/************************************************************/
/*    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 _ListenCB(void * pParam)
{
    PowerManger* pMe = (PowerManger* )pParam;
    return pMe->ListenLoopUDP();
}

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);

  msg_CcuStateFbMsg_Update_time = 0;
  // msg_CcuSetParmFbMsg_Update_time = 0;
  msg_disHighVolBusFbMsg_Update_time = 0;
  msg_disHighAVolBusFbMsg_Update_time = 0;
  msg_disHighBVolBusFbMsg_Update_time = 0;
  msg_disLowBusFbMsg_Update_time = 0;

  connectState = 0;

  //初始化断路器状态
  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();
    
  //注册状态机
  m_fsm.RegisterState("Init",  1, m_Inite_s1);
  m_fsm.RegisterState("Stady", 2, m_Standby_s2);
  m_fsm.RegisterState("Fault", 99, m_Fault_s99);

  m_fsm.RegisterHandleFunction(&m_Inite_s1, handleInite_s1);
  m_fsm.RegisterHandleFunction(&m_Standby_s2, handleStandby_s2);
  m_fsm.RegisterHandleFunction(&m_Fault_s99, handleFault_s99);

  // 初始化状态机
  m_pmState = m_Inite_s1;
}

//---------------------------------------------------------
// Destructor

PowerManger::~PowerManger()
{
}

//---------------------------------------------------------
// 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();

#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();
  //1. 更新当前状态
  updatePmState();
  updateConnectState();
  //2. 运行状态机
  if (FSM_RUN_IS_OK)
    m_FsmThread.Start();
  else
    m_FsmThread.Stop();
  //3. 进行操作 每秒执行一次
  if (m_ticker++ % 5 == 0)
  {
    //a. 配电系统操作
    disSysOption();
    //b. ccu操作 
    ccuOption();
    //c. 输出报告
    buildPowerSysReport();
  }
  //4. 打印错误信息
  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();
  }
  //AppCastingMOOSApp::PostReport();
  //5. 清空UDP消息队列
  m_udpComm.clearMsgQueue();
  //6. 写入数据库
  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();	
  //启动UDP监听线程
  if(m_pCcuUdpComm = setUdpScoket(IPORT))
  {
    cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
    m_udpComm.ccuHost = CCUHOST;
    m_udpComm.ccuPort = CCUPORT;
    m_udpComm.udpScoket = m_pCcuUdpComm;
    MOOSTrace("UDP set succeed");
  }
  else
  {
    cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
    MOOSTrace("UDP set faile");
  }
  m_ListenThread.Initialise(_ListenCB,this);
  m_ListenThread.Start();
  m_FsmThread.Initialise(_FsmCB,this);
  return(true);
}

//---------------------------------------------------------
// Procedure: registerVariables()

void PowerManger::registerVariables()
{
  AppCastingMOOSApp::RegisterVariables();
  // Register("FOOBAR", 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);
}

//------------------------------------------------------------
// Procedure: setUdpScoket()
XPCUdpSocket* PowerManger::setUdpScoket(long lPort)
{
  XPCUdpSocket* pUdpSocket = new XPCUdpSocket(lPort);
  try
  {
    pUdpSocket->vBindSocket();
  }
  catch(const std::exception& e)
  {
    std::cerr << e.what() << '\n';
    return NULL;
  }
  return pUdpSocket;
}

bool PowerManger::ListenLoopUDP()
{
  unsigned char Buff[MAX_UDP_PKT_SIZE];
  while(!m_ListenThread.IsQuitRequested())
  {
    int nRead = m_pCcuUdpComm->iRecieveMessage(Buff,sizeof(Buff));      
    cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
    if(nRead > 0)
    {
      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;
        }
      }
    }
    // updatePmState();
  }
  return true;
}

bool PowerManger::FsmLoop()
{
  while (!m_FsmThread.IsQuitRequested())
  {
    m_fsm.run(m_pmState,this);
    //延时200ms
    usleep(200000);
  }
  return true;
}

bool PowerManger::updateConnectState()
{
  double seck = 0;
  updateTime();
  connectState = 0;
  IsSkewed(msg_CcuStateFbMsg_Update_time,&seck);
  connectState++;
  // cout << "seck:" << seck << endl;
  IsSkewed(msg_disHighVolBusFbMsg_Update_time,&seck);
  connectState++;
  // cout << "seck:" << seck << endl;
  IsSkewed(msg_disHighAVolBusFbMsg_Update_time,&seck);
  connectState++;
  // cout << "seck:" << seck << endl;
  IsSkewed(msg_disHighBVolBusFbMsg_Update_time,&seck);
  connectState++;
  // cout << "seck:" << seck << endl;
  IsSkewed(msg_disLowBusFbMsg_Update_time,&seck);
  connectState++;
  // cout << "seck:" << seck << endl;
  return true;

}


bool PowerManger::updatePmState()
{
  //1. 更新下位机状态
  if(!m_udpComm.m_qReceiveCcuStateBuffer.empty())
  {
    double time;
    m_udpComm.popMsgFormQueue(time,m_CcuCurrentState);
    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_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
    m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
    msg_disHighVolBusFbMsg_Update_time = time;
  }
  if(!m_udpComm.m_qReceiveDisHighAVolBusBuffer.empty())
  {
    double time;
    m_udpComm.popMsgFormQueue(time,m_disHighAVolBusCurrentState);
    m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
    m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
    msg_disHighAVolBusFbMsg_Update_time = time;
  }
  if(!m_udpComm.m_qReceiveDisHighBVolBusBuffer.empty())
  {
    double time;
    m_udpComm.popMsgFormQueue(time,m_disHighBVolBusCurrentState);
    m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
    m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
    msg_disHighBVolBusFbMsg_Update_time = time;
  } 
  if(!m_udpComm.m_qReceiveDisLowBusBuffer.empty())
  {
    double time;
    m_udpComm.popMsgFormQueue(time,m_disLowBusState);
    m_pmCurrentState.bus4State = m_disLowBusState.data;
    m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
    msg_disLowBusFbMsg_Update_time = time;
  }
  return true;
}


bool PowerManger::IsSkewed(double dfTimeNow, double * pdfSkew)
{
    double dfSkew = fabs(dfTimeNow - m_current_time);
    if(pdfSkew != NULL)
    {
        *pdfSkew = dfSkew;
    }
    return (dfSkew > SKEW_TOLERANCE) ? true : false;
}

void PowerManger::ccuOption()
{
  m_db->insertCcuSysCmd(m_CcuColCmd);
  if(!m_udpComm.sendCcuColCmd(m_CcuColCmd))
    cout << "send ccu col cmd failed!" << endl;
}
void PowerManger::disSysOption()
{
  //1.更新断路器的状态
  disBus1Breaker* pdis1=new disBus1Breaker;
  (m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
  (m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
  (m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
  (m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
  (m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
  pdis1 -> paceholder = 0;

  disBus2Breaker* pdis2=new disBus2Breaker;
  (m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
  (m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
  (m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
  (m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
  (m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
  (m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
  pdis2 -> paceholder = 0;

  disBus3Breaker* pdis3=new disBus3Breaker;
  (m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
  (m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
  (m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
  (m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
  (m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
  (m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
  (m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
  pdis3->paceholder = 0;

  disBus4Breaker* pdis4=new disBus4Breaker;
  (m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
  (m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
  (m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
  (m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
  (m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
  (m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
  (m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
  (m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
  pdis4 -> paceholder = 0;

  m_currentDisBreakerState.bus1Breaker = *pdis1;
  m_currentDisBreakerState.bus2Breaker = *pdis2;
  m_currentDisBreakerState.bus3Breaker = *pdis3;
  m_currentDisBreakerState.bus4Breaker = *pdis4;

  delete pdis1;
  delete pdis2;
  delete pdis3;
  delete pdis4;
  
  //2.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(m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker);
  a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
  a.dcDc5ModuleCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker);
  a.powerLithiumBatteryCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker);
  a.propulsionMotorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker);
  a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
  a.tyzReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker);
  a.sternFTDevice45CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker);
  a.sternRudderSwitch1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker);
  a.sternRudderSwitch2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker);
  a.reservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker);
  a.fbReservedCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker);
  m_udpComm.sendDisSysCmd(a);
//b. 高压汇流排A断路器
  disHighAVolBusCmd b;
  b.bowFTDevice123CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker);
  b.actuatorCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker);
  b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
  b.xczCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker);
  b.bowRudderControlBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker);
  b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
  m_udpComm.sendDisSysCmd(b);
//c. 高压汇流排B断路器
  disHighBVolBusCmd c;
  c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
  c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
  c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
  c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
  c.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1);
  c.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2);
  c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
  m_udpComm.sendDisSysCmd(c);
//d. 闭合低压汇流排断路器
  disLowBusCmd d;
  d.unit1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker);
  d.unit2CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker);
  d.unit3CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker);
  d.unit5CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker);
  d.bowPZDeviceCircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker);
  d.reservedCircuitBreaker1 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1);
  d.reservedCircuitBreaker2 = getBreakerOption(m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2);
  d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
  m_udpComm.sendDisSysCmd(d);

  //将指令写入数据库
  m_db->insertDisSysCmd(a);
  m_db->insertDisSysCmd(b);
  m_db->insertDisSysCmd(c);
  m_db->insertDisSysCmd(d);
  
}


bool PowerManger::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;
  }
}

bool PowerManger::writeDataToDB()
{
  m_stateData.state_id = m_pmState.id;
  m_stateData.state_name = m_pmState.name;
  m_stateData.event = m_pmEvent;
  m_stateData.event_id = 1;
  m_stateData.fault_code = m_faultNum;
  m_stateData.note = "No fault";
  if(!m_db->insertStateData(m_stateData))
    return false;
  // //写入配电系统状态
  // if(!m_db->insertDisCcuData(m_pmCurrentState))
  //   return false;
  return true;

}



void PowerManger::printState(FSM_State st, string desp){
  cout << MOOS::ConsoleColours::Yellow() << "STATE " << st.id  << " [" << st.name << "] " << MOOS::ConsoleColours::reset();    
  cout << MOOS::ConsoleColours::Blue() <<  " -> " << MOOS::ConsoleColours::reset(); 
  // 检查desp是否有“故障”
  if (desp.find("故障") != string::npos) {
    cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
    return;
  }
  cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
}

int PowerManger::handleInite_s1(FSM_State &fsm, void* pData)
{
  PowerManger* pm = (PowerManger*)pData;
  //1. 检查通信是否正常 如果超时则进入故障状态
  double StartTime = pm->GetAppStartTime();
  while (!pm->connectState == 5)
  {
    MOOSPause(1000);
    pm->updateTime();
    double dft =  abs(pm->m_current_time - StartTime);
    if(dft > 10)
    {
      pm->m_pmState = pm->m_Fault_s99;
      pm->m_faultNum = 1; 
      break;
    }
    string desp = "等待复合管控消息 : " + to_string(10-dft);
    pm->printState(fsm,desp);
  }
  //2. 检查复合管控器是否上报故障 如果故障则进入故障状态
  bool ok = true;
  if(pm->m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
     pm->m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
     pm->m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
  {
    ok = false;
  }
  if(!ok)
  {
    pm->m_pmState = pm->m_Fault_s99;
  }
  //3. 初始化系统为待机状态
  pm->initControlCmd();
  pm->m_pmState = pm->m_Standby_s2;
  return 0;
}

int  PowerManger::handleStandby_s2(FSM_State &fsm, void* pData)
{
  PowerManger* pm = (PowerManger*)pData;
  pm->m_stateData.note = "待机状态";
  while (true)
  {
    string desp = "待机状态";
    pm->printState(fsm,desp);
    MOOSPause(1000);
  }
  
}

int  PowerManger::handleFault_s99(FSM_State &fsm, void* pData)
{
  // cout << fsm.name << endl;
  PowerManger* pm = (PowerManger*)pData;
  switch (pm->m_faultNum)
  {
  case 1:
    pm->printState(fsm,"通信故障");
    pm->m_pmEvent = "复合管控连接超时";
    break;
  
  default:
    break;
  }
  pm->printState(fsm,"故障");
  return 0;
}


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
} 

char PowerManger::getBreakerOption(char cmd)
{
  if(cmd ==1)
    return 0x55;
  else if(cmd ==0)
    return 0xAA;
  else 
    return 0x00;
}

string PowerManger::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";
    }
}


bool PowerManger::buildPowerSysReport()
{
  //TODO： 构建能源系统报告
  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(workCondition).name());
  pms[VAR_TO_STR(workCondition)+suffix] = workCondition;

  suffix = getTypeName(typeid(currentMod).name());
  pms[VAR_TO_STR(currentMod)+suffix] = currentMod;

  suffix = getTypeName(typeid(powerState).name());
  pms[VAR_TO_STR(powerState)+suffix] = powerState;

  suffix = getTypeName(typeid(falutLevel).name());
  pms[VAR_TO_STR(falutLevel)+suffix] = falutLevel;

  Json::Value faultCode_array;
  for(auto val : faultCode)
  {
    faultCode_array.append(val);
  }
  pms[VAR_TO_STR(faultCode_array)] = faultCode_array;

  suffix = getTypeName(typeid(soc).name());
  pms[VAR_TO_STR(soc)+suffix] = soc;

  suffix = getTypeName(typeid(sustainableTime).name());
  pms[VAR_TO_STR(sustainableTime)+suffix] = sustainableTime;
  
  //2.构建燃料电池状态报告
  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuState).name());
  fcs[VAR_TO_STR(fcuState)+suffix] = m_pmCurrentState.ccustate.fcuState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuFaultLeve).name());
  fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pmCurrentState.ccustate.fcuFaultLeve;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerLimit).name());
  fcs[VAR_TO_STR(powLimit)+suffix] = m_pmCurrentState.ccustate.powerLimit;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.totalPowerGeneration).name());
  fcs[VAR_TO_STR(powerGen)+suffix] = m_pmCurrentState.ccustate.totalPowerGeneration;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4o).name());
  fcs[VAR_TO_STR(ch4o)+suffix] = m_pmCurrentState.ccustate.ch4o;
 
  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2).name());
  fcs[VAR_TO_STR(o2)+suffix] = m_pmCurrentState.ccustate.o2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltage).name());
  fcs[VAR_TO_STR(fcuVol)+suffix] = m_pmCurrentState.ccustate.fcuVoltage;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrent).name());
  fcs[VAR_TO_STR(fcuCur)+suffix] = m_pmCurrentState.ccustate.fcuCurrent;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Level).name());
  fcs[VAR_TO_STR(o2Level)+suffix] = m_pmCurrentState.ccustate.o2Level;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.exchangerTemperature).name());
  fcs[VAR_TO_STR(excTemp)+suffix] = m_pmCurrentState.ccustate.exchangerTemperature;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuOutPower).name());
  fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pmCurrentState.ccustate.fcuOutPower;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuOutIns).name());
  fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pmCurrentState.ccustate.fcuOutIns;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltageIns).name());
  fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pmCurrentState.ccustate.fcuVoltageIns;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuVoltagePower).name());
  fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pmCurrentState.ccustate.fcuVoltagePower;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentIns).name());
  fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pmCurrentState.ccustate.fcuCurrentIns;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentPower).name());
  fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pmCurrentState.ccustate.fcuCurrentPower;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.h2Concentration1).name());
  fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pmCurrentState.ccustate.h2Concentration1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.h2Concentration2).name());
  fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pmCurrentState.ccustate.h2Concentration2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Concentration1).name());
  fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pmCurrentState.ccustate.o2Concentration1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.o2Concentration2).name());
  fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pmCurrentState.ccustate.o2Concentration2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4oConcentration1).name());
  fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pmCurrentState.ccustate.ch4oConcentration1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.ch4oConcentration2).name());
  fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pmCurrentState.ccustate.ch4oConcentration2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.backpressure1).name());
  fcs[VAR_TO_STR(backpressure1)+suffix] = m_pmCurrentState.ccustate.backpressure1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.backpressure2).name());
  fcs[VAR_TO_STR(backpressure2)+suffix] = m_pmCurrentState.ccustate.backpressure2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.flameDetection).name());
  fcs[VAR_TO_STR(flameDet)+suffix] = m_pmCurrentState.ccustate.flameDetection;

  unsigned short faultCode1;
  unsigned short faultCode2;
  unsigned short faultCode3;
  faultCode1 = (m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pmCurrentState.ccustate.fcuGZ_1L;
  faultCode2 = (m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pmCurrentState.ccustate.fcuGZ_2L;
  faultCode3 = (m_pmCurrentState.ccustate.fcuGZ_3H << 8) | 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_pmCurrentState.ccustate.insPosRelayState).name());
  lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pmCurrentState.ccustate.insPosRelayState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insNegRelayState).name());
  lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pmCurrentState.ccustate.insNegRelayState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPosRelayState).name());
  lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pmCurrentState.ccustate.powerPosRelayState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerNegRelayState).name());
  lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pmCurrentState.ccustate.powerNegRelayState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatLimit).name());
  lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pmCurrentState.ccustate.insBatLimit;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatLimit).name());
  lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pmCurrentState.ccustate.powerBatLimit;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatSoc).name());
  lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pmCurrentState.ccustate.insBatSoc;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatSoc).name());
  lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pmCurrentState.ccustate.powerBatSoc;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatTotalElectricity).name());
  lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pmCurrentState.ccustate.insBatTotalElectricity;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
  lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pmCurrentState.ccustate.powerBatTotalElectricity;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
  lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pmCurrentState.ccustate.insBatCurrentElectricity;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
  lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pmCurrentState.ccustate.powerBatCurrentElectricity;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insChargeState).name());
  lbs[VAR_TO_STR(insChargeState)+suffix] = m_pmCurrentState.ccustate.insChargeState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerChargeState).name());
  lbs[VAR_TO_STR(powChargeState)+suffix] = m_pmCurrentState.ccustate.powerChargeState;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insLinkVoltage).name());
  lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pmCurrentState.ccustate.insLinkVoltage;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insPackVoltage).name());
  lbs[VAR_TO_STR(insPackVol)+suffix] = m_pmCurrentState.ccustate.insPackVoltage;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrent).name());
  lbs[VAR_TO_STR(insCurrent)+suffix] = m_pmCurrentState.ccustate.insCurrent;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insPosInsulationResistance).name());
  lbs[VAR_TO_STR(insPosRes)+suffix] = m_pmCurrentState.ccustate.insPosInsulationResistance;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insNegInsulationResistance).name());
  lbs[VAR_TO_STR(insNegRes)+suffix] = m_pmCurrentState.ccustate.insNegInsulationResistance;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerLinkVoltage).name());
  lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pmCurrentState.ccustate.powerLinkVoltage;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPackVoltage).name());
  lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pmCurrentState.ccustate.powerPackVoltage;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrent).name());
  lbs[VAR_TO_STR(powCur)+suffix] = m_pmCurrentState.ccustate.powerCurrent;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
  lbs[VAR_TO_STR(powPosRes)+suffix] = m_pmCurrentState.ccustate.powerPosInsulationResistance;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
  lbs[VAR_TO_STR(powNegRes)+suffix] = m_pmCurrentState.ccustate.powerNegInsulationResistance;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold1).name());
  lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold2).name());
  lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insCurrentSocHold3).name());
  lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pmCurrentState.ccustate.insCurrentSocHold3;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
  lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
  lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
  lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
  lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
  lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pmCurrentState.ccustate.powerCurrentSocHold3;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
  lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pmCurrentState.ccustate.powerCurrentToInsLimit1;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
  lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pmCurrentState.ccustate.powerCurrentToinsLimit2;

  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
  lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pmCurrentState.ccustate.insAlarmIdentificationWord;
  suffix = getTypeName(typeid(m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
  lbs[VAR_TO_STR(powfaultCode)+suffix] = 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_currentDisBreakerState.bus1Breaker;
  *pdis2 = m_currentDisBreakerState.bus2Breaker;
  *pdis3 = m_currentDisBreakerState.bus3Breaker;
  *pdis4 = 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 : faultCode)
  {
    faultCodeDis_array.append(val);
  }
  dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;


  Json::Value currentBusState;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.powerBusVoltage).name());
  currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pmCurrentState.bus1State.powerBusVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name());
  currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pmCurrentState.bus1State.dcDc5ModuleCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.powerBusCurrent).name());
  currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pmCurrentState.bus1State.powerBusCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.busbarAVoltage).name());
  currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pmCurrentState.bus1State.busbarAVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name());
  currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.busbarACurrent).name());
  currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pmCurrentState.bus1State.busbarACurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name());
  currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name());
  currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternFTDevice45Current).name());
  currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pmCurrentState.bus1State.sternFTDevice45Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name());
  currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pmCurrentState.bus1State.tyzReservedSwitchCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternRudderSwitch1Current).name());
  currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pmCurrentState.bus1State.sternRudderSwitch1Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent1).name());
  currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pmCurrentState.bus1State.reservedCurrent1;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.sternRudderSwitch2Current).name());
  currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pmCurrentState.bus1State.sternRudderSwitch2Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent2).name());
  currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pmCurrentState.bus1State.reservedCurrent2;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name());
  currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pmCurrentState.bus1State.fbReservedSwitchCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus1State.reservedCurrent3).name());
  currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pmCurrentState.bus1State.reservedCurrent3;

  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.busbarBVoltage).name());
  currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pmCurrentState.bus2State.busbarBVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.busbarBCurrent).name());
  currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pmCurrentState.bus2State.busbarBCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.bowFTDevice123Current).name());
  currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pmCurrentState.bus2State.bowFTDevice123Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.actuatorCurrent).name());
  currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pmCurrentState.bus2State.actuatorCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name());
  currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.xczCurrent).name());
  currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pmCurrentState.bus2State.xczCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name());
  currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pmCurrentState.bus2State.bowRudderControlBoxCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name());
  currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent;

  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.instrumentBusbarVoltage).name());
  currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pmCurrentState.bus3State.instrumentBusbarVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name());
  currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name());
  currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.reservedCurrent1).name());
  currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pmCurrentState.bus3State.reservedCurrent1;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name());
  currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name());
  currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name());
  currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.reservedCurrent2).name());
  currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pmCurrentState.bus3State.reservedCurrent2;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.emergency2BusbarVoltage).name());
  currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pmCurrentState.bus3State.emergency2BusbarVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name());
  currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name());
  currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus3State.plcControlPowerCurrent).name());
  currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pmCurrentState.bus3State.plcControlPowerCurrent;

  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.instrumentBusbarVoltage).name());
  currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pmCurrentState.bus4State.instrumentBusbarVoltage;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.instrumentBusbarCurrent).name());
  currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pmCurrentState.bus4State.instrumentBusbarCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit1Current).name());
  currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pmCurrentState.bus4State.unit1Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit2Current).name());
  currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pmCurrentState.bus4State.unit2Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit3Current).name());
  currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pmCurrentState.bus4State.unit3Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.unit5Current).name());
  currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pmCurrentState.bus4State.unit5Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.bowPZDeviceCurrent).name());
  currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pmCurrentState.bus4State.bowPZDeviceCurrent;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name());
  currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current;
  suffix = getTypeName(typeid(m_pmCurrentState.bus4State.emergency1BusbarVoltage).name());
  currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = 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;

  Notify(PM_STATE_VAR,    pms.toStyledString());
  Notify(PM_FCSSTATE_VAR, fcs.toStyledString());
  Notify(PM_LIBATSTATE_VAR, lbs.toStyledString());
  Notify(PM_DISSTATE_VAR, dis.toStyledString());
  Notify(PM_CURRENTSTATE_VAR, 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_STATE_VAR+".json");

  jsonStr = Json::writeString(builder, fcs);
  saveStringToJsonFile(jsonStr, pathFile+PM_FCSSTATE_VAR+".json");

  jsonStr = Json::writeString(builder, lbs);
  saveStringToJsonFile(jsonStr, pathFile+PM_LIBATSTATE_VAR+".json");

  jsonStr = Json::writeString(builder, dis);
  saveStringToJsonFile(jsonStr, pathFile+PM_DISSTATE_VAR + ".json");

  jsonStr = Json::writeString(builder, currentBusState);
  saveStringToJsonFile(jsonStr, pathFile+PM_CURRENTSTATE_VAR + ".json");

  return true;
}