Compare commits
1
Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 CI Bot
|
8c9be14f5d |
-242
@@ -1,242 +0,0 @@
|
||||
# ---> C++
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
# ---> Python
|
||||
# Byte-compiled / optimized / DLL files
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
# Distribution / packaging
|
||||
.Python
|
||||
build/
|
||||
develop-eggs/
|
||||
dist/
|
||||
downloads/
|
||||
eggs/
|
||||
.eggs/
|
||||
lib/
|
||||
lib64/
|
||||
parts/
|
||||
sdist/
|
||||
var/
|
||||
wheels/
|
||||
share/python-wheels/
|
||||
*.egg-info/
|
||||
.installed.cfg
|
||||
*.egg
|
||||
MANIFEST
|
||||
|
||||
# PyInstaller
|
||||
# Usually these files are written by a python script from a template
|
||||
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# Installer logs
|
||||
pip-log.txt
|
||||
pip-delete-this-directory.txt
|
||||
|
||||
# Unit test / coverage reports
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
.coverage
|
||||
.coverage.*
|
||||
.cache
|
||||
nosetests.xml
|
||||
coverage.xml
|
||||
*.cover
|
||||
*.py,cover
|
||||
.hypothesis/
|
||||
.pytest_cache/
|
||||
cover/
|
||||
|
||||
# Translations
|
||||
*.mo
|
||||
*.pot
|
||||
|
||||
# Django stuff:
|
||||
*.log
|
||||
local_settings.py
|
||||
db.sqlite3
|
||||
db.sqlite3-journal
|
||||
|
||||
# Flask stuff:
|
||||
instance/
|
||||
.webassets-cache
|
||||
|
||||
# Scrapy stuff:
|
||||
.scrapy
|
||||
|
||||
# Sphinx documentation
|
||||
docs/_build/
|
||||
|
||||
# PyBuilder
|
||||
.pybuilder/
|
||||
target/
|
||||
|
||||
# Jupyter Notebook
|
||||
.ipynb_checkpoints
|
||||
|
||||
# IPython
|
||||
profile_default/
|
||||
ipython_config.py
|
||||
|
||||
# pyenv
|
||||
# For a library or package, you might want to ignore these files since the code is
|
||||
# intended to run in multiple environments; otherwise, check them in:
|
||||
# .python-version
|
||||
|
||||
# pipenv
|
||||
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
|
||||
# However, in case of collaboration, if having platform-specific dependencies or dependencies
|
||||
# having no cross-platform support, pipenv may install dependencies that don't work, or not
|
||||
# install all needed dependencies.
|
||||
#Pipfile.lock
|
||||
|
||||
# poetry
|
||||
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
|
||||
# This is especially recommended for binary packages to ensure reproducibility, and is more
|
||||
# commonly ignored for libraries.
|
||||
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
|
||||
#poetry.lock
|
||||
|
||||
# pdm
|
||||
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
|
||||
#pdm.lock
|
||||
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
|
||||
# in version control.
|
||||
# https://pdm.fming.dev/#use-with-ide
|
||||
.pdm.toml
|
||||
|
||||
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
|
||||
__pypackages__/
|
||||
|
||||
# Celery stuff
|
||||
celerybeat-schedule
|
||||
celerybeat.pid
|
||||
|
||||
# SageMath parsed files
|
||||
*.sage.py
|
||||
|
||||
# Environments
|
||||
.env
|
||||
.venv
|
||||
env/
|
||||
venv/
|
||||
ENV/
|
||||
env.bak/
|
||||
venv.bak/
|
||||
|
||||
# Spyder project settings
|
||||
.spyderproject
|
||||
.spyproject
|
||||
|
||||
# Rope project settings
|
||||
.ropeproject
|
||||
|
||||
# mkdocs documentation
|
||||
/site
|
||||
|
||||
# mypy
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
dmypy.json
|
||||
|
||||
# Pyre type checker
|
||||
.pyre/
|
||||
|
||||
# pytype static type analyzer
|
||||
.pytype/
|
||||
|
||||
# Cython debug symbols
|
||||
cython_debug/
|
||||
|
||||
# PyCharm
|
||||
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
|
||||
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
|
||||
# and can be added to the global gitignore or merged into this file. For a more nuclear
|
||||
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
|
||||
#.idea/
|
||||
|
||||
# ---> MATLAB
|
||||
# Windows default autosave extension
|
||||
*.asv
|
||||
|
||||
# OSX / *nix default autosave extension
|
||||
*.m~
|
||||
|
||||
# Compiled MEX binaries (all platforms)
|
||||
*.mex*
|
||||
|
||||
# Packaged app and toolbox files
|
||||
*.mlappinstall
|
||||
*.mltbx
|
||||
|
||||
# Generated helpsearch folders
|
||||
helpsearch*/
|
||||
|
||||
# Simulink code generation folders
|
||||
slprj/
|
||||
sccprj/
|
||||
|
||||
# Matlab code generation folders
|
||||
codegen/
|
||||
|
||||
# Simulink autosave extension
|
||||
*.autosave
|
||||
|
||||
# Simulink cache files
|
||||
*.slxc
|
||||
|
||||
# Octave session info
|
||||
octave-workspace
|
||||
|
||||
# ---> CMake
|
||||
CMakeLists.txt.user
|
||||
CMakeCache.txt
|
||||
CMakeFiles
|
||||
CMakeScripts
|
||||
Testing
|
||||
Makefile
|
||||
cmake_install.cmake
|
||||
install_manifest.txt
|
||||
compile_commands.json
|
||||
CTestTestfile.cmake
|
||||
_deps
|
||||
|
||||
Vendored
-85
@@ -1,85 +0,0 @@
|
||||
{
|
||||
"files.associations": {
|
||||
"list": "cpp",
|
||||
"cctype": "cpp",
|
||||
"clocale": "cpp",
|
||||
"cmath": "cpp",
|
||||
"cstdarg": "cpp",
|
||||
"cstddef": "cpp",
|
||||
"cstdio": "cpp",
|
||||
"cstdlib": "cpp",
|
||||
"cstring": "cpp",
|
||||
"ctime": "cpp",
|
||||
"cwchar": "cpp",
|
||||
"cwctype": "cpp",
|
||||
"array": "cpp",
|
||||
"atomic": "cpp",
|
||||
"bit": "cpp",
|
||||
"*.tcc": "cpp",
|
||||
"compare": "cpp",
|
||||
"concepts": "cpp",
|
||||
"cstdint": "cpp",
|
||||
"deque": "cpp",
|
||||
"map": "cpp",
|
||||
"set": "cpp",
|
||||
"string": "cpp",
|
||||
"unordered_map": "cpp",
|
||||
"vector": "cpp",
|
||||
"exception": "cpp",
|
||||
"algorithm": "cpp",
|
||||
"functional": "cpp",
|
||||
"iterator": "cpp",
|
||||
"memory": "cpp",
|
||||
"memory_resource": "cpp",
|
||||
"numeric": "cpp",
|
||||
"random": "cpp",
|
||||
"string_view": "cpp",
|
||||
"system_error": "cpp",
|
||||
"tuple": "cpp",
|
||||
"type_traits": "cpp",
|
||||
"utility": "cpp",
|
||||
"fstream": "cpp",
|
||||
"initializer_list": "cpp",
|
||||
"iomanip": "cpp",
|
||||
"iosfwd": "cpp",
|
||||
"iostream": "cpp",
|
||||
"istream": "cpp",
|
||||
"limits": "cpp",
|
||||
"new": "cpp",
|
||||
"numbers": "cpp",
|
||||
"ostream": "cpp",
|
||||
"sstream": "cpp",
|
||||
"stdexcept": "cpp",
|
||||
"streambuf": "cpp",
|
||||
"cinttypes": "cpp",
|
||||
"typeinfo": "cpp",
|
||||
"queue": "cpp",
|
||||
"csignal": "cpp",
|
||||
"any": "cpp",
|
||||
"bitset": "cpp",
|
||||
"charconv": "cpp",
|
||||
"chrono": "cpp",
|
||||
"codecvt": "cpp",
|
||||
"complex": "cpp",
|
||||
"condition_variable": "cpp",
|
||||
"coroutine": "cpp",
|
||||
"optional": "cpp",
|
||||
"ratio": "cpp",
|
||||
"regex": "cpp",
|
||||
"source_location": "cpp",
|
||||
"future": "cpp",
|
||||
"mutex": "cpp",
|
||||
"semaphore": "cpp",
|
||||
"stop_token": "cpp",
|
||||
"thread": "cpp",
|
||||
"typeindex": "cpp",
|
||||
"variant": "cpp",
|
||||
"*.ipp": "cpp"
|
||||
},
|
||||
"C_Cpp.errorSquiggles": "disabled",
|
||||
"marscode.chatLanguage": "cn",
|
||||
"marscode.codeCompletionPro": {
|
||||
"enableCodeCompletionPro": true
|
||||
},
|
||||
"marscode.enableInlineCommand": true
|
||||
}
|
||||
-106
@@ -1,106 +0,0 @@
|
||||
#=======================================================================
|
||||
# FILE: moos-ivp-extend/CMakeLists.txt
|
||||
# DATE: 2012/07/24
|
||||
# INFO: Top-level CMakeLists.txt file for the moos-ivp-extend project
|
||||
# NAME: Maintained by Mike Benjamin - Original setup by Christian Convey
|
||||
# Chris Gagner, and tips borrowed from Dave Billin
|
||||
#=======================================================================
|
||||
|
||||
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
|
||||
PROJECT( IVP_EXTEND )
|
||||
|
||||
set (CMAKE_CXX_STANDARD 11)
|
||||
set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
|
||||
|
||||
#=======================================================================
|
||||
# Set the output directories for the binary and library files
|
||||
#=======================================================================
|
||||
|
||||
GET_FILENAME_COMPONENT(IVP_EXTEND_BIN_DIR "${CMAKE_SOURCE_DIR}/bin" ABSOLUTE )
|
||||
GET_FILENAME_COMPONENT(IVP_EXTEND_LIB_DIR "${CMAKE_SOURCE_DIR}/lib" ABSOLUTE )
|
||||
|
||||
SET( LIBRARY_OUTPUT_PATH "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
|
||||
SET( ARCHIVE_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
|
||||
SET( LIBRARY_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
|
||||
|
||||
SET( EXECUTABLE_OUTPUT_PATH "${IVP_EXTEND_BIN_DIR}" CACHE PATH "" )
|
||||
SET( RUNTIME_OUTPUT_DIRECTORY "${IVP_EXTEND_BIN_DIR}" CACHE PATH "" )
|
||||
|
||||
#=======================================================================
|
||||
# Find MOOS
|
||||
#=======================================================================
|
||||
find_package(MOOS 10.0)
|
||||
INCLUDE_DIRECTORIES(${MOOS_INCLUDE_DIRS})
|
||||
|
||||
#=======================================================================
|
||||
# Find the "moos-ivp" base directory
|
||||
#=======================================================================
|
||||
|
||||
# Search for the moos-ivp folder
|
||||
find_path( MOOSIVP_SOURCE_TREE_BASE
|
||||
NAMES build-ivp.sh build-moos.sh configure-ivp.sh
|
||||
PATHS "../moos-ivp" "../../moos-ivp" "../../moos-ivp/trunk/" "../moos-ivp/trunk/"
|
||||
DOC "Base directory of the MOOS-IvP source tree"
|
||||
NO_DEFAULT_PATH
|
||||
)
|
||||
|
||||
if (NOT MOOSIVP_SOURCE_TREE_BASE)
|
||||
message("Please set MOOSIVP_SOURCE_TREE_BASE to ")
|
||||
message("the location of the \"moos-ivp\" folder ")
|
||||
return()
|
||||
endif()
|
||||
|
||||
#======================================================================
|
||||
# Specify where to find IvP's headers and libraries...
|
||||
#======================================================================
|
||||
|
||||
FILE(GLOB IVP_INCLUDE_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/ivp/src/lib_* )
|
||||
INCLUDE_DIRECTORIES(${IVP_INCLUDE_DIRS})
|
||||
|
||||
FILE(GLOB IVP_LIBRARY_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/lib )
|
||||
LINK_DIRECTORIES(${IVP_LIBRARY_DIRS})
|
||||
|
||||
#======================================================================
|
||||
# Specify Compiler Flags
|
||||
#======================================================================
|
||||
IF( ${WIN32} )
|
||||
#---------------------------------------------
|
||||
# Windows Compiler Flags
|
||||
#---------------------------------------------
|
||||
IF(MSVC)
|
||||
# Flags for Microsoft Visual Studio
|
||||
SET( WALL_ON OFF CACHE BOOL
|
||||
"tell me about all compiler warnings (-Wall) ")
|
||||
IF(WALL_ON)
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
|
||||
ENDIF(WALL_ON)
|
||||
ELSE(MSVC)
|
||||
# Other Windows compilers go here
|
||||
ENDIF(MSVC)
|
||||
|
||||
ELSE( ${WIN32} )
|
||||
#---------------------------------------------
|
||||
# Linux and Apple Compiler Flags
|
||||
#---------------------------------------------
|
||||
# Force -fPIC because gcc complains when we don't use it with x86_64 code.
|
||||
# Note sure why: -fPIC should only be needed for shared objects, and
|
||||
# AFAIK, CMake gets that right when building shared objects. -CJC
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -g -Wdeprecated-declarations")
|
||||
IF(CMAKE_COMPILER_IS_GNUCXX)
|
||||
# Flags for the GNU C++ Compiler
|
||||
SET( WALL_ON OFF CACHE BOOL
|
||||
"tell me about all compiler warnings (-Wall) ")
|
||||
IF(WALL_ON)
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall" -C++11)
|
||||
ENDIF( WALL_ON)
|
||||
ELSE(CMAKE_COMPILER_IS_GNUCXX)
|
||||
|
||||
ENDIF(CMAKE_COMPILER_IS_GNUCXX)
|
||||
|
||||
ENDIF( ${WIN32} )
|
||||
|
||||
#=======================================================================
|
||||
# Add Subdirectories
|
||||
#=======================================================================
|
||||
ADD_SUBDIRECTORY( src )
|
||||
# ADD_SUBDIRECTORY( test )
|
||||
@@ -1,26 +0,0 @@
|
||||
@startuml PowerManagerFsm状态图
|
||||
[*] --> InitState
|
||||
|
||||
state InitState {
|
||||
[*] --> 等待复合管控消息
|
||||
等待复合管控消息 --> 等待关键断路器闭合: 连接成功
|
||||
等待复合管控消息 --> FaultState: 超时(10秒)
|
||||
等待关键断路器闭合 --> StandbyState: 关键断路器闭合
|
||||
等待关键断路器闭合 --> FaultState: 系统错误
|
||||
}
|
||||
|
||||
state StandbyState {
|
||||
[*] --> 待机
|
||||
待机 --> FaultState: 检测到错误
|
||||
待机 --> 处理电源命令: 收到命令
|
||||
处理电源命令 --> 待机: 完成处理
|
||||
}
|
||||
|
||||
state FaultState {
|
||||
[*] --> 故障处理
|
||||
}
|
||||
|
||||
InitState --> FaultState : FaultEvent(faultCode=1/2)
|
||||
StandbyState --> FaultState : FaultEvent(faultCode)
|
||||
InitState --> StandbyState : StandbyEvent
|
||||
@enduml
|
||||
@@ -1,5 +0,0 @@
|
||||
ProcessConfig = pPowerManger
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
@@ -1,379 +0,0 @@
|
||||
let currentDbPath = '/home/zjk/project/H100/H100PowerManger/data/power_data.db';
|
||||
|
||||
// 数据库下载功能
|
||||
function downloadDatabase() {
|
||||
const downloadBtn = document.getElementById('download-db');
|
||||
const progressBar = document.getElementById('download-progress');
|
||||
|
||||
downloadBtn.disabled = true;
|
||||
progressBar.style.display = 'block';
|
||||
progressBar.value = 0;
|
||||
|
||||
const xhr = new XMLHttpRequest();
|
||||
xhr.open('GET', '/api/download-db', true);
|
||||
xhr.responseType = 'blob';
|
||||
|
||||
xhr.onprogress = function(event) {
|
||||
if (event.lengthComputable) {
|
||||
const percentComplete = (event.loaded / event.total) * 100;
|
||||
progressBar.value = percentComplete;
|
||||
}
|
||||
};
|
||||
|
||||
xhr.onload = function() {
|
||||
if (this.status === 200) {
|
||||
const blob = this.response;
|
||||
const url = window.URL.createObjectURL(blob);
|
||||
const a = document.createElement('a');
|
||||
a.href = url;
|
||||
a.download = 'power_data.db';
|
||||
document.body.appendChild(a);
|
||||
a.click();
|
||||
window.URL.revokeObjectURL(url);
|
||||
|
||||
progressBar.value = 100;
|
||||
setTimeout(() => {
|
||||
progressBar.style.display = 'none';
|
||||
downloadBtn.disabled = false;
|
||||
}, 500);
|
||||
} else {
|
||||
throw new Error('下载失败：' + this.statusText);
|
||||
}
|
||||
};
|
||||
|
||||
xhr.onerror = function() {
|
||||
console.error('下载数据库失败:', this.statusText);
|
||||
alert('下载数据库失败：' + this.statusText);
|
||||
progressBar.style.display = 'none';
|
||||
downloadBtn.disabled = false;
|
||||
};
|
||||
|
||||
xhr.send();
|
||||
}
|
||||
|
||||
document.getElementById('download-db').addEventListener('click', downloadDatabase);
|
||||
|
||||
// WebSocket连接
|
||||
let ws = null;
|
||||
let reconnectAttempts = 0;
|
||||
const maxReconnectAttempts = 5;
|
||||
const reconnectDelay = 5000;
|
||||
|
||||
// 初始化WebSocket连接
|
||||
function initWebSocket() {
|
||||
ws = new WebSocket('ws://' + window.location.host + '/ws/state');
|
||||
|
||||
ws.onopen = () => {
|
||||
console.log('WebSocket连接已建立');
|
||||
reconnectAttempts = 0;
|
||||
};
|
||||
|
||||
ws.onmessage = (event) => {
|
||||
const data = JSON.parse(event.data);
|
||||
updateUI(data);
|
||||
};
|
||||
|
||||
ws.onclose = () => {
|
||||
console.log('WebSocket连接已关闭');
|
||||
if (reconnectAttempts < maxReconnectAttempts) {
|
||||
setTimeout(() => {
|
||||
reconnectAttempts++;
|
||||
console.log(`尝试重新连接 (${reconnectAttempts}/${maxReconnectAttempts})`);
|
||||
initWebSocket();
|
||||
}, reconnectDelay);
|
||||
}
|
||||
};
|
||||
|
||||
ws.onerror = (error) => {
|
||||
console.error('WebSocket错误:', error);
|
||||
ws.close();
|
||||
};
|
||||
}
|
||||
|
||||
// 更新UI
|
||||
function updateUI(data) {
|
||||
// 更新数据库状态
|
||||
if (data.db_status) {
|
||||
const dbStatus = document.getElementById('db-status');
|
||||
const dbSizeElement = document.querySelector('#db-size .size-value');
|
||||
|
||||
if (dbStatus) {
|
||||
dbStatus.className = data.db_status.connected ? 'db-status connected' : 'db-status disconnected';
|
||||
dbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到数据库：${data.db_status.database}`;
|
||||
}
|
||||
|
||||
if (dbSizeElement && data.db_status.size) {
|
||||
const sizeInMB = (data.db_status.size / 1024 / 1024).toFixed(2);
|
||||
dbSizeElement.textContent = `${sizeInMB} MB`;
|
||||
}
|
||||
}
|
||||
|
||||
// 更新MOOS数据库状态
|
||||
if (data.moos_db_status) {
|
||||
const moosDbStatus = document.getElementById('moos-db-status');
|
||||
if (data.moos_db_status.connected) {
|
||||
moosDbStatus.className = 'db-status connected';
|
||||
moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到MOOS数据库:${data.moos_db_status.host}:${data.moos_db_status.port}</span>`;
|
||||
} else {
|
||||
moosDbStatus.className = 'db-status disconnected';
|
||||
moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>MOOS数据库连接失败</span>`;
|
||||
}
|
||||
}
|
||||
|
||||
// 更新状态机面板
|
||||
document.getElementById('state-time').textContent = data.state.time;
|
||||
document.getElementById('state-id').textContent = data.state.state_id;
|
||||
document.getElementById('state-name').textContent = data.state.state_name;
|
||||
document.getElementById('state-event').textContent = data.state.event;
|
||||
document.getElementById('state-event-id').textContent = data.state.event_id;
|
||||
document.getElementById('state-fault-code').textContent = data.state.fault_code;
|
||||
document.getElementById('state-note').textContent = data.state.note;
|
||||
|
||||
// 更新DIS系统状态
|
||||
// document.getElementById('dis-sys-state').textContent = JSON.stringify(data.status.disSys, null, 2);
|
||||
|
||||
// 更新CCU状态
|
||||
// document.getElementById('ccu-state').textContent = JSON.stringify(data.status.ccuState, null, 2);
|
||||
|
||||
// 更新进程消息面板
|
||||
console.log('Received WebSocket message:', data);
|
||||
if (data && data.processes && data.processes.list) {
|
||||
console.log('Updating processes:', data.processes);
|
||||
updateProcesses(data.processes);
|
||||
} else {
|
||||
console.warn('Invalid processes data received:', data);
|
||||
}
|
||||
|
||||
// 更新运行日志
|
||||
document.getElementById('log-data').textContent = data.status.logs.join('\n');
|
||||
}
|
||||
|
||||
// MOOS通知功能
|
||||
function sendMoosNotify() {
|
||||
const varValue = document.getElementById('moos-var').value.trim();
|
||||
const keyValue = document.getElementById('moos-key').value.trim();
|
||||
|
||||
if (!varValue || !keyValue) {
|
||||
alert('请填写Var和Key值');
|
||||
return;
|
||||
}
|
||||
|
||||
const payload = {
|
||||
var: varValue,
|
||||
key: keyValue
|
||||
};
|
||||
|
||||
fetch('/api/moos-notify', {
|
||||
method: 'POST',
|
||||
headers: {
|
||||
'Content-Type': 'application/json',
|
||||
},
|
||||
body: JSON.stringify(payload)
|
||||
})
|
||||
.then(response => response.json())
|
||||
.then(data => {
|
||||
if (data.success) {
|
||||
alert('发送成功');
|
||||
} else {
|
||||
alert('发送失败: ' + data.message);
|
||||
}
|
||||
})
|
||||
.catch(error => {
|
||||
console.error('Error:', error);
|
||||
alert('发送请求失败');
|
||||
});
|
||||
}
|
||||
|
||||
document.getElementById('moos-send-btn').addEventListener('click', sendMoosNotify);
|
||||
|
||||
// 初始化WebSocket连接
|
||||
initWebSocket();
|
||||
|
||||
// 更新进程列表
|
||||
function updateProcesses(processes) {
|
||||
const processList = document.getElementById('process-list');
|
||||
processList.innerHTML = ''; // 清空现有内容
|
||||
|
||||
const totalCount = document.getElementById('process-count');
|
||||
totalCount.textContent = processes.count;
|
||||
|
||||
// 创建消息详情弹窗
|
||||
const modal = document.createElement('div');
|
||||
modal.id = 'message-modal';
|
||||
modal.className = 'modal';
|
||||
modal.innerHTML = `
|
||||
<div class="modal-content">
|
||||
<span class="close-modal">×</span>
|
||||
<h3>消息详情</h3>
|
||||
<div class="message-details">
|
||||
<div class="detail-row">
|
||||
<label>消息名称:</label>
|
||||
<span id="message-name"></span>
|
||||
</div>
|
||||
<div class="detail-row">
|
||||
<label>消息类型:</label>
|
||||
<span id="message-type"></span>
|
||||
</div>
|
||||
<div class="detail-row">
|
||||
<label>最后更新时间:</label>
|
||||
<span id="message-timestamp"></span>
|
||||
</div>
|
||||
<div class="detail-row">
|
||||
<label>消息内容:</label>
|
||||
<pre id="message-content"></pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
`;
|
||||
document.body.appendChild(modal);
|
||||
|
||||
// 添加弹窗关闭事件
|
||||
modal.querySelector('.close-modal').addEventListener('click', () => {
|
||||
modal.style.display = 'none';
|
||||
});
|
||||
|
||||
processes.list.forEach(process => {
|
||||
const processElement = document.createElement('div');
|
||||
processElement.className = 'process-card';
|
||||
|
||||
const header = document.createElement('div');
|
||||
header.className = 'process-header';
|
||||
header.innerHTML = `
|
||||
<span class="process-name">${process.name}</span>
|
||||
<span class="topic-count">订阅:${process.subscribed.length} 发布:${process.published.length}</span>
|
||||
`;
|
||||
|
||||
const body = document.createElement('div');
|
||||
body.className = 'process-body';
|
||||
body.innerHTML = `
|
||||
<div class="topic-group">
|
||||
<h4>订阅主题</h4>
|
||||
<ul class="subscribed-list">${process.subscribed.map(t => `<li class="message-item" data-type="subscribed">${t}</li>`).join('')}</ul>
|
||||
</div>
|
||||
<div class="topic-group">
|
||||
<h4>发布主题</h4>
|
||||
<ul class="published-list">${process.published.map(t => `<li class="message-item" data-type="published">${t}</li>`).join('')}</ul>
|
||||
</div>
|
||||
`;
|
||||
|
||||
body.querySelectorAll('.message-item').forEach(item => {
|
||||
let timeoutId;
|
||||
item.addEventListener('mouseenter', function(event) {
|
||||
timeoutId = setTimeout(async () => {
|
||||
const spinner = createSpinner(event.clientX, event.clientY);
|
||||
|
||||
try {
|
||||
const messageName = item.textContent; // 新增获取消息名称
|
||||
const messageType = item.dataset.type; // 新增获取消息类型
|
||||
const response = await fetch(`/api/message-details?name=${encodeURIComponent(messageName)}&type=${messageType}`);
|
||||
const data = await response.json();
|
||||
|
||||
if (data.success) {
|
||||
// 根据C++的CVar结构映射字段
|
||||
document.getElementById('message-name').textContent = data.name || 'N/A';
|
||||
document.getElementById('message-type').textContent = data.type || '未知类型';
|
||||
document.getElementById('message-timestamp').textContent = new Date(data.time * 1000).toLocaleString(); // 时间戳转换
|
||||
document.getElementById('message-content').textContent = JSON.stringify({
|
||||
value: data.value,
|
||||
source: data.source
|
||||
}, null, 2);
|
||||
modal.style.display = 'block';
|
||||
} else {
|
||||
showErrorTooltip(event, `获取失败: ${data.message || '未知错误'}`);
|
||||
}
|
||||
} catch (error) {
|
||||
showErrorTooltip(event, '网络连接异常，请检查后重试');
|
||||
console.error('获取消息详情失败:', error);
|
||||
} finally {
|
||||
spinner.remove();
|
||||
}
|
||||
}, 300);
|
||||
});
|
||||
|
||||
item.addEventListener('mouseleave', () => {
|
||||
clearTimeout(timeoutId);
|
||||
modal.style.display = 'none';
|
||||
});
|
||||
});
|
||||
|
||||
processElement.appendChild(header);
|
||||
processElement.appendChild(body);
|
||||
processList.appendChild(processElement);
|
||||
});
|
||||
}
|
||||
|
||||
// 渲染单个进程信息
|
||||
function renderProcess(process) {
|
||||
const template = document.getElementById('process-template');
|
||||
const clone = document.importNode(template.content, true);
|
||||
|
||||
const processEntry = clone.querySelector('.process-entry');
|
||||
processEntry.querySelector('.process-name').textContent = process.name;
|
||||
|
||||
const subscribedList = processEntry.querySelector('.subscribed-list');
|
||||
process.subscribed.forEach(topic => {
|
||||
const li = document.createElement('li');
|
||||
li.textContent = topic;
|
||||
subscribedList.appendChild(li);
|
||||
});
|
||||
|
||||
const publishedList = processEntry.querySelector('.published-list');
|
||||
process.published.forEach(topic => {
|
||||
const li = document.createElement('li');
|
||||
li.textContent = topic;
|
||||
publishedList.appendChild(li);
|
||||
});
|
||||
|
||||
return processEntry;
|
||||
}
|
||||
|
||||
// 清空进程列表
|
||||
function clearProcessList() {
|
||||
const processLog = document.getElementById('log-data');
|
||||
while (processLog.firstChild && processLog.firstChild.tagName !== 'TEMPLATE') {
|
||||
processLog.removeChild(processLog.firstChild);
|
||||
}
|
||||
}
|
||||
|
||||
// 新增工具函数
|
||||
function createSpinner(x, y) {
|
||||
const spinner = document.createElement('div');
|
||||
spinner.className = 'loading-spinner';
|
||||
spinner.style = `
|
||||
position: fixed;
|
||||
left: ${x + 15}px;
|
||||
top: ${y + 15}px;
|
||||
width: 24px;
|
||||
height: 24px;
|
||||
border: 3px solid rgba(97, 218, 251, 0.3);
|
||||
border-radius: 50%;
|
||||
border-top-color: #61dafb;
|
||||
animation: spin 1s ease-in-out infinite;
|
||||
z-index: 1000;
|
||||
`;
|
||||
document.body.appendChild(spinner);
|
||||
return spinner;
|
||||
}
|
||||
|
||||
function showErrorTooltip(event, message) {
|
||||
const tooltip = document.createElement('div');
|
||||
tooltip.className = 'error-tooltip';
|
||||
tooltip.innerHTML = `
|
||||
<i class="fas fa-exclamation-triangle"></i>
|
||||
<span>${message}</span>
|
||||
`;
|
||||
tooltip.style = `
|
||||
position: fixed;
|
||||
left: ${event.clientX + 20}px;
|
||||
top: ${event.clientY + 20}px;
|
||||
padding: 8px 12px;
|
||||
background: rgba(255, 87, 87, 0.9);
|
||||
color: white;
|
||||
border-radius: 4px;
|
||||
font-size: 14px;
|
||||
z-index: 1000;
|
||||
animation: fadeIn 0.3s ease;
|
||||
`;
|
||||
document.body.appendChild(tooltip);
|
||||
setTimeout(() => tooltip.remove(), 3000);
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,166 +0,0 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>电源管理</title>
|
||||
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.0.0/css/all.min.css">
|
||||
<link rel="stylesheet" href="/static/style.css">
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<div class="db-status-panel">
|
||||
<div class="status-columns">
|
||||
<div class="status-column">
|
||||
<h3>MOOSDB</h3>
|
||||
<div class="db-status" id="moos-db-status">
|
||||
<i class="fas fa-database"></i>
|
||||
<span>正在连接MOOSDB...</span>
|
||||
</div>
|
||||
<div class="moos-notify-panel">
|
||||
<div class="input-group">
|
||||
<label for="moos-var">Var:</label>
|
||||
<input type="text" id="moos-var" placeholder="输入Var值">
|
||||
</div>
|
||||
<div class="input-group">
|
||||
<label for="moos-key">Key:</label>
|
||||
<input type="text" id="moos-key" placeholder="输入Key值">
|
||||
</div>
|
||||
<button id="moos-send-btn">发送</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-column">
|
||||
<h3>本地数据库</h3>
|
||||
<div class="db-status" id="db-status">
|
||||
<i class="fas fa-database"></i>
|
||||
<span>正在连接数据库：</span>
|
||||
</div>
|
||||
<div class="db-size" id="db-size">
|
||||
<i class="fas fa-database"></i>
|
||||
<span>本地数据库大小：</span>
|
||||
<span class="size-value">0.00 MB</span>
|
||||
</div>
|
||||
<div class="db-download">
|
||||
<button id="download-db">
|
||||
<i class="fas fa-download"></i>
|
||||
下载数据库
|
||||
</button>
|
||||
<progress id="download-progress" value="0" max="100" style="display: none;"></progress>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="control-panel">
|
||||
<button id="mode-switch">
|
||||
<i class="fas fa-exchange-alt"></i>
|
||||
系统模式切换
|
||||
</button>
|
||||
<button id="condition-switch">
|
||||
<i class="fas fa-cogs"></i>
|
||||
系统工况切换
|
||||
</button>
|
||||
<button id="system-reset">
|
||||
<i class="fas fa-redo"></i>
|
||||
系统复位操作
|
||||
</button>
|
||||
</div>
|
||||
|
||||
<div class="panel log-panel">
|
||||
<h2>进程消息 <span class="badge" id="process-count">0</span></h2>
|
||||
<div id="process-list" class="process-container"></div>
|
||||
<pre id="log-data" class="process-log">
|
||||
<template id="process-template">
|
||||
<div class="process-entry">
|
||||
<div class="process-name"></div>
|
||||
<div class="message-list">
|
||||
<div class="message-type">订阅的消息</div>
|
||||
<ul class="subscribed-list"></ul>
|
||||
<div class="message-type">发布的消息</div>
|
||||
<ul class="published-list"></ul>
|
||||
</div>
|
||||
</div>
|
||||
</template>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="panel state-machine-panel">
|
||||
<h2>状态机状态</h2>
|
||||
<div class="state-info">
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-clock"></i> 更新时间：</span>
|
||||
<span class="state-value" id="state-time">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-hashtag"></i> 状态ID:</span>
|
||||
<span class="state-value" id="state-id">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-tag"></i> 状态名称：</span>
|
||||
<span class="state-value" id="state-name">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-bolt"></i> 事件：</span>
|
||||
<span class="state-value" id="state-event">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-barcode"></i> 事件ID:</span>
|
||||
<span class="state-value" id="state-event-id">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-exclamation-triangle"></i> 故障代码：</span>
|
||||
<span class="state-value" id="state-fault-code">正在加载...</span>
|
||||
</div>
|
||||
<div class="state-row">
|
||||
<span class="state-label"><i class="fas fa-sticky-note"></i> 备注：</span>
|
||||
<span class="state-value" id="state-note">正在加载...</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="panel dis-sys-panel">
|
||||
<h2>DIS系统状态</h2>
|
||||
<pre id="dis-sys-state">正在加载...</pre>
|
||||
</div>
|
||||
|
||||
<div class="panel ccu-state-panel">
|
||||
<h2>CCU状态</h2>
|
||||
<pre id="ccu-state">正在加载...</pre>
|
||||
</div>
|
||||
|
||||
<!-- 消息详情弹窗 -->
|
||||
<div class="message-detail-overlay" id="message-detail-overlay" style="display: none;"></div>
|
||||
<div class="message-detail-modal" id="message-detail-modal" style="display: none;">
|
||||
<div class="message-detail-header">
|
||||
<div class="message-detail-title">消息详情</div>
|
||||
<div class="message-detail-close" id="message-detail-close">×</div>
|
||||
</div>
|
||||
<div class="message-detail-content">
|
||||
<div class="message-detail-item">
|
||||
<div class="message-detail-label">消息名称</div>
|
||||
<div class="message-detail-value" id="message-name"></div>
|
||||
</div>
|
||||
<div class="message-detail-item">
|
||||
<div class="message-detail-label">消息类型</div>
|
||||
<div class="message-detail-value" id="message-type"></div>
|
||||
</div>
|
||||
<div class="message-detail-item">
|
||||
<div class="message-detail-label">消息内容</div>
|
||||
<div class="message-detail-value" id="message-content"></div>
|
||||
</div>
|
||||
<div class="message-detail-item">
|
||||
<div class="message-detail-label">时间戳</div>
|
||||
<div class="message-detail-value" id="message-timestamp"></div>
|
||||
</div>
|
||||
<div class="message-detail-item">
|
||||
<div class="message-detail-label">来源</div>
|
||||
<div class="message-detail-value" id="message-source"></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script src="/static/script.js"></script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
@@ -1,46 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
INVOCATION_ABS_DIR=`pwd`
|
||||
BUILD_TYPE="None"
|
||||
CMD_LINE_ARGS=""
|
||||
|
||||
#-------------------------------------------------------------------
|
||||
# Part 1: Check for and handle command-line arguments
|
||||
#-------------------------------------------------------------------
|
||||
for ARGI; do
|
||||
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
|
||||
printf "%s [SWITCHES] \n" $0
|
||||
printf "Switches: \n"
|
||||
printf " --help, -h \n"
|
||||
printf " --debug, -d \n"
|
||||
printf " --release, -r \n"
|
||||
printf "Notes: \n"
|
||||
printf " (1) All other command line args will be passed as args \n"
|
||||
printf " to \"make\" when it is eventually invoked. \n"
|
||||
printf " (2) For example -k will continue making when/if a failure \n"
|
||||
printf " is encountered in building one of the subdirectories. \n"
|
||||
printf " (3) For example -j2 will utilize a 2nd core in the build \n"
|
||||
printf " if your machine has two cores. -j4 etc for quad core. \n"
|
||||
exit 0;
|
||||
elif [ "${ARGI}" = "--debug" -o "${ARGI}" = "-d" ] ; then
|
||||
BUILD_TYPE="Debug"
|
||||
elif [ "${ARGI}" = "--release" -o "${ARGI}" = "-r" ] ; then
|
||||
BUILD_TYPE="Release"
|
||||
else
|
||||
CMD_LINE_ARGS=$CMD_LINE_ARGS" "$ARGI
|
||||
fi
|
||||
done
|
||||
|
||||
#-------------------------------------------------------------------
|
||||
# Part 2: Invoke the call to make in the build directory
|
||||
#-------------------------------------------------------------------
|
||||
|
||||
mkdir -p build
|
||||
cd build
|
||||
|
||||
cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../
|
||||
|
||||
make ${CMD_LINE_ARGS}
|
||||
cd ${INVOCATION_ABS_DIR}
|
||||
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
rm -rf build/*
|
||||
rm -rf lib/*
|
||||
rm -rf bin/p*
|
||||
rm -f .DS_Store
|
||||
rm -f missions/*/.LastOpenedMOOSLogDirectory
|
||||
|
||||
find . -name '.DS_Store' -print -exec rm -rfv {} \;
|
||||
find . -name '*~' -print -exec rm -rfv {} \;
|
||||
find . -name '#*' -print -exec rm -rfv {} \;
|
||||
find . -name '*.moos++' -print -exec rm -rfv {} \;
|
||||
|
||||
find . -name 'MOOSLog*' -print -exec rm -rfv {} \;
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
{
|
||||
"DVL" : 0,
|
||||
"USBL" : 0,
|
||||
"bowCover1" : 0,
|
||||
"bowCover2" : 0,
|
||||
"bowCover3" : 0,
|
||||
"bowCover4" : 0,
|
||||
"bowCover5" : 0,
|
||||
"bowCover6" : 0,
|
||||
"bowRudderDeploy" : 0,
|
||||
"bowRudderServo1" : 0,
|
||||
"bowRudderServo2" : 0,
|
||||
"bowThrow" : 0,
|
||||
"bowWaterlnet1" : 0,
|
||||
"bowWaterlnet2" : 0,
|
||||
"bowWaterlnet3" : 0,
|
||||
"bowWaterlnet4" : 0,
|
||||
"bowWaterlnet5" : 0,
|
||||
"bowWaterlnet6" : 0,
|
||||
"bowWaterlnet7" : 0,
|
||||
"bowWaterlnet8" : 0,
|
||||
"buoyage" : 0,
|
||||
"buoyancyAdjust1" : 0,
|
||||
"buoyancyAdjust2" : 0,
|
||||
"buoyancyAdjust3" : 0,
|
||||
"buoyancyAdjust4" : 0,
|
||||
"buoyancyAdjust5" : 0,
|
||||
"commMast" : 0,
|
||||
"ctd1" : 0,
|
||||
"ctd2" : 0,
|
||||
"depth1" : 0,
|
||||
"depth2" : 0,
|
||||
"depth3" : 0,
|
||||
"electSensor" : 0,
|
||||
"forwardSonar" : 0,
|
||||
"inputWaterSensor1" : 0,
|
||||
"inputWaterSensor2" : 0,
|
||||
"inputWaterSensor3" : 0,
|
||||
"ins" : 0,
|
||||
"launchControler" : 0,
|
||||
"lowFreqSonar" : 0,
|
||||
"mastLiftingServo" : 0,
|
||||
"ntp" : 0,
|
||||
"overDeep1" : 0,
|
||||
"overDeep2" : 0,
|
||||
"photoSensor" : 0,
|
||||
"sideSonar" : 0,
|
||||
"singleBeamSonar1" : 0,
|
||||
"singleBeamSonar2" : 0,
|
||||
"singleBeamSonar3" : 0,
|
||||
"singleBeamSonar4" : 0,
|
||||
"singleBeamSonar5" : 0,
|
||||
"singleBeamSonar6" : 0,
|
||||
"singleBeamSonar7" : 0,
|
||||
"singleBeamSonar8" : 0,
|
||||
"soundVeloc" : 0,
|
||||
"sternRudderServo1" : 0,
|
||||
"sternRudderServo2" : 0,
|
||||
"sternRudderServo3" : 0,
|
||||
"sternRudderServo4" : 0,
|
||||
"sternThrow" : 0,
|
||||
"thruster" : 0,
|
||||
"waterInject" : 0
|
||||
}
|
||||
@@ -1,3 +0,0 @@
|
||||
{
|
||||
"value_array_uint16" :[2,1,3]
|
||||
}
|
||||
@@ -1,47 +0,0 @@
|
||||
{
|
||||
"HVABFTDev123Cur_uint16": 0,
|
||||
"HVABactCur_uint16": 0,
|
||||
"HVABbowRudCur_uint16": 0,
|
||||
"HVABbusBCur_uint16": 0,
|
||||
"HVABbusBVol_uint16": 0,
|
||||
"HVABmastSteGeaCur_uint16": 0,
|
||||
"HVABopenWaterCur_uint16": 0,
|
||||
"HVABxczCur_uint16": 1,
|
||||
"HVBBCCUCur_uint16": 0,
|
||||
"HVBBFCSSecurSysCur_uint16": 0,
|
||||
"HVBBbatInsCur_uint16": 0,
|
||||
"HVBBbowLowVolDisBoxCur_uint16": 0,
|
||||
"HVBBdcC1InsCur_uint16": 0,
|
||||
"HVBBemer2BusVol_uint16": 0,
|
||||
"HVBBemerBatCur_uint16": 0,
|
||||
"HVBBinsBusVol_uint16": 0,
|
||||
"HVBBplcCur_uint16": 0,
|
||||
"HVBBreservedCur1_uint16": 0,
|
||||
"HVBBreservedCur2_uint16": 0,
|
||||
"HVBBunit4Cur_uint16": 0,
|
||||
"HVBFTDev45Cur_uint16": 0,
|
||||
"HVBbatGroupCur_uint16": 0,
|
||||
"HVBbowHVolDisBoxCur_uint16": 0,
|
||||
"HVBbusACur_uint16": 0,
|
||||
"HVBbusAVol_uint16": 0,
|
||||
"HVBdcDc5Cur_uint16": 0,
|
||||
"HVBfbCur_uint16": 0,
|
||||
"HVBmotorCur_uint16": 0,
|
||||
"HVBpowerBusCur_uint16": 0,
|
||||
"HVBpowerBusVol_uint16": 0,
|
||||
"HVBreservedCur1_uint16": 0,
|
||||
"HVBreservedCur2_uint16": 0,
|
||||
"HVBreservedCur3_uint16": 0,
|
||||
"HVBsternRud1Cur_uint16": 0,
|
||||
"HVBsternRud2Cur_uint16": 0,
|
||||
"HVBtyzCur_uint16": 0,
|
||||
"LVBBbowPZDevCur_uint16": 0,
|
||||
"LVBBemerBatCur_uint16": 0,
|
||||
"LVBBemerBusVol_uint16": 0,
|
||||
"LVBBinsBusCur_uint16": 0,
|
||||
"LVBBunit1Cur_uint16": 0,
|
||||
"LVBBunit2Cur_uint16": 0,
|
||||
"LVBBunit3Cur_uint16": 0,
|
||||
"LVBBunit5Cur_uint16": 0,
|
||||
"LVBinsBusVol_uint16": 0
|
||||
}
|
||||
@@ -1,10 +0,0 @@
|
||||
{
|
||||
"HVolABusBreaker_unit16": 0,
|
||||
"HVolBBusBreaker_unit16": 79,
|
||||
"HVolBusBreaker_uint16": 58,
|
||||
"LVolBusBreaker_uint16": 159,
|
||||
"faultCode_array":
|
||||
[
|
||||
0
|
||||
]
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
{
|
||||
"backpressure1_fp32": 1.0,
|
||||
"backpressure2_fp32": 2.0,
|
||||
"ch4oConcent1_fp32": 29.0,
|
||||
"ch4oConcent2_fp32": 96.0,
|
||||
"ch4o_fp32": 0.0,
|
||||
"excTemp_fp32": 23.0,
|
||||
"faultCode1_uint16": 0,
|
||||
"faultCode2_uint16": 0,
|
||||
"faultCode3_uint16": 0,
|
||||
"fcuCurIns_fp32": 0.0,
|
||||
"fcuCurPower_fp32": 0.0,
|
||||
"fcuCur_fp32": 84.0,
|
||||
"fcuFaultLeve_uint8": 0,
|
||||
"fcuOutIns_fp32": 53.0,
|
||||
"fcuOutPower_fp32": 100.0,
|
||||
"fcuState_uint8": 0,
|
||||
"fcuVolIns_fp32": 0.0,
|
||||
"fcuVolPower_fp32": 0.0,
|
||||
"fcuVol_fp32": 377.0,
|
||||
"flameDet_uint8": 1,
|
||||
"h2Concent1_fp32": 89.0,
|
||||
"h2Concent2_fp32": 62.0,
|
||||
"o2Concent1_fp32": 74.0,
|
||||
"o2Concent2_fp32": 21.0,
|
||||
"o2Level_fp32": 0.0,
|
||||
"o2_fp32": 0.0,
|
||||
"powLimit_fp32": 88.0,
|
||||
"powerGen_fp32": 622.0
|
||||
}
|
||||
@@ -1,38 +0,0 @@
|
||||
{
|
||||
"fcuCurToInsLimit1_uint8": 0,
|
||||
"fcuCurToinsLimit2_uint8": 0,
|
||||
"insBatCurElect_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": 2,
|
||||
"insLinkVol_uint16": 0,
|
||||
"insNegRelayState_uint8": 0,
|
||||
"insNegRes_uint16": 0,
|
||||
"insPackVol_uint16": 0,
|
||||
"insPosRelayState_uint8": 1,
|
||||
"insPosRes_uint16": 0,
|
||||
"insfaultCode_uint8": 0,
|
||||
"powBatCurElect_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": 21,
|
||||
"powLinkVol_uint16": 0,
|
||||
"powNegRelayState_uint8": 1,
|
||||
"powNegRes_uint16": 0,
|
||||
"powPosRelayState_uint8": 1,
|
||||
"powPosRes_uint16": 0,
|
||||
"powerBatLimit_uint16": 13,
|
||||
"powerPackVol_uint16": 0,
|
||||
"powfaultCode_uint8": 0
|
||||
}
|
||||
@@ -1,12 +0,0 @@
|
||||
{
|
||||
"currentMod_uint8": 0,
|
||||
"falutLevel_uint8": 0,
|
||||
"faultCode_array":
|
||||
[
|
||||
0
|
||||
],
|
||||
"powerState_uint8": 0,
|
||||
"soc_uint32": 0,
|
||||
"sustainableTime_uint32": 0,
|
||||
"workCondition_uint8": 0
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
{
|
||||
"powerCMD":0,
|
||||
"modCMD":0,
|
||||
"workCMD":0
|
||||
}
|
||||
@@ -1,52 +0,0 @@
|
||||
{
|
||||
"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"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,637 +0,0 @@
|
||||
{
|
||||
"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"
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -1,142 +0,0 @@
|
||||
{
|
||||
"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）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,154 +0,0 @@
|
||||
{
|
||||
"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）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,184 +0,0 @@
|
||||
{
|
||||
"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）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,128 +0,0 @@
|
||||
# PowerManager系统架构优化设计方案
|
||||
|
||||
## 1. 总体架构
|
||||
```mermaid
|
||||
classDiagram
|
||||
class PowerManagerCore {
|
||||
+startup()
|
||||
+shutdown()
|
||||
+getSystemState()
|
||||
}
|
||||
|
||||
class StateMachineService {
|
||||
+triggerEvent()
|
||||
+getCurrentState()
|
||||
+addStateListener()
|
||||
}
|
||||
|
||||
class CommunicationMediator {
|
||||
+registerHandler()
|
||||
+sendMessage()
|
||||
+addMessageListener()
|
||||
}
|
||||
|
||||
PowerManagerCore --> StateMachineService
|
||||
PowerManagerCore --> CommunicationMediator
|
||||
```
|
||||
|
||||
## 2. 状态机重构方案
|
||||
|
||||
### 2.1 状态设计模式
|
||||
```cpp
|
||||
class IPowerState {
|
||||
public:
|
||||
virtual void onEntry(PowerContext&) = 0;
|
||||
virtual void handleEvent(PowerContext&, const Event&) = 0;
|
||||
virtual void onExit(PowerContext&) = 0;
|
||||
};
|
||||
```
|
||||
|
||||
### 2.2 状态转换规则
|
||||
```yaml
|
||||
# states_config.yaml
|
||||
transitions:
|
||||
- from: STANDBY
|
||||
event: START_CMD
|
||||
to: OPERATING
|
||||
- from: OPERATING
|
||||
event: STOP_CMD
|
||||
to: STANDBY
|
||||
```
|
||||
|
||||
## 3. 通信中介者设计
|
||||
|
||||
### 3.1 核心架构
|
||||
```mermaid
|
||||
sequenceDiagram
|
||||
participant Upper as 上位机
|
||||
participant Mediator as 通信中介者
|
||||
participant Lower as 下位机
|
||||
|
||||
Upper->>Mediator: 控制命令(JSON)
|
||||
Mediator->>Lower: 设备指令(ProtocolBuffer)
|
||||
Lower->>Mediator: 状态更新
|
||||
Mediator->>Upper: 系统报告
|
||||
```
|
||||
|
||||
### 3.2 关键实现
|
||||
```cpp
|
||||
class CommunicationMediator {
|
||||
// 线程安全消息队列
|
||||
moodycamel::ConcurrentQueue<Message> queue;
|
||||
|
||||
// 消息处理线程
|
||||
void processMessages() {
|
||||
while (running) {
|
||||
Message msg;
|
||||
if (queue.try_dequeue(msg)) {
|
||||
handlers[msg.type]->handle(msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
```
|
||||
|
||||
## 4. 数据库服务设计
|
||||
|
||||
### 4.1 日志策略模式
|
||||
```cpp
|
||||
class ILogStrategy {
|
||||
public:
|
||||
virtual bool log(const SystemLog& log) = 0;
|
||||
};
|
||||
|
||||
class SQLiteLogStrategy : public ILogStrategy {
|
||||
// SQLite实现...
|
||||
};
|
||||
|
||||
class FileLogStrategy : public ILogStrategy {
|
||||
// 文件系统实现...
|
||||
};
|
||||
```
|
||||
|
||||
## 5. 实施计划
|
||||
|
||||
### 5.1 阶段划分
|
||||
```mermaid
|
||||
gantt
|
||||
title 重构实施甘特图
|
||||
section 核心框架
|
||||
接口定义 :2025-04-08, 3d
|
||||
基础实现 :2025-04-11, 5d
|
||||
|
||||
section 模块重构
|
||||
状态机 :2025-04-16, 5d
|
||||
通信模块 :2025-04-21, 5d
|
||||
|
||||
section 测试验证
|
||||
单元测试 :2025-04-26, 3d
|
||||
集成测试 :2025-04-29, 5d
|
||||
```
|
||||
|
||||
## 6. 性能指标
|
||||
|
||||
| 模块 | 当前QPS | 目标QPS | 优化手段 |
|
||||
|----------------|---------|---------|-----------------------|
|
||||
| 状态机处理 | 100 | 500 | 无锁状态转换 |
|
||||
| 消息处理 | 200 | 1000 | 批量处理+线程池 |
|
||||
| 数据库写入 | 50 | 300 | 异步写入+批量提交 |
|
||||
@@ -0,0 +1,20 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<testsuites name="H100PowerManger" tests="5" failures="0" time="1741">
|
||||
<testsuite name="H100PowerManger CI" tests="5" failures="0" time="1741">
|
||||
<testcase name="build_aarch64" classname="ci.build" time="1725">
|
||||
|
||||
</testcase>
|
||||
<testcase name="SQLiteTest" classname="ci.unit" time="0">
|
||||
|
||||
</testcase>
|
||||
<testcase name="PowerMangerTests" classname="ci.unit" time="1">
|
||||
|
||||
</testcase>
|
||||
<testcase name="SmokeTest_MOOSDB_pPowerManger" classname="ci.smoke" time="9">
|
||||
|
||||
</testcase>
|
||||
<testcase name="IntegrationTest_UDP_To_SQLite" classname="ci.integration" time="6">
|
||||
|
||||
</testcase>
|
||||
</testsuite>
|
||||
</testsuites>
|
||||
@@ -1,11 +0,0 @@
|
||||
To Run this mission, make sure that the following two bin
|
||||
directories are in your path:
|
||||
|
||||
moos-ivp/ivp/bin/
|
||||
moos-ivp-extend/bin/
|
||||
|
||||
Then launch the mission by:
|
||||
|
||||
pAntler alder.moos
|
||||
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
//-------- FILE: alder.bhv -------------
|
||||
|
||||
initialize DEPLOY = false
|
||||
initialize RETURN = false
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_SimpleWaypoint
|
||||
{
|
||||
name = waypt_to_point
|
||||
pwt = 100
|
||||
condition = RETURN = false
|
||||
condition = DEPLOY = true
|
||||
endflag = RETURN = true
|
||||
|
||||
speed = 2.0 // meters per second
|
||||
radius = 8.0
|
||||
ptx = 100
|
||||
pty = -50
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_Waypoint
|
||||
{
|
||||
name = waypt_return
|
||||
pwt = 100
|
||||
condition = (RETURN = true)
|
||||
condition = (DEPLOY = true)
|
||||
|
||||
speed = 2.0
|
||||
radius = 8.0
|
||||
point = 0,0
|
||||
}
|
||||
|
||||
@@ -1,159 +0,0 @@
|
||||
// Level 2 Configuration file: M. Benjamin
|
||||
|
||||
ServerHost = localhost
|
||||
ServerPort = 9000
|
||||
Simulator = true
|
||||
|
||||
Community = alder
|
||||
|
||||
MOOSTimeWarp = 1
|
||||
|
||||
LatOrigin = 43.825300
|
||||
LongOrigin = -70.330400
|
||||
|
||||
//------------------------------------------
|
||||
// Antler configuration block
|
||||
ProcessConfig = ANTLER
|
||||
{
|
||||
MSBetweenLaunches = 200
|
||||
|
||||
Run = MOOSDB @ NewConsole = false
|
||||
Run = uSimMarine @ NewConsole = false
|
||||
Run = pNodeReporter @ NewConsole = false
|
||||
Run = pMarinePID @ NewConsole = false
|
||||
Run = pMarineViewer @ NewConsole = false
|
||||
Run = uProcessWatch @ NewConsole = false
|
||||
Run = pHelmIvP @ NewConsole = false
|
||||
Run = pOdometry @ NewConsole = false
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uSimMarine config block
|
||||
|
||||
ProcessConfig = uSimMarine
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
|
||||
START_X = 0
|
||||
START_Y = 0
|
||||
START_SPEED = 0
|
||||
START_HEADING = 180
|
||||
|
||||
PREFIX = NAV
|
||||
}
|
||||
|
||||
|
||||
//------------------------------------------
|
||||
// uProcessWatch config block
|
||||
|
||||
ProcessConfig = uProcessWatch
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
term_report_interval = 0.8
|
||||
|
||||
summary_wait = 5
|
||||
|
||||
nowatch = uXMS*
|
||||
nowatch = uPokeDB*
|
||||
nowatch = uTermCommand*
|
||||
watch_all = true
|
||||
}
|
||||
|
||||
|
||||
//------------------------------------------
|
||||
// pHelmIvP config block
|
||||
|
||||
ProcessConfig = pHelmIvP
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
Behaviors = alder.bhv
|
||||
Verbose = quiet
|
||||
Domain = course:0:359:360
|
||||
Domain = speed:0:4:21
|
||||
|
||||
IVP_BEHAVIOR_DIR = ../../lib
|
||||
//IVP_BEHAVIOR_DIR = /Users/mikerb/Research/moos-ivp-extend/trunk/lib
|
||||
|
||||
ok_skew = any
|
||||
start_in_drive = false
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarinePID config block
|
||||
|
||||
ProcessConfig = pMarinePID
|
||||
{
|
||||
AppTick = 20
|
||||
CommsTick = 20
|
||||
|
||||
VERBOSE = true
|
||||
DEPTH_CONTROL = false
|
||||
|
||||
// Yaw PID controller
|
||||
YAW_PID_KP = 0.5
|
||||
YAW_PID_KD = 0.0
|
||||
YAW_PID_KI = 0.0
|
||||
YAW_PID_INTEGRAL_LIMIT = 0.07
|
||||
|
||||
// Speed PID controller
|
||||
SPEED_PID_KP = 1.0
|
||||
SPEED_PID_KD = 0.0
|
||||
SPEED_PID_KI = 0.0
|
||||
SPEED_PID_INTEGRAL_LIMIT = 0.07
|
||||
|
||||
//MAXIMUMS
|
||||
MAXRUDDER = 100
|
||||
MAXTHRUST = 100
|
||||
|
||||
// A non-zero SPEED_FACTOR overrides use of SPEED_PID
|
||||
// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
|
||||
SPEED_FACTOR = 20
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarineViewer config block
|
||||
|
||||
ProcessConfig = pMarineViewer
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
TIFF_FILE = forrest19.tif
|
||||
set_pan_x = -90
|
||||
set_pan_y = -280
|
||||
zoom = 0.65
|
||||
vehicle_shape_scale = 1.5
|
||||
hash_delta = 50
|
||||
hash_shade = 0.4
|
||||
hash_viewable = true
|
||||
|
||||
scope = ODOMETRY_DIST
|
||||
|
||||
// Appcast configuration
|
||||
appcast_height = 75
|
||||
appcast_width = 30
|
||||
appcast_viewable = true
|
||||
appcast_color_scheme = indigo
|
||||
nodes_font_size = medium
|
||||
procs_font_size = medium
|
||||
appcast_font_size = small
|
||||
|
||||
BUTTON_ONE = DEPLOY # DEPLOY=true
|
||||
BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
|
||||
BUTTON_TWO = RETURN # RETURN=true
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pNodeReporter config block
|
||||
|
||||
ProcessConfig = pNodeReporter
|
||||
{
|
||||
AppTick = 2
|
||||
CommsTick = 2
|
||||
VESSEL_TYPE = KAYAK
|
||||
}
|
||||
@@ -1,41 +0,0 @@
|
||||
//-------- FILE: alder.bhv -------------
|
||||
|
||||
initialize DEPLOY = false
|
||||
initialize RETURN = false
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_SimpleWaypoint
|
||||
{
|
||||
name = waypt_to_point
|
||||
pwt = 100
|
||||
condition = RETURN = false
|
||||
condition = DEPLOY = true
|
||||
endflag = RETURN = true
|
||||
|
||||
speed = 2.0 // meters per second
|
||||
radius = 8.0
|
||||
ptx = 100
|
||||
pty = -50
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_SimpleWaypoint
|
||||
{
|
||||
name = waypt_return
|
||||
pwt = 100
|
||||
condition = (RETURN = true)
|
||||
condition = (DEPLOY = true)
|
||||
|
||||
speed = 2.0
|
||||
radius = 8.0
|
||||
ptx = 0
|
||||
pty = 0
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_HSLine
|
||||
{
|
||||
name = hsline
|
||||
time_on_leg = 20
|
||||
}
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
ProcessConfig = pPowerManger
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
@@ -1,54 +0,0 @@
|
||||
// MOOS file
|
||||
|
||||
ServerHost = localhost
|
||||
ServerPort = 9000
|
||||
|
||||
//------------------------------------------
|
||||
// Antler configuration block
|
||||
ProcessConfig = ANTLER
|
||||
{
|
||||
MSBetweenLaunches = 200
|
||||
|
||||
Run = MOOSDB @ NewConsole = false
|
||||
Run = pXRelay @ NewConsole = true ~ pXRelay_APPLES
|
||||
Run = pXRelay @ NewConsole = true ~ pXRelay_PEARS
|
||||
Run = uXMS @ NewConsole = true
|
||||
}
|
||||
|
||||
|
||||
//------------------------------------------
|
||||
// First pXRelay configuration block
|
||||
|
||||
ProcessConfig = pXRelay_APPLES
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
OUTGOING_VAR = APPLES
|
||||
INCOMING_VAR = PEARS
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// Second pXRelay configuration block
|
||||
|
||||
ProcessConfig = pXRelay_PEARS
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
OUTGOING_VAR = PEARS
|
||||
INCOMING_VAR = APPLES
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uXMS configuration block
|
||||
|
||||
ProcessConfig = uXMS
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
VAR = PEARS, PEARS_ITER_HZ, PEARS_POST_HZ
|
||||
VAR = APPLES, APPLES_ITER_HZ, APPLES_POST_HZ
|
||||
}
|
||||
|
||||
@@ -1,401 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
if [ -d "$2$1" ]; then
|
||||
echo "$2$1 already exists... quitting."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "$1" ] ; then
|
||||
echo "GenMOOSApp: usage: $0 [app-name] [prefix]"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
if [ -z "$2" ] ; then
|
||||
echo "GenMOOSApp: usage: $0 [app-name] [prefix]"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
#if [ -z "$3" ] ; then
|
||||
# $3="YOUR-NAME-HERE"
|
||||
#fi
|
||||
|
||||
mkdir $2$1
|
||||
cd $2$1
|
||||
|
||||
cat > CMakeLists.txt <<EOF
|
||||
#--------------------------------------------------------
|
||||
# The CMakeLists.txt for: $2$1
|
||||
# Author(s): $3
|
||||
#--------------------------------------------------------
|
||||
|
||||
SET(SRC
|
||||
${1}.cpp
|
||||
${1}_Info.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE($2$1 \${SRC})
|
||||
|
||||
TARGET_LINK_LIBRARIES($2$1
|
||||
\${MOOS_LIBRARIES}
|
||||
mbutil
|
||||
m
|
||||
pthread)
|
||||
|
||||
EOF
|
||||
|
||||
cat > ${1}.h <<EOF
|
||||
/************************************************************/
|
||||
/* NAME: $3 */
|
||||
/* ORGN: MIT */
|
||||
/* FILE: ${1}.h */
|
||||
/* DATE: */
|
||||
/************************************************************/
|
||||
|
||||
#ifndef ${1}_HEADER
|
||||
#define ${1}_HEADER
|
||||
|
||||
#include "MOOS/libMOOS/MOOSLib.h"
|
||||
|
||||
class ${1} : public CMOOSApp
|
||||
{
|
||||
public:
|
||||
${1}();
|
||||
~${1}();
|
||||
|
||||
protected: // Standard MOOSApp functions to overload
|
||||
bool OnNewMail(MOOSMSG_LIST &NewMail);
|
||||
bool Iterate();
|
||||
bool OnConnectToServer();
|
||||
bool OnStartUp();
|
||||
|
||||
protected:
|
||||
void RegisterVariables();
|
||||
|
||||
private: // Configuration variables
|
||||
|
||||
private: // State variables
|
||||
};
|
||||
|
||||
#endif
|
||||
EOF
|
||||
|
||||
cat > main.cpp <<EOF
|
||||
/************************************************************/
|
||||
/* NAME: $3 */
|
||||
/* ORGN: MIT */
|
||||
/* FILE: main.cpp */
|
||||
/* DATE: */
|
||||
/************************************************************/
|
||||
|
||||
#include <string>
|
||||
#include "MBUtils.h"
|
||||
#include "ColorParse.h"
|
||||
#include "${1}.h"
|
||||
#include "${1}_Info.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
string mission_file;
|
||||
string run_command = argv[0];
|
||||
|
||||
for(int i=1; i<argc; i++) {
|
||||
string argi = argv[i];
|
||||
if((argi=="-v") || (argi=="--version") || (argi=="-version"))
|
||||
showReleaseInfoAndExit();
|
||||
else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
|
||||
showExampleConfigAndExit();
|
||||
else if((argi == "-h") || (argi == "--help") || (argi=="-help"))
|
||||
showHelpAndExit();
|
||||
else if((argi == "-i") || (argi == "--interface"))
|
||||
showInterfaceAndExit();
|
||||
else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
|
||||
mission_file = argv[i];
|
||||
else if(strBegins(argi, "--alias="))
|
||||
run_command = argi.substr(8);
|
||||
else if(i==2)
|
||||
run_command = argi;
|
||||
}
|
||||
|
||||
if(mission_file == "")
|
||||
showHelpAndExit();
|
||||
|
||||
cout << termColor("green");
|
||||
cout << "${2}${1} launching as " << run_command << endl;
|
||||
cout << termColor() << endl;
|
||||
|
||||
${1} ${1};
|
||||
|
||||
${1}.Run(run_command.c_str(), mission_file.c_str());
|
||||
|
||||
return(0);
|
||||
}
|
||||
|
||||
EOF
|
||||
|
||||
cat > $2${1}.moos <<EOF
|
||||
//------------------------------------------------
|
||||
// ${2}${1} config block
|
||||
|
||||
ProcessConfig = ${2}${1}
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
|
||||
EOF
|
||||
|
||||
cat > ${1}.cpp <<EOF
|
||||
/************************************************************/
|
||||
/* NAME: $3 */
|
||||
/* ORGN: MIT */
|
||||
/* FILE: ${1}.cpp */
|
||||
/* DATE: */
|
||||
/************************************************************/
|
||||
|
||||
#include <iterator>
|
||||
#include "MBUtils.h"
|
||||
#include "${1}.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Constructor
|
||||
|
||||
${1}::${1}()
|
||||
{
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Destructor
|
||||
|
||||
${1}::~${1}()
|
||||
{
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnNewMail
|
||||
|
||||
bool ${1}::OnNewMail(MOOSMSG_LIST &NewMail)
|
||||
{
|
||||
MOOSMSG_LIST::iterator p;
|
||||
|
||||
for(p=NewMail.begin(); p!=NewMail.end(); p++) {
|
||||
CMOOSMsg &msg = *p;
|
||||
|
||||
#if 0 // Keep these around just for template
|
||||
string key = msg.GetKey();
|
||||
string comm = msg.GetCommunity();
|
||||
double dval = msg.GetDouble();
|
||||
string sval = msg.GetString();
|
||||
string msrc = msg.GetSource();
|
||||
double mtime = msg.GetTime();
|
||||
bool mdbl = msg.IsDouble();
|
||||
bool mstr = msg.IsString();
|
||||
#endif
|
||||
}
|
||||
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnConnectToServer
|
||||
|
||||
bool ${1}::OnConnectToServer()
|
||||
{
|
||||
RegisterVariables();
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: Iterate()
|
||||
// happens AppTick times per second
|
||||
|
||||
bool ${1}::Iterate()
|
||||
{
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnStartUp()
|
||||
// happens before connection is open
|
||||
|
||||
bool ${1}::OnStartUp()
|
||||
{
|
||||
list<string> sParams;
|
||||
m_MissionReader.EnableVerbatimQuoting(false);
|
||||
if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
|
||||
list<string>::iterator p;
|
||||
for(p=sParams.begin(); p!=sParams.end(); p++) {
|
||||
string line = *p;
|
||||
string param = tolower(biteStringX(line, '='));
|
||||
string value = line;
|
||||
|
||||
if(param == "foo") {
|
||||
//handled
|
||||
}
|
||||
else if(param == "bar") {
|
||||
//handled
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
RegisterVariables();
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: RegisterVariables
|
||||
|
||||
void ${1}::RegisterVariables()
|
||||
{
|
||||
// Register("FOOBAR", 0);
|
||||
}
|
||||
|
||||
EOF
|
||||
|
||||
|
||||
cat > ${1}_Info.h <<EOF
|
||||
/****************************************************************/
|
||||
/* NAME: ${3} */
|
||||
/* ORGN: MIT Cambridge MA */
|
||||
/* FILE: ${1}_Info.h */
|
||||
/* DATE: Dec 29th 1963 */
|
||||
/****************************************************************/
|
||||
|
||||
#ifndef ${1}_INFO_HEADER
|
||||
#define ${1}_INFO_HEADER
|
||||
|
||||
void showSynopsis();
|
||||
void showHelpAndExit();
|
||||
void showExampleConfigAndExit();
|
||||
void showInterfaceAndExit();
|
||||
void showReleaseInfoAndExit();
|
||||
|
||||
#endif
|
||||
|
||||
EOF
|
||||
|
||||
|
||||
cat > ${1}_Info.cpp <<EOF
|
||||
/****************************************************************/
|
||||
/* NAME: ${3} */
|
||||
/* ORGN: MIT Cambridge MA */
|
||||
/* FILE: ${1}_Info.cpp */
|
||||
/* DATE: Dec 29th 1963 */
|
||||
/****************************************************************/
|
||||
|
||||
#include <cstdlib>
|
||||
#include <iostream>
|
||||
#include "${1}_Info.h"
|
||||
#include "ColorParse.h"
|
||||
#include "ReleaseInfo.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showSynopsis
|
||||
|
||||
void showSynopsis()
|
||||
{
|
||||
blk("SYNOPSIS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" The ${2}${1} application is used for ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showHelpAndExit
|
||||
|
||||
void showHelpAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("Usage: ${2}${1} file.moos [OPTIONS] ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("Options: ");
|
||||
mag(" --alias","=<ProcessName> ");
|
||||
blk(" Launch ${2}${1} with the given process name ");
|
||||
blk(" rather than ${2}${1}. ");
|
||||
mag(" --example, -e ");
|
||||
blk(" Display example MOOS configuration block. ");
|
||||
mag(" --help, -h ");
|
||||
blk(" Display this help message. ");
|
||||
mag(" --interface, -i ");
|
||||
blk(" Display MOOS publications and subscriptions. ");
|
||||
mag(" --version,-v ");
|
||||
blk(" Display the release version of ${2}${1}. ");
|
||||
blk(" ");
|
||||
blk("Note: If argv[2] does not otherwise match a known option, ");
|
||||
blk(" then it will be interpreted as a run alias. This is ");
|
||||
blk(" to support pAntler launching conventions. ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showExampleConfigAndExit
|
||||
|
||||
void showExampleConfigAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("${2}${1} Example MOOS Configuration ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
blk("ProcessConfig = ${2}${1} ");
|
||||
blk("{ ");
|
||||
blk(" AppTick = 4 ");
|
||||
blk(" CommsTick = 4 ");
|
||||
blk(" ");
|
||||
blk("} ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showInterfaceAndExit
|
||||
|
||||
void showInterfaceAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("${2}${1} INTERFACE ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("SUBSCRIPTIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO, ");
|
||||
blk(" string_val=BAR ");
|
||||
blk(" ");
|
||||
blk("PUBLICATIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" Publications are determined by the node message content. ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showReleaseInfoAndExit
|
||||
|
||||
void showReleaseInfoAndExit()
|
||||
{
|
||||
showReleaseInfo("${2}${1}", "gpl");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
EOF
|
||||
|
||||
|
||||
echo "$2${1} generated"
|
||||
@@ -1,5 +0,0 @@
|
||||
This directory may contain developer utility scripts.
|
||||
|
||||
The MyGenMOOSApp script is similar to that found in the moos-ivp/trunk/scripts/
|
||||
directory. Users are encouraged to tailor this one to their own needs.
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
##############################################################################
|
||||
# FILE: moos-ivp-extend/src/CMakeLists.txt
|
||||
# DATE: 2010/09/07
|
||||
# 2020/05/09 minor mods
|
||||
# DESCRIPTION: CMakeLists.txt file for the moos-ivp-extend source directory
|
||||
##############################################################################
|
||||
|
||||
|
||||
#============================================================================
|
||||
# Add the libraries in the current directory to the include path
|
||||
#============================================================================
|
||||
FILE(GLOB LOCAL_LIBRARY_DIRS ./lib_*)
|
||||
INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS})
|
||||
|
||||
#============================================================================
|
||||
# List the subdirectories to build...
|
||||
#============================================================================
|
||||
ADD_SUBDIRECTORY(pPowerManger)
|
||||
ADD_SUBDIRECTORY(appPowerMangerWebUI)
|
||||
|
||||
##############################################################################
|
||||
# END of CMakeLists.txt
|
||||
##############################################################################
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
#--------------------------------------------------------
|
||||
# The CMakeLists.txt for: appPowerMangerWebUI
|
||||
# Author(s):
|
||||
#--------------------------------------------------------
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
|
||||
# 设置 vcpkg 工具链文件路径
|
||||
set(CMAKE_TOOLCHAIN_FILE "/home/zjk/project/lib/vcpkg/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
|
||||
|
||||
# 查找Boost库
|
||||
find_package(Boost REQUIRED COMPONENTS system thread)
|
||||
|
||||
#find crow库
|
||||
find_package(Crow CONFIG REQUIRED)
|
||||
# Find SQLite3 package
|
||||
find_package(SQLite3 REQUIRED)
|
||||
|
||||
SET(SRC
|
||||
main.cpp
|
||||
DBImage.cpp
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(appPowerMangerWebUI ${SRC})
|
||||
|
||||
TARGET_LINK_LIBRARIES(appPowerMangerWebUI
|
||||
${MOOS_LIBRARIES}
|
||||
mbutil
|
||||
m
|
||||
pthread
|
||||
Crow::Crow
|
||||
asio::asio
|
||||
jsoncpp
|
||||
SQLiteDB
|
||||
sqlite3
|
||||
Boost::system
|
||||
Boost::thread)
|
||||
@@ -1,230 +0,0 @@
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// MOOS - Mission Oriented Operating Suite
|
||||
//
|
||||
// A suit of Applications and Libraries for Mobile Robotics Research
|
||||
// Copyright (C) 2001-2005 Massachusetts Institute of Technology and
|
||||
// Oxford University.
|
||||
//
|
||||
// This software was written by Paul Newman at MIT 2001-2002 and Oxford
|
||||
// University 2003-2005. email: pnewman@robots.ox.ac.uk.
|
||||
//
|
||||
// This file is part of a MOOS Utility Component.
|
||||
//
|
||||
// This program is free software; you can redistribute it and/or
|
||||
// modify it under the terms of the GNU General Public License as
|
||||
// published by the Free Software Foundation; either version 2 of the
|
||||
// License, or (at your option) any later version.
|
||||
//
|
||||
// This program is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
// General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU General Public License
|
||||
// along with this program; if not, write to the Free Software
|
||||
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
|
||||
// 02111-1307, USA.
|
||||
//
|
||||
////////////////////////// END_GPL //////////////////////////////////
|
||||
// DBImage.cpp: implementation of the CDBImage class.
|
||||
|
||||
|
||||
|
||||
//
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "DBImage.h"
|
||||
|
||||
//////////////////////////////////////////////////////////////////////
|
||||
// Construction/Destruction
|
||||
//////////////////////////////////////////////////////////////////////
|
||||
|
||||
bool CDBImage::Set(MOOSMSG_LIST & InMail)
|
||||
{
|
||||
MOOSMSG_LIST::iterator p;
|
||||
|
||||
|
||||
m_Lock.Lock();
|
||||
//MOOSTrace("Rx'd %d \n",InMail.size());
|
||||
|
||||
for(p = InMail.begin();p!=InMail.end();p++)
|
||||
{
|
||||
CMOOSMsg & rMsg= *p;
|
||||
//MOOSTrace("Rx'd %s \n",rMsg.m_sKey.c_str());
|
||||
|
||||
if(!m_Mask.empty() && m_Mask.find(rMsg.GetSource())!=m_Mask.end())
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if(rMsg.IsDataType(MOOS_NOT_SET) && !m_bShowPending)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
int nNdx = GetIndex(rMsg.m_sKey);
|
||||
if(nNdx<0)
|
||||
{
|
||||
m_IndexMap[rMsg.m_sKey] = m_DBData.size();
|
||||
m_DBData.push_back(CVar(rMsg));
|
||||
}
|
||||
else
|
||||
{
|
||||
bool bChanging = !( rMsg.GetTime()==m_DBData[nNdx].GetTimeVal());
|
||||
m_DBData[nNdx]= CVar(rMsg);
|
||||
m_DBData[nNdx].Changed(bChanging);
|
||||
}
|
||||
}
|
||||
m_Lock.UnLock();
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int CDBImage::GetIndex(const std::string & sName)
|
||||
{
|
||||
std::map<std::string,int>::iterator q = m_IndexMap.find(sName);
|
||||
|
||||
if(q!=m_IndexMap.end())
|
||||
{
|
||||
int n = q->second;
|
||||
return n;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
bool CDBImage:: HasChanged(int n)
|
||||
{
|
||||
if(n >= static_cast<int> (m_DBData.size()) || n<0)
|
||||
return false;
|
||||
return m_DBData[n].IsChanged();
|
||||
}
|
||||
|
||||
|
||||
bool CDBImage::Get(CVar & rVar, int n)
|
||||
{
|
||||
m_Lock.Lock();
|
||||
|
||||
if(n>=static_cast<int> (m_DBData.size()) || n<0)
|
||||
{
|
||||
m_Lock.UnLock();
|
||||
return false;
|
||||
}
|
||||
|
||||
rVar = m_DBData[n];
|
||||
|
||||
m_Lock.UnLock();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool CDBImage::SetProcInfo(MOOSMSG_LIST & InMail)
|
||||
{
|
||||
m_Lock.Lock();
|
||||
// TODO: Add your control notification handler code here
|
||||
m_nClients = InMail.size();
|
||||
m_Processes.clear();
|
||||
MOOSMSG_LIST::iterator p;
|
||||
for(p=InMail.begin();p!=InMail.end();p++)
|
||||
{
|
||||
|
||||
CMOOSMsg & rMsg = *p;
|
||||
std::string sTmp = rMsg.m_sVal;
|
||||
std::string sWho = MOOSChomp(sTmp,":");
|
||||
|
||||
if(m_Processes.find(sWho)==m_Processes.end())
|
||||
{
|
||||
ProcInfo Info;
|
||||
m_Processes[sWho] = Info;
|
||||
}
|
||||
|
||||
std::string sSubscribed,sPublished;
|
||||
sSubscribed = MOOSChomp(sTmp,"PUBLISHED=");
|
||||
sPublished = sTmp;
|
||||
MOOSChomp(sSubscribed,"SUBSCRIBED=");
|
||||
|
||||
while(!sSubscribed.empty())
|
||||
{
|
||||
sTmp = MOOSChomp(sSubscribed,",");
|
||||
if(!sTmp.empty())
|
||||
{
|
||||
m_Processes[sWho].m_Subscribed.push_front(sTmp);
|
||||
}
|
||||
}
|
||||
|
||||
while(!sPublished.empty())
|
||||
{
|
||||
sTmp = MOOSChomp(sPublished,",");
|
||||
if(!sTmp.empty())
|
||||
{
|
||||
m_Processes[sWho].m_Published.push_front(sTmp);
|
||||
}
|
||||
}
|
||||
}
|
||||
m_Lock.UnLock();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool CDBImage::GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs)
|
||||
{
|
||||
bool bRes = false;
|
||||
m_Lock.Lock();
|
||||
PROC_INFO_MAP::iterator q = m_Processes.find(sWhat);
|
||||
if(q!=m_Processes.end())
|
||||
{
|
||||
sSubs = q->second.m_Subscribed;
|
||||
sPubs = q->second.m_Published;
|
||||
bRes = true;
|
||||
}
|
||||
m_Lock.UnLock();
|
||||
return bRes;
|
||||
|
||||
}
|
||||
|
||||
bool CDBImage::GetProcesses(STRING_LIST & sProcs)
|
||||
{
|
||||
m_Lock.Lock();
|
||||
|
||||
sProcs.clear();
|
||||
|
||||
PROC_INFO_MAP::iterator q;
|
||||
for(q=m_Processes.begin();q!=m_Processes.end();q++)
|
||||
{
|
||||
sProcs.push_back(q->first.c_str());
|
||||
}
|
||||
m_Lock.UnLock();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool CDBImage::SetMask(std::set<std::string> Mask)
|
||||
{
|
||||
m_Mask = Mask;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool CDBImage::Clear()
|
||||
{
|
||||
m_Lock.Lock();
|
||||
m_DBData.clear();
|
||||
m_IndexMap.clear();
|
||||
m_Lock.UnLock();
|
||||
|
||||
return true;
|
||||
}
|
||||
@@ -1,170 +0,0 @@
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// MOOS - Mission Oriented Operating Suite
|
||||
//
|
||||
// A suit of Applications and Libraries for Mobile Robotics Research
|
||||
// Copyright (C) 2001-2005 Massachusetts Institute of Technology and
|
||||
// Oxford University.
|
||||
//
|
||||
// This software was written by Paul Newman at MIT 2001-2002 and Oxford
|
||||
// University 2003-2005. email: pnewman@robots.ox.ac.uk.
|
||||
//
|
||||
// This file is part of a MOOS Utility Component.
|
||||
//
|
||||
// This program is free software; you can redistribute it and/or
|
||||
// modify it under the terms of the GNU General Public License as
|
||||
// published by the Free Software Foundation; either version 2 of the
|
||||
// License, or (at your option) any later version.
|
||||
//
|
||||
// This program is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
// General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU General Public License
|
||||
// along with this program; if not, write to the Free Software
|
||||
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
|
||||
// 02111-1307, USA.
|
||||
//
|
||||
////////////////////////// END_GPL //////////////////////////////////
|
||||
// DBImage.h: interface for the CDBImage class.
|
||||
|
||||
//
|
||||
|
||||
//////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(disable : 4786)
|
||||
#endif
|
||||
|
||||
|
||||
#if !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
|
||||
|
||||
#define AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_
|
||||
|
||||
#if _MSC_VER > 1000
|
||||
#pragma once
|
||||
#endif // _MSC_VER > 1000
|
||||
|
||||
#include "MOOS/libMOOS/MOOSLib.h"
|
||||
#include <string>
|
||||
#include <map>
|
||||
#include <vector>
|
||||
|
||||
|
||||
class CDBImage
|
||||
{
|
||||
public:
|
||||
bool Clear();
|
||||
|
||||
CDBImage()
|
||||
{
|
||||
m_bShowPending = false;
|
||||
}
|
||||
|
||||
struct ProcInfo
|
||||
{
|
||||
std::string m_sName;
|
||||
STRING_LIST m_Published;
|
||||
STRING_LIST m_Subscribed;
|
||||
};
|
||||
|
||||
typedef std::map<std::string,ProcInfo> PROC_INFO_MAP;
|
||||
|
||||
class CVar
|
||||
|
||||
{
|
||||
public:
|
||||
CVar()
|
||||
{
|
||||
m_dfTime = -1;
|
||||
}
|
||||
|
||||
CVar(CMOOSMsg & rMsg)
|
||||
{
|
||||
m_dfTime = rMsg.m_dfTime;
|
||||
switch(rMsg.m_cDataType)
|
||||
{
|
||||
case MOOS_STRING:
|
||||
m_eType = STR;
|
||||
break;
|
||||
case MOOS_DOUBLE:
|
||||
m_eType = DBL;
|
||||
break;
|
||||
case MOOS_BINARY_STRING:
|
||||
m_eType = BIN;
|
||||
break;
|
||||
default:
|
||||
m_eType = UNKNOWN;
|
||||
}
|
||||
m_sStr = rMsg.GetAsString();
|
||||
m_sCommunity = rMsg.m_sOriginatingCommunity;
|
||||
m_sName = rMsg.m_sKey;
|
||||
m_sFreq = MOOSFormat("%.1f",rMsg.m_dfVal2);
|
||||
m_sSource = rMsg.m_sSrc;
|
||||
m_bChanged = false;
|
||||
}
|
||||
|
||||
std::string GetTime(){return MOOSFormat("%.3f",m_dfTime);};
|
||||
double GetTimeVal(){return m_dfTime;};
|
||||
std::string GetValue(){return m_eType==UNKNOWN?"":m_sStr;};
|
||||
std::string GetCommunity(){return m_sCommunity;};
|
||||
std::string GetName(){return m_sName;};
|
||||
std::string GetFrequency(){return m_sFreq;};
|
||||
std::string GetSource(){return m_sSource;};
|
||||
bool IsChanged(){return m_bChanged;};
|
||||
void Changed(bool b){m_bChanged = b;};
|
||||
std::string GetType()
|
||||
{
|
||||
switch(m_eType)
|
||||
{
|
||||
case STR:
|
||||
return "$";
|
||||
case DBL:
|
||||
return "D";
|
||||
case BIN:
|
||||
return "B";
|
||||
default:
|
||||
return "?";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
protected:
|
||||
double m_dfTime;
|
||||
std::string m_sStr;
|
||||
enum Type{ STR,DBL,BIN,UNKNOWN};
|
||||
Type m_eType;
|
||||
std::string m_sCommunity;
|
||||
std::string m_sSrc;
|
||||
std::string m_sName;
|
||||
std::string m_sFreq;
|
||||
std::string m_sSource;
|
||||
bool m_bChanged;
|
||||
};
|
||||
|
||||
bool Set(MOOSMSG_LIST & InMail);
|
||||
bool Get(CVar & rVar, int n);
|
||||
bool HasChanged(int n);
|
||||
bool SetProcInfo(MOOSMSG_LIST & InMail) ;
|
||||
bool GetProcesses(STRING_LIST & sProcs);
|
||||
int GetNumVariables(){return m_DBData.size();}
|
||||
bool GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs);
|
||||
bool SetMask(std::set<std::string> Mask);
|
||||
bool ShowPending(bool b){m_bShowPending = b;return true;};
|
||||
protected:
|
||||
int GetIndex(const std::string & sName);
|
||||
std::vector<CVar> m_DBData;
|
||||
std::map<std::string,int> m_IndexMap;
|
||||
std::set<std::string> m_Mask;
|
||||
|
||||
bool m_bShowPending ;
|
||||
int m_nClients;
|
||||
int m_nVariables;
|
||||
PROC_INFO_MAP m_Processes;
|
||||
CMOOSLock m_Lock;
|
||||
};
|
||||
|
||||
|
||||
#endif // !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
|
||||
|
||||
@@ -1,305 +0,0 @@
|
||||
#include <string>
|
||||
#include "crow.h"
|
||||
#include <iostream>
|
||||
#include "json/json.h"
|
||||
#include <sys/inotify.h>
|
||||
#include <unistd.h>
|
||||
#include <dirent.h>
|
||||
#include <fstream>
|
||||
#include <vector>
|
||||
#include <thread>
|
||||
#include <mutex>
|
||||
#include <memory>
|
||||
#include "../pPowerManger/SQLiteDB.h"
|
||||
#include "../pPowerManger/pmSysvariable.h"
|
||||
#include <MOOS/libMOOS/Comms/MOOSAsyncCommClient.h>
|
||||
#include "DBImage.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
// 定义全局变量
|
||||
ccuState ccustate;
|
||||
StateData stateData;
|
||||
mutex wsMutex;
|
||||
vector<crow::websocket::connection*> wsConnections;
|
||||
shared_ptr<SQLiteDB> db;
|
||||
shared_ptr<MOOS::MOOSAsyncCommClient> moosClient;
|
||||
shared_ptr<CDBImage> dbImage;
|
||||
|
||||
bool bContinue = true;
|
||||
|
||||
// WebSocket消息处理
|
||||
void sendStateUpdate() {
|
||||
crow::json::wvalue msg;
|
||||
string time;
|
||||
{
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
db->getStateData(stateData, time);
|
||||
}
|
||||
|
||||
// 基本状态信息
|
||||
msg["state"] = {
|
||||
{"time", time},
|
||||
{"state_id", stateData.state_id},
|
||||
{"state_name", stateData.state_name},
|
||||
{"event", stateData.event},
|
||||
{"event_id", stateData.event_id},
|
||||
{"fault_code", stateData.fault_code},
|
||||
{"note", stateData.note}
|
||||
};
|
||||
|
||||
// 数据库状态信息
|
||||
msg["db_status"] = {
|
||||
{"connected", db->isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/data", "power_data.db")},
|
||||
{"database", db->getDBPatch()},
|
||||
{"size", db->getDatabaseSize()}
|
||||
};
|
||||
|
||||
// MOOS数据库状态信息
|
||||
msg["moos_db_status"] = {
|
||||
{"connected", moosClient->IsConnected()},
|
||||
{"host", "localhost"},
|
||||
{"port", 9000}
|
||||
};
|
||||
|
||||
// 进程详细信息
|
||||
{
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
STRING_LIST processes;
|
||||
dbImage->GetProcesses(processes);
|
||||
|
||||
crow::json::wvalue::list processList;
|
||||
for(const auto& proc : processes) {
|
||||
STRING_LIST subs, pubs;
|
||||
if(dbImage->GetProcInfo(proc, subs, pubs)) {
|
||||
crow::json::wvalue processInfo;
|
||||
processInfo["name"] = proc;
|
||||
std::vector<std::string> subs_vec(subs.begin(), subs.end());
|
||||
std::vector<std::string> pubs_vec(pubs.begin(), pubs.end());
|
||||
processInfo["subscribed"] = subs_vec;
|
||||
processInfo["published"] = pubs_vec;
|
||||
processList.push_back(std::move(processInfo));
|
||||
}
|
||||
}
|
||||
|
||||
msg["processes"] = {
|
||||
{"count", processes.size()},
|
||||
{"list", std::move(processList)}
|
||||
};
|
||||
}
|
||||
|
||||
// 数据库变量信息
|
||||
{
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
int varCount = dbImage->GetNumVariables();
|
||||
crow::json::wvalue::list varList;
|
||||
|
||||
// 遍历所有变量
|
||||
for(int i = 0; i < varCount; i++) {
|
||||
CDBImage::CVar var;
|
||||
if(dbImage->Get(var, i)) {
|
||||
varList.push_back({
|
||||
{"name", var.GetName()},
|
||||
{"value", var.GetValue()},
|
||||
{"time", var.GetTime()},
|
||||
{"type", var.GetType()},
|
||||
{"source", var.GetSource()}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
msg["variables"] = {
|
||||
{"count", varCount},
|
||||
{"data", std::move(varList)} // 包含所有变量的数组
|
||||
};
|
||||
}
|
||||
|
||||
// 发送WebSocket消息
|
||||
{
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
for(auto conn : wsConnections) {
|
||||
conn->send_text(msg.dump());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 订阅MOOS变量
|
||||
bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
|
||||
{
|
||||
int nCounts = 0;
|
||||
while(true) // 外部需要控制循环退出条件
|
||||
{
|
||||
if(comms->IsConnected())
|
||||
{
|
||||
// 每5次循环获取一次进程摘要
|
||||
if(nCounts++ % 5 == 0)
|
||||
{
|
||||
MOOSMSG_LIST procMail;
|
||||
if(comms->ServerRequest("PROC_SUMMARY", procMail))
|
||||
{
|
||||
m_DBImage->SetProcInfo(procMail);
|
||||
|
||||
// 打印进程信息
|
||||
// STRING_LIST processes;
|
||||
// m_DBImage->GetProcesses(processes);
|
||||
// std::cout << "Active processes: " << processes.size() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// 每次循环都获取数据库摘要
|
||||
MOOSMSG_LIST dbMail;
|
||||
if(comms->ServerRequest("ALL", dbMail))
|
||||
{
|
||||
m_DBImage->Set(dbMail);
|
||||
|
||||
// 打印数据库变量信息
|
||||
int varCount = m_DBImage->GetNumVariables();
|
||||
// std::cout << "Database variables: " << varCount << std::endl;
|
||||
|
||||
// 打印最近更新的变量
|
||||
if(varCount > 0) {
|
||||
CDBImage::CVar lastVar;
|
||||
if(m_DBImage->Get(lastVar, varCount-1)) {
|
||||
// std::cout << "Last updated variable: "
|
||||
// << lastVar.GetName() << " = "
|
||||
// << lastVar.GetValue() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 保持大约4Hz的频率
|
||||
MOOSPause(250);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
int main() {
|
||||
crow::SimpleApp app;
|
||||
db = make_shared<SQLiteDB>("/home/zjk/project/H100/H100PowerManger/data/power_data.db");
|
||||
moosClient = make_shared<MOOS::MOOSAsyncCommClient>();
|
||||
dbImage = make_shared<CDBImage>();
|
||||
moosClient->Run("localhost", 9000, "appPowerMangerWebUI");
|
||||
|
||||
// WebSocket路由
|
||||
CROW_WEBSOCKET_ROUTE(app, "/ws/state")
|
||||
.onopen([&](crow::websocket::connection& conn){
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
wsConnections.push_back(&conn);
|
||||
cout << "New WebSocket connection" << endl;
|
||||
})
|
||||
.onclose([&](crow::websocket::connection& conn, const string& /*reason*/, uint16_t /*code*/){
|
||||
lock_guard<mutex> lock(wsMutex);
|
||||
wsConnections.erase(
|
||||
remove(wsConnections.begin(), wsConnections.end(), &conn),
|
||||
wsConnections.end());
|
||||
cout << "WebSocket connection closed" << endl;
|
||||
})
|
||||
.onmessage([&](crow::websocket::connection& conn, const string& data, bool is_binary){
|
||||
cout << "Received WebSocket message: " << data << endl;
|
||||
});
|
||||
|
||||
// 状态更新定时器
|
||||
thread([](){
|
||||
while(true) {
|
||||
sendStateUpdate();
|
||||
this_thread::sleep_for(chrono::seconds(1));
|
||||
}
|
||||
}).detach();
|
||||
|
||||
//MOOS数据库更新定时器
|
||||
std::thread fetchThread([&](){
|
||||
while(bContinue) {
|
||||
FetchLoop(moosClient.get(), dbImage.get());
|
||||
}
|
||||
});
|
||||
|
||||
// 绑定主页路由
|
||||
CROW_ROUTE(app, "/")([]() {
|
||||
auto page = crow::mustache::load_text("index.html");
|
||||
return page;
|
||||
});
|
||||
|
||||
// MOOS通知API
|
||||
CROW_ROUTE(app, "/api/moos-notify")
|
||||
.methods("POST"_method)
|
||||
([](const crow::request& req) {
|
||||
auto json = crow::json::load(req.body);
|
||||
if (!json) {
|
||||
return crow::response(400, "Invalid JSON");
|
||||
}
|
||||
|
||||
string var = json["var"].s();
|
||||
string key = json["key"].s();
|
||||
|
||||
if (var.empty() || key.empty()) {
|
||||
return crow::response(400, "Var and Key are required");
|
||||
}
|
||||
|
||||
try {
|
||||
moosClient->Notify(var, key);
|
||||
return crow::response(200, "{\"success\":true}");
|
||||
} catch (const exception& e) {
|
||||
return crow::response(500,
|
||||
crow::json::wvalue{{"success", false}, {"message", e.what()}}.dump());
|
||||
}
|
||||
});
|
||||
|
||||
// 下载数据库API
|
||||
CROW_ROUTE(app, "/api/download-db")
|
||||
([]() {
|
||||
const std::string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
|
||||
const size_t chunkSize = 4096; // 4KB chunks
|
||||
|
||||
std::ifstream file(dbPath, std::ios::binary | std::ios::ate);
|
||||
if (!file) {
|
||||
return crow::response(404, "Database file not found");
|
||||
}
|
||||
|
||||
// 获取文件大小
|
||||
std::streamsize fileSize = file.tellg();
|
||||
file.seekg(0, std::ios::beg);
|
||||
|
||||
if (fileSize == 0) {
|
||||
return crow::response(500, "Database file is empty");
|
||||
}
|
||||
|
||||
// 创建响应
|
||||
crow::response res;
|
||||
res.code = 200;
|
||||
res.set_header("Content-Type", "application/octet-stream");
|
||||
res.set_header("Content-Disposition", "attachment; filename=power_data.db");
|
||||
res.set_header("Content-Length", std::to_string(fileSize));
|
||||
|
||||
try {
|
||||
// 分块读取和写入文件
|
||||
auto buffer = std::make_unique<char[]>(chunkSize);
|
||||
size_t totalSent = 0;
|
||||
|
||||
while (totalSent < fileSize) {
|
||||
size_t remaining = fileSize - totalSent;
|
||||
size_t readSize = std::min(remaining, chunkSize);
|
||||
|
||||
file.read(buffer.get(), readSize);
|
||||
if (file.gcount() <= 0) break;
|
||||
|
||||
res.write(std::string(buffer.get(), file.gcount()));
|
||||
totalSent += file.gcount();
|
||||
}
|
||||
|
||||
file.close();
|
||||
return res;
|
||||
} catch (const std::exception& e) {
|
||||
file.close();
|
||||
return crow::response(500, std::string("Download failed: ") + e.what());
|
||||
}
|
||||
});
|
||||
|
||||
// 启动服务器
|
||||
app.port(18080)
|
||||
.multithreaded()
|
||||
.concurrency(16)
|
||||
.run();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,75 +0,0 @@
|
||||
#--------------------------------------------------------
|
||||
# The CMakeLists.txt for: pPowerManger
|
||||
# Author(s):
|
||||
#--------------------------------------------------------
|
||||
|
||||
# Set System Specific Libraries
|
||||
if (${WIN32})
|
||||
# Windows Libraries
|
||||
SET(SYSTEM_LIBS
|
||||
wsock32 )
|
||||
else (${WIN32})
|
||||
# Linux and Apple Libraries
|
||||
SET(SYSTEM_LIBS
|
||||
m
|
||||
pthread )
|
||||
endif (${WIN32})
|
||||
|
||||
# Find SQLite3 package
|
||||
find_package(SQLite3 REQUIRED)
|
||||
|
||||
SET(SRC
|
||||
PowerManagerFsm.cpp
|
||||
PowerManger.cpp
|
||||
PowerManger_Info.cpp
|
||||
udpComm.cpp
|
||||
main.cpp
|
||||
SQLiteDB.cpp
|
||||
driver.cpp
|
||||
LowerCommManager.cpp
|
||||
UpperCommManager.cpp
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(pPowerManger ${SRC})
|
||||
|
||||
TARGET_LINK_LIBRARIES(pPowerManger
|
||||
${MOOS_LIBRARIES}
|
||||
apputil
|
||||
mbutil
|
||||
m
|
||||
pthread
|
||||
jsoncpp
|
||||
${SYSTEM_LIBS}
|
||||
SQLiteDB
|
||||
sqlite3)
|
||||
|
||||
# Add SQLiteDB static library
|
||||
SET(UDPCOMM_SRC
|
||||
udpComm.cpp
|
||||
)
|
||||
|
||||
SET(SQLITEDB_SRC
|
||||
SQLiteDB.cpp
|
||||
)
|
||||
|
||||
SET(FSMLIB_SRC
|
||||
PowerManagerFsm.cpp)
|
||||
|
||||
SET(DRIVER_SRC
|
||||
driver.cpp)
|
||||
|
||||
# SET(POWERMANGE_SRC
|
||||
# PowerManger.cpp
|
||||
# PowerManger_Info.cpp
|
||||
# udpComm.cpp
|
||||
# SQLiteDB.cpp
|
||||
# driver.cpp
|
||||
# PowerManagerFsm.cpp)
|
||||
|
||||
ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
|
||||
ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
|
||||
ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
|
||||
ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
|
||||
# ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
|
||||
|
||||
|
||||
@@ -1,326 +0,0 @@
|
||||
#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;
|
||||
}
|
||||
@@ -1,82 +0,0 @@
|
||||
#ifndef LOWER_COMM_MANAGER_H
|
||||
#define LOWER_COMM_MANAGER_H
|
||||
#define UNIX
|
||||
|
||||
#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSThread.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSLock.h"
|
||||
#include "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
|
||||
@@ -1,65 +0,0 @@
|
||||
#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);
|
||||
@@ -1,106 +0,0 @@
|
||||
#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
|
||||
@@ -1,343 +0,0 @@
|
||||
/************************************************************/
|
||||
/* NAME: */
|
||||
/* ORGN: MIT, Cambridge MA */
|
||||
/* FILE: PowerManger.cpp */
|
||||
/* DATE: December 29th, 1963 */
|
||||
/************************************************************/
|
||||
|
||||
#include <iterator>
|
||||
#include "MBUtils.h"
|
||||
#include "ACTable.h"
|
||||
#include "PowerManger.h"
|
||||
#include <memory>
|
||||
|
||||
using namespace std;
|
||||
|
||||
|
||||
bool _FsmCB(void * pParam)
|
||||
{
|
||||
PowerManger* pMe = (PowerManger* )pParam;
|
||||
return pMe->FsmLoop();
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Constructor()
|
||||
|
||||
PowerManger::PowerManger()
|
||||
{
|
||||
workCondition = 0;
|
||||
currentMod = 0;
|
||||
powerState = 0;
|
||||
falutLevel = 0;
|
||||
soc = 0;
|
||||
sustainableTime = 0;
|
||||
m_faultNum = 0;
|
||||
m_ticker = 0;
|
||||
faultCode.push_back(0);
|
||||
|
||||
m_pmCurrentState = {};
|
||||
m_currentDisBreakerState = {};
|
||||
m_targetDisBreakerState = {};
|
||||
m_currentDriverState = {};
|
||||
m_MSDriverCmd = {};
|
||||
m_subDisSysCmd = {};
|
||||
m_subDisSysState = {};
|
||||
//初始化控制指令
|
||||
initControlCmd();
|
||||
|
||||
//初始化数据库
|
||||
string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
|
||||
m_db = new SQLiteDB(dbPath);
|
||||
m_db->createPowerDataTables();
|
||||
m_db->createStateTables();
|
||||
m_db->createDisCcuSysTables();
|
||||
m_db->createDriversTables(VAR_TO_STR(m_currentDriverState));
|
||||
m_db->createDriversTables(VAR_TO_STR(m_subDisSysState));
|
||||
m_db->createDriversTables(VAR_TO_STR(m_subDisSysCmd));
|
||||
m_db->createDriversTables(VAR_TO_STR(m_MSDriverCmd));
|
||||
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Destructor
|
||||
|
||||
PowerManger::~PowerManger()
|
||||
{
|
||||
delete m_db;
|
||||
delete m_lowerCommManager;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnNewMail()
|
||||
|
||||
bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
|
||||
{
|
||||
AppCastingMOOSApp::OnNewMail(NewMail);
|
||||
|
||||
MOOSMSG_LIST::iterator p;
|
||||
for(p=NewMail.begin(); p!=NewMail.end(); p++)
|
||||
{
|
||||
CMOOSMsg &msg = *p;
|
||||
string key = msg.GetKey();
|
||||
string strJson = msg.GetString();
|
||||
//处理上位机发送的控制指令
|
||||
if(!m_upperCommManager->processUpperMsg(key,strJson))
|
||||
{
|
||||
cout << "processUpperMsg failed" << endl;
|
||||
}
|
||||
|
||||
#if 0 // Keep these around just for template
|
||||
string comm = msg.GetCommunity();
|
||||
double dval = msg.GetDouble();
|
||||
string sval = msg.GetString();
|
||||
string msrc = msg.GetSource();
|
||||
double mtime = msg.GetTime();
|
||||
bool mdbl = msg.IsDouble();
|
||||
bool mstr = msg.IsString();
|
||||
#endif
|
||||
|
||||
if(key == "FOO")
|
||||
cout << "great!";
|
||||
|
||||
else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
|
||||
reportRunWarning("Unhandled Mail: " + key);
|
||||
}
|
||||
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnConnectToServer()
|
||||
|
||||
bool PowerManger::OnConnectToServer()
|
||||
{
|
||||
registerVariables();
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: Iterate()
|
||||
// happens AppTick times per second
|
||||
//固定为4Hz
|
||||
bool PowerManger::Iterate()
|
||||
{
|
||||
AppCastingMOOSApp::Iterate();
|
||||
// 打印当前状态
|
||||
// cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState();
|
||||
if (m_ticker++ % 5 == 0)
|
||||
{
|
||||
m_CcuColCmd.heartbeat++;
|
||||
m_lowerCommManager->processPeriodicTasks();
|
||||
m_upperCommManager->processPeriodicTasks();
|
||||
writeDataToDB();
|
||||
}
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: OnStartUp()
|
||||
// happens before connection is open
|
||||
|
||||
bool PowerManger::OnStartUp()
|
||||
{
|
||||
AppCastingMOOSApp::OnStartUp();
|
||||
|
||||
STRING_LIST sParams;
|
||||
m_MissionReader.EnableVerbatimQuoting(false);
|
||||
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
|
||||
reportConfigWarning("No config block found for " + GetAppName());
|
||||
|
||||
STRING_LIST::iterator p;
|
||||
for(p=sParams.begin(); p!=sParams.end(); p++) {
|
||||
string orig = *p;
|
||||
string line = *p;
|
||||
string param = tolower(biteStringX(line, '='));
|
||||
string value = line;
|
||||
|
||||
bool handled = false;
|
||||
if(param == "foo") {
|
||||
handled = true;
|
||||
}
|
||||
else if(param == "bar") {
|
||||
handled = true;
|
||||
}
|
||||
|
||||
if(!handled)
|
||||
reportUnhandledConfigWarning(orig);
|
||||
|
||||
}
|
||||
|
||||
registerVariables();
|
||||
//初始化UDP通信
|
||||
m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
|
||||
m_lowerCommManager->initUdpComm();
|
||||
m_lowerCommManager->startListenThread();
|
||||
|
||||
//初始化上位机通信
|
||||
m_upperCommManager = new UpperCommManager(this);
|
||||
|
||||
// 初始化状态机
|
||||
PowerManagerFsm::init(this);
|
||||
PowerManagerFsm::start();
|
||||
InitEvent initEvent;
|
||||
PowerManagerFsm::dispatch(initEvent);
|
||||
return(true);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------
|
||||
// Procedure: registerVariables()
|
||||
|
||||
void PowerManger::registerVariables()
|
||||
{
|
||||
AppCastingMOOSApp::RegisterVariables();
|
||||
Register(DB_TO_PM_MSCMD, 0);
|
||||
Register(DB_TO_PM_EQUIPMENTCMD, 0);
|
||||
Register(DB_TO_PM_SUBDISSTATE, 0);
|
||||
}
|
||||
|
||||
|
||||
//------------------------------------------------------------
|
||||
// Procedure: buildReport()
|
||||
|
||||
bool PowerManger::buildReport()
|
||||
{
|
||||
m_msgs << "============================================" << endl;
|
||||
m_msgs << "File: " << endl;
|
||||
m_msgs << "============================================" << endl;
|
||||
|
||||
ACTable actab(4);
|
||||
actab << "Alpha | Bravo | Charlie | Delta";
|
||||
actab.addHeaderLines();
|
||||
actab << "one" << "two" << "three" << "four";
|
||||
m_msgs << actab.getFormattedString();
|
||||
|
||||
return(true);
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool PowerManger::FsmLoop()
|
||||
{
|
||||
//状态机循环
|
||||
// while (!m_FsmThread.IsQuitRequested())
|
||||
// {
|
||||
// // // 检查故障并触发事件
|
||||
// // if(int error = checkError()) {
|
||||
// // m_fsm.triggerFaultEvent(error);
|
||||
// // } else {
|
||||
// // // 自动状态转换由状态机内部处理
|
||||
// // MOOSPause(1000);
|
||||
// // }
|
||||
|
||||
// //延时1s
|
||||
// usleep(1000000);
|
||||
// }
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PowerManger::writeDataToDB()
|
||||
{
|
||||
//写入设备状态
|
||||
if(!m_db->insertDriverTables(m_currentDriverState,VAR_TO_STR(m_currentDriverState)))
|
||||
return false;
|
||||
if(!m_db->insertDriverTables(m_subDisSysState,VAR_TO_STR(m_subDisSysState)))
|
||||
return false;
|
||||
if(!m_db->insertDriverTables(m_subDisSysCmd,VAR_TO_STR(m_subDisSysCmd)))
|
||||
return false;
|
||||
if(!m_db->insertDriverTables(m_MSDriverCmd,VAR_TO_STR(m_MSDriverCmd)))
|
||||
return false;
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
int PowerManger::checkError()
|
||||
{
|
||||
//1.检查复合管控器状态
|
||||
if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
|
||||
m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
|
||||
m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
|
||||
m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
|
||||
m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
|
||||
m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
|
||||
m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
|
||||
return 0;
|
||||
//2.检查断路器状态
|
||||
}
|
||||
|
||||
void PowerManger::printState(const std::string& stateName, const std::string& desp){
|
||||
cout << MOOS::ConsoleColours::Yellow() << "STATE " << stateName << " " << MOOS::ConsoleColours::reset();
|
||||
cout << MOOS::ConsoleColours::Blue() << " -> " << MOOS::ConsoleColours::reset();
|
||||
// 检查desp是否有“故障”
|
||||
if (desp.find("故障") != string::npos) {
|
||||
cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
|
||||
return;
|
||||
}
|
||||
cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
|
||||
}
|
||||
|
||||
|
||||
//==============================系统操作函数====================
|
||||
bool PowerManger::shutdown()
|
||||
{
|
||||
m_CcuColCmd.masterState = 0xFF; //关机
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void PowerManger::initControlCmd()
|
||||
{
|
||||
//================初始化配电指令=============================
|
||||
m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1; //仪表锂电池默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入
|
||||
m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker = 0;
|
||||
|
||||
m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker = 0;
|
||||
m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker = 0;
|
||||
//锂电池默认接入
|
||||
m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1 = 0;
|
||||
m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2 = 0;
|
||||
m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker = 1;
|
||||
|
||||
m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker = 1;
|
||||
m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1 = 0;
|
||||
m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2 = 0;
|
||||
m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker = 1; //紧急锂电池默认接入
|
||||
//================初始化复合管控=============================
|
||||
m_CcuColCmd.workCondition = 0x00; //默认无效
|
||||
m_CcuColCmd.fcuCmd = 0x00; //无效指令
|
||||
m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
|
||||
m_CcuColCmd.fcuInsEfficiency = 00; //预留指令，无效
|
||||
m_CcuColCmd.insBatCmd = 0x00; //无效指令
|
||||
m_CcuColCmd.powerBatCmd = 0x00; //无效指令
|
||||
m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
|
||||
m_CcuColCmd.heartbeat = 0;
|
||||
m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
|
||||
//================初始化上位机指令=========================
|
||||
m_msCmd.modCMD = 99;
|
||||
m_msCmd.powerCMD = 99;
|
||||
m_msCmd.workCMD = 99;
|
||||
//================初始化设备驱动指令========================
|
||||
|
||||
}
|
||||
@@ -1,136 +0,0 @@
|
||||
/*
|
||||
* @Author: zhaojingkui 1553836110@qq.com
|
||||
* @Date: 2024-10-22 16:47:01
|
||||
* @LastEditors: zhaojingkui 1553836110@qq.com
|
||||
* @LastEditTime: 2024-10-22 18:03:29
|
||||
* @FilePath: /H100PowerManger/src/pPowerManger/PowerManger.h
|
||||
* @Description:
|
||||
*
|
||||
* Copyright (c) 2024 by ${git_name_email}, All Rights Reserved.
|
||||
*/
|
||||
/************************************************************/
|
||||
/* NAME: */
|
||||
/* ORGN: MIT, Cambridge MA */
|
||||
/* FILE: PowerManger.h */
|
||||
/* DATE: December 29th, 1963 */
|
||||
/************************************************************/
|
||||
|
||||
#ifndef PowerManger_HEADER
|
||||
#define PowerManger_HEADER
|
||||
#define UNIX
|
||||
#define JSON_USE_EXCEPTION 1
|
||||
|
||||
#include <queue>
|
||||
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
|
||||
#include "MOOS/libMOOS/Utils/MOOSThread.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 "PowerManagerFsm.hpp"
|
||||
#include "SQLiteDB.h"
|
||||
#include "driver.h"
|
||||
#include "LowerCommManager.h"
|
||||
#include "UpperCommManager.h"
|
||||
|
||||
|
||||
#define IPORT 5000
|
||||
#define CCUPORT 5001
|
||||
#define CCUHOST "127.0.0.1"
|
||||
#define MAX_UDP_PKT_SIZE 65535
|
||||
#define SKEW_TOLERANCE 5
|
||||
|
||||
class PowerManger : public AppCastingMOOSApp
|
||||
{
|
||||
public:
|
||||
PowerManger();
|
||||
~PowerManger();
|
||||
public:
|
||||
bool FsmLoop();
|
||||
|
||||
protected: // Standard MOOSApp functions to overload
|
||||
bool OnNewMail(MOOSMSG_LIST &NewMail);
|
||||
bool Iterate();
|
||||
bool OnConnectToServer();
|
||||
bool OnStartUp();
|
||||
bool buildReport();
|
||||
void registerVariables();
|
||||
|
||||
public:
|
||||
void updateTime(){m_current_time = MOOSTime();}
|
||||
//数据库
|
||||
SQLiteDB* m_db;
|
||||
bool writeDataToDB();
|
||||
|
||||
/************************************************************/
|
||||
/* |<------------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 m_depth;
|
||||
int m_missionCode;
|
||||
//===========================STATE=========================================
|
||||
unsigned char workCondition;
|
||||
unsigned char currentMod;
|
||||
unsigned char powerState;
|
||||
unsigned char falutLevel;
|
||||
vector<unsigned int> faultCode;
|
||||
unsigned int soc;
|
||||
unsigned int sustainableTime;
|
||||
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_ticker;
|
||||
int connectState;
|
||||
|
||||
//=============================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;
|
||||
|
||||
//==================================================================================
|
||||
int checkError();
|
||||
bool shutdown();
|
||||
bool powerOn();
|
||||
bool powerOff();
|
||||
|
||||
bool sendNotification(const std::string& key, const std::string& value) {
|
||||
return Notify(key, value);
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -1,115 +0,0 @@
|
||||
/****************************************************************/
|
||||
/* NAME: */
|
||||
/* ORGN: MIT, Cambridge MA */
|
||||
/* FILE: PowerManger_Info.cpp */
|
||||
/* DATE: December 29th, 1963 */
|
||||
/****************************************************************/
|
||||
|
||||
#include <cstdlib>
|
||||
#include <iostream>
|
||||
#include "PowerManger_Info.h"
|
||||
#include "ColorParse.h"
|
||||
#include "ReleaseInfo.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showSynopsis
|
||||
|
||||
void showSynopsis()
|
||||
{
|
||||
blk("SYNOPSIS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" The pPowerManger application is used for ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
blk(" ");
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showHelpAndExit
|
||||
|
||||
void showHelpAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("Usage: pPowerManger file.moos [OPTIONS] ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("Options: ");
|
||||
mag(" --alias","=<ProcessName> ");
|
||||
blk(" Launch pPowerManger with the given process name ");
|
||||
blk(" rather than pPowerManger. ");
|
||||
mag(" --example, -e ");
|
||||
blk(" Display example MOOS configuration block. ");
|
||||
mag(" --help, -h ");
|
||||
blk(" Display this help message. ");
|
||||
mag(" --interface, -i ");
|
||||
blk(" Display MOOS publications and subscriptions. ");
|
||||
mag(" --version,-v ");
|
||||
blk(" Display the release version of pPowerManger. ");
|
||||
blk(" ");
|
||||
blk("Note: If argv[2] does not otherwise match a known option, ");
|
||||
blk(" then it will be interpreted as a run alias. This is ");
|
||||
blk(" to support pAntler launching conventions. ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showExampleConfigAndExit
|
||||
|
||||
void showExampleConfigAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("pPowerManger Example MOOS Configuration ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
blk("ProcessConfig = pPowerManger ");
|
||||
blk("{ ");
|
||||
blk(" AppTick = 4 ");
|
||||
blk(" CommsTick = 4 ");
|
||||
blk(" ");
|
||||
blk("} ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showInterfaceAndExit
|
||||
|
||||
void showInterfaceAndExit()
|
||||
{
|
||||
blk(" ");
|
||||
blu("=============================================================== ");
|
||||
blu("pPowerManger INTERFACE ");
|
||||
blu("=============================================================== ");
|
||||
blk(" ");
|
||||
showSynopsis();
|
||||
blk(" ");
|
||||
blk("SUBSCRIPTIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO, ");
|
||||
blk(" string_val=BAR ");
|
||||
blk(" ");
|
||||
blk("PUBLICATIONS: ");
|
||||
blk("------------------------------------ ");
|
||||
blk(" Publications are determined by the node message content. ");
|
||||
blk(" ");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------
|
||||
// Procedure: showReleaseInfoAndExit
|
||||
|
||||
void showReleaseInfoAndExit()
|
||||
{
|
||||
showReleaseInfo("pPowerManger", "gpl");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
@@ -1,18 +0,0 @@
|
||||
/****************************************************************/
|
||||
/* NAME: */
|
||||
/* ORGN: MIT, Cambridge MA */
|
||||
/* FILE: PowerManger_Info.h */
|
||||
/* DATE: Dececmber 29th, 1963 */
|
||||
/****************************************************************/
|
||||
|
||||
#ifndef PowerManger_INFO_HEADER
|
||||
#define PowerManger_INFO_HEADER
|
||||
|
||||
void showSynopsis();
|
||||
void showHelpAndExit();
|
||||
void showExampleConfigAndExit();
|
||||
void showInterfaceAndExit();
|
||||
void showReleaseInfoAndExit();
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,91 +0,0 @@
|
||||
#ifndef SQLITEDB_H
|
||||
#define SQLITEDB_H
|
||||
|
||||
#include <sqlite3.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include "json/json.h"
|
||||
#include "ccuUdpMsg.h"
|
||||
#include "pmSysvariable.h"
|
||||
#include "driver.h"
|
||||
|
||||
|
||||
using namespace std;
|
||||
struct PowerData {
|
||||
double voltage;
|
||||
double current;
|
||||
double power;
|
||||
double temperature;
|
||||
};
|
||||
|
||||
struct StateData {
|
||||
int state_id;
|
||||
std::string state_name;
|
||||
std::string event;
|
||||
int event_id;
|
||||
int fault_code;
|
||||
std::string note;
|
||||
};
|
||||
|
||||
class SQLiteDB {
|
||||
public:
|
||||
SQLiteDB(const std::string& dbPath);
|
||||
~SQLiteDB();
|
||||
|
||||
// 模板函数声明
|
||||
template<typename T>
|
||||
bool executeInsert(const char* sql, const T& data);
|
||||
|
||||
template<typename T>
|
||||
bool bindParameters(sqlite3_stmt* stmt, const T& data);
|
||||
// 数据库操作函数
|
||||
bool createPowerDataTables();
|
||||
bool createStateTables();
|
||||
bool createDisCcuSysTables();
|
||||
bool createDriversTables(string tableName);
|
||||
|
||||
bool clearPowerData();
|
||||
bool clearStateData();
|
||||
|
||||
// 插入数据函数
|
||||
bool insertPowerData(const PowerData& powerData);
|
||||
bool insertStateData(StateData stateData,bool filter=true);
|
||||
|
||||
|
||||
bool insertCcuData(ccuState s);
|
||||
bool insertDisHighVolBusData(disHighVolBusState s);
|
||||
bool insertDisHighAVolBusData(disHighAVolBusState s);
|
||||
bool insertDisHighBVolBusData(disHighBVolBusState s);
|
||||
bool insertDisLowBusData(disLowBusState s);
|
||||
|
||||
bool insertCcuSysCmd(ccuColCmd cmd);
|
||||
bool insertDisSysCmd(disHighVolBusCmd cmd);
|
||||
bool insertDisSysCmd(disHighAVolBusCmd cmd);
|
||||
bool insertDisSysCmd(disHighBVolBusCmd cmd);
|
||||
bool insertDisSysCmd(disLowBusCmd cmd);
|
||||
|
||||
bool insertDriverTables(DriverTable driverTable,string tableName);
|
||||
|
||||
bool insertDisCcuData(pmState s,bool filter=true);//由于信息同步原因，暂时不使用该函数
|
||||
|
||||
// 获取最新的状态数据
|
||||
bool getStateData(StateData &stateData);
|
||||
bool getStateData(StateData &stateData,string &time);
|
||||
|
||||
// 使用函数
|
||||
bool isDatabaseConnected(const std::string& path, const std::string& dbName);
|
||||
std::vector<PowerData> getPowerData(int limit = 100);
|
||||
|
||||
// 获取数据库状态函数
|
||||
string getDBPatch();
|
||||
|
||||
// 获取数据库大小
|
||||
long getDatabaseSize();
|
||||
|
||||
private:
|
||||
sqlite3* m_db;
|
||||
string m_dbPath;
|
||||
|
||||
};
|
||||
|
||||
#endif // SQLITEDB_H
|
||||
@@ -1,586 +0,0 @@
|
||||
#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";
|
||||
}
|
||||
}
|
||||
@@ -1,70 +0,0 @@
|
||||
#ifndef UPPER_COMM_MANAGER_H
|
||||
#define UPPER_COMM_MANAGER_H
|
||||
|
||||
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
|
||||
#include "pmSysvariable.h"
|
||||
#include "driver.h"
|
||||
#include "json/json.h"
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <map>
|
||||
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
|
||||
@@ -1,139 +0,0 @@
|
||||
#ifndef CCUUDPMSG__H
|
||||
#define CCUUDPMSG__H
|
||||
#include "pmSysvariable.h"
|
||||
|
||||
#define CCU_UDPMSG_START1 0x20
|
||||
#define CCU_UDPMSG_START2 0x20
|
||||
|
||||
#define DIS_MSG_HEAD1 0x40
|
||||
#define DIS_MSG_HEAD2 0x40
|
||||
|
||||
#define CCU_CMD_ID 0x0050
|
||||
#define CCU_SET_PARM_ID 0x0051
|
||||
#define CCU_STATE_FB_ID 0x0041
|
||||
#define CCU_SET_PARM_FB_ID 0x0040
|
||||
|
||||
#define DIS_HVBUS_FB_ID 0x0005
|
||||
#define DIS_HVBUSA_FB_ID 0x0006
|
||||
#define DIS_HVBUSB_FB_ID 0x0007
|
||||
#define DIS_LVBUS_FB_ID 0x0008
|
||||
|
||||
#define DIS_HVBUS_CMD_ID 0x0001
|
||||
#define DIS_HVBUSA_CMD_ID 0x0002
|
||||
#define DIS_HVBUSB_CMD_ID 0x0003
|
||||
#define DIS_LVBUS_CMD_ID 0x0004
|
||||
|
||||
#define DIS_BREAKER_ON 0x55
|
||||
#define DIS_BREAKER_OFF 0xAA
|
||||
#define DIS_FAULTOFF 0x5A
|
||||
|
||||
typedef unsigned int Checksum;
|
||||
typedef unsigned char cChecksum;
|
||||
|
||||
#pragma pack (1)
|
||||
typedef struct {
|
||||
unsigned char start1;
|
||||
unsigned char start2;
|
||||
unsigned short id;
|
||||
unsigned short length;
|
||||
} m_header;
|
||||
|
||||
typedef struct {
|
||||
unsigned short year;
|
||||
unsigned char month;
|
||||
unsigned char day;
|
||||
unsigned char hour;
|
||||
unsigned char minute;
|
||||
unsigned char second;
|
||||
unsigned char milliseconds; //每10毫秒
|
||||
} m_date;
|
||||
// 复合管控器操作指令
|
||||
typedef struct {
|
||||
m_header header;
|
||||
m_date date;
|
||||
ccuColCmd cmd;
|
||||
Checksum checkCode;
|
||||
} msg_CcuColCmdMsg;
|
||||
|
||||
// 复合管控器参数设定指令
|
||||
typedef struct {
|
||||
m_header header;
|
||||
ccuSetParmCmd cmd;
|
||||
Checksum checkCode;
|
||||
} msg_CcuSetParmMsg;
|
||||
|
||||
// 配电指令
|
||||
typedef struct
|
||||
{
|
||||
m_header header;
|
||||
disHighVolBusCmd data;
|
||||
cChecksum checkCode;
|
||||
}msg_disHVBCmd;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
m_header header;
|
||||
disHighAVolBusCmd data;
|
||||
cChecksum checkCode;
|
||||
}msg_disHVBACmd;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
m_header header;
|
||||
disHighBVolBusCmd data;
|
||||
cChecksum checkCode;
|
||||
}msg_disHVBBCmd;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
m_header header;
|
||||
disLowBusCmd data;
|
||||
cChecksum checkCode;
|
||||
}msg_disLVBCmd;
|
||||
|
||||
|
||||
// 复合管控参数设定反馈指令
|
||||
typedef struct {
|
||||
m_header header;
|
||||
unsigned char flag;
|
||||
unsigned char failureCode;
|
||||
Checksum checkCode;
|
||||
} msg_CcuSetParmFbMsg;
|
||||
|
||||
// 复合管控状态反馈
|
||||
typedef struct {
|
||||
m_header header;
|
||||
ccuState data;
|
||||
Checksum checkCode;
|
||||
} msg_CcuStateFbMsg;
|
||||
|
||||
//高压母线配电反馈
|
||||
typedef struct {
|
||||
m_header header;
|
||||
disHighVolBusState data;
|
||||
cChecksum checkCode;
|
||||
} msg_disHighVolBusFbMsg;
|
||||
|
||||
// 高压母线A配电反馈
|
||||
typedef struct {
|
||||
m_header header;
|
||||
disHighAVolBusState data;
|
||||
cChecksum checkCode;
|
||||
} msg_disHighAVolBusFbMsg;
|
||||
|
||||
// 高压母线B配电反馈
|
||||
typedef struct {
|
||||
m_header header;
|
||||
disHighBVolBusState data;
|
||||
cChecksum checkCode;
|
||||
} msg_disHighBVolBusFbMsg;
|
||||
|
||||
//仪表汇流排配电反馈
|
||||
typedef struct {
|
||||
m_header header;
|
||||
disLowBusState data;
|
||||
cChecksum checkCode;
|
||||
} msg_disLowBusFbMsg;
|
||||
|
||||
#pragma pack ()
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,146 +0,0 @@
|
||||
#ifndef DRIVER_H
|
||||
#define DRIVER_H
|
||||
#include "json/json.h"
|
||||
#include "iostream"
|
||||
#include <sstream>
|
||||
|
||||
|
||||
#define DRIVER_POWER_OFF 0x00
|
||||
#define DRIVER_FULL_POWER_ON 0x01
|
||||
#define DRIVER_INSTRUMENT_POWER_ON 0x02
|
||||
#define DRIVER_MOTIVE_POWER_ON 0x03
|
||||
#define DRIVER_STANDBY 0x04
|
||||
|
||||
struct DriverTable
|
||||
{
|
||||
unsigned char depth1;
|
||||
unsigned char depth2;
|
||||
unsigned char depth3;
|
||||
unsigned char overDeep1;
|
||||
unsigned char overDeep2;
|
||||
unsigned char ctd1;
|
||||
unsigned char ctd2;
|
||||
unsigned char soundVeloc;
|
||||
unsigned char commMast;
|
||||
unsigned char ins;
|
||||
unsigned char ntp;
|
||||
unsigned char inputWaterSensor1;
|
||||
unsigned char inputWaterSensor2;
|
||||
unsigned char inputWaterSensor3;
|
||||
//水声设备
|
||||
unsigned char singleBeamSonar1;
|
||||
unsigned char singleBeamSonar2;
|
||||
unsigned char singleBeamSonar3;
|
||||
unsigned char singleBeamSonar4;
|
||||
unsigned char singleBeamSonar5;
|
||||
unsigned char singleBeamSonar6;
|
||||
unsigned char singleBeamSonar7;
|
||||
unsigned char singleBeamSonar8;
|
||||
unsigned char forwardSonar;
|
||||
unsigned char DVL;
|
||||
unsigned char lowFreqSonar;
|
||||
unsigned char USBL;
|
||||
//执行机构
|
||||
unsigned char bowWaterlnet1;
|
||||
unsigned char bowWaterlnet2;
|
||||
unsigned char bowWaterlnet3;
|
||||
unsigned char bowWaterlnet4;
|
||||
unsigned char bowWaterlnet5;
|
||||
unsigned char bowWaterlnet6;
|
||||
unsigned char bowWaterlnet7;
|
||||
unsigned char bowWaterlnet8;
|
||||
unsigned char bowRudderDeploy;
|
||||
unsigned char bowRudderServo1;
|
||||
unsigned char bowRudderServo2;
|
||||
unsigned char bowCover1;
|
||||
unsigned char bowCover2;
|
||||
unsigned char bowCover3;
|
||||
unsigned char bowCover4;
|
||||
unsigned char bowCover5;
|
||||
unsigned char bowCover6;
|
||||
unsigned char waterInject;
|
||||
unsigned char mastLiftingServo;
|
||||
unsigned char buoyancyAdjust1;
|
||||
unsigned char buoyancyAdjust2;
|
||||
unsigned char buoyancyAdjust3;
|
||||
unsigned char buoyancyAdjust4;
|
||||
unsigned char buoyancyAdjust5;
|
||||
unsigned char sternRudderServo1;
|
||||
unsigned char sternRudderServo2;
|
||||
unsigned char sternRudderServo3;
|
||||
unsigned char sternRudderServo4;
|
||||
unsigned char thruster;
|
||||
unsigned char bowThrow;
|
||||
unsigned char sternThrow;
|
||||
//负载
|
||||
unsigned char photoSensor;
|
||||
unsigned char electSensor;
|
||||
unsigned char launchControler;
|
||||
unsigned char sideSonar;
|
||||
unsigned char buoyage;
|
||||
};
|
||||
|
||||
enum DriverState
|
||||
{
|
||||
POWER_OFF, // 断电
|
||||
FULL_POWER_ON, // 全电
|
||||
INSTRUMENT_POWER_ON, // 仪表电上电
|
||||
MOTIVE_POWER_ON, // 动力电上电
|
||||
};
|
||||
|
||||
enum workCondition
|
||||
{
|
||||
STANDBY, // 待机工况
|
||||
SHORE_BASED_READY, // 岸基备航
|
||||
WATER_BASED_READY, // 水中备航
|
||||
CRUISE_MODE, // 巡航模式
|
||||
HIGH_SPEED_MODE, // 高速模式
|
||||
ASCEND_DESCEND, // 上浮下潜
|
||||
BUOYANCY_ADJUST, // 浮调模式
|
||||
UNDERWATER_RECON, // 水下侦查
|
||||
SURFACE_RECON, // 水面侦查
|
||||
DJ_MODE, // DJ模式
|
||||
DEBUG_MODE // 调试模式
|
||||
};
|
||||
|
||||
class Driver
|
||||
{
|
||||
public:
|
||||
Driver();
|
||||
~Driver();
|
||||
void setDebug(bool debug);
|
||||
|
||||
public:
|
||||
DriverTable* currentDriverTable;
|
||||
DriverTable* nextDriverTable;
|
||||
|
||||
int getDriverTable(workCondition condition, DriverTable* driverTable);
|
||||
|
||||
void getSTANDBYTable(DriverTable* driverTable);
|
||||
void getSHORE_BASED_READYable(DriverTable* driverTable);
|
||||
void getWATER_BASED_READYable(DriverTable* driverTable);
|
||||
void getCRUISE_MODEable(DriverTable* driverTable);
|
||||
void getHIGH_SPEED_MODEable(DriverTable* driverTable);
|
||||
void getASCEND_DESCENDable(DriverTable* driverTable);
|
||||
void getBUOYANCY_ADJUSTable(DriverTable* driverTable);
|
||||
void getUNDERWATER_RECONable(DriverTable* driverTable);
|
||||
void getSURFACE_RECONable(DriverTable* driverTable);
|
||||
void getDJ_MODEable(DriverTable* driverTable);
|
||||
|
||||
std::string getDriverTableJson();
|
||||
std::string getSubDisCmdJson(const DriverTable* driverTable);
|
||||
std::string getDriveStateJson(const DriverTable* driverTable);
|
||||
|
||||
std::string saveDriverTableToJson(const DriverTable* driverTable);
|
||||
int loadDriverTableFromJson(const std::string &strJson, DriverTable& table);
|
||||
|
||||
int SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value);
|
||||
|
||||
private:
|
||||
|
||||
bool debug;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // DRIVER_H
|
||||
@@ -1,52 +0,0 @@
|
||||
/************************************************************/
|
||||
/* NAME: */
|
||||
/* ORGN: MIT, Cambridge MA */
|
||||
/* FILE: main.cpp, Cambridge MA */
|
||||
/* DATE: December 29th, 1963 */
|
||||
/************************************************************/
|
||||
|
||||
#include <string>
|
||||
#include "MBUtils.h"
|
||||
#include "ColorParse.h"
|
||||
#include "PowerManger.h"
|
||||
#include "PowerManger_Info.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
string mission_file;
|
||||
string run_command = argv[0];
|
||||
|
||||
for(int i=1; i<argc; i++) {
|
||||
string argi = argv[i];
|
||||
if((argi=="-v") || (argi=="--version") || (argi=="-version"))
|
||||
showReleaseInfoAndExit();
|
||||
else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
|
||||
showExampleConfigAndExit();
|
||||
else if((argi == "-h") || (argi == "--help") || (argi=="-help"))
|
||||
showHelpAndExit();
|
||||
else if((argi == "-i") || (argi == "--interface"))
|
||||
showInterfaceAndExit();
|
||||
else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
|
||||
mission_file = argv[i];
|
||||
else if(strBegins(argi, "--alias="))
|
||||
run_command = argi.substr(8);
|
||||
else if(i==2)
|
||||
run_command = argi;
|
||||
}
|
||||
|
||||
if(mission_file == "")
|
||||
showHelpAndExit();
|
||||
|
||||
cout << termColor("green");
|
||||
cout << "pPowerManger launching as " << run_command << endl;
|
||||
cout << termColor() << endl;
|
||||
|
||||
PowerManger PowerManger;
|
||||
|
||||
PowerManger.Run(run_command.c_str(), mission_file.c_str());
|
||||
|
||||
return(0);
|
||||
}
|
||||
|
||||
@@ -1,413 +0,0 @@
|
||||
#ifndef PMSYSVARIABLE_H
|
||||
#define PMSYSVARIABLE_H
|
||||
|
||||
//宏定义
|
||||
|
||||
|
||||
#define BREAK_OFF 0xAA
|
||||
#define BREAK_ON 0x55
|
||||
#define BREAK_FALSE 0x5A
|
||||
|
||||
|
||||
|
||||
//消息结构体变量定义
|
||||
#pragma pack (1)
|
||||
typedef struct ccuState
|
||||
{
|
||||
unsigned char currentWorkCondition;
|
||||
unsigned char fcuState;
|
||||
unsigned char fcuFaultLeve;
|
||||
float powerLimit;
|
||||
float totalPowerGeneration;
|
||||
float ch4o;
|
||||
float o2;
|
||||
float fcuVoltage;
|
||||
float fcuCurrent;
|
||||
float o2Level;
|
||||
float placeholder1;
|
||||
float exchangerTemperature;
|
||||
float fcuOutPower;
|
||||
float fcuOutIns;
|
||||
float fcuVoltageIns;
|
||||
float fcuVoltagePower;
|
||||
float fcuCurrentIns;
|
||||
float fcuCurrentPower;
|
||||
float h2Concentration1;
|
||||
float h2Concentration2;
|
||||
float o2Concentration1;
|
||||
float o2Concentration2;
|
||||
float ch4oConcentration1;
|
||||
float ch4oConcentration2;
|
||||
float backpressure1;
|
||||
float backpressure2;
|
||||
unsigned char flameDetection;
|
||||
unsigned char fcuGZ_1L;
|
||||
unsigned char fcuGZ_1H;
|
||||
unsigned char fcuGZ_2L;
|
||||
unsigned char fcuGZ_2H;
|
||||
unsigned char fcuGZ_3L;
|
||||
unsigned char fcuGZ_3H;
|
||||
unsigned char insPosRelayState;
|
||||
unsigned char insNegRelayState;
|
||||
unsigned char powerPosRelayState;
|
||||
unsigned char powerNegRelayState;
|
||||
unsigned short insBatLimit;
|
||||
unsigned short powerBatLimit;
|
||||
unsigned char insBatSoc;
|
||||
unsigned char powerBatSoc;
|
||||
unsigned short insBatTotalElectricity;
|
||||
unsigned short powerBatTotalElectricity;
|
||||
unsigned short insBatCurrentElectricity;
|
||||
unsigned short powerBatCurrentElectricity;
|
||||
unsigned char insChargeState;
|
||||
unsigned char powerChargeState;
|
||||
unsigned short insLinkVoltage;
|
||||
unsigned short insPackVoltage;
|
||||
unsigned short insCurrent;
|
||||
unsigned short insPosInsulationResistance;
|
||||
unsigned short insNegInsulationResistance;
|
||||
unsigned short powerLinkVoltage;
|
||||
unsigned short powerPackVoltage;
|
||||
unsigned short powerCurrent;
|
||||
unsigned short powerPosInsulationResistance;
|
||||
unsigned short powerNegInsulationResistance;
|
||||
unsigned char insEmergencyStatusWord;
|
||||
unsigned char powerEmergencyStatusWord;
|
||||
unsigned char insAlarmIdentificationWord;
|
||||
unsigned char powerAlarmIdentificationWord;
|
||||
unsigned char insCurrentSocHold1;
|
||||
unsigned char insCurrentSocHold2;
|
||||
unsigned char insCurrentSocHold3;
|
||||
unsigned char fcuCurrentToInsLimit1;
|
||||
unsigned char fcuCurrentToinsLimit2;
|
||||
unsigned char powerCurrentSocHold1;
|
||||
unsigned char powerCurrentSocHold2;
|
||||
unsigned char powerCurrentSocHold3;
|
||||
unsigned char powerCurrentToInsLimit1;
|
||||
unsigned char powerCurrentToinsLimit2;
|
||||
float placeholder2;
|
||||
float placeholder3;
|
||||
float placeholder4;
|
||||
float placeholder5;
|
||||
} ccuState;
|
||||
|
||||
typedef struct {
|
||||
unsigned char insSocHold1;
|
||||
unsigned char insSocHold2;
|
||||
unsigned char insSocHold3;
|
||||
unsigned char fcuToInsLimit1;
|
||||
unsigned char fcuToinsLimit2;
|
||||
unsigned char powerSocHold1;
|
||||
unsigned char powerSocHold2;
|
||||
unsigned char powerSocHold3;
|
||||
unsigned char fcuToPowerLimit1;
|
||||
unsigned char fcuToPowerLimit2;
|
||||
}ccuSetParmCmd;
|
||||
|
||||
typedef struct {
|
||||
unsigned char workCondition;
|
||||
unsigned char fcuCmd;
|
||||
unsigned char fcuPowerEfficiency;
|
||||
unsigned char fcuInsEfficiency;
|
||||
unsigned char insBatCmd;
|
||||
unsigned char powerBatCmd;
|
||||
unsigned char powerBatEfficiency;
|
||||
unsigned char heartbeat;
|
||||
unsigned char masterState;
|
||||
}ccuColCmd;
|
||||
|
||||
typedef struct disHighVolBusState
|
||||
{
|
||||
unsigned char fuelCellCircuitBreaker;
|
||||
unsigned char powerLithiumBatteryCircuitBreaker;
|
||||
unsigned char propulsionMotorCircuitBreaker;
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
|
||||
unsigned char dcDc5ModuleCircuitBreaker;
|
||||
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
|
||||
unsigned char sternFTDevice45CircuitBreaker;
|
||||
unsigned char sternRudderSwitch1CircuitBreaker;
|
||||
unsigned char sternRudderSwitch2CircuitBreaker;
|
||||
unsigned char fbReservedCircuitBreaker;
|
||||
unsigned char tyzReservedCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker;
|
||||
unsigned char busInsulationLow;
|
||||
unsigned char busAInsulationHigh;
|
||||
unsigned char lostPower;
|
||||
unsigned char lostEmerPower;
|
||||
unsigned short powerBusVoltage;
|
||||
unsigned short dcDc5ModuleCurrent;
|
||||
unsigned short powerBusCurrent;
|
||||
unsigned short busbarAVoltage;
|
||||
unsigned short propulsionMotorControlBoxCurrent;
|
||||
unsigned short busbarACurrent;
|
||||
unsigned short lithiumBatteryGroupMeterCurrent;
|
||||
unsigned short bowHighVoltageDistributionBoxCurrent;
|
||||
unsigned short sternFTDevice45Current;
|
||||
unsigned short tyzReservedSwitchCurrent;
|
||||
unsigned short sternRudderSwitch1Current;
|
||||
unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
|
||||
unsigned short sternRudderSwitch2Current;
|
||||
unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
|
||||
unsigned short fbReservedSwitchCurrent;
|
||||
unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
|
||||
}disHighVolBusState;
|
||||
|
||||
typedef struct disHighAVolBusState
|
||||
{
|
||||
unsigned char bowFTDevice123CircuitBreaker;
|
||||
unsigned char actuatorCircuitBreaker;
|
||||
unsigned char mastSteeringGearControlBoxCircuitBreaker;
|
||||
unsigned char xczCircuitBreaker;
|
||||
unsigned char bowRudderControlBoxCircuitBreaker;
|
||||
unsigned char openWaterCoverStartCylinderCircuitBreaker;
|
||||
unsigned char instrumentPowerFailureSignal;
|
||||
unsigned char emergencyPowerFailureSignal;
|
||||
unsigned char waterIngressionAlarm;
|
||||
unsigned short busbarBVoltage;
|
||||
unsigned short busbarBCurrent;
|
||||
unsigned short bowFTDevice123Current;
|
||||
unsigned short actuatorCurrent;
|
||||
unsigned short mastSteeringGearControlBoxCurrent;
|
||||
unsigned short xczCurrent;
|
||||
unsigned short bowRudderControlBoxCurrent;
|
||||
unsigned short openWaterCoverStartCylinderCurrent;
|
||||
}disHighAVolBusState;
|
||||
|
||||
typedef struct disHighBVolBusState
|
||||
{
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
|
||||
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
|
||||
unsigned char unit4InstrumentDC48VCircuitBreaker;
|
||||
unsigned char dcC1DCDistributionPanelCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
|
||||
unsigned char instrumentPowerFailureSignal;
|
||||
unsigned char emergencyPowerFailureSignal;
|
||||
unsigned char instrumentBusbarInsulationLow;
|
||||
unsigned short instrumentBusbarVoltage;
|
||||
unsigned short bowLowVoltageDistributionBoxCurrent;
|
||||
unsigned short dcC1InstrumentDC48VCurrent;
|
||||
unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
|
||||
unsigned short emergencyLithiumBatteryGroup2Current;
|
||||
unsigned short lithiumBatteryGroupInstrumentCurrent;
|
||||
unsigned short unit4InstrumentDC48VCurrent;
|
||||
unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
|
||||
unsigned short emergency2BusbarVoltage;
|
||||
unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
|
||||
unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
|
||||
unsigned short plcControlPowerCurrent;
|
||||
}disHighBVolBusState;
|
||||
|
||||
typedef struct disLowBusState
|
||||
{
|
||||
unsigned char unit1CircuitBreaker;
|
||||
unsigned char unit2CircuitBreaker;
|
||||
unsigned char unit3CircuitBreaker;
|
||||
unsigned char unit5CircuitBreaker;
|
||||
unsigned char bowPZDeviceCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
|
||||
unsigned char powerFailureSignal;
|
||||
unsigned char waterIngressionAlarm;
|
||||
unsigned short instrumentBusbarVoltage;
|
||||
unsigned short instrumentBusbarCurrent;
|
||||
unsigned short unit1Current;
|
||||
unsigned short unit2Current;
|
||||
unsigned short unit3Current;
|
||||
unsigned short unit5Current;
|
||||
unsigned short bowPZDeviceCurrent;
|
||||
unsigned short emergencyLithiumBatteryGroup1Current;
|
||||
unsigned short emergency1BusbarVoltage;
|
||||
}disLowBusState;
|
||||
|
||||
typedef struct disHighVolBusCmd
|
||||
{
|
||||
unsigned char fuelCellCircuitBreaker;
|
||||
unsigned char powerLithiumBatteryCircuitBreaker;
|
||||
unsigned char propulsionMotorCircuitBreaker;
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
|
||||
unsigned char dcDc5ModuleCircuitBreaker;
|
||||
unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
|
||||
unsigned char sternFTDevice45CircuitBreaker;
|
||||
unsigned char sternRudderSwitch1CircuitBreaker;
|
||||
unsigned char sternRudderSwitch2CircuitBreaker;
|
||||
unsigned char fbReservedCircuitBreaker;
|
||||
unsigned char tyzReservedCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker;
|
||||
unsigned char dcdc5Module;
|
||||
unsigned char inputWater;
|
||||
unsigned char outputWater;
|
||||
}disHighVolBusCmd;
|
||||
|
||||
typedef struct disHighAVolBusCmd
|
||||
{
|
||||
unsigned char bowFTDevice123CircuitBreaker;
|
||||
unsigned char actuatorCircuitBreaker;
|
||||
unsigned char mastSteeringGearControlBoxCircuitBreaker;
|
||||
unsigned char xczCircuitBreaker;
|
||||
unsigned char bowRudderControlBoxCircuitBreaker;
|
||||
unsigned char openWaterCoverStartCylinderCircuitBreaker;
|
||||
}disHighAVolBusCmd;
|
||||
|
||||
typedef struct disHighBVolBusCmd
|
||||
{
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
|
||||
unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
|
||||
unsigned char unit4InstrumentDC48VCircuitBreaker;
|
||||
unsigned char dcC1DCDistributionPanelCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
|
||||
}disHighBVolBusCmd;
|
||||
|
||||
typedef struct disLowBusCmd
|
||||
{
|
||||
unsigned char unit1CircuitBreaker;
|
||||
unsigned char unit2CircuitBreaker;
|
||||
unsigned char unit3CircuitBreaker;
|
||||
unsigned char unit5CircuitBreaker;
|
||||
unsigned char bowPZDeviceCircuitBreaker;
|
||||
unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
|
||||
}disLowBusCmd;
|
||||
|
||||
#pragma pack (0)
|
||||
|
||||
//状态结构体定义
|
||||
typedef struct pmState
|
||||
{
|
||||
ccuState ccustate;
|
||||
disHighVolBusState bus1State;
|
||||
disHighAVolBusState bus2State;
|
||||
disHighBVolBusState bus3State;
|
||||
disLowBusState bus4State;
|
||||
} PmState;
|
||||
|
||||
typedef struct disBus1Breaker
|
||||
{
|
||||
unsigned char fuelCellCircuitBreaker : 1;
|
||||
unsigned char powerLithiumBatteryCircuitBreaker : 1;
|
||||
unsigned char propulsionMotorCircuitBreaker : 1;
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
|
||||
unsigned char dcDc5ModuleCircuitBreaker : 1;
|
||||
unsigned char bowHighVoltageDistributionBoxCircuitBreaker : 1;
|
||||
unsigned char sternFTDevice45CircuitBreaker : 1;
|
||||
unsigned char sternRudderSwitch1CircuitBreaker : 1;
|
||||
unsigned char sternRudderSwitch2CircuitBreaker : 1;
|
||||
unsigned char fbReservedCircuitBreaker : 1;
|
||||
unsigned char tyzReservedCircuitBreaker : 1;
|
||||
unsigned char reservedCircuitBreaker : 1;
|
||||
unsigned short paceholder : 4;
|
||||
} disBus1Breaker;
|
||||
|
||||
|
||||
typedef struct disBus2Breaker
|
||||
{
|
||||
unsigned char bowFTDevice123CircuitBreaker : 1;
|
||||
unsigned char actuatorCircuitBreaker : 1;
|
||||
unsigned char mastSteeringGearControlBoxCircuitBreaker : 1;
|
||||
unsigned char xczCircuitBreaker : 1;
|
||||
unsigned char bowRudderControlBoxCircuitBreaker : 1;
|
||||
unsigned char openWaterCoverStartCylinderCircuitBreaker : 1;
|
||||
unsigned short paceholder : 10;
|
||||
/* data */
|
||||
} disBus2Breaker;
|
||||
|
||||
|
||||
typedef struct disBus3Breaker
|
||||
{
|
||||
unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
|
||||
unsigned char bowLowVoltageDistributionBoxCircuitBreaker : 1;
|
||||
unsigned char unit4InstrumentDC48VCircuitBreaker : 1;
|
||||
unsigned char dcC1DCDistributionPanelCircuitBreaker : 1;
|
||||
unsigned char reservedCircuitBreaker1 : 1;
|
||||
unsigned char reservedCircuitBreaker2 : 1;
|
||||
unsigned char emergencyLithiumBatteryGroup2CircuitBreaker : 1;
|
||||
unsigned short paceholder : 9;
|
||||
/* data */
|
||||
} disBus3Breaker;
|
||||
|
||||
|
||||
typedef struct disBus4Breaker
|
||||
{
|
||||
unsigned char unit1CircuitBreaker : 1;
|
||||
unsigned char unit2CircuitBreaker : 1;
|
||||
unsigned char unit3CircuitBreaker : 1;
|
||||
unsigned char unit5CircuitBreaker : 1;
|
||||
unsigned char bowPZDeviceCircuitBreaker : 1;
|
||||
unsigned char reservedCircuitBreaker1 : 1; // 为了区分，添加了数字后缀
|
||||
unsigned char reservedCircuitBreaker2 : 1; // 为了区分，添加了数字后缀
|
||||
unsigned char emergencyLithiumBatteryGroup1CircuitBreaker : 1;
|
||||
unsigned short paceholder : 8;
|
||||
/* data */
|
||||
} disBus4Breaker;
|
||||
|
||||
typedef struct disSysBreakerList
|
||||
{
|
||||
disBus1Breaker bus1Breaker;
|
||||
disBus2Breaker bus2Breaker;
|
||||
disBus3Breaker bus3Breaker;
|
||||
disBus4Breaker bus4Breaker;
|
||||
} disSysBreaker;
|
||||
|
||||
typedef struct MSControlCmd
|
||||
{
|
||||
unsigned int powerCMD;
|
||||
unsigned int modCMD;
|
||||
unsigned int workCMD;
|
||||
}MSControlCmd;
|
||||
|
||||
|
||||
namespace FcuCommand {
|
||||
enum Type : unsigned char {
|
||||
SelfCheck = 0x01,
|
||||
Start = 0x02,
|
||||
Stop = 0x03,
|
||||
Reset = 0x04,
|
||||
EmergencyStop = 0x05,
|
||||
Supply = 0x06,
|
||||
WarmUp = 0x07,
|
||||
Maintenance = 0x08
|
||||
};
|
||||
}
|
||||
|
||||
enum class FcuState : unsigned char {
|
||||
//初始化
|
||||
Init = 0x01,
|
||||
//待机
|
||||
Standby = 0x02,
|
||||
//自检异常
|
||||
SelfCheckError = 0x03,
|
||||
//就绪
|
||||
Ready = 0x04,
|
||||
//启动
|
||||
Start = 0x05,
|
||||
//运行
|
||||
Running = 0x06,
|
||||
//停机
|
||||
Stop = 0x07,
|
||||
//故障
|
||||
Fault = 0x08,
|
||||
//补给
|
||||
Supply = 0x09,
|
||||
//预热
|
||||
WarmUp = 0x0A,
|
||||
//预热完成
|
||||
WarmUpComplete = 0x0B,
|
||||
//维护
|
||||
Maintenance = 0x0C,
|
||||
//维护完成
|
||||
MaintenanceComplete = 0x0D
|
||||
};
|
||||
|
||||
namespace BatteryCommand {
|
||||
enum Type : unsigned char {
|
||||
Start = 0x10,
|
||||
Stop = 0x20
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,251 +0,0 @@
|
||||
/*
|
||||
* 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 */
|
||||
@@ -1,569 +0,0 @@
|
||||
#include "udpComm.h"
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
udpComm::udpComm()
|
||||
{
|
||||
udpScoket = nullptr;
|
||||
ccuHost = "";
|
||||
ccuPort = 0;
|
||||
}
|
||||
|
||||
udpComm::~udpComm() {
|
||||
if (udpScoket) {
|
||||
delete udpScoket;
|
||||
udpScoket = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Checksum udpComm::calculateChecksum(const unsigned char* data, int size)
|
||||
{
|
||||
Checksum checksum = 0;
|
||||
int size_data = size - sizeof(Checksum);
|
||||
for (int i = 0; i < size_data; i++) {
|
||||
checksum += data[i];
|
||||
}
|
||||
return checksum;
|
||||
}
|
||||
Checksum udpComm::calculateChecksum(const unsigned char* data, int dataSize, int checkSize)
|
||||
{
|
||||
Checksum checksum = 0;
|
||||
int size_data = dataSize - checkSize;
|
||||
for (int i = 0; i < size_data; i++) {
|
||||
checksum += data[i];
|
||||
}
|
||||
return checksum;
|
||||
}
|
||||
bool udpComm::getMsgId(char *m,unsigned short &id)
|
||||
{
|
||||
m_header h;
|
||||
h = *reinterpret_cast<m_header *>(m);
|
||||
// 判断消息是否有效
|
||||
if (h.start1== DIS_MSG_HEAD1 && h.start2==DIS_MSG_HEAD2)
|
||||
{
|
||||
id = h.id;
|
||||
return true;
|
||||
}
|
||||
else if (h.start1==CCU_UDPMSG_START1 && h.start2==CCU_UDPMSG_START2)
|
||||
{
|
||||
id = h.id;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
sError.push_back("Msg Header errar");
|
||||
return false;
|
||||
}
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_CcuStateFbMsg &s) {
|
||||
Checksum sum;
|
||||
msg_CcuStateFbMsg *p;
|
||||
p = reinterpret_cast<msg_CcuStateFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuStateFbMsg));
|
||||
|
||||
if (sum != p->checkCode) {
|
||||
sError.push_back("CcuStat Msg Check error");
|
||||
return false;
|
||||
}
|
||||
s = *p;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s)
|
||||
{
|
||||
Checksum sum;
|
||||
msg_CcuSetParmFbMsg *p;
|
||||
p = reinterpret_cast<msg_CcuSetParmFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuSetParmFbMsg));
|
||||
|
||||
if (sum!= p->checkCode) {
|
||||
sError.push_back("CcuSetParm Msg Check error");
|
||||
return false;
|
||||
}
|
||||
|
||||
s = *p;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s)
|
||||
{
|
||||
cChecksum sum;
|
||||
msg_disHighVolBusFbMsg *p;
|
||||
p = reinterpret_cast<msg_disHighVolBusFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
|
||||
if (sum != p->checkCode) {
|
||||
sError.push_back("DisSys HVBus Msg Check error");
|
||||
return false;
|
||||
}
|
||||
s = *p;
|
||||
// cout << s.data.busbarAVoltage << endl;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s)
|
||||
{
|
||||
cChecksum sum;
|
||||
msg_disHighAVolBusFbMsg *p;
|
||||
p = reinterpret_cast<msg_disHighAVolBusFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighAVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
|
||||
if (sum!= p->checkCode) {
|
||||
sError.push_back("DisSys HVABus Msg Check error");
|
||||
return false;
|
||||
}
|
||||
s = *p;
|
||||
return true;
|
||||
}
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s)
|
||||
{
|
||||
cChecksum sum;
|
||||
msg_disHighBVolBusFbMsg *p;
|
||||
p = reinterpret_cast<msg_disHighBVolBusFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighBVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
|
||||
if (sum!= p->checkCode) {
|
||||
sError.push_back("DisSys HVBBus Msg Check error");
|
||||
return false;
|
||||
}
|
||||
s = *p;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::getMsgFromBuff(char *m, msg_disLowBusFbMsg &s)
|
||||
{
|
||||
cChecksum sum;
|
||||
msg_disLowBusFbMsg *p;
|
||||
p = reinterpret_cast<msg_disLowBusFbMsg *>(m);
|
||||
sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowBusFbMsg), sizeof(cChecksum)) & 0xFF;
|
||||
if (sum!= p->checkCode) {
|
||||
sError.push_back("DisSys LVBus Msg Check error");
|
||||
return false;
|
||||
}
|
||||
s = *p;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::pushMsgToQueue(unsigned char *m)
|
||||
{
|
||||
if(m==NULL)
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,Msg is NULL");
|
||||
return false;
|
||||
}
|
||||
|
||||
unsigned char* Buff = m;
|
||||
//消息头鉴定
|
||||
char *header = new char[sizeof(m_header)];
|
||||
unsigned short id;
|
||||
memcpy(header,Buff,sizeof(m_header));
|
||||
if(!getMsgId(header,id))
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,Msg ID error");
|
||||
return false;
|
||||
}
|
||||
delete []header;
|
||||
//输入消息
|
||||
switch (id)
|
||||
{
|
||||
case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
|
||||
{
|
||||
msg_CcuStateFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveCcuStateBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,CcuState buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case CCU_SET_PARM_FB_ID: //CCU_SET_PARM_FB 0x0040
|
||||
{
|
||||
msg_CcuSetParmFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveCcuSetParmBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,CcuSetParm buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case DIS_HVBUS_FB_ID: //DIS_HVBUS_FB 0x0020
|
||||
{
|
||||
msg_disHighVolBusFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveDisHighVolBusBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,DisSysHVBus buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case DIS_HVBUSA_FB_ID: //DIS_HVBUSA_FB 0x0006
|
||||
{
|
||||
msg_disHighAVolBusFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveDisHighAVolBusBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,DisSysHVABus buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
|
||||
{
|
||||
msg_disHighBVolBusFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveDisHighBVolBusBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,DisSysHVBBus buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case DIS_LVBUS_FB_ID: //DIS_LVBUS_FB 0x0008
|
||||
{
|
||||
msg_disLowBusFbMsg s;
|
||||
if(getMsgFromBuff((char *)Buff,s))
|
||||
{
|
||||
if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
|
||||
{
|
||||
double time = MOOSTime();
|
||||
m_qReceiveDisLowBusBuffer.push(std::make_pair(time, s));
|
||||
}
|
||||
else
|
||||
{
|
||||
sError.push_back("pushMsgToQueue faile,DisSysLVBus buffer is full");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool udpComm::clearMsgQueue()
|
||||
{
|
||||
while(!m_qReceiveCcuStateBuffer.empty())
|
||||
m_qReceiveCcuStateBuffer.pop();
|
||||
|
||||
while(!m_qReceiveCcuSetParmBuffer.empty())
|
||||
m_qReceiveCcuSetParmBuffer.pop();
|
||||
|
||||
while(!m_qReceiveDisHighVolBusBuffer.empty())
|
||||
m_qReceiveDisHighVolBusBuffer.pop();
|
||||
|
||||
while(!m_qReceiveDisHighAVolBusBuffer.empty())
|
||||
m_qReceiveDisHighAVolBusBuffer.pop();
|
||||
|
||||
while(!m_qReceiveDisHighBVolBusBuffer.empty())
|
||||
m_qReceiveDisHighBVolBusBuffer.pop();
|
||||
|
||||
while(!m_qReceiveDisLowBusBuffer.empty())
|
||||
m_qReceiveDisLowBusBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_CcuStateFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveCcuStateBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveCcuStateBuffer.front().first;
|
||||
m = m_qReceiveCcuStateBuffer.front().second;
|
||||
m_qReceiveCcuStateBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveCcuSetParmBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveCcuSetParmBuffer.front().first;
|
||||
m = m_qReceiveCcuSetParmBuffer.front().second;
|
||||
m_qReceiveCcuSetParmBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveDisHighVolBusBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveDisHighVolBusBuffer.front().first;
|
||||
m = m_qReceiveDisHighVolBusBuffer.front().second;
|
||||
m_qReceiveDisHighVolBusBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveDisHighAVolBusBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveDisHighAVolBusBuffer.front().first;
|
||||
m = m_qReceiveDisHighAVolBusBuffer.front().second;
|
||||
m_qReceiveDisHighAVolBusBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveDisHighBVolBusBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveDisHighBVolBusBuffer.front().first;
|
||||
m = m_qReceiveDisHighBVolBusBuffer.front().second;
|
||||
m_qReceiveDisHighBVolBusBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m)
|
||||
{
|
||||
if(m_qReceiveDisLowBusBuffer.empty())
|
||||
return false;
|
||||
time = m_qReceiveDisLowBusBuffer.front().first;
|
||||
m = m_qReceiveDisLowBusBuffer.front().second;
|
||||
m_qReceiveDisLowBusBuffer.pop();
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool udpComm::sendDisSysCmd(const disHighVolBusCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_disHVBCmd* msg = new msg_disHVBCmd;
|
||||
msg->header.id = DIS_HVBUS_CMD_ID;
|
||||
msg->header.start1 = DIS_MSG_HEAD1;
|
||||
msg->header.start2 = DIS_MSG_HEAD2;
|
||||
msg->header.length = sizeof(disHighVolBusCmd);
|
||||
msg->data = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd));
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
// std::cout << (int)sizeof(msg_disHVBCmd) << endl;
|
||||
try
|
||||
{
|
||||
sendMsg(msgBuf,sizeof(msg_disHVBCmd));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::sendDisSysCmd(const disHighAVolBusCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_disHVBACmd* msg = new msg_disHVBACmd;
|
||||
msg->header.id = DIS_HVBUSA_CMD_ID;
|
||||
msg->header.start1 = DIS_MSG_HEAD1;
|
||||
msg->header.start2 = DIS_MSG_HEAD2;
|
||||
msg->header.length = sizeof(disHighAVolBusCmd);
|
||||
msg->data = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd));
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
try
|
||||
{
|
||||
sendMsg(msgBuf,sizeof(msg_disHVBACmd));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::sendDisSysCmd(const disHighBVolBusCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_disHVBBCmd* msg = new msg_disHVBBCmd;
|
||||
msg->header.id = DIS_HVBUSB_CMD_ID;
|
||||
msg->header.start1 = DIS_MSG_HEAD1;
|
||||
msg->header.start2 = DIS_MSG_HEAD2;
|
||||
msg->header.length = sizeof(disHighBVolBusCmd);
|
||||
msg->data = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd));
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
try
|
||||
{
|
||||
// cout << "=========" <<(int)sizeof(msg_disHVBBCmd) << endl;
|
||||
sendMsg(msgBuf,sizeof(msg_disHVBBCmd));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_disLVBCmd* msg = new msg_disLVBCmd;
|
||||
msg->header.id = DIS_LVBUS_CMD_ID;
|
||||
msg->header.start1 = DIS_MSG_HEAD1;
|
||||
msg->header.start2 = DIS_MSG_HEAD2;
|
||||
msg->header.length = sizeof(disLowBusCmd);
|
||||
msg->data = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd));
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
try
|
||||
{
|
||||
sendMsg(msgBuf,sizeof(msg_disLVBCmd));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_CcuColCmdMsg* msg = new msg_CcuColCmdMsg;
|
||||
msg->header.id = CCU_CMD_ID;
|
||||
msg->header.start1 = CCU_UDPMSG_START1;
|
||||
msg->header.start2 = CCU_UDPMSG_START2;
|
||||
msg->header.length = sizeof(ccuColCmd);
|
||||
getDate(msg->date.year,msg->date.month,msg->date.day,msg->date.hour,msg->date.minute,msg->date.second,msg->date.milliseconds);
|
||||
msg->cmd = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
|
||||
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)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
|
||||
{
|
||||
unsigned char* msgBuf;
|
||||
Checksum cc;
|
||||
msg_CcuSetParmMsg* msg = new msg_CcuSetParmMsg;
|
||||
msg->header.id = CCU_SET_PARM_ID;
|
||||
msg->header.start1 = CCU_UDPMSG_START1;
|
||||
msg->header.start2 = CCU_UDPMSG_START2;
|
||||
msg->header.length = sizeof(ccuSetParmCmd);
|
||||
msg->cmd = cmd;
|
||||
msgBuf = reinterpret_cast<unsigned char *>(msg);
|
||||
cc = calculateChecksum(msgBuf,sizeof(msg_CcuSetParmMsg));
|
||||
msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
|
||||
try
|
||||
{
|
||||
sendMsg(msgBuf,sizeof(msg_CcuSetParmMsg));
|
||||
}
|
||||
catch(const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << '\n';
|
||||
}
|
||||
delete msg;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool udpComm::getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds) {
|
||||
// 获取当前时间
|
||||
std::time_t now = std::time(nullptr);
|
||||
if (now == -1) {
|
||||
return false; // 获取时间失败
|
||||
}
|
||||
|
||||
// 转换为本地时间
|
||||
std::tm *localTime = std::localtime(&now);
|
||||
if (!localTime) {
|
||||
return false; // 转换失败
|
||||
}
|
||||
|
||||
// 获取年、月、日、时、分、秒
|
||||
year = localTime->tm_year + 1900; // tm_year 是从 1900 年开始的
|
||||
month = localTime->tm_mon + 1; // tm_mon 是从 0 开始的，0 对应 1 月
|
||||
day = localTime->tm_mday;
|
||||
hour = localTime->tm_hour;
|
||||
minute = localTime->tm_min;
|
||||
second = localTime->tm_sec;
|
||||
|
||||
// 获取毫秒，使用 std::chrono
|
||||
auto now_ms = std::chrono::system_clock::now();
|
||||
auto duration = now_ms.time_since_epoch();
|
||||
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count() % 1000; // 取毫秒部分
|
||||
ms = ms/10;
|
||||
milliseconds = static_cast<unsigned char>(ms);
|
||||
|
||||
return true;
|
||||
}
|
||||
@@ -1,79 +0,0 @@
|
||||
#ifndef UDPCOMM__H
|
||||
#define UDPCOMM__H
|
||||
#define UNIX
|
||||
|
||||
#include "ccuUdpMsg.h"
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <queue>
|
||||
#include <string.h>
|
||||
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
|
||||
#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
|
||||
#include <ctime>
|
||||
#include <chrono>
|
||||
#include <iostream>
|
||||
#include <utility> // for std::pair
|
||||
|
||||
using namespace std;
|
||||
#define QUENUE_SIZE 100
|
||||
|
||||
class udpComm {
|
||||
public:
|
||||
udpComm();
|
||||
~udpComm();
|
||||
XPCUdpSocket *udpScoket;
|
||||
string ccuHost;
|
||||
long int ccuPort;
|
||||
|
||||
bool pushMsgToQueue(unsigned char *m);
|
||||
bool clearMsgQueue();
|
||||
|
||||
bool getMsgFromBuff(char *m, msg_CcuStateFbMsg &s);
|
||||
bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
|
||||
bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
|
||||
bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
|
||||
bool getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s);
|
||||
bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);
|
||||
|
||||
bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
|
||||
bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
|
||||
bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
|
||||
bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
|
||||
bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m);
|
||||
bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
|
||||
|
||||
bool sendCcuColCmd(const ccuColCmd cmd);
|
||||
bool sendCcuSetParmCmd(const ccuSetParmCmd cmd);
|
||||
|
||||
bool sendDisSysCmd(const disHighVolBusCmd cmd);
|
||||
bool sendDisSysCmd(const disHighAVolBusCmd cmd);
|
||||
bool sendDisSysCmd(const disHighBVolBusCmd cmd);
|
||||
bool sendDisSysCmd(const disLowBusCmd cmd);
|
||||
bool sendMsg(const unsigned char* msg,unsigned int size){
|
||||
// cout << "sendMsgTo" << ccuHost << ":" << ccuPort << endl;
|
||||
udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool getMsgId(char *m,unsigned short &id);
|
||||
Checksum calculateChecksum(const unsigned char* data, int size);
|
||||
Checksum calculateChecksum(const unsigned char* data, int dataSize, int checkSize);
|
||||
|
||||
bool getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds);
|
||||
|
||||
std::vector<std::string> sError;
|
||||
|
||||
// std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
|
||||
std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;
|
||||
std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
|
||||
std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
|
||||
std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
|
||||
std::queue<std::pair<double,msg_disHighBVolBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
|
||||
std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;
|
||||
|
||||
private:
|
||||
msg_CcuColCmdMsg m_ccuColCmd;
|
||||
msg_CcuSetParmMsg m_ccuSetParmCmd;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,18 @@
|
||||
## H100PowerManger CI 测试报告
|
||||
|
||||
**总体结论: ✅ 全部通过**
|
||||
|
||||
| 步骤 | 结果 | 耗时 |
|
||||
| :--- | :--- | :--- |
|
||||
| 构建 (aarch64) | ✅ 通过 | 1725s |
|
||||
| 单元测试 SQLiteTest | ✅ 通过 | 0s |
|
||||
| 单元测试 PowerMangerTests (gtest) | ✅ 通过 | 1s |
|
||||
| 冒烟测试 MOOSDB+pPowerManger | ✅ 通过 | 9s |
|
||||
| 集成测试 UDP反馈→SQLite | ✅ 通过 | 6s |
|
||||
|
||||
---
|
||||
|
||||
- 架构: `aarch64`
|
||||
- Commit: `38c489c`
|
||||
- 时间: 2026-09-02 12:54:52 UTC
|
||||
- 运行: [https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions/runs/36](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions/runs/36)
|
||||
@@ -1,44 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.10)
|
||||
project(SQLiteDBTest)
|
||||
|
||||
# 设置 C++ 标准
|
||||
set(CMAKE_CXX_STANDARD 11)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
#############################################SQLiteDBTest####################################################################
|
||||
# 查找 SQLiteDB 项目库
|
||||
find_library(SQLiteDB_LIB NAMES SQLiteDB PATHS /home/zjk/project/H100/H100PowerManger/lib)
|
||||
if(NOT SQLiteDB_LIB)
|
||||
message(FATAL_ERROR "SQLiteDB library not found!")
|
||||
endif()
|
||||
|
||||
# 查找 Catch2 测试框架
|
||||
find_package(Catch2 REQUIRED)
|
||||
|
||||
# 添加测试可执行文件
|
||||
add_executable(SQLiteDBTest SQLiteDBTest.cpp)
|
||||
# 链接库文件（注意顺序：先项目库后系统库）
|
||||
target_link_libraries(SQLiteDBTest
|
||||
${SQLiteDB_LIB} # 项目SQLiteDB库
|
||||
Catch2::Catch2WithMain # 测试框架
|
||||
sqlite3
|
||||
jsoncpp
|
||||
)
|
||||
|
||||
################################################udpCommTest####################################################################
|
||||
# 查找 udpComm 项目库
|
||||
find_library(UDPCOMM_LIB NAMES UDPComm PATHS /home/zjk/project/H100/H100PowerManger/lib)
|
||||
if(NOT UDPCOMM_LIB)
|
||||
message(FATAL_ERROR "udpComm library not found!")
|
||||
endif()
|
||||
|
||||
# 添加 udpComm 测试可执行文件
|
||||
add_executable(udpCommTest udpCommTest.cpp)
|
||||
|
||||
# 链接库文件（注意顺序：先项目库后系统库）
|
||||
target_link_libraries(udpCommTest
|
||||
${UDPCOMM_LIB} # 项目udpComm库
|
||||
${MOOS_LIBRARIES}
|
||||
Catch2::Catch2WithMain # 测试框架
|
||||
)
|
||||
|
||||
################################################PowerMangerTest####################################################################
|
||||
@@ -1,65 +0,0 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#include "../src/pPowerManger/SQLiteDB.h"
|
||||
#include "../src/pPowerManger/driver.h"
|
||||
|
||||
TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
|
||||
SQLiteDB db("test.db");
|
||||
|
||||
SECTION("Create Tables") {
|
||||
REQUIRE(db.createPowerDataTables() == true);
|
||||
// REQUIRE(db.createStateTables() == true);
|
||||
REQUIRE(db.createDisCcuSysTables() == true);
|
||||
REQUIRE(db.createDriversTables("test") == true);
|
||||
|
||||
}
|
||||
|
||||
SECTION("Test isDatabaseConnected") {
|
||||
REQUIRE(db.isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/bin","test.db") == true);
|
||||
}
|
||||
|
||||
SECTION("Test insertPowerData") {
|
||||
PowerData powerData;
|
||||
StateData stateData;
|
||||
stateData.state_id = 1;
|
||||
stateData.state_name = "test";
|
||||
stateData.event = "test";
|
||||
stateData.event_id = 1;
|
||||
stateData.fault_code = 1;
|
||||
stateData.note = "test";
|
||||
REQUIRE(db.insertStateData(stateData) == true);
|
||||
// db.insertPowerData(powerData);
|
||||
|
||||
StateData stateDataForGet;
|
||||
REQUIRE(db.getStateData(stateDataForGet) == true);
|
||||
REQUIRE(stateDataForGet.state_id == 1);
|
||||
REQUIRE(stateDataForGet.state_name == "test");
|
||||
REQUIRE(stateDataForGet.event == "test");
|
||||
REQUIRE(stateDataForGet.event_id == 1);
|
||||
REQUIRE(stateDataForGet.fault_code == 1);
|
||||
REQUIRE(stateDataForGet.note == "test");
|
||||
|
||||
//REQUIRE(db.clearPowerData(stateDataForGet) == true);
|
||||
}
|
||||
|
||||
SECTION("Test insertStateData") {
|
||||
|
||||
for(int i = 0; i < 100; i++)
|
||||
{ DriverTable driver;
|
||||
REQUIRE(db.insertDriverTables(driver,"test") == true);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SECTION("Test GETDATA") {
|
||||
StateData stateData;
|
||||
std::string time;
|
||||
REQUIRE(db.getStateData(stateData,time) == true);
|
||||
REQUIRE(db.getStateData(stateData) == true);
|
||||
REQUIRE(stateData.state_id == 1);
|
||||
REQUIRE(stateData.state_name == "test");
|
||||
cout << "-------------------------------------------------" << time << endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,52 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from disSys import *
|
||||
from logWin import *
|
||||
from udpComm import *
|
||||
from ccuSys import *
|
||||
|
||||
|
||||
# 创建UDP通信套接字
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
# 目标IP地址和端口号
|
||||
target_ip = 'localhost'
|
||||
target_port = 5001
|
||||
server_address = (target_ip, target_port)
|
||||
sock.bind(server_address)
|
||||
# 要发送的消息
|
||||
# 创建主窗口
|
||||
root = tk.Tk()
|
||||
root.title("能源管理系统调试")
|
||||
# 创建消息显示窗口
|
||||
logFrame = tk.LabelFrame(root, text="消息")
|
||||
logFrame.grid(row=0, rowspan=3,column=1, sticky='ns')
|
||||
logwin = logWin(logFrame)
|
||||
logwin.grid(row=0, column=0, sticky='nesw')
|
||||
# 创建配电窗口
|
||||
disSysFrame = tk.LabelFrame(root, text="配电系统")
|
||||
disSysFrame.grid(row=0, column=0, sticky='ne')
|
||||
disSysWin = disSys(disSysFrame)
|
||||
disSysWin.grid(row=0, column=0, sticky='ne')
|
||||
# 创建ccu消息窗口
|
||||
ccuSysFrame = tk.LabelFrame(root, text="ccu消息")
|
||||
ccuSysFrame.grid(row=1, column=0, sticky='swe')
|
||||
ccuSysWin = ccuSys(ccuSysFrame)
|
||||
# ccuSysWin.grid(row=0, column=0, sticky='ne')
|
||||
|
||||
# 创建并启动接收和发送消息的线程
|
||||
thread = threading.Thread(target=receive_messages, args=(sock, logwin, disSysWin))
|
||||
thread.daemon = True
|
||||
thread.start()
|
||||
|
||||
thread2 = threading.Thread(target=send_messages, args=(sock, logwin, disSysWin,ccuSysWin))
|
||||
thread2.daemon = True
|
||||
thread2.start()
|
||||
|
||||
# 运行主循环
|
||||
root.mainloop()
|
||||
# 关闭套接字
|
||||
sock.close()
|
||||
@@ -1,42 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
from guiEle import ElementDisplayApp
|
||||
from until import *
|
||||
from guiInput import InputGUI
|
||||
|
||||
# 创建UDP套接字
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
server_address = ('localhost', 5001)
|
||||
sock.bind(server_address)
|
||||
|
||||
# 创建主窗口
|
||||
root = tk.Tk()
|
||||
root.title("UDP消息显示")
|
||||
eleplay = ElementDisplayApp(root)
|
||||
inp = InputGUI(root)
|
||||
|
||||
# 创建一个文本框用于显示消息
|
||||
custom_font = font.Font(family="Arial", size=12, weight="normal")
|
||||
text_box = tk.Text(root, height=10, width=50, font=custom_font)
|
||||
# .pack(side='left', fill='y', expand=True)
|
||||
text_box.grid(row=0, column=4, sticky='ne')
|
||||
|
||||
# 创建并启动接收和发送消息的线程
|
||||
thread = threading.Thread(target=receive_messages, args=(sock, text_box,eleplay))
|
||||
thread.daemon = True
|
||||
thread.start()
|
||||
|
||||
thread2 = threading.Thread(target=send_messages, args=(sock, eleplay))
|
||||
thread2.daemon = True
|
||||
thread2.start()
|
||||
|
||||
# 运行主循环
|
||||
root.mainloop()
|
||||
|
||||
# 关闭套接字
|
||||
sock.close()
|
||||
@@ -1,255 +0,0 @@
|
||||
import tkinter as tk
|
||||
from tkinter import font
|
||||
from udpmsg import *
|
||||
|
||||
class ElementDisplayApp:
|
||||
def __init__(self, root):
|
||||
self.root = root
|
||||
|
||||
self.disHVB = msg_disHighVolBusFbMsg()
|
||||
self.disHVBA = msg_disHighAVolBusFbMsg()
|
||||
self.disHVBB = msg_disHighBVolBusFbMsg()
|
||||
self.disLVB = msg_disLowBusFbMsg()
|
||||
|
||||
# 定义每组的颜色
|
||||
self.colors = ["#FFC0CB", "#ADD8E6", "#90EE90", "#FFD700"]
|
||||
|
||||
# 创建自定义字体
|
||||
self.custom_font = font.Font(family="Arial", size=12, weight='bold')
|
||||
|
||||
# 创建4个Frame来分组显示元素的值
|
||||
self.frames = []
|
||||
for i in range(4):
|
||||
frame = tk.Frame(self.root, bg=self.colors[i], padx=10, pady=10)
|
||||
# frame.pack(padx=10, pady=10, expand=True, fill='both')
|
||||
frame.grid(row=0, column=i, sticky='nsew') # 使用 grid 布局管理器
|
||||
self.frames.append(frame)
|
||||
|
||||
# 定义四个字典来存储元素的值
|
||||
# self.dict1 = {f"元素{i+1}": f"Value {i+1}" for i in range(16)}
|
||||
self.dict1={'燃料电池断路器':'闭合','动力锂电池断路器':'闭合','推进电机断路器':'闭合','仪表锂电池断路器':'闭合','DC/DC5模块断路器':'闭合',
|
||||
'艏部高压配电断路器':'闭合','艏部FT4/5断路器':'闭合','艉舵1/2断路器':'闭合','艉舵3/4断路器':'闭合',
|
||||
'FB预留断路器':'闭合','TYZ预留断路器':'闭合','预留断路器':'闭合'}
|
||||
# self.dict2 = {f"元素{i+17}": f"Value {i+17}" for i in range(16)}
|
||||
self.dict2 = {'艏部FT1-3断路器':'闭合','启闭机构断路器':'闭合','桅杆舵机断路器':'闭合','XCZ断路器':'闭合',
|
||||
'艏舵断路器':'闭合','敞开电缸断路器':'闭合'}
|
||||
# self.dict3 = {f"元素{i+33}": f"Value {i+33}" for i in range(16)}
|
||||
self.dict3 = {'仪表锂电池断路器':'闭合','艏部低压断路器':'闭合','UNIT4断路器':'闭合','DC/DC1断路器':'闭合',
|
||||
'预留断路器1':'闭合', '预留断路器2':'闭合','艉部应急电池开关':'闭合'}
|
||||
# self.dict4 = {f"元素{i+49}": f"Value {i+49}" for i in range(16)}
|
||||
self.dict4 = {'UNIT1断路器':'闭合','UNIT2断路器':'闭合','UNIT3断路器':'闭合','UNIT5断路器':'闭合','艏部抛载断路器':'闭合',
|
||||
'预留断路器1':'闭合','预留断路器2':'断开','艏部应急电池开关':'闭合'}
|
||||
|
||||
# 创建Label来显示每个字典中的元素值，并应用自定义字体
|
||||
self.labels = []
|
||||
for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
|
||||
for j, (key, value) in enumerate(dictionary.items()):
|
||||
# 根据元素的值选择颜色
|
||||
if value == "闭合":
|
||||
color = "green"
|
||||
else:
|
||||
color = "red"
|
||||
label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
|
||||
label.grid(row=j//2, column=j%2, padx=5, pady=5)
|
||||
# self.labels.append(label)
|
||||
|
||||
def update_disp(self):
|
||||
# 更新Label的文本
|
||||
for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
|
||||
for j, (key, value) in enumerate(dictionary.items()):
|
||||
# 根据元素的值选择颜色
|
||||
if value == "闭合":
|
||||
color = "green"
|
||||
else:
|
||||
color = "red"
|
||||
# self.labels[i + j].config(text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
|
||||
label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
|
||||
label.grid(row=j//2, column=j%2, padx=5, pady=5)
|
||||
|
||||
def updata_data(self):
|
||||
if (self.dict1['燃料电池断路器']=='闭合'):
|
||||
self.disHVB.DCB1 = 0x55
|
||||
else:
|
||||
self.disHVB.DCB1 = 0xAA
|
||||
|
||||
if (self.dict1['动力锂电池断路器']=='闭合'):
|
||||
self.disHVB.DCB2 = 0x55
|
||||
else:
|
||||
self.disHVB.DCB2 = 0xAA
|
||||
|
||||
if (self.dict1['推进电机断路器']=='闭合'):
|
||||
self.disHVB.ZK1 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK1 = 0xAA
|
||||
|
||||
if (self.dict1['仪表锂电池断路器']=='闭合'):
|
||||
self.disHVB.ZK2 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK2 = 0xAA
|
||||
|
||||
if (self.dict1['DC/DC5模块断路器']=='闭合'):
|
||||
self.disHVB.ZK3 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK3 = 0xAA
|
||||
|
||||
if (self.dict1['艏部高压配电断路器']=='闭合'):
|
||||
self.disHVB.ZK4 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK4 = 0xAA
|
||||
|
||||
if (self.dict1['艏部FT4/5断路器']=='闭合'):
|
||||
self.disHVB.ZK5 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK5 = 0xAA
|
||||
|
||||
if (self.dict1['艉舵1/2断路器']=='闭合'):
|
||||
self.disHVB.ZK6 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK6 = 0xAA
|
||||
|
||||
if (self.dict1['艉舵3/4断路器']=='闭合'):
|
||||
self.disHVB.ZK7 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK7 = 0xAA
|
||||
|
||||
if (self.dict1['FB预留断路器']=='闭合'):
|
||||
self.disHVB.ZK8 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK8 = 0xAA
|
||||
|
||||
if (self.dict1['TYZ预留断路器']=='闭合'):
|
||||
self.disHVB.ZK9 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK9 = 0xAA
|
||||
|
||||
if (self.dict1['预留断路器']=='闭合'):
|
||||
self.disHVB.ZK10 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK10 = 0xAA
|
||||
######################################################
|
||||
if (self.dict2['艏部FT1-3断路器']=='闭合'):
|
||||
self.disHVBA.bowFTDevice123CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.bowFTDevice123CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['启闭机构断路器']=='闭合'):
|
||||
self.disHVBA.actuatorCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.actuatorCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['桅杆舵机断路器']=='闭合'):
|
||||
self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['XCZ断路器']=='闭合'):
|
||||
self.disHVBA.xczCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.xczCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['艏舵断路器']=='闭合'):
|
||||
self.disHVBA.bowRudderControlBoxCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.bowRudderControlBoxCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['敞开电缸断路器']=='闭合'):
|
||||
self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0xAA
|
||||
|
||||
####################################################################
|
||||
if (self.dict3['仪表锂电池断路器']=='闭合'):
|
||||
self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['艏部低压断路器']=='闭合'):
|
||||
self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['UNIT4断路器']=='闭合'):
|
||||
self.disHVBB.unit4CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.unit4CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['DC/DC1断路器']=='闭合'):
|
||||
self.disHVBB.dcdc1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.dcdc1CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['预留断路器1']=='闭合'):
|
||||
self.disHVBB.reservedCircuitBreaker1 = 0x55
|
||||
else:
|
||||
self.disHVBB.reservedCircuitBreaker1 = 0xAA
|
||||
|
||||
if (self.dict3['预留断路器2']=='闭合'):
|
||||
self.disHVBB.reservedCircuitBreaker2 = 0x55
|
||||
else:
|
||||
self.disHVBB.reservedCircuitBreaker2 = 0xAA
|
||||
|
||||
if (self.dict3['艉部应急电池开关']=='闭合'):
|
||||
self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA
|
||||
|
||||
######################################################################
|
||||
if (self.dict4['UNIT1断路器']=='闭合'):
|
||||
self.disLVB.unit1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit1CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT2断路器']=='闭合'):
|
||||
self.disLVB.unit2CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit2CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT3断路器']=='闭合'):
|
||||
self.disLVB.unit3CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit3CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT5断路器']=='闭合'):
|
||||
self.disLVB.unit5CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit5CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['预留断路器1']=='闭合'):
|
||||
self.disLVB.reservedCircuitBreaker1 = 0x55
|
||||
else:
|
||||
self.disLVB.reservedCircuitBreaker1 = 0xAA
|
||||
|
||||
if (self.dict4['预留断路器2']=='闭合'):
|
||||
self.disLVB.reservedCircuitBreaker2 = 0x55
|
||||
else:
|
||||
self.disLVB.reservedCircuitBreaker2 = 0xAA
|
||||
|
||||
if (self.dict4['艏部抛载断路器']=='闭合'):
|
||||
self.disLVB.bowPZDeviceCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.bowPZDeviceCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['艏部应急电池开关']=='闭合'):
|
||||
self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0xAA
|
||||
|
||||
a = self.disHVB.pack()
|
||||
b = self.disHVBA.pack()
|
||||
c = self.disHVBB.pack()
|
||||
d = self.disLVB.pack()
|
||||
return a,b,c,d
|
||||
|
||||
if __name__ == "__main__":
|
||||
root = tk.Tk()
|
||||
app = ElementDisplayApp(root)
|
||||
root.mainloop()
|
||||
|
||||
# # 创建主窗口
|
||||
# root = tk.Tk()
|
||||
|
||||
# # 创建应用实例并在root中显示
|
||||
# app = ElementDisplayApp(root)
|
||||
|
||||
# # 运行主循环
|
||||
# root.mainloop()
|
||||
@@ -1,121 +0,0 @@
|
||||
import tkinter as tk
|
||||
from tkinter import messagebox
|
||||
from udpmsg import msg_CcuStateFbMsg
|
||||
|
||||
class msg_CcuStateFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x40
|
||||
self.start2 = 0x40
|
||||
self.id = 0x0001
|
||||
self.length = 0x0000
|
||||
self.flag = 0x00
|
||||
self.failvreCode = 0x00
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
pass # function body is omitted
|
||||
|
||||
class InputGUI:
|
||||
def __init__(self, master):
|
||||
self.master = master
|
||||
self.printing = False
|
||||
self.msg_instance = msg_CcuStateFbMsg()
|
||||
|
||||
# 创建一个Frame来包含所有的输入框和标签
|
||||
row = 0
|
||||
column = 0
|
||||
|
||||
self.input_frame = tk.Frame(master, bg='lightgray')
|
||||
self.input_frame.grid(row=1, column=0, sticky='nsew')
|
||||
|
||||
self.title_label = tk.Label(self.input_frame, text="复合管控消息交互", font=("Arial", 16, "bold"))
|
||||
self.title_label.grid(row=0, column=0, columnspan=2, pady=(10, 20), sticky="nsew") # 调整标题的上下边距并居中显示
|
||||
|
||||
# 创建输入框和标签
|
||||
self.start1_label = tk.Label(self.input_frame, text="Start1:")
|
||||
self.start1_label.grid(row=1, column=0)
|
||||
self.start1_entry = tk.Entry(self.input_frame)
|
||||
self.start1_entry.grid(row=1, column=1)
|
||||
|
||||
self.start2_label = tk.Label(self.input_frame, text="Start2:")
|
||||
self.start2_label.grid(row=2, column=0)
|
||||
self.start2_entry = tk.Entry(self.input_frame)
|
||||
self.start2_entry.grid(row=2, column=1)
|
||||
|
||||
self.id_label = tk.Label(self.input_frame, text="ID:")
|
||||
self.id_label.grid(row=3, column=0)
|
||||
self.id_entry = tk.Entry(self.input_frame)
|
||||
self.id_entry.grid(row=3, column=1)
|
||||
|
||||
self.length_label = tk.Label(self.input_frame, text="Length:")
|
||||
self.length_label.grid(row=4, column=0)
|
||||
self.length_entry = tk.Entry(self.input_frame)
|
||||
self.length_entry.grid(row=4, column=1)
|
||||
|
||||
self.flag_label = tk.Label(self.input_frame, text="Flag:")
|
||||
self.flag_label.grid(row=5, column=0)
|
||||
self.flag_entry = tk.Entry(self.input_frame)
|
||||
self.flag_entry.grid(row=5, column=1)
|
||||
|
||||
self.failvreCode_label = tk.Label(self.input_frame, text="Failvre Code:")
|
||||
self.failvreCode_label.grid(row=6, column=0)
|
||||
self.failvreCode_entry = tk.Entry(self.input_frame)
|
||||
self.failvreCode_entry.grid(row=6, column=1)
|
||||
|
||||
# 创建更新按钮
|
||||
self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg)
|
||||
self.update_button.grid(row=7, column=0, columnspan=2)
|
||||
|
||||
# 创建打印按钮
|
||||
self.print_button = tk.Button(self.input_frame, text="Print", command=self.start_printing)
|
||||
self.print_button.grid(row=8, column=0)
|
||||
|
||||
# 创建停止打印按钮
|
||||
self.stop_button = tk.Button(self.input_frame, text="Stop", command=self.stop_printing, state=tk.DISABLED)
|
||||
self.stop_button.grid(row=8, column=1)
|
||||
|
||||
# 创建显示打印消息数量的标签
|
||||
self.print_count_label = tk.Label(self.input_frame, text="Print Count: 0", font=("Arial", 12))
|
||||
self.print_count_label.grid(row=9, column=0, columnspan=2)
|
||||
# 创建更新按钮
|
||||
self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg)
|
||||
self.update_button.grid(row=7, column=0, columnspan=2)
|
||||
|
||||
def update_msg(self):
|
||||
try:
|
||||
self.msg_instance.start1 = int(self.start1_entry.get(), 16)
|
||||
self.msg_instance.start2 = int(self.start2_entry.get(), 16)
|
||||
self.msg_instance.id = int(self.id_entry.get(), 16)
|
||||
self.msg_instance.length = int(self.length_entry.get(), 16)
|
||||
self.msg_instance.flag = int(self.flag_entry.get(), 16)
|
||||
self.msg_instance.failvreCode = int(self.failvreCode_entry.get(), 16)
|
||||
messagebox.showinfo("Success", "msg_CcuStateFbMsg updated successfully!")
|
||||
except ValueError:
|
||||
messagebox.showerror("Error", "Invalid input. Please enter valid hexadecimal values.")
|
||||
|
||||
def start_printing(self):
|
||||
self.printing = True
|
||||
self.print_count = 0
|
||||
self.print_count_label.config(text="Print Count: 0")
|
||||
self.print_button.config(state=tk.DISABLED)
|
||||
self.stop_button.config(state=tk.NORMAL)
|
||||
self.print_message()
|
||||
|
||||
def stop_printing(self):
|
||||
self.printing = False
|
||||
self.print_button.config(state=tk.NORMAL)
|
||||
self.stop_button.config(state=tk.DISABLED)
|
||||
|
||||
def print_message(self, callback=None):
|
||||
if self.printing:
|
||||
print("Printing message...")
|
||||
self.print_count += 1
|
||||
self.print_count_label.config(text=f"Print Count: {self.print_count}")
|
||||
if callback:
|
||||
callback()
|
||||
self.master.after(1000, self.print_message, callback) # 每秒打印一次
|
||||
|
||||
if __name__ == "__main__":
|
||||
root = tk.Tk()
|
||||
gui = InputGUI(root)
|
||||
root.mainloop()
|
||||
@@ -1,57 +0,0 @@
|
||||
import socket
|
||||
import time
|
||||
import struct
|
||||
from udpmsg import *
|
||||
|
||||
# 目标IP地址和端口
|
||||
target_ip = '127.0.0.1'
|
||||
target_port = 5000
|
||||
|
||||
|
||||
mTest = msg_CcuStateFbMsg()
|
||||
mTest2 = msg_CcuSetParamFbMsg()
|
||||
mTest3 = msg_disHighVolBusFbMsg()
|
||||
|
||||
valid_msg = mTest.pack()
|
||||
valid_msg2 = mTest2.pack()
|
||||
valid_msg3 = mTest3.pack()
|
||||
print(valid_msg)
|
||||
|
||||
|
||||
# 创建UDP套接字
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
server_address = ('localhost', 5001)
|
||||
sock.bind(server_address)
|
||||
|
||||
# 要发送的信息
|
||||
# message = "Hello, this is a test message."
|
||||
message = valid_msg3
|
||||
# 发送信息的次数
|
||||
num_messages = 100
|
||||
|
||||
# 发送信息的时间间隔（秒）
|
||||
interval = 1
|
||||
|
||||
for i in range(num_messages):
|
||||
# 发送信息
|
||||
mTest.fcuState += 1
|
||||
sock.sendto(mTest.pack(), (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
sock.sendto(msg_CcuSetParamFbMsg().pack(), (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
mTest3.busbarAVoltage += 1
|
||||
sock.sendto(mTest3.pack(), (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
sock.sendto(msg_disHighAVolBusFbMsg().pack(), (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
sock.sendto(msg_disHighBVolBusFbMsg().pack(), (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
sock.sendto(msg_disLowBusFbMsg().pack(), (target_ip, target_port))
|
||||
# 打印发送的信息和目标地址
|
||||
print(f"Sent message to {target_ip}:{target_port}")
|
||||
# 等待一段时间
|
||||
# sock.sendto(valid_msg2, (target_ip, target_port))
|
||||
time.sleep(interval)
|
||||
|
||||
# 关闭套接字
|
||||
sock.close()
|
||||
@@ -1,44 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
from disSys import *
|
||||
from guiEle import ElementDisplayApp
|
||||
from until import *
|
||||
from guiInput import InputGUI
|
||||
|
||||
# 创建UDP套接字
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
server_address = ('localhost', 5001)
|
||||
sock.bind(server_address)
|
||||
|
||||
# 创建主窗口
|
||||
root = tk.Tk()
|
||||
root.title("能源管理系统调试")
|
||||
|
||||
disSysWin = disSys(root)
|
||||
disSysWin.grid(row=0, column=0, sticky='ne')
|
||||
|
||||
|
||||
# 创建一个文本框用于显示消息
|
||||
custom_font = font.Font(family="Arial", size=12, weight="normal")
|
||||
text_box = tk.Text(root, height=10, width=50, font=custom_font)
|
||||
text_box.grid(row=6, column=0, sticky='ne')
|
||||
|
||||
# 创建并启动接收和发送消息的线程
|
||||
# thread = threading.Thread(target=receive_messages, args=(sock, text_box,eleplay))
|
||||
# thread.daemon = True
|
||||
# thread.start()
|
||||
|
||||
# thread2 = threading.Thread(target=send_messages, args=(sock, eleplay))
|
||||
# thread2.daemon = True
|
||||
# thread2.start()
|
||||
|
||||
# 运行主循环
|
||||
root.mainloop()
|
||||
|
||||
# 关闭套接字
|
||||
sock.close()
|
||||
@@ -1,105 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
from guiEle import ElementDisplayApp
|
||||
import threading
|
||||
|
||||
target_ip = '127.0.0.1'
|
||||
target_port = 5000
|
||||
|
||||
def receive_messages(sock, text_box,eleplay:ElementDisplayApp):
|
||||
while True:
|
||||
current_time = datetime.now()
|
||||
formatted_time = current_time.strftime("%Y-%m-%d %H:%M:%S")
|
||||
data, address = sock.recvfrom(4096)
|
||||
headBuf = data[:6]
|
||||
header = struct.unpack('<BBHH',headBuf)
|
||||
start1 = data[0]
|
||||
start2 = data[1]
|
||||
msg_id = data[2]
|
||||
msg_len = data[3]
|
||||
if(start1==0x40 and start2==0x40):
|
||||
if(msg_id==0x0001):
|
||||
msg = msg_disHVBCmd()
|
||||
msg.unpack(data)
|
||||
text_box.insert(tk.END, f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:\n")
|
||||
if(msg.fuelCellCircuitBreaker==0x55):
|
||||
eleplay.dict1['燃料电池断路器']='闭合'
|
||||
elif(msg.fuelCellCircuitBreaker==0xAA):
|
||||
eleplay.dict1['燃料电池断路器']='断开'
|
||||
|
||||
if(msg.powerLithiumBatteryCircuitBreaker==0x55):
|
||||
eleplay.dict1['动力锂电池断路器']='闭合'
|
||||
elif(msg.powerLithiumBatteryCircuitBreaker==0xAA):
|
||||
eleplay.dict1['动力锂电池断路器']='断开'
|
||||
|
||||
if(msg.propulsionMotorCircuitBreaker==0x55):
|
||||
eleplay.dict1['推进电机断路器']='闭合'
|
||||
elif(msg.propulsionMotorCircuitBreaker==0xAA):
|
||||
eleplay.dict1['推进电机断路器']='断开'
|
||||
|
||||
if(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0x55):
|
||||
eleplay.dict1['仪表锂电池断路器']='闭合'
|
||||
elif(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0xAA):
|
||||
eleplay.dict1['仪表锂电池断路器']='断开'
|
||||
|
||||
if(msg.dcDc5ModuleCircuitBreaker==0x55):
|
||||
eleplay.dict1['DC/DC5模块断路器']='闭合'
|
||||
elif(msg.dcDc5ModuleCircuitBreaker==0xAA):
|
||||
eleplay.dict1['DC/DC5模块断路器']='断开'
|
||||
|
||||
if(msg.bowHighVoltageDistributionBoxCircuitBreaker==0x55):
|
||||
eleplay.dict1['艏部高压配电断路器']='闭合'
|
||||
elif(msg.bowHighVoltageDistributionBoxCircuitBreaker==0xAA):
|
||||
eleplay.dict1['艏部高压配电断路器']='断开'
|
||||
|
||||
if(msg.sternFTDevice45CircuitBreaker==0x55):
|
||||
eleplay.dict1['艏部FT4/5断路器']='闭合'
|
||||
elif(msg.sternFTDevice45CircuitBreaker==0xAA):
|
||||
eleplay.dict1['艏部FT4/5断路器']='断开'
|
||||
|
||||
if(msg.sternRudderSwitch1CircuitBreaker==0x55):
|
||||
eleplay.dict1['艉舵1/2断路器']='闭合'
|
||||
elif(msg.sternRudderSwitch1CircuitBreaker==0xAA):
|
||||
eleplay.dict1['艉舵1/2断路器']='断开'
|
||||
|
||||
if(msg.sternRudderSwitch2CircuitBreaker==0x55):
|
||||
eleplay.dict1['艉舵3/4断路器']='闭合'
|
||||
elif(msg.sternRudderSwitch2CircuitBreaker==0xAA):
|
||||
eleplay.dict1['艉舵3/4断路器']='断开'
|
||||
|
||||
if(msg.fbReservedCircuitBreaker==0x55):
|
||||
eleplay.dict1['FB预留断路器']='闭合'
|
||||
elif(msg.fbReservedCircuitBreaker==0xAA):
|
||||
eleplay.dict1['FB预留断路器']='断开'
|
||||
|
||||
if(msg.tyzReservedCircuitBreaker==0x55):
|
||||
eleplay.dict1['TYZ预留断路器']='闭合'
|
||||
elif(msg.tyzReservedCircuitBreaker==0xAA):
|
||||
eleplay.dict1['TYZ预留断路器']='断开'
|
||||
|
||||
if(msg.reservedCircuitBreaker==0x55):
|
||||
eleplay.dict1['预留断路器']='闭合'
|
||||
elif(msg.reservedCircuitBreaker==0xAA):
|
||||
eleplay.dict1['预留断路器']='断开'
|
||||
eleplay.update_disp()
|
||||
text_box.see(tk.END)
|
||||
|
||||
|
||||
def send_messages(sock, eleplay:ElementDisplayApp):
|
||||
while True:
|
||||
# 配电消息反馈
|
||||
a,b,c,d = eleplay.updata_data()
|
||||
sock.sendto(a, (target_ip, target_port))
|
||||
sock.sendto(b, (target_ip, target_port))
|
||||
sock.sendto(c, (target_ip, target_port))
|
||||
sock.sendto(d, (target_ip, target_port))
|
||||
|
||||
#TODO复合管控消息反馈
|
||||
|
||||
|
||||
threading.Event().wait(1) # 每隔1秒发送一次消息
|
||||
@@ -1,458 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
from tkinter import messagebox
|
||||
import threading
|
||||
import random
|
||||
from udpmsg import *
|
||||
from udpmsg import msg_CcuStateFbMsg
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
from tkinter import Frame
|
||||
from tkinter.ttk import *
|
||||
|
||||
class ccuSys(Frame):
|
||||
def __init__(self, root):
|
||||
super().__init__(root)
|
||||
# Initialize CCU state
|
||||
self.ccuState = msg_CcuStateFbMsg()
|
||||
self.col_frames = []
|
||||
self.state_entries = []
|
||||
|
||||
# Timer settings
|
||||
self.update_interval = 1000 # Default update interval in milliseconds
|
||||
|
||||
# Network settings
|
||||
self.udp_ip = "127.0.0.1"
|
||||
self.udp_port = 5005
|
||||
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.sock.settimeout(1.0)
|
||||
|
||||
# Initialize GUI
|
||||
self.master = root
|
||||
self.createWidgets()
|
||||
|
||||
# Start data update thread
|
||||
self.running = True
|
||||
self.update_thread = threading.Thread(target=self._update_thread)
|
||||
self.update_thread.daemon = True
|
||||
self.update_thread.start()
|
||||
|
||||
# Start timer for periodic display update
|
||||
self.update_timer = None
|
||||
self.start_update_timer()
|
||||
|
||||
def createWidgets(self):
|
||||
# Main window configuration
|
||||
# self.master.title("CCU Monitoring System")
|
||||
# self.master.geometry("1200x800")
|
||||
|
||||
# Create status display area
|
||||
self.status_frame = tk.Frame(self.master)
|
||||
self.status_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=10)
|
||||
|
||||
# Create status columns
|
||||
self._create_status_column("FCU Status", [
|
||||
"fcuState", "fcuFaultLeve", "powerLimit",
|
||||
"totalPowerGeneration", "fcuVoltage", "fcuCurrent",
|
||||
"fcuOutPower", "fcuOutIns", "fcuGZ_1L", "fcuGZ_1H",
|
||||
"fcuGZ_2L", "fcuGZ_2H", "fcuGZ_3L", "fcuGZ_3H"
|
||||
])
|
||||
|
||||
self._create_status_column("Battery Status", [
|
||||
"insBatSoc", "powerBatSoc", "insBatLimit",
|
||||
"powerBatLimit", "insBatTotalElectricity",
|
||||
"powerBatTotalElectricity", "insCurrent",
|
||||
"powerCurrent"
|
||||
])
|
||||
|
||||
self._create_status_column("Sensor Status", [
|
||||
"h2Concentration1", "h2Concentration2",
|
||||
"o2Concentration1", "o2Concentration2",
|
||||
"ch4oConcentration1", "ch4oConcentration2",
|
||||
"backpressure1", "backpressure2"
|
||||
])
|
||||
|
||||
self._create_status_column("System Status", [
|
||||
"insPosRelayState", "insNegRelayState",
|
||||
"powerPosRelayState", "powerNegRelayState",
|
||||
"flameDetection", "exchangerTemperature",
|
||||
"insEmergencyStatusWord", "powerEmergencyStatusWord"
|
||||
])
|
||||
|
||||
# Create control panel
|
||||
self.control_frame = tk.Frame(self.master)
|
||||
self.control_frame.pack(fill=tk.X, padx=10, pady=5)
|
||||
|
||||
# Add control buttons
|
||||
self.refresh_btn = tk.Button(
|
||||
self.control_frame, text="Refresh", command=self.update_display
|
||||
)
|
||||
self.refresh_btn.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
self.export_btn = tk.Button(
|
||||
self.control_frame, text="Export Data", command=self.export_data
|
||||
)
|
||||
self.export_btn.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# Timer control
|
||||
self.timer_frame = tk.Frame(self.control_frame)
|
||||
self.timer_frame.pack(side=tk.RIGHT, padx=10)
|
||||
|
||||
# Timer interval label
|
||||
tk.Label(self.timer_frame, text="Update Interval (ms):").pack(side=tk.LEFT)
|
||||
|
||||
# Timer interval entry
|
||||
self.interval_entry = tk.Entry(self.timer_frame, width=6)
|
||||
self.interval_entry.insert(0, str(self.update_interval))
|
||||
self.interval_entry.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# Set interval button
|
||||
self.set_interval_btn = tk.Button(
|
||||
self.timer_frame,
|
||||
text="Set",
|
||||
command=self.set_update_interval
|
||||
)
|
||||
self.set_interval_btn.pack(side=tk.LEFT)
|
||||
|
||||
# Status indicator
|
||||
self.status_indicator = tk.Label(
|
||||
self.timer_frame, text="●", fg="green", font=("Arial", 16)
|
||||
)
|
||||
self.status_indicator.pack(side=tk.RIGHT, padx=10)
|
||||
|
||||
# FCU control panel
|
||||
self.fcu_frame = tk.Frame(self.control_frame)
|
||||
self.fcu_frame.pack(side=tk.LEFT, padx=10)
|
||||
|
||||
# FCU state control
|
||||
tk.Label(self.fcu_frame, text="FCU State:").pack(side=tk.LEFT)
|
||||
self.fcu_state_var = tk.IntVar(value=0)
|
||||
self.fcu_state_menu = tk.OptionMenu(
|
||||
self.fcu_frame, self.fcu_state_var,
|
||||
*range(4), command=self.set_fcu_state
|
||||
)
|
||||
self.fcu_state_menu.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# FCU fault level control
|
||||
tk.Label(self.fcu_frame, text="Fault Level:").pack(side=tk.LEFT)
|
||||
self.fcu_fault_var = tk.IntVar(value=0)
|
||||
self.fcu_fault_menu = tk.OptionMenu(
|
||||
self.fcu_frame, self.fcu_fault_var,
|
||||
*range(4), command=self.set_fcu_fault_level
|
||||
)
|
||||
self.fcu_fault_menu.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# FCU GZ control
|
||||
tk.Label(self.fcu_frame, text="GZ 1L:").pack(side=tk.LEFT)
|
||||
self.fcu_gz1l_var = tk.IntVar(value=0)
|
||||
self.fcu_gz1l_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz1l_var, width=5
|
||||
)
|
||||
self.fcu_gz1l_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz1l_entry.bind("<Return>", lambda e: self.set_fcu_gz1l())
|
||||
|
||||
tk.Label(self.fcu_frame, text="GZ 1H:").pack(side=tk.LEFT)
|
||||
self.fcu_gz1h_var = tk.IntVar(value=0)
|
||||
self.fcu_gz1h_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz1h_var, width=5
|
||||
)
|
||||
self.fcu_gz1h_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz1h_entry.bind("<Return>", lambda e: self.set_fcu_gz1h())
|
||||
|
||||
# Add more GZ controls
|
||||
tk.Label(self.fcu_frame, text="GZ 2L:").pack(side=tk.LEFT)
|
||||
self.fcu_gz2l_var = tk.IntVar(value=0)
|
||||
self.fcu_gz2l_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz2l_var, width=5
|
||||
)
|
||||
self.fcu_gz2l_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz2l_entry.bind("<Return>", lambda e: self.set_fcu_gz2l())
|
||||
|
||||
tk.Label(self.fcu_frame, text="GZ 2H:").pack(side=tk.LEFT)
|
||||
self.fcu_gz2h_var = tk.IntVar(value=0)
|
||||
self.fcu_gz2h_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz2h_var, width=5
|
||||
)
|
||||
self.fcu_gz2h_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz2h_entry.bind("<Return>", lambda e: self.set_fcu_gz2h())
|
||||
|
||||
tk.Label(self.fcu_frame, text="GZ 3L:").pack(side=tk.LEFT)
|
||||
self.fcu_gz3l_var = tk.IntVar(value=0)
|
||||
self.fcu_gz3l_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz3l_var, width=5
|
||||
)
|
||||
self.fcu_gz3l_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz3l_entry.bind("<Return>", lambda e: self.set_fcu_gz3l())
|
||||
|
||||
tk.Label(self.fcu_frame, text="GZ 3H:").pack(side=tk.LEFT)
|
||||
self.fcu_gz3h_var = tk.IntVar(value=0)
|
||||
self.fcu_gz3h_entry = tk.Entry(
|
||||
self.fcu_frame, textvariable=self.fcu_gz3h_var, width=5
|
||||
)
|
||||
self.fcu_gz3h_entry.pack(side=tk.LEFT, padx=5)
|
||||
self.fcu_gz3h_entry.bind("<Return>", lambda e: self.set_fcu_gz3h())
|
||||
|
||||
def _create_status_column(self, title, fields):
|
||||
"""Create a status column with specified fields"""
|
||||
col_frame = tk.LabelFrame(
|
||||
self.status_frame, text=title, bd=2, relief=tk.GROOVE
|
||||
)
|
||||
col_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=5, pady=5)
|
||||
|
||||
for field in fields:
|
||||
field_frame = tk.Frame(col_frame)
|
||||
field_frame.pack(fill=tk.X, padx=5, pady=2)
|
||||
|
||||
# Field name
|
||||
name_label = tk.Label(
|
||||
field_frame, text=field, width=20, anchor=tk.W
|
||||
)
|
||||
name_label.pack(side=tk.LEFT)
|
||||
|
||||
# Value display
|
||||
value_entry = tk.Entry(
|
||||
field_frame, width=15, state='readonly'
|
||||
)
|
||||
value_entry.pack(side=tk.RIGHT, fill=tk.X, expand=True)
|
||||
|
||||
# Store reference for updates
|
||||
self.state_entries.append((field, value_entry))
|
||||
|
||||
def generate_simulated_data(self):
|
||||
"""Generate simulated CCU state data"""
|
||||
self.ccuState.fcuState = self.fcu_state_var.get()
|
||||
self.ccuState.fcuFaultLeve = self.fcu_fault_var.get()
|
||||
self.ccuState.powerLimit = random.randint(0, 100)
|
||||
self.ccuState.totalPowerGeneration = int(random.uniform(0, 1000))
|
||||
self.ccuState.fcuVoltage = int(random.uniform(200, 400))
|
||||
self.ccuState.fcuCurrent = int(random.uniform(0, 100))
|
||||
self.ccuState.fcuOutPower = random.randint(0, 1000)
|
||||
self.ccuState.fcuOutIns = random.randint(0, 100)
|
||||
|
||||
self.ccuState.insBatSoc = random.randint(0, 100)
|
||||
self.ccuState.powerBatSoc = random.randint(0, 100)
|
||||
self.ccuState.insBatLimit = random.randint(0, 100)
|
||||
self.ccuState.powerBatLimit = random.randint(0, 100)
|
||||
self.ccuState.insBatTotalElectricity = random.randint(0, 1000)
|
||||
self.ccuState.powerBatTotalElectricity = random.randint(0, 1000)
|
||||
self.ccuState.insCurrent = random.randint(0, 100)
|
||||
self.ccuState.powerCurrent = random.randint(0, 100)
|
||||
|
||||
self.ccuState.h2Concentration1 = random.randint(0, 100)
|
||||
self.ccuState.h2Concentration2 = random.randint(0, 100)
|
||||
self.ccuState.o2Concentration1 = random.randint(0, 100)
|
||||
self.ccuState.o2Concentration2 = random.randint(0, 100)
|
||||
self.ccuState.ch4oConcentration1 = random.randint(0, 100)
|
||||
self.ccuState.ch4oConcentration2 = random.randint(0, 100)
|
||||
self.ccuState.backpressure1 = random.randint(0, 10)
|
||||
self.ccuState.backpressure2 = random.randint(0, 10)
|
||||
|
||||
self.ccuState.insPosRelayState = random.randint(0, 1)
|
||||
self.ccuState.insNegRelayState = random.randint(0, 1)
|
||||
self.ccuState.powerPosRelayState = random.randint(0, 1)
|
||||
self.ccuState.powerNegRelayState = random.randint(0, 1)
|
||||
self.ccuState.flameDetection = random.randint(0, 1)
|
||||
self.ccuState.exchangerTemperature = random.randint(20, 100)
|
||||
self.ccuState.insEmergencyStatusWord = random.randint(0, 255)
|
||||
self.ccuState.powerEmergencyStatusWord = random.randint(0, 255)
|
||||
|
||||
self.ccuState.fcuGZ_1L=self.fcu_gz1l_var.get()
|
||||
self.ccuState.fcuGZ_1H=self.fcu_gz1h_var.get()
|
||||
self.ccuState.fcuGZ_2L=self.fcu_gz2l_var.get()
|
||||
self.ccuState.fcuGZ_2H=self.fcu_gz2h_var.get()
|
||||
self.ccuState.fcuGZ_3L=self.fcu_gz3l_var.get()
|
||||
self.ccuState.fcuGZ_3H=self.fcu_gz3h_var.get()
|
||||
|
||||
def update_display(self):
|
||||
"""Update all displayed values"""
|
||||
# Generate simulated data if no real data available
|
||||
if not hasattr(self.ccuState, 'fcuState'):
|
||||
self.generate_simulated_data()
|
||||
|
||||
for field, entry in self.state_entries:
|
||||
value = getattr(self.ccuState, field, "N/A")
|
||||
entry.config(state='normal')
|
||||
entry.delete(0, tk.END)
|
||||
entry.insert(0, str(value))
|
||||
entry.config(state='readonly')
|
||||
|
||||
# Update status indicator
|
||||
self._update_status_indicator()
|
||||
|
||||
def _update_status_indicator(self):
|
||||
"""Update the status indicator based on system state"""
|
||||
if self.ccuState.fcuFaultLeve > 0:
|
||||
self.status_indicator.config(fg="red")
|
||||
else:
|
||||
self.status_indicator.config(fg="green")
|
||||
|
||||
def export_data(self):
|
||||
"""Export current status data to file"""
|
||||
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
|
||||
filename = f"ccu_status_{timestamp}.log"
|
||||
try:
|
||||
with open(filename, 'w') as f:
|
||||
for field, _ in self.state_entries:
|
||||
value = getattr(self.ccuState, field, "N/A")
|
||||
f.write(f"{field}: {value}\n")
|
||||
print(f"Data exported to {filename}")
|
||||
except Exception as e:
|
||||
print(f"Export failed: {str(e)}")
|
||||
|
||||
def _update_thread(self):
|
||||
"""Thread for updating CCU state"""
|
||||
while self.running:
|
||||
try:
|
||||
# Receive data from UDP
|
||||
data, _ = self.sock.recvfrom(1024)
|
||||
self.ccuState.unpack(data)
|
||||
|
||||
except socket.timeout:
|
||||
continue
|
||||
except Exception as e:
|
||||
print(f"Update error: {str(e)}")
|
||||
break
|
||||
|
||||
def set_update_interval(self):
|
||||
"""Set new update interval from GUI input"""
|
||||
try:
|
||||
new_interval = int(self.interval_entry.get())
|
||||
if new_interval < 100:
|
||||
raise ValueError("Interval must be >= 100ms")
|
||||
self.update_interval = new_interval
|
||||
self.stop_update_timer()
|
||||
self.start_update_timer()
|
||||
except ValueError as e:
|
||||
print(f"Invalid interval: {str(e)}")
|
||||
|
||||
def set_fcu_state(self, state):
|
||||
"""Set FCU state and update display"""
|
||||
self.ccuState.fcuState = state
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_fault_level(self, level):
|
||||
"""Set FCU fault level and update display"""
|
||||
self.ccuState.fcuFaultLeve = level
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz1l(self, value=None):
|
||||
"""Set FCU GZ 1L and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz1l_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 1L value")
|
||||
return
|
||||
self.ccuState.fcuGZ_1L = value
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz1h(self, value=None):
|
||||
"""Set FCU GZ 1H and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz1h_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 1H value")
|
||||
return
|
||||
self.ccuState.fcuGZ_1H = value
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz2l(self, value=None):
|
||||
"""Set FCU GZ 2L and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz2l_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 2L value")
|
||||
return
|
||||
self.ccuState.fcuGZ_2L = value
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz2h(self, value=None):
|
||||
"""Set FCU GZ 2H and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz2h_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 2H value")
|
||||
return
|
||||
self.ccuState.fcuGZ_2H = value
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz3l(self, value=None):
|
||||
"""Set FCU GZ 3L and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz3l_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 3L value")
|
||||
return
|
||||
self.ccuState.fcuGZ_3L = value
|
||||
self.update_display()
|
||||
|
||||
def set_fcu_gz3h(self, value=None):
|
||||
"""Set FCU GZ 3H and update display"""
|
||||
if value is None:
|
||||
try:
|
||||
value = self.fcu_gz3h_var.get()
|
||||
except tk.TclError:
|
||||
tk.messagebox.showwarning("Input Error", "Invalid GZ 3H value")
|
||||
return
|
||||
self.ccuState.fcuGZ_3H = value
|
||||
self.update_display()
|
||||
|
||||
def start_update_timer(self):
|
||||
"""Start the periodic display update timer"""
|
||||
if not hasattr(self, 'data_update_thread'):
|
||||
self.data_update_running = True
|
||||
self.data_update_thread = threading.Thread(
|
||||
target=self._data_update_loop
|
||||
)
|
||||
self.data_update_thread.daemon = True
|
||||
self.data_update_thread.start()
|
||||
|
||||
self._update_display_loop()
|
||||
|
||||
def _update_display_loop(self):
|
||||
"""Periodically update the display"""
|
||||
self.generate_simulated_data()
|
||||
self.update_display()
|
||||
self.update_timer = self.master.after(
|
||||
self.update_interval,
|
||||
self._update_display_loop
|
||||
)
|
||||
|
||||
def _data_update_loop(self):
|
||||
"""Periodically update data from network"""
|
||||
while self.data_update_running:
|
||||
try:
|
||||
# Receive data from UDP
|
||||
data, _ = self.sock.recvfrom(1024)
|
||||
self.ccuState.unpack(data)
|
||||
time.sleep(self.update_interval / 1000)
|
||||
except socket.timeout:
|
||||
continue
|
||||
except Exception as e:
|
||||
print(f"Data update error: {str(e)}")
|
||||
break
|
||||
|
||||
def stop_update_timer(self):
|
||||
"""Stop the periodic display update timer"""
|
||||
if self.update_timer:
|
||||
self.master.after_cancel(self.update_timer)
|
||||
self.update_timer = None
|
||||
|
||||
def __del__(self):
|
||||
"""Clean up resources"""
|
||||
self.running = False
|
||||
self.stop_update_timer()
|
||||
if hasattr(self, 'update_thread'):
|
||||
self.update_thread.join()
|
||||
self.sock.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
root = tk.Tk()
|
||||
app = ccuSys(root)
|
||||
app.pack(fill=tk.BOTH, expand=True)
|
||||
root.mainloop()
|
||||
@@ -1,664 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
from tkinter import Frame
|
||||
from tkinter.ttk import *
|
||||
|
||||
class disSys(Frame):
|
||||
def __init__(self,root):
|
||||
super().__init__(root)
|
||||
# 当前接受的消息,用于显示和更新
|
||||
self.disHVB = msg_disHighVolBusFbMsg()
|
||||
self.disHVBA = msg_disHighAVolBusFbMsg()
|
||||
self.disHVBB = msg_disHighBVolBusFbMsg()
|
||||
self.disLVB = msg_disLowBusFbMsg()
|
||||
# 初始化列框架列表
|
||||
self.col_frames = []
|
||||
|
||||
self.createWidgets()
|
||||
self.root = root
|
||||
self.root.after(2000, self.update_disp)
|
||||
# 启动数据更新定时器
|
||||
self.update_data_job = None
|
||||
self.start_update_data()
|
||||
def createWidgets(self):
|
||||
# 定义每组的颜色
|
||||
self.colors = ["#FFC0CB", "#ADD8E6", "#90EE90", "#FFD700"]
|
||||
# 创建自定义字体
|
||||
self.custom_font = font.Font(family="Arial", size=12, weight='normal')
|
||||
# 创建4个Frame来分组显示元素的值
|
||||
# 断路器的frame
|
||||
title=list(['高压母线断路器','高电压A母线断路器','高电压B母线断路器','低电压母线断路器'])
|
||||
self.frames = []
|
||||
for i in range(4):
|
||||
frame = tk.Frame(self, bg=self.colors[i], padx=10, pady=10)
|
||||
# frame.pack(padx=10, pady=10, expand=True, fill='both')
|
||||
title_label = tk.Label(frame, text=title[i],bg=self.colors[i],relief='solid' ,font=("Arial", 16, "bold"))
|
||||
title_label.grid(row=0, column=0, columnspan=4, pady=(2, 2), sticky="nsew")
|
||||
self.frames.append(frame)
|
||||
self.frames[0].grid(row=0, column=0, sticky='nsew')
|
||||
self.frames[1].grid(row=0, column=1, sticky='nsew')
|
||||
self.frames[2].grid(row=1, column=0, sticky='nsew')
|
||||
self.frames[3].grid(row=1, column=1, sticky='nsew')
|
||||
################################################故障选择#########################################################
|
||||
inputFrame = tk.LabelFrame(self, bg='Azure',text='故障选择',font=self.custom_font ,padx=10, pady=10)
|
||||
inputFrame.grid(row=0, column=2, columnspan=2, padx=2, pady=2, sticky="nsew")
|
||||
# # 添加输入框来更新值 TODO：添加输入框,更新故障信息
|
||||
self.checkboxes = []
|
||||
self.checkboxesVar = []
|
||||
self.faultDict1 = {0:'动力母线绝缘低',
|
||||
1:'A汇流排绝缘低',
|
||||
2:'仪表电源失电',
|
||||
3:'应急电源失电',
|
||||
4:'DC/DC模块过温'}
|
||||
self.faultDict2 = {0:'仪表电源失电',
|
||||
1:'应急电源失电',
|
||||
2:'浸水报警'}
|
||||
self.faultDict3 = {0:'仪表电源失电',
|
||||
1:'应急电源失电',
|
||||
2:'仪表汇流排绝缘低'}
|
||||
self.faultDict4 = {0:'仪表失电',
|
||||
1:'浸水报警'}
|
||||
spl_linenum = 1
|
||||
for i, dictionary in enumerate([self.faultDict1, self.faultDict2, self.faultDict3, self.faultDict4]):
|
||||
self.checkboxes.append([])
|
||||
self.checkboxesVar.append([])
|
||||
spl = Separator(inputFrame, orient='vertical')
|
||||
spl.grid(row=0, column=spl_linenum+i*2, rowspan=5, pady=(2, 2), sticky="nsew")
|
||||
for j, (key, value) in enumerate(dictionary.items()):
|
||||
checkboxVar = tk.IntVar()
|
||||
checkbox = tk.Checkbutton(inputFrame, text=value, variable=checkboxVar,font=self.custom_font,anchor="w",
|
||||
command=lambda i=i, j=j: self.cheak_fault(i, j))
|
||||
checkbox.grid(row=j, column=i*2, padx=1, pady=1, sticky="nsew")
|
||||
self.checkboxes[i].append(checkbox)
|
||||
self.checkboxesVar[i].append(checkboxVar)
|
||||
################################################电路状态#########################################################
|
||||
dispFrame = tk.LabelFrame(self, bg='Azure',text='电路状态',font=self.custom_font ,padx=10, pady=10)
|
||||
dispFrame.grid(row=1, column=2, columnspan=2, padx=2, pady=2, sticky="nsew") # 调整输入框的上下边距并居中显示
|
||||
value = '关闭'
|
||||
self.labelDcDc = tk.Label(dispFrame, text=f"{'DC/DC模块'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
|
||||
self.labelDcDc.grid(row=0, column=0, padx=1, pady=1, sticky="nsew")
|
||||
self.DcDcbutton = tk.Button(dispFrame, text="TURN", command=self.toggle_DcDc)
|
||||
self.DcDcbutton.grid(row=0, column=1, padx=1, pady=1, sticky="nsew")
|
||||
|
||||
self.labelWaterInput = tk.Label(dispFrame, text=f"{'冷却水进水阀'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
|
||||
self.labelWaterInput.grid(row=1, column=0, padx=1, pady=1, sticky="nsew")
|
||||
self.buttonWaterInput = tk.Button(dispFrame, text="TURN", command=self.toggle_WaterInput)
|
||||
self.buttonWaterInput.grid(row=1, column=1, padx=1, pady=1, sticky="nsew")
|
||||
|
||||
self.labelWaterOutput = tk.Label(dispFrame, text=f"{'冷却水出水阀'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
|
||||
self.labelWaterOutput.grid(row=2, column=0, padx=1, pady=1, sticky="nsew")
|
||||
self.buttonWaterOutput = tk.Button(dispFrame, text="TURN", command=self.toggle_WaterOutput)
|
||||
self.buttonWaterOutput.grid(row=2, column=1, padx=1, pady=1, sticky="nsew")
|
||||
|
||||
self.buttonCurrenStateWin = tk.Button(dispFrame, text="显示电路状态", command=self.show_CurrentState)
|
||||
self.buttonCurrenStateWin.grid(row=0, rowspan=3 , columnspan=2 , column=3,padx=10, pady=1, sticky="nsew")
|
||||
|
||||
# 添加更新按钮
|
||||
# self.buttonCurrenStateWin = tk.Button(dispFrame, text="自动更新", command=self.update_currentState)
|
||||
# self.buttonCurrenStateWin.grid(row=0, rowspan=3 , columnspan=2 , column=5,padx=10, pady=1, sticky="nsew")
|
||||
# update_btn = tk.Button(btn_frame, text="立即更新", font=state_font,
|
||||
# command=self.update_currentState)
|
||||
# update_btn.pack(fill=tk.X, padx=5, pady=5)
|
||||
################################################断路器操作#########################################################
|
||||
# 定义四个字典来存储元素的值
|
||||
self.dict1={'燃料电池断路器':'闭合',
|
||||
'动力锂电池断路器':'闭合',
|
||||
'推进电机断路器':'闭合',
|
||||
'仪表锂电池断路器':'闭合',
|
||||
'DC/DC5模块断路器':'闭合',
|
||||
'艏部高压配电断路器':'闭合',
|
||||
'艏部FT4/5断路器':'闭合',
|
||||
'艉舵1/2断路器':'闭合',
|
||||
'艉舵3/4断路器':'闭合',
|
||||
'FB预留断路器':'闭合',
|
||||
'TYZ预留断路器':'闭合',
|
||||
'预留断路器':'闭合'}
|
||||
self.dict2 = {'艏部FT1-3断路器':'闭合',
|
||||
'启闭机构断路器':'闭合',
|
||||
'桅杆舵机断路器':'闭合',
|
||||
'XCZ断路器':'闭合',
|
||||
'艏舵断路器':'闭合',
|
||||
'敞开电缸断路器':'闭合'}
|
||||
self.dict3 = {'仪表锂电池断路器':'闭合',
|
||||
'艏部低压断路器':'闭合',
|
||||
'UNIT4断路器':'闭合',
|
||||
'DC/DC1断路器':'闭合',
|
||||
'预留断路器1':'闭合',
|
||||
'预留断路器2':'闭合',
|
||||
'艉部应急电池开关':'闭合'}
|
||||
self.dict4 = {'UNIT1断路器':'闭合',
|
||||
'UNIT2断路器':'闭合',
|
||||
'UNIT3断路器':'闭合',
|
||||
'UNIT5断路器':'闭合',
|
||||
'艏部抛载断路器':'闭合',
|
||||
'预留断路器1':'闭合',
|
||||
'预留断路器2':'断开',
|
||||
'艏部应急电池开关':'闭合'}
|
||||
self.labels = []
|
||||
for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
|
||||
self.labels.append([])
|
||||
for j, (key, value) in enumerate(dictionary.items()):
|
||||
# 根据元素的值选择颜色
|
||||
if value == "闭合":
|
||||
color = "green"
|
||||
else:
|
||||
color = "red"
|
||||
label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, relief='groove' ,anchor="w")
|
||||
if (j%2==0):
|
||||
label.grid(row=j//2 + 1, column=j%2, padx=1, pady=1,sticky="nsew")
|
||||
else:
|
||||
label.grid(row=j//2 + 1, column=j%2+1, padx=1, pady=1,sticky="nsew")
|
||||
self.labels[i].append(label)
|
||||
# 添加按钮来改变字典中的值
|
||||
button = tk.Button(self.frames[i], text="TURN", command=lambda i=i, j=j: self.toggle_value(i, j))
|
||||
if (j%2==0):
|
||||
button.grid(row=j//2+1, column=j%2+1, padx=1, pady=1)
|
||||
else:
|
||||
button.grid(row=j//2+1, column=j%2+2, padx=1, pady=1, sticky="nsew")
|
||||
self.update_disp()
|
||||
|
||||
# 创建保存电流及电压信息的表格
|
||||
self.disHVBData = []
|
||||
self.disHVBAData = []
|
||||
self.disHVBBData = []
|
||||
self.disLVBData = []
|
||||
|
||||
def update_disp(self):
|
||||
for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
|
||||
for j, (key, value) in enumerate(dictionary.items()):
|
||||
# 根据元素的值选择颜色
|
||||
if value == "闭合":
|
||||
color = "green"
|
||||
else:
|
||||
color = "red"
|
||||
self.labels[i][j].config(text=f"{key}: {value}", fg=color)
|
||||
|
||||
|
||||
def toggle_value(self, i, j):
|
||||
dictionary = [self.dict1, self.dict2, self.dict3, self.dict4][i]
|
||||
key = list(dictionary.keys())[j]
|
||||
if dictionary[key] == "闭合":
|
||||
dictionary[key] = "断开"
|
||||
else:
|
||||
dictionary[key] = "闭合"
|
||||
print(f'{key}操作')
|
||||
self.update_disp()
|
||||
|
||||
def toggle_DcDc(self):
|
||||
if (self.labelDcDc.cget("text")[-1] == '开'):
|
||||
self.labelDcDc.config(text=f"{'DC/DC模块'}:关闭")
|
||||
else:
|
||||
self.labelDcDc.config(text=f"{'DC/DC模块'}:打开")
|
||||
print('DC/DC模块操作')
|
||||
|
||||
def toggle_WaterInput(self):
|
||||
if (self.labelWaterInput.cget("text")[-1] == '开'):
|
||||
self.labelWaterInput.config(text=f"{'冷却水进水阀'}:关闭")
|
||||
else:
|
||||
self.labelWaterInput.config(text=f"{'冷却水进水阀'}:打开")
|
||||
print('冷却水进水阀操作')
|
||||
|
||||
def toggle_WaterOutput(self):
|
||||
if (self.labelWaterOutput.cget("text")[-1] == '开'):
|
||||
self.labelWaterOutput.config(text=f"{'冷却水出水阀'}:关闭")
|
||||
else:
|
||||
self.labelWaterOutput.config(text=f"{'冷却水出水阀'}:打开")
|
||||
print('冷却水出水阀操作')
|
||||
|
||||
def cheak_fault(self,i,j):
|
||||
#TODO:实现故障更新和选择
|
||||
print(self.checkboxes[i][j].cget("text"),self.checkboxesVar[i][j].get())
|
||||
# print(self.checkboxesVar[i][j].get())
|
||||
|
||||
def toggle_hex_mode(self):
|
||||
"""切换16进制显示模式"""
|
||||
self.hex_mode = not self.hex_mode
|
||||
self.update_currentState()
|
||||
|
||||
def update_currentState(self):
|
||||
# 更新所有数值显示
|
||||
for struct, name, entry in self.state_entries:
|
||||
# 获取最新值
|
||||
value = getattr(struct, name)
|
||||
# 根据显示模式格式化值
|
||||
if self.hex_mode and isinstance(value, int):
|
||||
display_value = f"0x{value:02X}"
|
||||
else:
|
||||
display_value = str(value)
|
||||
# 更新entry显示
|
||||
entry.config(state='normal')
|
||||
entry.delete(0, tk.END)
|
||||
entry.insert(0, display_value)
|
||||
entry.config(state='readonly')
|
||||
|
||||
print('电路状态已更新')
|
||||
def _create_scrollable_column(self, parent_frame, title, data_struct, state_font):
|
||||
"""创建带滚动条的列"""
|
||||
col_frame = tk.LabelFrame(parent_frame, text=title, font=state_font,
|
||||
bd=2, relief=tk.GROOVE, padx=5, pady=5)
|
||||
col_frame.grid(row=0, column=len(self.col_frames), padx=5, pady=5, sticky="nsew")
|
||||
col_frame.rowconfigure(0, weight=1)
|
||||
col_frame.columnconfigure(0, weight=1)
|
||||
self.col_frames.append(col_frame)
|
||||
|
||||
# 创建滚动条容器
|
||||
canvas = tk.Canvas(col_frame)
|
||||
v_scrollbar = tk.Scrollbar(col_frame, orient="vertical", command=canvas.yview)
|
||||
h_scrollbar = tk.Scrollbar(col_frame, orient="horizontal", command=canvas.xview)
|
||||
|
||||
# 创建可滚动内容框架
|
||||
scrollable_frame = tk.Frame(canvas)
|
||||
canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
|
||||
|
||||
# 配置滚动区域
|
||||
def _configure_scrollregion(e):
|
||||
canvas.configure(scrollregion=canvas.bbox("all"))
|
||||
canvas.config(height=min(e.height, 800))
|
||||
canvas.yview_moveto(0)
|
||||
canvas.xview_moveto(0)
|
||||
|
||||
scrollable_frame.bind("<Configure>", _configure_scrollregion)
|
||||
|
||||
# 配置滚动条
|
||||
canvas.configure(yscrollcommand=v_scrollbar.set, xscrollcommand=h_scrollbar.set)
|
||||
h_scrollbar.config(command=canvas.xview)
|
||||
v_scrollbar.config(command=canvas.yview)
|
||||
|
||||
# 布局
|
||||
canvas.grid(row=0, column=0, sticky="nsew")
|
||||
v_scrollbar.grid(row=0, column=1, sticky="ns")
|
||||
h_scrollbar.grid(row=1, column=0, sticky="ew")
|
||||
|
||||
# 添加数据项
|
||||
for name, value in data_struct.__dict__.items():
|
||||
row_frame = tk.Frame(scrollable_frame)
|
||||
row_frame.pack(fill=tk.X, padx=5, pady=2)
|
||||
|
||||
name_label = tk.Label(row_frame, text=name, font=state_font, width=30, anchor="w")
|
||||
name_label.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
entry = tk.Entry(row_frame, font=state_font, width=20)
|
||||
entry.pack(side=tk.RIGHT, padx=5, fill=tk.X, expand=True)
|
||||
entry.insert(0, str(value))
|
||||
entry.config(state='readonly')
|
||||
|
||||
self.state_entries.append((data_struct, name, entry))
|
||||
|
||||
def show_CurrentState(self):
|
||||
"""显示当前电路状态窗口"""
|
||||
# 初始化窗口
|
||||
self.currentStateWin = tk.Toplevel(self)
|
||||
self.currentStateWin.title("电路状态")
|
||||
self.currentStateWin.geometry("1400x800")
|
||||
self.currentStateWin.minsize(1000, 600)
|
||||
self.currentStateWin.protocol("WM_DELETE_WINDOW", self.on_close_currentState)
|
||||
|
||||
# 初始化16进制显示模式
|
||||
self.hex_mode = False
|
||||
|
||||
# 创建主容器
|
||||
main_frame = tk.Frame(self.currentStateWin)
|
||||
main_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=10)
|
||||
|
||||
# 配置网格布局
|
||||
for i in range(4):
|
||||
main_frame.columnconfigure(i, weight=1)
|
||||
|
||||
# 创建自定义字体
|
||||
state_font = font.Font(family="Arial", size=10, weight='bold')
|
||||
|
||||
# 初始化状态条目列表
|
||||
self.state_entries = []
|
||||
self.col_frames = []
|
||||
|
||||
# 创建各状态列
|
||||
self._create_scrollable_column(main_frame, "高压母线", self.disHVB, state_font)
|
||||
self._create_scrollable_column(main_frame, "高电压A母线", self.disHVBA, state_font)
|
||||
self._create_scrollable_column(main_frame, "高电压B母线", self.disHVBB, state_font)
|
||||
self._create_scrollable_column(main_frame, "低电压母线", self.disLVB, state_font)
|
||||
|
||||
# 配置主框架布局权重
|
||||
main_frame.rowconfigure(1, weight=1)
|
||||
|
||||
# 添加底部按钮容器
|
||||
btn_frame = tk.Frame(main_frame)
|
||||
btn_frame.grid(row=2, column=0, columnspan=4, pady=10, sticky="sew")
|
||||
|
||||
# 添加更新按钮
|
||||
update_btn = tk.Button(btn_frame, text="立即更新", font=state_font,
|
||||
command=self.update_currentState)
|
||||
update_btn.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# 添加16进制显示切换按钮
|
||||
hex_btn = tk.Button(btn_frame, text="16进制显示", font=state_font,
|
||||
command=self.toggle_hex_mode)
|
||||
hex_btn.pack(side=tk.LEFT, padx=5)
|
||||
|
||||
# 启动定时更新
|
||||
self.update_interval = 1000 # 1秒
|
||||
self.schedule_update()
|
||||
|
||||
def on_close_currentState(self):
|
||||
"""窗口关闭回调"""
|
||||
if hasattr(self, 'update_job'):
|
||||
self.currentStateWin.after_cancel(self.update_job)
|
||||
self.currentStateWin.destroy()
|
||||
|
||||
def start_update_data(self):
|
||||
"""启动数据更新定时器"""
|
||||
self.update_data_job = self.root.after(500, self._update_data_loop)
|
||||
|
||||
def stop_update_data(self):
|
||||
"""停止数据更新定时器"""
|
||||
if self.update_data_job:
|
||||
self.root.after_cancel(self.update_data_job)
|
||||
self.update_data_job = None
|
||||
|
||||
def _update_data_loop(self):
|
||||
"""定时更新数据"""
|
||||
self.updata_data()
|
||||
self.update_data_job = self.root.after(500, self._update_data_loop)
|
||||
|
||||
def schedule_update(self):
|
||||
"""安排定时更新"""
|
||||
self.update_currentState()
|
||||
self.update_job = self.currentStateWin.after(self.update_interval, self.schedule_update)
|
||||
def updata_data(self):
|
||||
'''通过这个可以更新数据'''
|
||||
if (self.dict1['燃料电池断路器']=='闭合'):
|
||||
self.disHVB.DCB1 = 0x55
|
||||
else:
|
||||
self.disHVB.DCB1 = 0xAA
|
||||
|
||||
if (self.dict1['动力锂电池断路器']=='闭合'):
|
||||
self.disHVB.DCB2 = 0x55
|
||||
else:
|
||||
self.disHVB.DCB2 = 0xAA
|
||||
|
||||
if (self.dict1['推进电机断路器']=='闭合'):
|
||||
self.disHVB.ZK1 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK1 = 0xAA
|
||||
|
||||
if (self.dict1['仪表锂电池断路器']=='闭合'):
|
||||
self.disHVB.ZK2 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK2 = 0xAA
|
||||
|
||||
if (self.dict1['DC/DC5模块断路器']=='闭合'):
|
||||
self.disHVB.ZK3 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK3 = 0xAA
|
||||
|
||||
if (self.dict1['艏部高压配电断路器']=='闭合'):
|
||||
self.disHVB.ZK4 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK4 = 0xAA
|
||||
|
||||
if (self.dict1['艏部FT4/5断路器']=='闭合'):
|
||||
self.disHVB.ZK5 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK5 = 0xAA
|
||||
|
||||
if (self.dict1['艉舵1/2断路器']=='闭合'):
|
||||
self.disHVB.ZK6 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK6 = 0xAA
|
||||
|
||||
if (self.dict1['艉舵3/4断路器']=='闭合'):
|
||||
self.disHVB.ZK7 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK7 = 0xAA
|
||||
|
||||
if (self.dict1['FB预留断路器']=='闭合'):
|
||||
self.disHVB.ZK8 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK8 = 0xAA
|
||||
|
||||
if (self.dict1['TYZ预留断路器']=='闭合'):
|
||||
self.disHVB.ZK9 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK9 = 0xAA
|
||||
|
||||
if (self.dict1['预留断路器']=='闭合'):
|
||||
self.disHVB.ZK10 = 0x55
|
||||
else:
|
||||
self.disHVB.ZK10 = 0xAA
|
||||
######################################################
|
||||
if (self.dict2['艏部FT1-3断路器']=='闭合'):
|
||||
self.disHVBA.bowFTDevice123CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.bowFTDevice123CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['启闭机构断路器']=='闭合'):
|
||||
self.disHVBA.actuatorCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.actuatorCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['桅杆舵机断路器']=='闭合'):
|
||||
self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['XCZ断路器']=='闭合'):
|
||||
self.disHVBA.xczCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.xczCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['艏舵断路器']=='闭合'):
|
||||
self.disHVBA.bowRudderControlBoxCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.bowRudderControlBoxCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict2['敞开电缸断路器']=='闭合'):
|
||||
self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0xAA
|
||||
|
||||
####################################################################
|
||||
if (self.dict3['仪表锂电池断路器']=='闭合'):
|
||||
self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['艏部低压断路器']=='闭合'):
|
||||
self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['UNIT4断路器']=='闭合'):
|
||||
self.disHVBB.unit4CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.unit4CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['DC/DC1断路器']=='闭合'):
|
||||
self.disHVBB.dcdc1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.dcdc1CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict3['预留断路器1']=='闭合'):
|
||||
self.disHVBB.reservedCircuitBreaker1 = 0x55
|
||||
else:
|
||||
self.disHVBB.reservedCircuitBreaker1 = 0xAA
|
||||
|
||||
if (self.dict3['预留断路器2']=='闭合'):
|
||||
self.disHVBB.reservedCircuitBreaker2 = 0x55
|
||||
else:
|
||||
self.disHVBB.reservedCircuitBreaker2 = 0xAA
|
||||
|
||||
if (self.dict3['艉部应急电池开关']=='闭合'):
|
||||
self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA
|
||||
|
||||
######################################################################
|
||||
if (self.dict4['UNIT1断路器']=='闭合'):
|
||||
self.disLVB.unit1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit1CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT2断路器']=='闭合'):
|
||||
self.disLVB.unit2CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit2CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT3断路器']=='闭合'):
|
||||
self.disLVB.unit3CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit3CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['UNIT5断路器']=='闭合'):
|
||||
self.disLVB.unit5CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.unit5CircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['预留断路器1']=='闭合'):
|
||||
self.disLVB.reservedCircuitBreaker1 = 0x55
|
||||
else:
|
||||
self.disLVB.reservedCircuitBreaker1 = 0xAA
|
||||
|
||||
if (self.dict4['预留断路器2']=='闭合'):
|
||||
self.disLVB.reservedCircuitBreaker2 = 0x55
|
||||
else:
|
||||
self.disLVB.reservedCircuitBreaker2 = 0xAA
|
||||
|
||||
if (self.dict4['艏部抛载断路器']=='闭合'):
|
||||
self.disLVB.bowPZDeviceCircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.bowPZDeviceCircuitBreaker = 0xAA
|
||||
|
||||
if (self.dict4['艏部应急电池开关']=='闭合'):
|
||||
self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55
|
||||
else:
|
||||
self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0xAA
|
||||
|
||||
# a = match.sin(time.time())
|
||||
print("更新数据")
|
||||
|
||||
|
||||
def get_date(self):
|
||||
a = self.disHVB.pack()
|
||||
b = self.disHVBA.pack()
|
||||
c = self.disHVBB.pack()
|
||||
d = self.disLVB.pack()
|
||||
return a,b,c,d
|
||||
|
||||
def update_fromMsg(self, data):
|
||||
'''通过这个可以更新数据'''
|
||||
try:
|
||||
# 解析消息头
|
||||
headBuf = data[:6]
|
||||
header = struct.unpack('<BBHH', headBuf)
|
||||
start1 = header[0]
|
||||
start2 = header[1]
|
||||
msg_id = header[2]
|
||||
msg_len = header[3]
|
||||
|
||||
if start1 == 0x40 and start2 == 0x40:
|
||||
if msg_id == 0x0001: # 高压母线配电指令
|
||||
msg = msg_disHVBCmd()
|
||||
msg.unpack(data)
|
||||
self.disHVB.DCB1 = msg.fuelCellCircuitBreaker
|
||||
self.disHVB.DCB2 = msg.powerLithiumBatteryCircuitBreaker
|
||||
self.disHVB.ZK1 = msg.propulsionMotorCircuitBreaker
|
||||
self.disHVB.ZK2 = msg.lithiumBatteryGroupInstrumentCircuitBreaker
|
||||
self.disHVB.ZK3 = msg.dcDc5ModuleCircuitBreaker
|
||||
self.disHVB.ZK4 = msg.bowHighVoltageDistributionBoxCircuitBreaker
|
||||
self.disHVB.ZK5 = msg.sternFTDevice45CircuitBreaker
|
||||
self.disHVB.ZK6 = msg.sternRudderSwitch1CircuitBreaker
|
||||
self.disHVB.ZK7 = msg.sternRudderSwitch2CircuitBreaker
|
||||
self.disHVB.ZK8 = msg.fbReservedCircuitBreaker
|
||||
self.disHVB.ZK9 = msg.tyzReservedCircuitBreaker
|
||||
self.disHVB.ZK10 = msg.reservedCircuitBreaker
|
||||
self.disHVB.inputWater = msg.inputWater
|
||||
self.disHVB.outputWater = msg.outputWater
|
||||
self.disHVB.dcdc5dcdc5Module = msg.dcdc5dcdc5Module
|
||||
|
||||
# 更新dict1
|
||||
self.dict1['燃料电池断路器'] = '闭合' if msg.fuelCellCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['动力锂电池断路器'] = '闭合' if msg.powerLithiumBatteryCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['推进电机断路器'] = '闭合' if msg.propulsionMotorCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['仪表锂电池断路器'] = '闭合' if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['DC/DC5模块断路器'] = '闭合' if msg.dcDc5ModuleCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['艏部高压配电断路器'] = '闭合' if msg.bowHighVoltageDistributionBoxCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['艏部FT4/5断路器'] = '闭合' if msg.sternFTDevice45CircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['艉舵1/2断路器'] = '闭合' if msg.sternRudderSwitch1CircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['艉舵3/4断路器'] = '闭合' if msg.sternRudderSwitch2CircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['FB预留断路器'] = '闭合' if msg.fbReservedCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['TYZ预留断路器'] = '闭合' if msg.tyzReservedCircuitBreaker == 0x55 else '断开'
|
||||
self.dict1['预留断路器'] = '闭合' if msg.reservedCircuitBreaker == 0x55 else '断开'
|
||||
|
||||
elif msg_id == 0x0002: # 高电压A母线配电指令
|
||||
msg = msg_disHVBACmd()
|
||||
msg.unpack(data)
|
||||
self.disHVBA.bowFTDevice123CircuitBreaker = msg.bowFTDevice123CircuitBreaker
|
||||
self.disHVBA.actuatorCircuitBreaker = msg.actuatorCircuitBreaker
|
||||
self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = msg.mastSteeringGearControlBoxCircuitBreaker
|
||||
self.disHVBA.xczCircuitBreaker = msg.xczCircuitBreaker
|
||||
self.disHVBA.bowRudderControlBoxCircuitBreaker = msg.bowRudderControlBoxCircuitBreaker
|
||||
self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = msg.openWaterCoverStartCylinderCircuitBreaker
|
||||
|
||||
# 更新dict2
|
||||
self.dict2['艏部FT1-3断路器'] = '闭合' if msg.bowFTDevice123CircuitBreaker == 0x55 else '断开'
|
||||
self.dict2['启闭机构断路器'] = '闭合' if msg.actuatorCircuitBreaker == 0x55 else '断开'
|
||||
self.dict2['桅杆舵机断路器'] = '闭合' if msg.mastSteeringGearControlBoxCircuitBreaker == 0x55 else '断开'
|
||||
self.dict2['XCZ断路器'] = '闭合' if msg.xczCircuitBreaker == 0x55 else '断开'
|
||||
self.dict2['艏舵断路器'] = '闭合' if msg.bowRudderControlBoxCircuitBreaker == 0x55 else '断开'
|
||||
self.dict2['敞开电缸断路器'] = '闭合' if msg.openWaterCoverStartCylinderCircuitBreaker == 0x55 else '断开'
|
||||
|
||||
elif msg_id == 0x0003: # 高电压B母线配电指令
|
||||
msg = msg_disHVBBCmd()
|
||||
msg.unpack(data)
|
||||
self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = msg.lithiumBatteryGroupInstrumentCircuitBreaker
|
||||
self.disHVBB.bowLowVoltageDistributionBoxCircuitBreaker = msg.bowLowVoltageDistributionBoxCircuitBreaker
|
||||
self.disHVBB.unit4InstrumentDC48VCircuitBreaker = msg.unit4InstrumentDC48VCircuitBreaker
|
||||
self.disHVBB.dcC1DCDistributionPanelCircuitBreaker = msg.dcC1DCDistributionPanelCircuitBreaker
|
||||
self.disHVBB.reservedCircuitBreaker1 = msg.reservedCircuitBreaker1
|
||||
self.disHVBB.reservedCircuitBreaker2 = msg.reservedCircuitBreaker2
|
||||
self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = msg.emergencyLithiumBatteryGroup2CircuitBreaker
|
||||
|
||||
# 更新dict3
|
||||
self.dict3['仪表锂电池断路器'] = '闭合' if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else '断开'
|
||||
self.dict3['艏部低压断路器'] = '闭合' if msg.bowLowVoltageDistributionBoxCircuitBreaker == 0x55 else '断开'
|
||||
self.dict3['UNIT4断路器'] = '闭合' if msg.unit4InstrumentDC48VCircuitBreaker == 0x55 else '断开'
|
||||
self.dict3['DC/DC1断路器'] = '闭合' if msg.dcC1DCDistributionPanelCircuitBreaker == 0x55 else '断开'
|
||||
self.dict3['预留断路器1'] = '闭合' if msg.reservedCircuitBreaker1 == 0x55 else '断开'
|
||||
self.dict3['预留断路器2'] = '闭合' if msg.reservedCircuitBreaker2 == 0x55 else '断开'
|
||||
self.dict3['艉部应急电池开关'] = '闭合' if msg.emergencyLithiumBatteryGroup2CircuitBreaker == 0x55 else '断开'
|
||||
|
||||
elif msg_id == 0x0004: # 低电压母线配电指令
|
||||
msg = msg_disLVBCmd()
|
||||
msg.unpack(data)
|
||||
self.disLVB.unit1CircuitBreaker = msg.unit1CircuitBreaker
|
||||
self.disLVB.unit2CircuitBreaker = msg.unit2CircuitBreaker
|
||||
self.disLVB.unit3CircuitBreaker = msg.unit3CircuitBreaker
|
||||
self.disLVB.unit5CircuitBreaker = msg.unit5CircuitBreaker
|
||||
self.disLVB.bowPZDeviceCircuitBreaker = msg.bowPZDeviceCircuitBreaker
|
||||
self.disLVB.reservedCircuitBreaker1 = msg.reservedCircuitBreaker1
|
||||
self.disLVB.reservedCircuitBreaker2 = msg.reservedCircuitBreaker2
|
||||
self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = msg.emergencyLithiumBatteryGroup1CircuitBreaker
|
||||
|
||||
# 更新dict4
|
||||
self.dict4['UNIT1断路器'] = '闭合' if msg.unit1CircuitBreaker == 0x55 else '断开'
|
||||
self.dict4['UNIT2断路器'] = '闭合' if msg.unit2CircuitBreaker == 0x55 else '断开'
|
||||
self.dict4['UNIT3断路器'] = '闭合' if msg.unit3CircuitBreaker == 0x55 else '断开'
|
||||
self.dict4['UNIT5断路器'] = '闭合' if msg.unit5CircuitBreaker == 0x55 else '断开'
|
||||
self.dict4['艏部抛载断路器'] = '闭合' if msg.bowPZDeviceCircuitBreaker == 0x55 else '断开'
|
||||
self.dict4['预留断路器1'] = '闭合' if msg.reservedCircuitBreaker1 == 0x55 else '断开'
|
||||
self.dict4['预留断路器2'] = '闭合' if msg.reservedCircuitBreaker2 == 0x55 else '断开'
|
||||
self.dict4['艏部应急电池开关'] = '闭合' if msg.emergencyLithiumBatteryGroup1CircuitBreaker == 0x55 else '断开'
|
||||
|
||||
self.update_disp() # 更新界面显示
|
||||
except Exception as e:
|
||||
print(f"Error updating from message: {e}")
|
||||
|
||||
if __name__ == "__main__":
|
||||
root = tk.Tk()
|
||||
app = disSys(root)
|
||||
app.pack()
|
||||
root.mainloop()
|
||||
@@ -1,78 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font, filedialog
|
||||
from tkinter import Frame
|
||||
from tkinter.ttk import *
|
||||
|
||||
class logWin(Frame):
|
||||
def __init__(self, root):
|
||||
super().__init__(root)
|
||||
self.root = root
|
||||
custom_font = font.Font(family="Arial", size=8)
|
||||
|
||||
# 设置 state 为 tk.DISABLED 禁用编辑功能
|
||||
self.text_box = tk.Text(root, height=10, width=50, font=custom_font, state=tk.DISABLED)
|
||||
self.text_box.grid(row=0, column=0, columnspan=2, sticky='nsew')
|
||||
|
||||
# 创建垂直滚动条
|
||||
scrollbar = tk.Scrollbar(root, command=self.text_box.yview)
|
||||
scrollbar.grid(row=0, column=2, sticky='ns')
|
||||
|
||||
# 将滚动条与 Text 组件关联
|
||||
self.text_box.config(yscrollcommand=scrollbar.set)
|
||||
|
||||
# 创建保存按钮
|
||||
save_button = tk.Button(root, text="保存日志", command=self.save_log)
|
||||
save_button.grid(row=1, column=0, sticky='ew')
|
||||
|
||||
# 创建清空按钮
|
||||
clear_button = tk.Button(root, text="清空日志", command=self.clear_log)
|
||||
clear_button.grid(row=1, column=1, sticky='ew')
|
||||
|
||||
# 配置行和列的权重，使组件能够随窗口大小变化而调整
|
||||
root.grid_rowconfigure(0, weight=1)
|
||||
root.grid_columnconfigure(0, weight=1)
|
||||
root.grid_columnconfigure(1, weight=1)
|
||||
|
||||
def display_log(self, log_message):
|
||||
# 启用编辑功能
|
||||
self.text_box.config(state=tk.NORMAL)
|
||||
# 将日志信息添加到 Text 组件中
|
||||
self.text_box.insert(tk.END, log_message + "\n")
|
||||
# 滚动到 Text 组件的底部，以显示最新的日志信息
|
||||
self.text_box.see(tk.END)
|
||||
# 禁用编辑功能
|
||||
self.text_box.config(state=tk.DISABLED)
|
||||
|
||||
def save_log(self):
|
||||
# 打开文件选择对话框
|
||||
file_path = filedialog.asksaveasfilename(defaultextension=".txt", filetypes=[("Text Files", "*.txt"), ("All Files", "*.*")])
|
||||
if file_path:
|
||||
# 获取文本框中的内容
|
||||
log_content = self.text_box.get("1.0", tk.END)
|
||||
# 将内容写入文件
|
||||
with open(file_path, "w") as file:
|
||||
file.write(log_content)
|
||||
# 显示保存成功的提示
|
||||
tk.messagebox.showinfo("保存成功", "日志已成功保存到文件。")
|
||||
|
||||
def clear_log(self):
|
||||
# 启用编辑功能
|
||||
self.text_box.config(state=tk.NORMAL)
|
||||
# 清空 Text 组件中的内容
|
||||
self.text_box.delete("1.0", tk.END)
|
||||
# 禁用编辑功能
|
||||
self.text_box.config(state=tk.DISABLED)
|
||||
|
||||
if __name__ == "__main__":
|
||||
root = tk.Tk()
|
||||
root.title("能源管理系统调试")
|
||||
log_win = logWin(root)
|
||||
# 假设您有一个日志消息需要显示
|
||||
for i in range(100):
|
||||
log_win.display_log("这是一条日志信息" + str(i))
|
||||
root.mainloop()
|
||||
@@ -1,59 +0,0 @@
|
||||
import socket
|
||||
import struct
|
||||
import tkinter as tk
|
||||
import threading
|
||||
from udpmsg import *
|
||||
from datetime import datetime
|
||||
from tkinter import font
|
||||
import threading
|
||||
from disSys import *
|
||||
from logWin import *
|
||||
from ccuSys import *
|
||||
|
||||
target_ip = '127.0.0.1'
|
||||
target_port = 5000
|
||||
|
||||
def receive_messages(sock, logwin:logWin, disSysWin:disSys):
|
||||
while True:
|
||||
current_time = datetime.now()
|
||||
formatted_time = current_time.strftime("%Y-%m-%d %H:%M:%S")
|
||||
data, address = sock.recvfrom(4096)
|
||||
# 接受配电系统消息
|
||||
disSysWin.update_fromMsg(data)
|
||||
headBuf = data[:6]
|
||||
header = struct.unpack('<BBHH',headBuf)
|
||||
start1 = data[0]
|
||||
start2 = data[1]
|
||||
msg_id = data[2]
|
||||
msg_len = data[3]
|
||||
if(start1==0x40 and start2==0x40):
|
||||
if(msg_id==0x0001):
|
||||
msg = msg_disHVBCmd()
|
||||
msg.unpack(data)
|
||||
# text_box.insert(tk.END, f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:\n")
|
||||
logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:")
|
||||
elif(msg_id==0x0002):
|
||||
logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压汇流排A配电指令:")
|
||||
elif(msg_id==0x0003):
|
||||
logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压汇流排B配电指令:")
|
||||
elif(msg_id==0x0004):
|
||||
logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 低压母线配电指令:")
|
||||
elif(start1==0x20 and start2==0x20):
|
||||
if(msg_id==0x0050):
|
||||
logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | CCU控制指令:")
|
||||
|
||||
|
||||
def send_messages(sock, logwin:logWin, disSysWin:disSys,ccuSysWin:ccuSys):
|
||||
while True:
|
||||
# 配电消息反馈
|
||||
a,b,c,d = disSysWin.get_date()
|
||||
sock.sendto(a, (target_ip, target_port))
|
||||
sock.sendto(b, (target_ip, target_port))
|
||||
sock.sendto(c, (target_ip, target_port))
|
||||
sock.sendto(d, (target_ip, target_port))
|
||||
|
||||
#TODO复合管控消息反馈
|
||||
e = ccuSysWin.ccuState.pack()
|
||||
sock.sendto(e, (target_ip, target_port))
|
||||
|
||||
threading.Event().wait(1) # 每隔1秒发送一次消息
|
||||
@@ -1,656 +0,0 @@
|
||||
import struct
|
||||
|
||||
class msg_CcuStateFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0041
|
||||
self.length = 0x0000
|
||||
self.currentWorkCondition = 0x00
|
||||
self.fcuState = 80
|
||||
self.fcuFaultLeve = 0x20
|
||||
self.powerLimit = 0x00
|
||||
self.totalPowerGeneration = 0x00
|
||||
self.ch4o = 0x00
|
||||
self.o2 = 0x00
|
||||
self.fcuVoltage = 0x0000
|
||||
self.fcuCurrent = 0x0000
|
||||
self.o2Level = 0x00
|
||||
self.placeholder1 = 0x00
|
||||
self.exchangerTemperature = 0x00
|
||||
self.fcuOutPower = 0x00
|
||||
self.fcuOutIns = 0x00
|
||||
self.fcuVoltageIns = 0x00
|
||||
self.fcuVoltagePower = 0x00
|
||||
self.fcuCurrentIns = 0x00
|
||||
self.fcuCurrentPower = 0x00
|
||||
self.h2Concentration1 = 0x00
|
||||
self.h2Concentration2 = 0x00
|
||||
self.o2Concentration1 = 0x00
|
||||
self.o2Concentration2 = 0x00
|
||||
self.ch4oConcentration1 = 0x00
|
||||
self.ch4oConcentration2 = 0x00
|
||||
self.backpressure1 = 0x00
|
||||
self.backpressure2 = 0x00
|
||||
self.flameDetection = 0x00
|
||||
self.fcuGZ_1L = 0x00
|
||||
self.fcuGZ_1H = 0x00
|
||||
self.fcuGZ_2L = 0x00
|
||||
self.fcuGZ_2H = 0x00
|
||||
self.fcuGZ_3L = 0x00
|
||||
self.fcuGZ_3H = 0x00
|
||||
self.insPosRelayState = 0x00
|
||||
self.insNegRelayState = 0x00
|
||||
self.powerPosRelayState = 0x00
|
||||
self.powerNegRelayState = 0x00
|
||||
self.insBatLimit = 0x00
|
||||
self.powerBatLimit = 0x00
|
||||
self.insBatSoc = 0x00
|
||||
self.powerBatSoc = 0x00
|
||||
self.insBatTotalElectricity = 0x00
|
||||
self.powerBatTotalElectricity = 0x00
|
||||
self.insBatCurrentElectricity = 0x00
|
||||
self.powerBatCurrentElectricity = 0x00
|
||||
self.insChargeState = 0x00
|
||||
self.powerChargeState = 0x00
|
||||
self.insLinkVoltage = 0x00
|
||||
self.insPackVoltage = 0x00
|
||||
self.insCurrent = 0x00
|
||||
self.insPosInsulationResistance = 0x00
|
||||
self.insNegInsulationResistance = 0x00
|
||||
self.powerLinkVoltage = 0x00
|
||||
self.powerPackVoltage = 0x00
|
||||
self.powerCurrent = 0x00
|
||||
self.powerPosInsulationResistance = 0x00
|
||||
self.powerNegInsulationResistance = 0x00
|
||||
self.insEmergencyStatusWord = 0x00
|
||||
self.powerEmergencyStatusWord = 0x00
|
||||
self.insAlarmIdentificationWord = 0x00
|
||||
self.powerAlarmIdentificationWord = 0x00
|
||||
self.insCurrentSocHold1 = 0x00
|
||||
self.insCurrentSocHold2 = 0x00
|
||||
self.insCurrentSocHold3 = 0x00
|
||||
self.fcuCurrentToInsLimit1 = 0x00
|
||||
self.fcuCurrentToinsLimit2 = 0x00
|
||||
self.powerCurrentSocHold1 = 0x00
|
||||
self.powerCurrentSocHold2 = 0x00
|
||||
self.powerCurrentSocHold3 = 0x00
|
||||
self.powerCurrentToInsLimit1 = 0x00
|
||||
self.powerCurrentToinsLimit2 = 0x00
|
||||
self.placeholder2 = 0x00
|
||||
self.placeholder3 = 0x00
|
||||
self.placeholder4 = 0x00
|
||||
self.placeholder5 = 0x00
|
||||
self.checkCode = 0x00
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
self.length = 0x0000
|
||||
self.checkCode = 0x0000
|
||||
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.currentWorkCondition)
|
||||
data += struct.pack('<B', self.fcuState)
|
||||
data += struct.pack('<B', self.fcuFaultLeve)
|
||||
data += struct.pack('<f', self.powerLimit)
|
||||
data += struct.pack('<f', self.totalPowerGeneration)
|
||||
data += struct.pack('<f', self.ch4o)
|
||||
data += struct.pack('<f', self.o2)
|
||||
data += struct.pack('<f', self.fcuVoltage)
|
||||
data += struct.pack('<f', self.fcuCurrent)
|
||||
data += struct.pack('<f', self.o2Level)
|
||||
data += struct.pack('<f', self.placeholder1)
|
||||
data += struct.pack('<f', self.exchangerTemperature)
|
||||
data += struct.pack('<f', self.fcuOutPower)
|
||||
data += struct.pack('<f', self.fcuOutIns)
|
||||
data += struct.pack('<f', self.fcuVoltageIns)
|
||||
data += struct.pack('<f', self.fcuVoltagePower)
|
||||
data += struct.pack('<f', self.fcuCurrentIns)
|
||||
data += struct.pack('<f', self.fcuCurrentPower)
|
||||
data += struct.pack('<f', self.h2Concentration1)
|
||||
data += struct.pack('<f', self.h2Concentration2)
|
||||
data += struct.pack('<f', self.o2Concentration1)
|
||||
data += struct.pack('<f', self.o2Concentration2)
|
||||
data += struct.pack('<f', self.ch4oConcentration1)
|
||||
data += struct.pack('<f', self.ch4oConcentration2)
|
||||
data += struct.pack('<f', self.backpressure1)
|
||||
data += struct.pack('<f', self.backpressure2)
|
||||
data += struct.pack('<B', self.flameDetection)
|
||||
data += struct.pack('<B', self.fcuGZ_1L)
|
||||
data += struct.pack('<B', self.fcuGZ_1H)
|
||||
data += struct.pack('<B', self.fcuGZ_2L)
|
||||
data += struct.pack('<B', self.fcuGZ_2H)
|
||||
data += struct.pack('<B', self.fcuGZ_3L)
|
||||
data += struct.pack('<B', self.fcuGZ_3H)
|
||||
data += struct.pack('<B', self.insPosRelayState)
|
||||
data += struct.pack('<B', self.insNegRelayState)
|
||||
data += struct.pack('<B', self.powerPosRelayState)
|
||||
data += struct.pack('<B', self.powerNegRelayState)
|
||||
data += struct.pack('<H', self.insBatLimit)
|
||||
data += struct.pack('<H', self.powerBatLimit)
|
||||
data += struct.pack('<B', self.insBatSoc)
|
||||
data += struct.pack('<B', self.powerBatSoc)
|
||||
data += struct.pack('<H', self.insBatTotalElectricity)
|
||||
data += struct.pack('<H', self.powerBatTotalElectricity)
|
||||
data += struct.pack('<H', self.insBatCurrentElectricity)
|
||||
data += struct.pack('<H', self.powerBatCurrentElectricity)
|
||||
data += struct.pack('<B', self.insChargeState)
|
||||
data += struct.pack('<B', self.powerChargeState)
|
||||
data += struct.pack('<H', self.insLinkVoltage)
|
||||
data += struct.pack('<H', self.insPackVoltage)
|
||||
data += struct.pack('<H', self.insCurrent)
|
||||
data += struct.pack('<H', self.insPosInsulationResistance)
|
||||
data += struct.pack('<H', self.insNegInsulationResistance)
|
||||
data += struct.pack('<H', self.powerLinkVoltage)
|
||||
data += struct.pack('<H', self.powerPackVoltage)
|
||||
data += struct.pack('<H', self.powerCurrent)
|
||||
data += struct.pack('<H', self.powerPosInsulationResistance)
|
||||
data += struct.pack('<H', self.powerNegInsulationResistance)
|
||||
data += struct.pack('<B', self.insEmergencyStatusWord)
|
||||
data += struct.pack('<B', self.powerEmergencyStatusWord)
|
||||
data += struct.pack('<B', self.insAlarmIdentificationWord)
|
||||
data += struct.pack('<B', self.powerAlarmIdentificationWord)
|
||||
data += struct.pack('<B', self.insCurrentSocHold1)
|
||||
data += struct.pack('<B', self.insCurrentSocHold2)
|
||||
data += struct.pack('<B', self.insCurrentSocHold3)
|
||||
data += struct.pack('<B', self.fcuCurrentToInsLimit1)
|
||||
data += struct.pack('<B', self.fcuCurrentToinsLimit2)
|
||||
data += struct.pack('<B', self.powerCurrentSocHold1)
|
||||
data += struct.pack('<B', self.powerCurrentSocHold2)
|
||||
data += struct.pack('<B', self.powerCurrentSocHold3)
|
||||
data += struct.pack('<B', self.powerCurrentToInsLimit1)
|
||||
data += struct.pack('<B', self.powerCurrentToinsLimit2)
|
||||
data += struct.pack('<f', self.placeholder2)
|
||||
data += struct.pack('<f', self.placeholder3)
|
||||
data += struct.pack('<f', self.placeholder4)
|
||||
data += struct.pack('<f', self.placeholder5)
|
||||
|
||||
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
# print(self.checkCode)
|
||||
|
||||
data += struct.pack('<I', self.checkCode)
|
||||
|
||||
|
||||
last_index = len(data)
|
||||
# print(struct.unpack('<i',data[last_index-4:last_index]))
|
||||
|
||||
# print(len(data))
|
||||
|
||||
return data
|
||||
|
||||
|
||||
class msg_CcuSetParamFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0040
|
||||
self.length = 10
|
||||
self.flag = 0x01
|
||||
self.failvreCode = 0x01
|
||||
self.checkCode = 0x01 # 初始值，将在 pack 方法中更新
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
# self.checkCode = self.start1 + self.start2 + self.id + self.length + self.flag + self.failvreCode
|
||||
self.checkCode = 0x0000
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.flag)
|
||||
data += struct.pack('<B', self.failvreCode)
|
||||
# 其他参数...
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
data += struct.pack('<I', self.checkCode)
|
||||
return data
|
||||
|
||||
class msg_disHighVolBusFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0005
|
||||
self.length = 10
|
||||
self.DCB1 = 0x00
|
||||
self.DCB2 = 0x00
|
||||
self.ZK1 = 0x00
|
||||
self.ZK2 = 0x00
|
||||
self.ZK3 = 0x00
|
||||
self.ZK4 = 0x00
|
||||
self.ZK5 = 0x00
|
||||
self.ZK6 = 0x00
|
||||
self.ZK7 = 0x00
|
||||
self.ZK8 = 0x00
|
||||
self.ZK9 = 0x00
|
||||
self.ZK10 = 0x00
|
||||
self.busInsulationLow = 0x00
|
||||
self.busAInsulationHigh = 0x00
|
||||
self.lostPower = 0x00
|
||||
self.lostEmerPower = 0x00
|
||||
self.powerBusVoltage = 0x00
|
||||
self.dcDc5ModuleCurrent = 0x00
|
||||
self.powerBusCurrent = 0x00
|
||||
self.busbarAVoltage = 0x00
|
||||
self.propulsionMotorControlBoxCurrent = 0x00
|
||||
self.busbarACurrent = 0x00
|
||||
self.lithiumBatteryGroupMeterCurrent = 0x00
|
||||
self.bowHighVoltageDistributionBoxCurrent = 0x00
|
||||
self.sternFTDevice45Current = 0x00
|
||||
self.tyzReservedSwitchCurrent = 0x00
|
||||
self.sternRudderSwitch1Current = 0x00
|
||||
self.reservedCurrent1 = 0x00
|
||||
self.sternRudderSwitch2Current = 0x00
|
||||
self.reservedCurrent2 = 0x00
|
||||
self.fbReservedSwitchCurrent = 0x00
|
||||
self.reservedCurrent3 = 0x00
|
||||
self.checkCode = 0x0000
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
self.checkCode = 0x0000
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.DCB1)
|
||||
data += struct.pack('<B', self.DCB2)
|
||||
data += struct.pack('<B', self.ZK1)
|
||||
data += struct.pack('<B', self.ZK2)
|
||||
data += struct.pack('<B', self.ZK3)
|
||||
data += struct.pack('<B', self.ZK4)
|
||||
data += struct.pack('<B', self.ZK5)
|
||||
data += struct.pack('<B', self.ZK6)
|
||||
data += struct.pack('<B', self.ZK7)
|
||||
data += struct.pack('<B', self.ZK8)
|
||||
data += struct.pack('<B', self.ZK9)
|
||||
data += struct.pack('<B', self.ZK10)
|
||||
data += struct.pack('<B', self.busInsulationLow)
|
||||
data += struct.pack('<B', self.busAInsulationHigh)
|
||||
data += struct.pack('<B', self.lostPower)
|
||||
data += struct.pack('<B', self.lostEmerPower)
|
||||
data += struct.pack('<H', self.powerBusVoltage)
|
||||
data += struct.pack('<H', self.dcDc5ModuleCurrent)
|
||||
data += struct.pack('<H', self.powerBusCurrent)
|
||||
data += struct.pack('<H', self.busbarAVoltage)
|
||||
data += struct.pack('<H', self.propulsionMotorControlBoxCurrent)
|
||||
data += struct.pack('<H', self.busbarACurrent)
|
||||
data += struct.pack('<H', self.lithiumBatteryGroupMeterCurrent)
|
||||
data += struct.pack('<H', self.bowHighVoltageDistributionBoxCurrent)
|
||||
data += struct.pack('<H', self.sternFTDevice45Current)
|
||||
data += struct.pack('<H', self.tyzReservedSwitchCurrent)
|
||||
data += struct.pack('<H', self.sternRudderSwitch1Current)
|
||||
data += struct.pack('<H', self.reservedCurrent1)
|
||||
data += struct.pack('<H', self.sternRudderSwitch2Current)
|
||||
data += struct.pack('<H', self.reservedCurrent2)
|
||||
data += struct.pack('<H', self.fbReservedSwitchCurrent)
|
||||
data += struct.pack('<H', self.reservedCurrent3)
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
checkCode_L = self.checkCode & 0xFF
|
||||
data += struct.pack('<B', checkCode_L)
|
||||
return data
|
||||
|
||||
class msg_disHighAVolBusFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0006
|
||||
self.length = 10
|
||||
self.bowFTDevice123CircuitBreaker = 0x00
|
||||
self.actuatorCircuitBreaker = 0x00
|
||||
self.mastSteeringGearControlBoxCircuitBreaker = 0x00
|
||||
self.xczCircuitBreaker = 0x00
|
||||
self.bowRudderControlBoxCircuitBreaker = 0x00
|
||||
self.openWaterCoverStartCylinderCircuitBreaker = 0x00
|
||||
self.instrumentPowerFailureSignal = 0x00
|
||||
self.emergencyPowerFailureSignal = 0x00
|
||||
self.waterIngressionAlarm = 0x00
|
||||
self.busbarBVoltage = 0x0000
|
||||
self.busbarBCurrent = 0x0000
|
||||
self.bowFTDevice123Current = 0x0000
|
||||
self.actuatorCurrent = 0x0000
|
||||
self.mastSteeringGearControlBoxCurrent = 0x0000
|
||||
self.xczCurrent = 0x0001
|
||||
self.bowRudderControlBoxCurrent = 0x0000
|
||||
self.openWaterCoverStartCylinderCurrent = 0x0000
|
||||
self.checkCode = 0x0000
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
self.checkCode = 0x0000
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.bowFTDevice123CircuitBreaker)
|
||||
data += struct.pack('<B', self.actuatorCircuitBreaker)
|
||||
data += struct.pack('<B', self.mastSteeringGearControlBoxCircuitBreaker)
|
||||
data += struct.pack('<B', self.xczCircuitBreaker)
|
||||
data += struct.pack('<B', self.bowRudderControlBoxCircuitBreaker)
|
||||
data += struct.pack('<B', self.openWaterCoverStartCylinderCircuitBreaker)
|
||||
data += struct.pack('<B', self.instrumentPowerFailureSignal)
|
||||
data += struct.pack('<B', self.emergencyPowerFailureSignal)
|
||||
data += struct.pack('<B', self.waterIngressionAlarm)
|
||||
data += struct.pack('<H', self.busbarBVoltage)
|
||||
data += struct.pack('<H', self.busbarBCurrent)
|
||||
data += struct.pack('<H', self.bowFTDevice123Current)
|
||||
data += struct.pack('<H', self.actuatorCurrent)
|
||||
data += struct.pack('<H', self.mastSteeringGearControlBoxCurrent)
|
||||
data += struct.pack('<H', self.xczCurrent)
|
||||
data += struct.pack('<H', self.bowRudderControlBoxCurrent)
|
||||
data += struct.pack('<H', self.openWaterCoverStartCylinderCurrent)
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
checkCode_L = self.checkCode & 0xFF
|
||||
data += struct.pack('<B', checkCode_L)
|
||||
return data
|
||||
|
||||
class msg_disHighBVolBusFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0007
|
||||
self.length = 10
|
||||
self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
|
||||
self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
|
||||
self.unit4InstrumentDC48VCircuitBreaker = 0x00
|
||||
self.dcC1DCDistributionPanelCircuitBreaker = 0x00
|
||||
self.reservedCircuitBreaker1 = 0x00
|
||||
self.reservedCircuitBreaker2 = 0x00
|
||||
self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
|
||||
self.instrumentPowerFailureSignal = 0x00
|
||||
self.emergencyPowerFailureSignal = 0x00
|
||||
self.instrumentBusbarInsulationLow = 0x00
|
||||
self.instrumentBusbarVoltage = 0x0000
|
||||
self.bowLowVoltageDistributionBoxCurrent = 0x0000
|
||||
self.dcC1InstrumentDC48VCurrent = 0x0000
|
||||
self.reservedCurrent1 = 0x0000
|
||||
self.emergencyLithiumBatteryGroup2Current = 0x0000
|
||||
self.lithiumBatteryGroupInstrumentCurrent = 0x0000
|
||||
self.unit4InstrumentDC48VCurrent = 0x0000
|
||||
self.reservedCurrent2 = 0x0000
|
||||
self.emergency2BusbarVoltage = 0x0000
|
||||
self.compositeEnergyManagementSystemEmergencyDC48VCurrent = 0x0000
|
||||
self.fuelCellSecuritySystemEmergencyDC48VCurrent = 0x0000
|
||||
self.plcControlPowerCurrent = 0x0000
|
||||
self.checkCode = 0x0000
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
self.checkCode = 0x0000
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
|
||||
data += struct.pack('<B', self.bowLowVoltageDistributionBoxCircuitBreaker)
|
||||
data += struct.pack('<B', self.unit4InstrumentDC48VCircuitBreaker)
|
||||
data += struct.pack('<B', self.dcC1DCDistributionPanelCircuitBreaker)
|
||||
data += struct.pack('<B', self.reservedCircuitBreaker1)
|
||||
data += struct.pack('<B', self.reservedCircuitBreaker2)
|
||||
data += struct.pack('<B', self.emergencyLithiumBatteryGroup2CircuitBreaker)
|
||||
data += struct.pack('<B', self.instrumentPowerFailureSignal)
|
||||
data += struct.pack('<B', self.emergencyPowerFailureSignal)
|
||||
data += struct.pack('<B', self.instrumentBusbarInsulationLow)
|
||||
data += struct.pack('<H', self.instrumentBusbarVoltage)
|
||||
data += struct.pack('<H', self.bowLowVoltageDistributionBoxCurrent)
|
||||
data += struct.pack('<H', self.dcC1InstrumentDC48VCurrent)
|
||||
data += struct.pack('<H', self.reservedCurrent1)
|
||||
data += struct.pack('<H', self.emergencyLithiumBatteryGroup2Current)
|
||||
data += struct.pack('<H', self.lithiumBatteryGroupInstrumentCurrent)
|
||||
data += struct.pack('<H', self.unit4InstrumentDC48VCurrent)
|
||||
data += struct.pack('<H', self.reservedCurrent2)
|
||||
data += struct.pack('<H', self.emergency2BusbarVoltage)
|
||||
data += struct.pack('<H', self.compositeEnergyManagementSystemEmergencyDC48VCurrent)
|
||||
data += struct.pack('<H', self.fuelCellSecuritySystemEmergencyDC48VCurrent)
|
||||
data += struct.pack('<H', self.plcControlPowerCurrent)
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
checkCode_L = self.checkCode & 0xFF
|
||||
data += struct.pack('<B', checkCode_L)
|
||||
return data
|
||||
|
||||
class msg_disLowBusFbMsg:
|
||||
def __init__(self):
|
||||
self.start1 = 0x20
|
||||
self.start2 = 0x20
|
||||
self.id = 0x0008
|
||||
self.length = 10
|
||||
self.unit1CircuitBreaker = 0x00
|
||||
self.unit2CircuitBreaker = 0x00
|
||||
self.unit3CircuitBreaker = 0x00
|
||||
self.unit5CircuitBreaker = 0x00
|
||||
self.bowPZDeviceCircuitBreaker = 0x00
|
||||
self.reservedCircuitBreaker1 = 0x00
|
||||
self.reservedCircuitBreaker2 = 0x00
|
||||
self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00
|
||||
self.powerFailureSignal = 0x00
|
||||
self.waterIngressionAlarm = 0x00
|
||||
self.instrumentBusbarVoltage = 0x0000
|
||||
self.instrumentBusbarCurrent = 0x0000
|
||||
self.unit1Current = 0x0000
|
||||
self.unit2Current = 0x0000
|
||||
self.unit3Current = 0x0000
|
||||
self.unit5Current = 0x0000
|
||||
self.bowPZDeviceCurrent = 0x0000
|
||||
self.emergencyLithiumBatteryGroup1Current = 0x0000
|
||||
self.emergency1BusbarVoltage = 0x0000
|
||||
self.checkCode = 0x0000
|
||||
|
||||
def pack(self):
|
||||
# 初始化数据
|
||||
self.checkCode = 0x0000
|
||||
data = struct.pack('<B', self.start1)
|
||||
data += struct.pack('<B', self.start2)
|
||||
data += struct.pack('<H', self.id)
|
||||
data += struct.pack('<H', self.length)
|
||||
# 填充数据
|
||||
data += struct.pack('<B', self.unit1CircuitBreaker)
|
||||
data += struct.pack('<B', self.unit2CircuitBreaker)
|
||||
data += struct.pack('<B', self.unit3CircuitBreaker)
|
||||
data += struct.pack('<B', self.unit5CircuitBreaker)
|
||||
data += struct.pack('<B', self.bowPZDeviceCircuitBreaker)
|
||||
data += struct.pack('<B', self.reservedCircuitBreaker1)
|
||||
data += struct.pack('<B', self.reservedCircuitBreaker2)
|
||||
data += struct.pack('<B', self.emergencyLithiumBatteryGroup1CircuitBreaker)
|
||||
data += struct.pack('<B', self.powerFailureSignal)
|
||||
data += struct.pack('<B', self.waterIngressionAlarm)
|
||||
data += struct.pack('<H', self.instrumentBusbarVoltage)
|
||||
data += struct.pack('<H', self.instrumentBusbarCurrent)
|
||||
data += struct.pack('<H', self.unit1Current)
|
||||
data += struct.pack('<H', self.unit2Current)
|
||||
data += struct.pack('<H', self.unit3Current)
|
||||
data += struct.pack('<H', self.unit5Current)
|
||||
data += struct.pack('<H', self.bowPZDeviceCurrent)
|
||||
data += struct.pack('<H', self.emergencyLithiumBatteryGroup1Current)
|
||||
data += struct.pack('<H', self.emergency1BusbarVoltage)
|
||||
for i in range(len(data)):
|
||||
self.checkCode += data[i]
|
||||
checkCode_L = self.checkCode & 0xFF
|
||||
data += struct.pack('<B', checkCode_L)
|
||||
return data
|
||||
|
||||
class msg_disHVBCmd:
|
||||
def __init__(self):
|
||||
self.start1 = None
|
||||
self.start2 = None
|
||||
self.id = None
|
||||
self.length = None
|
||||
self.fuelCellCircuitBreaker = None
|
||||
self.powerLithiumBatteryCircuitBreaker = None
|
||||
self.propulsionMotorCircuitBreaker = None
|
||||
self.lithiumBatteryGroupInstrumentCircuitBreaker = None
|
||||
self.dcDc5ModuleCircuitBreaker = None
|
||||
self.bowHighVoltageDistributionBoxCircuitBreaker = None
|
||||
self.sternFTDevice45CircuitBreaker = None
|
||||
self.sternRudderSwitch1CircuitBreaker = None
|
||||
self.sternRudderSwitch2CircuitBreaker = None
|
||||
self.fbReservedCircuitBreaker = None
|
||||
self.tyzReservedCircuitBreaker = None
|
||||
self.reservedCircuitBreaker = None
|
||||
self.inputWater = None
|
||||
self.outputWater = None
|
||||
self.dcdc5dcdc5Module = None
|
||||
self.checkCode = None
|
||||
|
||||
def unpack(self,data):
|
||||
try:
|
||||
unpacked_data = struct.unpack('<BBHHBBBBBBBBBBBBBBBB',data)
|
||||
self.start1 = unpacked_data[0]
|
||||
self.start2 = unpacked_data[1]
|
||||
self.id = unpacked_data[2]
|
||||
self.length = unpacked_data[3]
|
||||
self.fuelCellCircuitBreaker = unpacked_data[4]
|
||||
self.powerLithiumBatteryCircuitBreaker = unpacked_data[5]
|
||||
self.propulsionMotorCircuitBreaker = unpacked_data[6]
|
||||
self.lithiumBatteryGroupInstrumentCircuitBreaker = unpacked_data[7]
|
||||
self.dcDc5ModuleCircuitBreaker = unpacked_data[8]
|
||||
self.bowHighVoltageDistributionBoxCircuitBreaker = unpacked_data[9]
|
||||
self.sternFTDevice45CircuitBreaker = unpacked_data[10]
|
||||
self.sternRudderSwitch1CircuitBreaker = unpacked_data[11]
|
||||
self.sternRudderSwitch2CircuitBreaker = unpacked_data[12]
|
||||
self.fbReservedCircuitBreaker = unpacked_data[13]
|
||||
self.tyzReservedCircuitBreaker = unpacked_data[14]
|
||||
self.reservedCircuitBreaker = unpacked_data[15]
|
||||
self.inputWater = unpacked_data[16]
|
||||
self.outputWater = unpacked_data[17]
|
||||
self.dcdc5dcdc5Module = unpacked_data[18]
|
||||
self.checkCode = unpacked_data[19]
|
||||
except struct.error as e:
|
||||
print(f"Error unpacking data: msg_disHVBCmd {e}")
|
||||
|
||||
|
||||
# unsigned char bowFTDevice123CircuitBreaker;
|
||||
# unsigned char actuatorCircuitBreaker;
|
||||
# unsigned char mastSteeringGearControlBoxCircuitBreaker;
|
||||
# unsigned char xczCircuitBreaker;
|
||||
# unsigned char bowRudderControlBoxCircuitBreaker;
|
||||
# unsigned char openWaterCoverStartCylinderCircuitBreaker;
|
||||
class msg_disHVBACmd:
|
||||
def __init__(self):
|
||||
self.start1 = None
|
||||
self.start2 = None
|
||||
self.id = None
|
||||
self.length = None
|
||||
self.bowFTDevice123CircuitBreaker = None
|
||||
self.actuatorCircuitBreaker = None
|
||||
self.mastSteeringGearControlBoxCircuitBreaker = None
|
||||
self.xczCircuitBreaker = None
|
||||
self.bowRudderControlBoxCircuitBreaker = None
|
||||
self.openWaterCoverStartCylinderCircuitBreaker = None
|
||||
self.checkCode = None
|
||||
def unpack(self,data):
|
||||
try:
|
||||
unpacked_data = struct.unpack('<BBHHBBBBBBB',data)
|
||||
self.start1 = unpacked_data[0]
|
||||
self.start2 = unpacked_data[1]
|
||||
self.id = unpacked_data[2]
|
||||
self.length = unpacked_data[3]
|
||||
self.bowFTDevice123CircuitBreaker = unpacked_data[4]
|
||||
self.actuatorCircuitBreaker = unpacked_data[5]
|
||||
self.mastSteeringGearControlBoxCircuitBreaker = unpacked_data[6]
|
||||
self.xczCircuitBreaker = unpacked_data[7]
|
||||
self.bowRudderControlBoxCircuitBreaker = unpacked_data[8]
|
||||
self.openWaterCoverStartCylinderCircuitBreaker = unpacked_data[9]
|
||||
self.checkCode = unpacked_data[10]
|
||||
except struct.error as e:
|
||||
print(f"Error unpacking data: msg_disHVBACmd {e}")
|
||||
# unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
|
||||
# unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
|
||||
# unsigned char unit4InstrumentDC48VCircuitBreaker;
|
||||
# unsigned char dcC1DCDistributionPanelCircuitBreaker;
|
||||
# unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
# unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
# unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
|
||||
class msg_disHVBBCmd:
|
||||
def __init__(self):
|
||||
self.start1 = None
|
||||
self.start2 = None
|
||||
self.id = None
|
||||
self.length = None
|
||||
self.lithiumBatteryGroupInstrumentCircuitBreaker = None
|
||||
self.bowLowVoltageDistributionBoxCircuitBreaker = None
|
||||
self.unit4InstrumentDC48VCircuitBreaker = None
|
||||
self.dcC1DCDistributionPanelCircuitBreaker = None
|
||||
self.reservedCircuitBreaker1 = None
|
||||
self.reservedCircuitBreaker2 = None
|
||||
self.emergencyLithiumBatteryGroup2CircuitBreaker = None
|
||||
self.checkCode = None
|
||||
def unpack(self,data):
|
||||
try:
|
||||
unpacked_data = struct.unpack('<BBHHBBBBBBBB',data)
|
||||
self.start1 = unpacked_data[0]
|
||||
self.start2 = unpacked_data[1]
|
||||
self.id = unpacked_data[2]
|
||||
self.length = unpacked_data[3]
|
||||
self.lithiumBatteryGroupInstrumentCircuitBreaker = unpacked_data[4]
|
||||
self.bowLowVoltageDistributionBoxCircuitBreaker = unpacked_data[5]
|
||||
self.unit4InstrumentDC48VCircuitBreaker = unpacked_data[6]
|
||||
self.dcC1DCDistributionPanelCircuitBreaker = unpacked_data[7]
|
||||
self.reservedCircuitBreaker1 = unpacked_data[8]
|
||||
self.reservedCircuitBreaker2 = unpacked_data[9]
|
||||
self.emergencyLithiumBatteryGroup2CircuitBreaker = unpacked_data[10]
|
||||
self.checkCode = unpacked_data[11]
|
||||
except struct.error as e:
|
||||
print(f"Error unpacking data: msg_disHVBBCmd {e}")
|
||||
|
||||
|
||||
# unsigned char unit1CircuitBreaker;
|
||||
# unsigned char unit2CircuitBreaker;
|
||||
# unsigned char unit3CircuitBreaker;
|
||||
# unsigned char unit5CircuitBreaker;
|
||||
# unsigned char bowPZDeviceCircuitBreaker;
|
||||
# unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
|
||||
# unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
|
||||
# unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
|
||||
|
||||
class msg_disLVBCmd:
|
||||
def __init__(self):
|
||||
self.start1 = None
|
||||
self.start2 = None
|
||||
self.id = None
|
||||
self.length = None
|
||||
self.unit1CircuitBreaker = None
|
||||
self.unit2CircuitBreaker = None
|
||||
self.unit3CircuitBreaker = None
|
||||
self.unit5CircuitBreaker = None
|
||||
self.bowPZDeviceCircuitBreaker = None
|
||||
self.reservedCircuitBreaker1 = None
|
||||
self.reservedCircuitBreaker2 = None
|
||||
self.emergencyLithiumBatteryGroup1CircuitBreaker = None
|
||||
self.checkCode = None
|
||||
def unpack(self,data):
|
||||
try:
|
||||
unpacked_data = struct.unpack('<BBHHBBBBBBBBB',data)
|
||||
self.start1 = unpacked_data[0]
|
||||
self.start2 = unpacked_data[1]
|
||||
self.id = unpacked_data[2]
|
||||
self.length = unpacked_data[3]
|
||||
self.unit1CircuitBreaker = unpacked_data[4]
|
||||
self.unit2CircuitBreaker = unpacked_data[5]
|
||||
self.unit3CircuitBreaker = unpacked_data[6]
|
||||
self.unit5CircuitBreaker = unpacked_data[7]
|
||||
self.bowPZDeviceCircuitBreaker = unpacked_data[8]
|
||||
self.reservedCircuitBreaker1 = unpacked_data[9]
|
||||
self.reservedCircuitBreaker2 = unpacked_data[10]
|
||||
self.emergencyLithiumBatteryGroup1CircuitBreaker = unpacked_data[11]
|
||||
self.checkCode = unpacked_data[12]
|
||||
except struct.error as e:
|
||||
print(f"Error unpacking data: msg_disLVBCmd {e}")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# msg = msg_CcuStateFbMsg()
|
||||
msg = msg_disHVBACmd()
|
||||
# msg.pack()
|
||||
@@ -1,37 +0,0 @@
|
||||
#include "../src/pPowerManger/udpComm.h"
|
||||
#include "catch2/catch.hpp"
|
||||
#include <iostream>
|
||||
|
||||
TEST_CASE("udpComm getDate function test", "[udpComm]") {
|
||||
udpComm comm;
|
||||
|
||||
unsigned short year;
|
||||
unsigned char month, day, hour, minute, second, milliseconds;
|
||||
|
||||
bool result = comm.getDate(year, month, day, hour, minute, second, milliseconds);
|
||||
|
||||
// 输出日期和时间信息
|
||||
std::cout << "Year: " << year << std::endl;
|
||||
std::cout << "Month: " << static_cast<int>(month) << std::endl;
|
||||
std::cout << "Day: " << static_cast<int>(day) << std::endl;
|
||||
std::cout << "Hour: " << static_cast<int>(hour) << std::endl;
|
||||
std::cout << "Minute: " << static_cast<int>(minute) << std::endl;
|
||||
std::cout << "Second: " << static_cast<int>(second) << std::endl;
|
||||
std::cout << "Milliseconds: " << static_cast<int>(milliseconds) << std::endl;
|
||||
|
||||
REQUIRE(result == true);
|
||||
REQUIRE(year >= 2023);
|
||||
REQUIRE(year <= 2030);
|
||||
REQUIRE(month >= 1);
|
||||
REQUIRE(month <= 12);
|
||||
REQUIRE(day >= 1);
|
||||
REQUIRE(day <= 31);
|
||||
REQUIRE(hour >= 0);
|
||||
REQUIRE(hour <= 23);
|
||||
REQUIRE(minute >= 0);
|
||||
REQUIRE(minute <= 59);
|
||||
REQUIRE(second >= 0);
|
||||
REQUIRE(second <= 59);
|
||||
REQUIRE(milliseconds >= 0);
|
||||
REQUIRE(milliseconds <= 999);
|
||||
}
|
||||
Reference in New Issue
Block a user