyEvent const &) {
|
||||
transit<StandbyState>();
|
||||
}
|
||||
|
||||
|
||||
void StandbyState::handlePowerCommands() {
|
||||
switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
|
||||
case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
|
||||
case 1: handlePowerOn(); break;
|
||||
}
|
||||
}
|
||||
|
||||
void StandbyState::handlePowerOn() {
|
||||
PowerManagerFsm::pm->m_pmEvent = "动力电上电";
|
||||
PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
|
||||
if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
|
||||
PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
|
||||
}
|
||||
|
||||
// FaultState实现
|
||||
void FaultState::entry() {
|
||||
PowerManagerFsm::entry();
|
||||
PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
|
||||
}
|
||||
|
||||
void FaultState::react(FaultEvent const & e) {
|
||||
switch (e.faultCode) {
|
||||
case 1:
|
||||
PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
|
||||
PowerManagerFsm::pm->printState("FaultState", "通信故障");
|
||||
break;
|
||||
case 2:
|
||||
PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
|
||||
PowerManagerFsm::pm->printState("FaultState", "能源故障");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 设置初始状态
|
||||
FSM_INITIAL_STATE(PowerManagerFsm, InitState);
|
||||
@@ -0,0 +1,106 @@
|
||||
#ifndef POWER_MANAGER_FSM_HPP
|
||||
#define POWER_MANAGER_FSM_HPP
|
||||
#include "tinyfsm.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"
|
||||
// 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 FaultEvent : tinyfsm::Event {
|
||||
unsigned int faultCode;
|
||||
FaultEvent(unsigned int code) : faultCode(code) {}
|
||||
};
|
||||
//==================状态流程事件============================
|
||||
struct MasterCommandEvent : tinyfsm::Event {};
|
||||
struct TaskStart : tinyfsm::Event { };
|
||||
struct DeviceCmd : tinyfsm::Event { };
|
||||
|
||||
class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
|
||||
protected:
|
||||
static PowerManger* pm;
|
||||
static DriverTable m_currentDriver;
|
||||
|
||||
public:
|
||||
static void init(PowerManger* powerManager) {
|
||||
pm = powerManager;
|
||||
}
|
||||
// 响应事件默认实现
|
||||
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(FaultEvent const &) {};
|
||||
virtual void react(MasterCommandEvent const &) {};
|
||||
virtual void react(TaskStart const &) {};
|
||||
virtual void react(DeviceCmd const &) {};
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class InitState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() override;
|
||||
};
|
||||
|
||||
class StandbyState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() override;
|
||||
void react(StandbyEvent const &) override;
|
||||
// void react(MasterCommandEvent const &) override;
|
||||
// void react(DeviceCmd const &) override;
|
||||
private:
|
||||
void handlePowerCommands();
|
||||
void handlePowerOn();
|
||||
};
|
||||
|
||||
class FaultState : public PowerManagerFsm {
|
||||
public:
|
||||
void entry() override;
|
||||
void react(FaultEvent const &);
|
||||
};
|
||||
|
||||
|
||||
#endif // POWER_MANAGER_FSM_HPP
|
||||
+38
-1063
File diff suppressed because it is too large
Load Diff
+54
-106
@@ -23,18 +23,19 @@
|
||||
#include <queue>
|
||||
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSThread.h"
|
||||
#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
|
||||
// #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
|
||||
#include "MOOS/libMOOS/Utils/ConsoleColours.h"
|
||||
#include "ccuUdpMsg.h"
|
||||
#include "json/json.h"
|
||||
#include "udpComm.h"
|
||||
#include "pmSysvariable.h"
|
||||
#include "fsm.h"
|
||||
#include "PowerManagerFsm.hpp"
|
||||
#include "SQLiteDB.h"
|
||||
#include "driver.h"
|
||||
#include "LowerCommManager.h"
|
||||
#include "UpperCommManager.h"
|
||||
|
||||
#define VAR_TO_STR(var) #var
|
||||
|
||||
#define IPORT 5000
|
||||
#define CCUPORT 5001
|
||||
@@ -42,29 +43,12 @@
|
||||
#define MAX_UDP_PKT_SIZE 65535
|
||||
#define SKEW_TOLERANCE 5
|
||||
|
||||
//能源管理反馈的消息
|
||||
#define PM_TO_DB_STATE "uPower_pmState_st"
|
||||
#define PM_TO_DB_CURRENTSTATE "uPower_currentState_st"
|
||||
#define PM_TO_DB_DISSTATE "uPower_disSysState_st"
|
||||
#define PM_TO_DB_LIBATSTATE "uPower_liBatState_st"
|
||||
#define PM_TO_DB_FCSSTATE "uPower_fcsState_st"
|
||||
|
||||
#define PM_TO_DB_SUBDISCMD "uPower_secdistState_cmd"
|
||||
#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb"
|
||||
|
||||
//控制消息
|
||||
//TODO:实现上位机交互控制功能
|
||||
#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
|
||||
#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
|
||||
#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
|
||||
|
||||
class PowerManger : public AppCastingMOOSApp
|
||||
{
|
||||
public:
|
||||
PowerManger();
|
||||
~PowerManger();
|
||||
public:
|
||||
bool ListenLoopUDP();
|
||||
bool FsmLoop();
|
||||
|
||||
protected: // Standard MOOSApp functions to overload
|
||||
@@ -75,40 +59,35 @@ class PowerManger : public AppCastingMOOSApp
|
||||
bool buildReport();
|
||||
void registerVariables();
|
||||
|
||||
protected:
|
||||
public:
|
||||
void updateTime(){m_current_time = MOOSTime();}
|
||||
bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL);
|
||||
string getTypeName(const string typeName);
|
||||
bool inline saveStringToJsonFile(const string &strJson, const string &strFileName);
|
||||
//数据库
|
||||
SQLiteDB* m_db;
|
||||
bool writeDataToDB();
|
||||
|
||||
//通信状态变量及操作函数
|
||||
XPCUdpSocket* setUdpScoket(long lPort);
|
||||
bool updatePmState();
|
||||
bool updateConnectState();
|
||||
/************************************************************/
|
||||
/* |<------------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
|
||||
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
|
||||
DriverTable m_currentDriverState;
|
||||
DriverTable m_subDisSysState;
|
||||
|
||||
int connectState;
|
||||
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;
|
||||
|
||||
protected:
|
||||
//===========================交互状态变量==================================
|
||||
Driver m_driver; //设备驱动
|
||||
pmState m_pmCurrentState; //能源系统的当前状态
|
||||
disSysBreakerList m_currentDisBreakerState; //配电断路器状态
|
||||
disSysBreakerList m_targetDisBreakerState;
|
||||
DriverTable m_currentDriverState;
|
||||
DriverTable m_MSDriverCmd;
|
||||
DriverTable m_subDisSysCmd;
|
||||
DriverTable m_subDisSysState;
|
||||
//===========================================================================
|
||||
//系统运行状态
|
||||
int m_depth;
|
||||
int m_missionCode;
|
||||
//===========================STATE=========================================
|
||||
unsigned char workCondition;
|
||||
unsigned char currentMod;
|
||||
unsigned char powerState;
|
||||
@@ -116,73 +95,42 @@ class PowerManger : public AppCastingMOOSApp
|
||||
vector<unsigned int> faultCode;
|
||||
unsigned int soc;
|
||||
unsigned int sustainableTime;
|
||||
|
||||
// 配电和CCU的反馈状态
|
||||
msg_CcuStateFbMsg m_CcuCurrentState;
|
||||
msg_disHighVolBusFbMsg m_disHighVolBusCurrentState;
|
||||
msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
|
||||
msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
|
||||
msg_disLowBusFbMsg m_disLowBusState;
|
||||
|
||||
//下位机操作函数
|
||||
ccuColCmd m_CcuColCmd;
|
||||
void disSysOption();
|
||||
void ccuOption();
|
||||
|
||||
char getBreakerOption(char cmd);
|
||||
void initControlCmd();
|
||||
|
||||
//上位机操作函数
|
||||
MSControlCmd m_msCmd;
|
||||
bool buildPowerSysReport();
|
||||
bool getMsCmdFromJson(MSControlCmd &cmd,const string &strJson);
|
||||
|
||||
private:
|
||||
udpComm m_udpComm;
|
||||
XPCUdpSocket *m_pCcuUdpComm;
|
||||
CMOOSThread m_ListenThread;
|
||||
CMOOSThread m_FsmThread;
|
||||
unsigned int m_faultNum;
|
||||
Driver m_driver; //设备表处理
|
||||
std::string m_pmEvent; // 状态机事件描述
|
||||
//===========================CONFIG========================================
|
||||
long m_lPort;
|
||||
unsigned int m_nReceiveBufferSizeKB;
|
||||
unsigned int m_nSendBufferSizeKB;
|
||||
double m_current_time;
|
||||
unsigned int m_faultNum;
|
||||
unsigned int m_ticker;
|
||||
int connectState;
|
||||
|
||||
public:
|
||||
//===========================状态机实现==============================================
|
||||
void printState(FSM_State st, string desp);
|
||||
//=============================过程函数======================================
|
||||
void initControlCmd();
|
||||
|
||||
private:
|
||||
// CMOOSThread m_FsmThread;
|
||||
LowerCommManager* m_lowerCommManager;
|
||||
UpperCommManager* m_upperCommManager;
|
||||
|
||||
// // 状态机实例
|
||||
// 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;
|
||||
|
||||
StateData m_stateData;
|
||||
FSM_State m_pmState; //当前状态
|
||||
string m_pmEvent;
|
||||
FSM m_fsm;
|
||||
|
||||
//初始化状态
|
||||
FSM_State m_Inite_s1;
|
||||
static int handleInite_s1(FSM_State &fsm, void* pData);
|
||||
|
||||
//待机状态
|
||||
FSM_State m_Standby_s2;
|
||||
static int handleStandby_s2(FSM_State &fsm, void* pData);
|
||||
|
||||
//岸基备航
|
||||
// FSM_State m_ShoreReady_s3;
|
||||
|
||||
//水中备航
|
||||
|
||||
//自动工况
|
||||
|
||||
//故障处理
|
||||
FSM_State m_Fault_s99;
|
||||
static int handleFault_s99(FSM_State &fsm, void* pData);
|
||||
//======================================================================================
|
||||
int checkError();
|
||||
bool shutdown();
|
||||
bool powerOn();
|
||||
bool powerOff();
|
||||
//==================================================================================
|
||||
int checkError();
|
||||
bool shutdown();
|
||||
bool powerOn();
|
||||
bool powerOff();
|
||||
|
||||
bool sendNotification(const std::string& key, const std::string& value) {
|
||||
return Notify(key, value);
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,586 @@
|
||||
#include "UpperCommManager.h"
|
||||
#include "PowerManger.h"
|
||||
#include "driver.h"
|
||||
|
||||
UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}
|
||||
|
||||
bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
|
||||
if(key == DB_TO_PM_MSCMD) {
|
||||
m_pm->m_msCmd = getMasterControlCmd(key, strJson);
|
||||
return true;
|
||||
}
|
||||
else if(key == DB_TO_PM_EQUIPMENTCMD) {
|
||||
m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
|
||||
return true;
|
||||
}
|
||||
else if(key == DB_TO_PM_SUBDISSTATE) {
|
||||
m_pm->m_subDisSysState = getSubDisState(key, strJson);
|
||||
return true;
|
||||
}
|
||||
else if(key == DB_TO_PM_DEEPTH) {
|
||||
m_pm->m_depth = getDeepth(key, strJson);
|
||||
return true;
|
||||
}
|
||||
std::cout << "Unknown key: " << key << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
|
||||
{
|
||||
MSControlCmd cmd;
|
||||
if (parseControlCmdFromJson(cmd, msg)) {
|
||||
|
||||
return cmd;
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
|
||||
<< MOOS::ConsoleColours::reset << endl;
|
||||
}
|
||||
}
|
||||
|
||||
const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
|
||||
{
|
||||
DriverTable cmd;
|
||||
if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
|
||||
cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
|
||||
<< MOOS::ConsoleColours::reset << endl;
|
||||
}
|
||||
return cmd;
|
||||
}
|
||||
|
||||
const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
|
||||
{
|
||||
DriverTable state;
|
||||
if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
|
||||
cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
|
||||
<< MOOS::ConsoleColours::reset << endl;
|
||||
}
|
||||
}
|
||||
|
||||
const int UpperCommManager::getDeepth(const std::string& key, const std::string& msg){
|
||||
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;
|
||||
return -1;
|
||||
}
|
||||
|
||||
// 检查并读取深度数组
|
||||
if (root.isMember("value_array_uint16") && root["value_array_uint16"].isArray()) {
|
||||
const Json::Value& array = root["value_array_uint16"];
|
||||
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 {
|
||||
std::cerr << "深度数组元素不足3个" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
} else {
|
||||
std::cerr << "JSON格式错误" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return deepth;
|
||||
}
|
||||
|
||||
const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
|
||||
{
|
||||
return m_pm->m_driver.saveDriverTableToJson(&driver);
|
||||
}
|
||||
|
||||
const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
|
||||
{
|
||||
return m_pm->m_driver.saveDriverTableToJson(&driver);
|
||||
}
|
||||
|
||||
void UpperCommManager::processPeriodicTasks() {
|
||||
buildSystemReport();
|
||||
std::string strJson;
|
||||
strJson = getCurrentEquState(m_pm->m_currentDriverState);
|
||||
m_pm->sendNotification(PM_TO_DB_EQUIPMENTSTATE, strJson);
|
||||
strJson = getSubDisCmd(m_pm->m_subDisSysCmd);
|
||||
m_pm->sendNotification(PM_TO_DB_SUBDISCMD, strJson);
|
||||
}
|
||||
bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
|
||||
{
|
||||
Json::CharReaderBuilder builder;
|
||||
Json::Value root;
|
||||
std::string errs;
|
||||
|
||||
// 解析JSON字符串
|
||||
std::istringstream s(strJson);
|
||||
if (!Json::parseFromStream(builder, s, &root, &errs))
|
||||
{
|
||||
std::cerr << "JSON解析失败: " << errs << std::endl;
|
||||
return false; // 解析失败
|
||||
}
|
||||
if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
|
||||
{
|
||||
cmd.powerCMD = root["powerCMD"].asUInt();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
|
||||
return false; // 缺少或类型不匹配
|
||||
}
|
||||
|
||||
if (root.isMember("modCMD") && root["modCMD"].isUInt())
|
||||
{
|
||||
cmd.modCMD = root["modCMD"].asUInt();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
|
||||
return false; // 缺少或类型不匹配
|
||||
}
|
||||
|
||||
if (root.isMember("workCMD") && root["workCMD"].isUInt())
|
||||
{
|
||||
cmd.workCMD = root["workCMD"].asUInt();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
|
||||
return false; // 缺少或类型不匹配
|
||||
}
|
||||
return true; // 成功
|
||||
}
|
||||
void UpperCommManager::buildSystemReport() {
|
||||
string suffix;
|
||||
Json::Value pms;
|
||||
Json::Value fcs;
|
||||
Json::Value lbs;
|
||||
Json::Value dis;
|
||||
// 构建能源系统报告
|
||||
//1.构建系统状态报告
|
||||
suffix = getTypeName(typeid(m_pm->workCondition).name());
|
||||
pms[VAR_TO_STR(workCondition)+suffix] = m_pm->workCondition;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->currentMod).name());
|
||||
pms[VAR_TO_STR(currentMod)+suffix] = m_pm->currentMod;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->powerState).name());
|
||||
pms[VAR_TO_STR(powerState)+suffix] = m_pm->powerState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->falutLevel).name());
|
||||
pms[VAR_TO_STR(falutLevel)+suffix] = m_pm->falutLevel;
|
||||
|
||||
Json::Value faultCode_array;
|
||||
for(auto val : m_pm->faultCode)
|
||||
{
|
||||
faultCode_array.append(val);
|
||||
}
|
||||
pms[VAR_TO_STR(faultCode_array)] = faultCode_array;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->soc).name());
|
||||
pms[VAR_TO_STR(soc)+suffix] = m_pm->soc;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->sustainableTime).name());
|
||||
pms[VAR_TO_STR(sustainableTime)+suffix] = m_pm->sustainableTime;
|
||||
|
||||
//2.构建燃料电池状态报告
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuState).name());
|
||||
fcs[VAR_TO_STR(fcuState)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuFaultLeve).name());
|
||||
fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuFaultLeve;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLimit).name());
|
||||
fcs[VAR_TO_STR(powLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLimit;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.totalPowerGeneration).name());
|
||||
fcs[VAR_TO_STR(powerGen)+suffix] = m_pm->m_pmCurrentState.ccustate.totalPowerGeneration;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4o).name());
|
||||
fcs[VAR_TO_STR(ch4o)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4o;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2).name());
|
||||
fcs[VAR_TO_STR(o2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltage).name());
|
||||
fcs[VAR_TO_STR(fcuVol)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltage;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrent).name());
|
||||
fcs[VAR_TO_STR(fcuCur)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrent;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Level).name());
|
||||
fcs[VAR_TO_STR(o2Level)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Level;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.exchangerTemperature).name());
|
||||
fcs[VAR_TO_STR(excTemp)+suffix] = m_pm->m_pmCurrentState.ccustate.exchangerTemperature;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutPower).name());
|
||||
fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutPower;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutIns).name());
|
||||
fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutIns;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltageIns).name());
|
||||
fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltageIns;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltagePower).name());
|
||||
fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltagePower;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentIns).name());
|
||||
fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentIns;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentPower).name());
|
||||
fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentPower;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration1).name());
|
||||
fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration2).name());
|
||||
fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration1).name());
|
||||
fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration2).name());
|
||||
fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration1).name());
|
||||
fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration2).name());
|
||||
fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure1).name());
|
||||
fcs[VAR_TO_STR(backpressure1)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure2).name());
|
||||
fcs[VAR_TO_STR(backpressure2)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.flameDetection).name());
|
||||
fcs[VAR_TO_STR(flameDet)+suffix] = m_pm->m_pmCurrentState.ccustate.flameDetection;
|
||||
|
||||
unsigned short faultCode1;
|
||||
unsigned short faultCode2;
|
||||
unsigned short faultCode3;
|
||||
faultCode1 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_1L;
|
||||
faultCode2 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_2L;
|
||||
faultCode3 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_3H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_3L;
|
||||
|
||||
suffix = getTypeName(typeid(faultCode1).name());
|
||||
fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1;
|
||||
suffix = getTypeName(typeid(faultCode2).name());
|
||||
fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2;
|
||||
suffix = getTypeName(typeid(faultCode3).name());
|
||||
fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3;
|
||||
|
||||
//4.构建动力锂电池状态报告
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name());
|
||||
lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name());
|
||||
lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name());
|
||||
lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name());
|
||||
lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name());
|
||||
lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name());
|
||||
lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name());
|
||||
lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name());
|
||||
lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name());
|
||||
lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
|
||||
lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
|
||||
lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
|
||||
lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name());
|
||||
lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name());
|
||||
lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name());
|
||||
lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name());
|
||||
lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name());
|
||||
lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name());
|
||||
lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name());
|
||||
lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name());
|
||||
lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name());
|
||||
lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name());
|
||||
lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
|
||||
lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
|
||||
lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name());
|
||||
lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name());
|
||||
lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name());
|
||||
lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
|
||||
lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
|
||||
lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
|
||||
lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
|
||||
lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
|
||||
lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
|
||||
lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
|
||||
lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
|
||||
lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
|
||||
lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
|
||||
|
||||
//5.构建配电系统状态报告
|
||||
disBus1Breaker* pdis1=new disBus1Breaker;
|
||||
disBus2Breaker* pdis2=new disBus2Breaker;
|
||||
disBus3Breaker* pdis3=new disBus3Breaker;
|
||||
disBus4Breaker* pdis4=new disBus4Breaker;
|
||||
|
||||
*pdis1 = m_pm->m_currentDisBreakerState.bus1Breaker;
|
||||
*pdis2 = m_pm->m_currentDisBreakerState.bus2Breaker;
|
||||
*pdis3 = m_pm->m_currentDisBreakerState.bus3Breaker;
|
||||
*pdis4 = m_pm->m_currentDisBreakerState.bus4Breaker;
|
||||
|
||||
dis["HVolBusBreaker_uint16"] = *(unsigned short*)pdis1;
|
||||
dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
|
||||
dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
|
||||
dis["LVolBusBreaker_uint16"] = *(unsigned short*)pdis4;
|
||||
|
||||
//TODO: 构建配电系统故障码
|
||||
Json::Value faultCodeDis_array;
|
||||
for(auto val : m_pm->faultCode)
|
||||
{
|
||||
faultCodeDis_array.append(val);
|
||||
}
|
||||
dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;
|
||||
|
||||
|
||||
Json::Value currentBusState;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusVoltage).name());
|
||||
currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarAVoltage).name());
|
||||
currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarAVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarACurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarACurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current).name());
|
||||
currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current).name());
|
||||
currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent1).name());
|
||||
currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent1;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current).name());
|
||||
currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent2).name());
|
||||
currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent2;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent3).name());
|
||||
currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent3;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBVoltage).name());
|
||||
currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current).name());
|
||||
currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.actuatorCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pm->m_pmCurrentState.bus2State.actuatorCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.xczCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pm->m_pmCurrentState.bus2State.xczCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage).name());
|
||||
currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent1).name());
|
||||
currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent1;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name());
|
||||
currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent2).name());
|
||||
currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent2;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage).name());
|
||||
currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent).name());
|
||||
currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent;
|
||||
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage).name());
|
||||
currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent).name());
|
||||
currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit1Current).name());
|
||||
currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit1Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit2Current).name());
|
||||
currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit2Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit3Current).name());
|
||||
currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit3Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit5Current).name());
|
||||
currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit5Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent).name());
|
||||
currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name());
|
||||
currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current;
|
||||
suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage).name());
|
||||
currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage;
|
||||
|
||||
// dis["currentBusState"] = currentBusState;
|
||||
|
||||
// pms[VAR_TO_STR(fcs_obj)] = fcs;
|
||||
// pms[VAR_TO_STR(lbs_obj)] = lbs;
|
||||
// pms[VAR_TO_STR(dis_obj)] = dis;
|
||||
|
||||
m_pm->sendNotification(PM_TO_DB_STATE, pms.toStyledString());
|
||||
m_pm->sendNotification(PM_TO_DB_FCSSTATE, fcs.toStyledString());
|
||||
m_pm->sendNotification(PM_TO_DB_LIBATSTATE, lbs.toStyledString());
|
||||
m_pm->sendNotification(PM_TO_DB_DISSTATE, dis.toStyledString());
|
||||
m_pm->sendNotification(PM_TO_DB_CURRENTSTATE, currentBusState.toStyledString());
|
||||
|
||||
// 使用StreamWriterBuilder来设置保持插入顺序
|
||||
Json::StreamWriterBuilder builder;
|
||||
builder["indentation"] = " "; // 设置不缩进，保持紧凑格式
|
||||
builder["enableYAMLCompatibility"] = true; // 保持插入顺序
|
||||
|
||||
// 将Json::Value对象转换为字符串
|
||||
string pathFile = "/home/zjk/project/H100/H100PowerManger/data/msg/";
|
||||
string jsonStr = Json::writeString(builder, pms);
|
||||
|
||||
saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_STATE+".json");
|
||||
|
||||
jsonStr = Json::writeString(builder, fcs);
|
||||
saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_FCSSTATE+".json");
|
||||
|
||||
jsonStr = Json::writeString(builder, lbs);
|
||||
saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_LIBATSTATE+".json");
|
||||
|
||||
jsonStr = Json::writeString(builder, dis);
|
||||
saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_DISSTATE + ".json");
|
||||
|
||||
jsonStr = Json::writeString(builder, currentBusState);
|
||||
saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_CURRENTSTATE + ".json");
|
||||
|
||||
// return true;
|
||||
}
|
||||
bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath)
|
||||
{
|
||||
std::ofstream file(filePath, std::ios::trunc);
|
||||
if (file.is_open()) {
|
||||
file << strJson;
|
||||
file.close();
|
||||
// std::cout << "字符串已成功保存到文件中。" << std::endl;
|
||||
return true;
|
||||
} else {
|
||||
std::cerr << "无法打开文件！" << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
string UpperCommManager::getTypeName(const string typeName)
|
||||
{
|
||||
// 映射类型名称到指定的字符串
|
||||
if (typeName == "i" || typeName == "c") {
|
||||
return "_int8";
|
||||
} else if (typeName == "h" || typeName == "C") {
|
||||
return "_uint8";
|
||||
} else if (typeName == "s" || typeName == "S") {
|
||||
return "_int16";
|
||||
} else if (typeName == "t" || typeName == "T") {
|
||||
return "_uint16";
|
||||
} else if (typeName == "i" || typeName == "I") {
|
||||
return "_int32";
|
||||
} else if (typeName == "j" || typeName == "J") {
|
||||
return "_uint32";
|
||||
} else if (typeName == "x" || typeName == "X") {
|
||||
return "_int64";
|
||||
} else if (typeName == "f" || typeName == "F") {
|
||||
return "_fp32";
|
||||
} else if (typeName == "d" || typeName == "D") {
|
||||
return "_fp64";
|
||||
} else if (typeName == "b" || typeName == "B") {
|
||||
return "_bool";
|
||||
} else if (typeName == "NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE") {
|
||||
return "_str";
|
||||
} else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") {
|
||||
return "_array";
|
||||
} else {
|
||||
// 默认情况
|
||||
return "_obj";
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
#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>
|
||||
using namespace std;
|
||||
#define VAR_TO_STR(var) #var
|
||||
//能源管理反馈的消息
|
||||
#define PM_TO_DB_STATE "uPower_pmState_st"
|
||||
#define PM_TO_DB_CURRENTSTATE "uPower_currentState_st"
|
||||
#define PM_TO_DB_DISSTATE "uPower_disSysState_st"
|
||||
#define PM_TO_DB_LIBATSTATE "uPower_liBatState_st"
|
||||
#define PM_TO_DB_FCSSTATE "uPower_fcsState_st"
|
||||
|
||||
#define PM_TO_DB_SUBDISCMD "uPower_secdistState_cmd"
|
||||
#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb"
|
||||
|
||||
//控制消息
|
||||
#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
|
||||
#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
|
||||
#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
|
||||
|
||||
//决策消息
|
||||
#define DB_TO_PM_DEEPTH "uDevice_depth_st"
|
||||
#define DB_TO_PM_MISSION "uPlan_taskStart_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();
|
||||
|
||||
// 消息处理函数
|
||||
const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
|
||||
const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
|
||||
const DriverTable getSubDisState(const std::string& key, const std::string& msg);
|
||||
const int getDeepth(const std::string& key, const std::string& msg);
|
||||
|
||||
|
||||
const std::string getCurrentEquState(DriverTable& driver);
|
||||
const std::string getSubDisCmd(DriverTable& driver);
|
||||
// 其他公共函数
|
||||
string getTypeName(const string typeName);
|
||||
bool saveStringToJsonFile(const string &strJson, const string &filePath);
|
||||
|
||||
private:
|
||||
PowerManger* m_pm;
|
||||
MSControlCmd m_msCmd;
|
||||
Driver m_driver;
|
||||
|
||||
// 从JSON解析控制命令
|
||||
bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
|
||||
};
|
||||
|
||||
#endif // UPPER_COMM_MANAGER_H
|
||||
+62
-62
@@ -59,72 +59,72 @@ int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
|
||||
void Driver::getSTANDBYTable(DriverTable* driverTable)
|
||||
{
|
||||
//打开所有传感器
|
||||
driverTable->depth1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->depth2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->depth1 = 1;
|
||||
driverTable->depth2 = 1;
|
||||
driverTable->depth3 = 1;
|
||||
driverTable->overDeep1 = 1;
|
||||
driverTable->overDeep2 = 1;
|
||||
driverTable->ctd1 = 1;
|
||||
driverTable->ctd2 = 1;
|
||||
driverTable->soundVeloc = 1;
|
||||
driverTable->commMast = 1;
|
||||
driverTable->ins = 1;
|
||||
driverTable->ntp = 1;
|
||||
driverTable->inputWaterSensor1 = 1;
|
||||
driverTable->inputWaterSensor2 = 1;
|
||||
driverTable->inputWaterSensor3 = 1;
|
||||
|
||||
//关闭所有负载
|
||||
driverTable->photoSensor = DRIVER_STANDBY;
|
||||
driverTable->electSensor = DRIVER_STANDBY;
|
||||
driverTable->launchControler = DRIVER_STANDBY;
|
||||
driverTable->sideSonar = DRIVER_POWER_OFF;
|
||||
driverTable->buoyage = DRIVER_POWER_OFF;
|
||||
driverTable->photoSensor = 0;
|
||||
driverTable->electSensor = 0;
|
||||
driverTable->launchControler = 0;
|
||||
driverTable->sideSonar = 0;
|
||||
driverTable->buoyage = 0;
|
||||
//关闭所有水声设备
|
||||
driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
|
||||
driverTable->DVL = DRIVER_POWER_OFF;
|
||||
driverTable->forwardSonar = DRIVER_POWER_OFF;
|
||||
driverTable->lowFreqSonar = DRIVER_POWER_OFF;
|
||||
driverTable->USBL = DRIVER_POWER_OFF;
|
||||
driverTable->singleBeamSonar1 = 0;
|
||||
driverTable->singleBeamSonar2 = 0;
|
||||
driverTable->singleBeamSonar3 = 0;
|
||||
driverTable->singleBeamSonar4 = 0;
|
||||
driverTable->singleBeamSonar5 = 0;
|
||||
driverTable->singleBeamSonar6 = 0;
|
||||
driverTable->singleBeamSonar7 = 0;
|
||||
driverTable->singleBeamSonar8 = 0;
|
||||
driverTable->DVL = 0;
|
||||
driverTable->forwardSonar = 0;
|
||||
driverTable->lowFreqSonar = 0;
|
||||
driverTable->USBL = 0;
|
||||
//关闭所有执行机构
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->mastLiftingServo = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_POWER_OFF;
|
||||
driverTable->sternRudderServo1 = DRIVER_POWER_OFF;
|
||||
driverTable->sternRudderServo2 = DRIVER_POWER_OFF;
|
||||
driverTable->sternRudderServo3 = DRIVER_POWER_OFF;
|
||||
driverTable->sternRudderServo4 = DRIVER_POWER_OFF;
|
||||
driverTable->thruster = DRIVER_POWER_OFF;
|
||||
driverTable->bowThrow = DRIVER_POWER_OFF;
|
||||
driverTable->sternThrow = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover1 = 0;
|
||||
driverTable->bowCover2 = 0;
|
||||
driverTable->bowCover3 = 0;
|
||||
driverTable->bowCover4 = 0;
|
||||
driverTable->bowCover5 = 0;
|
||||
driverTable->bowCover6 = 0;
|
||||
driverTable->bowRudderDeploy = 0;
|
||||
driverTable->bowRudderServo1 = 0;
|
||||
driverTable->bowRudderServo2 = 0;
|
||||
driverTable->bowWaterlnet1 = 0;
|
||||
driverTable->bowWaterlnet2 = 0;
|
||||
driverTable->bowWaterlnet3 = 0;
|
||||
driverTable->bowWaterlnet4 = 0;
|
||||
driverTable->bowWaterlnet5 = 0;
|
||||
driverTable->bowWaterlnet6 = 0;
|
||||
driverTable->bowWaterlnet7 = 0;
|
||||
driverTable->bowWaterlnet8 = 0;
|
||||
driverTable->waterInject = 0;
|
||||
driverTable->mastLiftingServo = 0;
|
||||
driverTable->buoyancyAdjust1 = 0;
|
||||
driverTable->buoyancyAdjust2 = 0;
|
||||
driverTable->buoyancyAdjust3 = 0;
|
||||
driverTable->buoyancyAdjust4 = 0;
|
||||
driverTable->buoyancyAdjust5 = 0;
|
||||
driverTable->sternRudderServo1 = 0;
|
||||
driverTable->sternRudderServo2 = 0;
|
||||
driverTable->sternRudderServo3 = 0;
|
||||
driverTable->sternRudderServo4 = 0;
|
||||
driverTable->thruster = 0;
|
||||
driverTable->bowThrow = 0;
|
||||
driverTable->sternThrow = 0;
|
||||
}
|
||||
|
||||
void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
|
||||
|
||||
@@ -1,103 +0,0 @@
|
||||
#include "fsm.h"
|
||||
#include <iostream>
|
||||
|
||||
|
||||
FSM::FSM(/* args */)
|
||||
{
|
||||
idStateMap.clear();
|
||||
handleMap.clear();
|
||||
stateMap.clear();
|
||||
};
|
||||
|
||||
FSM::~FSM()
|
||||
{
|
||||
};
|
||||
|
||||
int FSM::run(FSM_State &fsm,void* data)
|
||||
{
|
||||
FSM_Handle handle = handleMap[fsm.id];
|
||||
return handle(fsm,data);
|
||||
}
|
||||
int FSM::RegisterHandleFunction(FSM_State* fsm, FSM_Handle handle)
|
||||
{
|
||||
if(fsm == NULL)
|
||||
return -1;
|
||||
if(handleMap.count(fsm->id) > 0)
|
||||
return -1;
|
||||
handleMap[fsm->id] = handle;
|
||||
return 0;
|
||||
}
|
||||
int FSM::unRegisterHandleFunction(FSM_State* fsm)
|
||||
{
|
||||
if(fsm == NULL)
|
||||
return -1;
|
||||
if(handleMap.count(fsm->id) <= 0)
|
||||
return -1;
|
||||
handleMap.erase(fsm->id);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int FSM::RegisterState(std::string name, unsigned int id,FSM_State &state)
|
||||
{
|
||||
if(stateMap.count(name) > 0)
|
||||
return -1;
|
||||
if(idStateMap.count(id) > 0)
|
||||
return -1;
|
||||
state.name = name;
|
||||
state.id = id;
|
||||
stateMap[name] = state;
|
||||
idStateMap[id] = state;
|
||||
return 0;
|
||||
}
|
||||
|
||||
unsigned int FSM::getStateId(std::string name)
|
||||
{
|
||||
return stateMap[name].id;
|
||||
}
|
||||
|
||||
FSM_State FSM::getState(std::string name)
|
||||
{
|
||||
return stateMap[name];
|
||||
}
|
||||
|
||||
|
||||
int FSM::RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state)
|
||||
{
|
||||
if(fsm == NULL)
|
||||
return -1;
|
||||
fsm->event[event] = state;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int FSM::unRegisterEvent(FSM_State* fsm, std::string event)
|
||||
{
|
||||
if(fsm == NULL)
|
||||
return -1;
|
||||
if(fsm->event.count(event) <= 0)
|
||||
return -1;
|
||||
fsm->event.erase(event);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int FSM::run(FSM_State *fsm,void* data, std::string event)
|
||||
{
|
||||
if(fsm->event.count(event) <= 0)
|
||||
{
|
||||
std::cout << "no event" << std::endl;
|
||||
return run(*(fsm),data);
|
||||
}
|
||||
else
|
||||
{
|
||||
int r = run(*(fsm),data);
|
||||
// fsm = fsm->event[event];
|
||||
*fsm = *fsm->event[event];
|
||||
// std::cout << "event " << event <<std::endl;
|
||||
// std::cout << "fsm" << fsm->name << std::endl;
|
||||
return r;
|
||||
}
|
||||
}
|
||||
|
||||
// int FSM::run(FSM_State *fsm,void* data)
|
||||
// {
|
||||
// return run(*fsm,data);
|
||||
// }
|
||||
@@ -1,40 +0,0 @@
|
||||
#ifndef FSM_H
|
||||
#define FSM_H
|
||||
|
||||
#include <string>
|
||||
#include <map>
|
||||
|
||||
|
||||
typedef struct FSM_State
|
||||
{
|
||||
std::string name;
|
||||
unsigned int id;
|
||||
std::map<std::string,FSM_State*> event;
|
||||
}FSM_State;
|
||||
|
||||
typedef int (*FSM_Handle)(FSM_State &fsm, void *data);
|
||||
// typedef int (*FSM_EventHandle)(FSM_State &fsm,std::string event,void *data);
|
||||
|
||||
class FSM
|
||||
{
|
||||
public:
|
||||
FSM();
|
||||
~FSM();
|
||||
std::map<unsigned int, FSM_Handle> handleMap;
|
||||
std::map<std::string, FSM_State> stateMap;
|
||||
std::map<unsigned int, FSM_State> idStateMap;
|
||||
|
||||
int run(FSM_State &fsm,void* data);
|
||||
int run(FSM_State *fsm,void* data, std::string event);
|
||||
|
||||
//TODO: 事件注册机制实现
|
||||
int RegisterEvent(FSM_State* fsm, std::string event, FSM_State *state);
|
||||
int unRegisterEvent(FSM_State* fsm, std::string event);
|
||||
|
||||
int RegisterState(std::string name, unsigned int id,FSM_State &state);
|
||||
FSM_State getState(std::string name);
|
||||
unsigned int getStateId(std::string name);
|
||||
int RegisterHandleFunction(FSM_State* fsm, FSM_Handle handle);
|
||||
int unRegisterHandleFunction(FSM_State* fsm);
|
||||
};
|
||||
#endif
|
||||
@@ -361,4 +361,53 @@ typedef struct pmState
|
||||
}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
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,251 @@
|
||||
/*
|
||||
* TinyFSM - Tiny Finite State Machine Processor
|
||||
*
|
||||
* Copyright (c) 2012-2022 Axel Burri
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
* THE SOFTWARE.
|
||||
*/
|
||||
|
||||
/* ---------------------------------------------------------------------
|
||||
* Version: 0.3.3
|
||||
*
|
||||
* API documentation: see "../doc/50-API.md"
|
||||
*
|
||||
* The official TinyFSM website is located at:
|
||||
* https://digint.ch/tinyfsm/
|
||||
*
|
||||
* Author:
|
||||
* Axel Burri <axel@tty0.ch>
|
||||
* ---------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef TINYFSM_HPP_INCLUDED
|
||||
#define TINYFSM_HPP_INCLUDED
|
||||
|
||||
#ifndef TINYFSM_NOSTDLIB
|
||||
#include <type_traits>
|
||||
#endif
|
||||
|
||||
// #include <iostream>
|
||||
// #define DBG(str) do { std::cerr << str << std::endl; } while( false )
|
||||
// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__);
|
||||
|
||||
namespace tinyfsm
|
||||
{
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
struct Event { };
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
#ifdef TINYFSM_NOSTDLIB
|
||||
// remove dependency on standard library (silent fail!).
|
||||
// useful in conjunction with -nostdlib option, e.g. if your compiler
|
||||
// does not provide a standard library.
|
||||
// NOTE: this silently disables all static_assert() calls below!
|
||||
template<typename F, typename S>
|
||||
struct is_same_fsm { static constexpr bool value = true; };
|
||||
#else
|
||||
// check if both fsm and state class share same fsmtype
|
||||
template<typename F, typename S>
|
||||
struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { };
|
||||
#endif
|
||||
|
||||
template<typename S>
|
||||
struct _state_instance
|
||||
{
|
||||
using value_type = S;
|
||||
using type = _state_instance<S>;
|
||||
static S value;
|
||||
};
|
||||
|
||||
template<typename S>
|
||||
typename _state_instance<S>::value_type _state_instance<S>::value;
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename F>
|
||||
class Fsm
|
||||
{
|
||||
public:
|
||||
|
||||
using fsmtype = Fsm<F>;
|
||||
using state_ptr_t = F *;
|
||||
|
||||
static state_ptr_t current_state_ptr;
|
||||
|
||||
// public, leaving ability to access state instance (e.g. on reset)
|
||||
template<typename S>
|
||||
static constexpr S & state(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
|
||||
return _state_instance<S>::value;
|
||||
}
|
||||
|
||||
template<typename S>
|
||||
static constexpr bool is_in_state(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
|
||||
return current_state_ptr == &_state_instance<S>::value;
|
||||
}
|
||||
|
||||
/// state machine functions
|
||||
public:
|
||||
|
||||
// explicitely specialized in FSM_INITIAL_STATE macro
|
||||
static void set_initial_state();
|
||||
|
||||
static void reset() { };
|
||||
|
||||
static void enter() {
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
static void start() {
|
||||
set_initial_state();
|
||||
enter();
|
||||
}
|
||||
|
||||
template<typename E>
|
||||
static void dispatch(E const & event) {
|
||||
current_state_ptr->react(event);
|
||||
}
|
||||
|
||||
|
||||
/// state transition functions
|
||||
protected:
|
||||
|
||||
template<typename S>
|
||||
void transit(void) {
|
||||
static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
|
||||
current_state_ptr->exit();
|
||||
current_state_ptr = &_state_instance<S>::value;
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
template<typename S, typename ActionFunction>
|
||||
void transit(ActionFunction action_function) {
|
||||
static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
|
||||
current_state_ptr->exit();
|
||||
// NOTE: do not send events in action_function definisions.
|
||||
action_function();
|
||||
current_state_ptr = &_state_instance<S>::value;
|
||||
current_state_ptr->entry();
|
||||
}
|
||||
|
||||
template<typename S, typename ActionFunction, typename ConditionFunction>
|
||||
void transit(ActionFunction action_function, ConditionFunction condition_function) {
|
||||
if(condition_function()) {
|
||||
transit<S>(action_function);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
template<typename F>
|
||||
typename Fsm<F>::state_ptr_t Fsm<F>::current_state_ptr;
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename... FF>
|
||||
struct FsmList;
|
||||
|
||||
template<> struct FsmList<> {
|
||||
static void set_initial_state() { }
|
||||
static void reset() { }
|
||||
static void enter() { }
|
||||
template<typename E>
|
||||
static void dispatch(E const &) { }
|
||||
};
|
||||
|
||||
template<typename F, typename... FF>
|
||||
struct FsmList<F, FF...>
|
||||
{
|
||||
using fsmtype = Fsm<F>;
|
||||
|
||||
static void set_initial_state() {
|
||||
fsmtype::set_initial_state();
|
||||
FsmList<FF...>::set_initial_state();
|
||||
}
|
||||
|
||||
static void reset() {
|
||||
F::reset();
|
||||
FsmList<FF...>::reset();
|
||||
}
|
||||
|
||||
static void enter() {
|
||||
fsmtype::enter();
|
||||
FsmList<FF...>::enter();
|
||||
}
|
||||
|
||||
static void start() {
|
||||
set_initial_state();
|
||||
enter();
|
||||
}
|
||||
|
||||
template<typename E>
|
||||
static void dispatch(E const & event) {
|
||||
fsmtype::template dispatch<E>(event);
|
||||
FsmList<FF...>::template dispatch<E>(event);
|
||||
}
|
||||
};
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename... SS> struct StateList;
|
||||
template<> struct StateList<> {
|
||||
static void reset() { }
|
||||
};
|
||||
template<typename S, typename... SS>
|
||||
struct StateList<S, SS...>
|
||||
{
|
||||
static void reset() {
|
||||
_state_instance<S>::value = S();
|
||||
StateList<SS...>::reset();
|
||||
}
|
||||
};
|
||||
|
||||
// --------------------------------------------------------------------------
|
||||
|
||||
template<typename F>
|
||||
struct MooreMachine : tinyfsm::Fsm<F>
|
||||
{
|
||||
virtual void entry(void) { }; /* entry actions in some states */
|
||||
void exit(void) { }; /* no exit actions */
|
||||
};
|
||||
|
||||
template<typename F>
|
||||
struct MealyMachine : tinyfsm::Fsm<F>
|
||||
{
|
||||
// input actions are modeled in react():
|
||||
// - conditional dependent of event type or payload
|
||||
// - transit<>(ActionFunction)
|
||||
void entry(void) { }; /* no entry actions */
|
||||
void exit(void) { }; /* no exit actions */
|
||||
};
|
||||
|
||||
} /* namespace tinyfsm */
|
||||
|
||||
|
||||
#define FSM_INITIAL_STATE(_FSM, _STATE) \
|
||||
namespace tinyfsm { \
|
||||
template<> void Fsm< _FSM >::set_initial_state(void) { \
|
||||
current_state_ptr = &_state_instance< _STATE >::value; \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* TINYFSM_HPP_INCLUDED */
|
||||
@@ -4,10 +4,17 @@
|
||||
|
||||
udpComm::udpComm()
|
||||
{
|
||||
|
||||
udpScoket = nullptr;
|
||||
ccuHost = "";
|
||||
ccuPort = 0;
|
||||
}
|
||||
|
||||
udpComm::~udpComm() {}
|
||||
udpComm::~udpComm() {
|
||||
if (udpScoket) {
|
||||
delete udpScoket;
|
||||
udpScoket = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Checksum udpComm::calculateChecksum(const unsigned char* data, int size)
|
||||
@@ -490,6 +497,12 @@ bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
try
|
||||
{
|
||||
if(udpScoket == nullptr) {
|
||||
throw std::runtime_error("UDP socket not initialized");
|
||||
}
|
||||
if(ccuHost.empty() || ccuPort <= 0 || ccuPort > 65535) {
|
||||
throw std::runtime_error("Invalid CCU address: " + ccuHost + ":" + std::to_string(ccuPort));
|
||||
}
|
||||
sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
|
||||
@@ -50,6 +50,7 @@ public:
|
||||
bool sendDisSysCmd(const disHighBVolBusCmd cmd);
|
||||
bool sendDisSysCmd(const disLowBusCmd cmd);
|
||||
bool sendMsg(const unsigned char* msg,unsigned int size){
|
||||
// cout << "sendMsgTo" << ccuHost << ":" << ccuPort << endl;
|
||||
udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
|
||||
return true;
|
||||
}
|
||||
|
||||
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Reference in New Issue
Block a user