zjk
54c32a180a
- 新增 pCCU 复合管控器程序（src/pCCU）：FC/PM 双链路(UDP)、协议编解码器 (FcProtocol/PmProtocol/Frame/Message/MessageRegistry)、快照与落库(DbStore)、 内置 WebServer；挂入 src/CMakeLists.txt 与板卡 mission（h100.moos） - 惯导/深度数据：新增 uDevice_insData 消息解析，接入 UpperCommManager， pPowerMangerHost 注册监视，UpmsgTest 覆盖 - pPowerMangerHost 设备控制页增强（web/index.html） - 部署/运维脚本改为 4 个 systemd 服务（moosdb/pPowerManger/pPowerMangerHost/pCCU）： deploy/clean-data/fetch-data 同步适配 - 协议文档：归档 0824 控制主机与复合管控器通信协议 xlsx 及关联 docx，移除旧 md - 测试：新增 pccu 单元/集成测试与 disSysTest Python 配电仿真 - 清理：移除未使用的 CCU 状态调试打印 coutMsg；.gitignore 补充编译产物/临时文件忽略
190 lines
7.7 KiB
Python
190 lines
7.7 KiB
Python
"""内置模拟器：产生四路母线反馈，支持配电指令回显。
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设计：模拟器状态(反馈消息 + 最近指令)独立维护；周期性调用 update()
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返回需要注入解析管线的反馈消息列表。配电指令通过 apply_command()
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回写对应断路器状态，从而与真实设备的收发链路完全一致。
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"""
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import random
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from . import protocol
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from .protocol import (MsgDisHighVolBusFb, MsgDisHighAVolBusFb,
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MsgDisLowMainBusFb, MsgDisLowBusFb,
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BREAKER_ON)
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class Simulator:
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# 指令消息 ID -> 对应反馈消息 ID
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CMD_TO_FB = {0x0001: 0x0005, 0x0002: 0x0006,
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0x0003: 0x0007, 0x0004: 0x0008}
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def __init__(self):
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self.fb = {
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0x0005: MsgDisHighVolBusFb(),
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0x0006: MsgDisHighAVolBusFb(),
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0x0007: MsgDisLowMainBusFb(),
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0x0008: MsgDisLowBusFb(),
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}
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# 最近一次配电指令（用于回显）
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self.last_cmd = {
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0x0001: protocol.MsgDisHVBCmd(),
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0x0002: protocol.MsgDisHVBACmd(),
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0x0003: protocol.MsgDisLVMBCmd(),
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0x0004: protocol.MsgDisLVBCmd(),
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}
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self.fault_animation = True
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self.noise = True
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self._fault_counter = 0
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self.reset()
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def reset(self):
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self._init_high_vol()
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self._init_high_a_vol()
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self._init_low_main()
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self._init_low_bus()
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# 复位指令状态
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for cmd in self.last_cmd.values():
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for name in cmd.field_names():
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setattr(cmd, name, 0)
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# ---- 初始值（与 test.py 一致） ---------------------------------
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def _init_high_vol(self):
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m = self.fb[0x0005]
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for name in m.field_names():
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setattr(m, name, 0)
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for name in ("fuelCellCircuitBreaker", "powerLithiumBatteryCircuitBreaker",
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"propulsionMotorCircuitBreaker", "lithiumBatteryGroupInstrumentCircuitBreaker",
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"dcDc5ModuleCircuitBreaker", "bowHighVoltageDistributionBoxCircuitBreaker",
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"sternFTDevice45CircuitBreaker", "sternRudderSwitch1CircuitBreaker",
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"sternRudderSwitch2CircuitBreaker", "fbReservedCircuitBreaker",
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"tyzReservedCircuitBreaker", "reservedCircuitBreaker"):
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setattr(m, name, BREAKER_ON)
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m.dcDcFaultWord1 = 0x01
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m.dcDcFaultWord2 = 0x01
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m.powerBusInsulationStatus = BREAKER_ON
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m.aBusInsulationStatus = BREAKER_ON
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m.meterPowerLossSignal = BREAKER_ON
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m.emergencyPowerLossSignal = BREAKER_ON
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m.dcdcTemperature = 0x08
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m.powerBusVoltage = 6000
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m.dcDc5ModuleCurrent = 500
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m.powerBusCurrent = 1000
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m.busbarAVoltage = 6000
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m.propulsionMotorControlBoxCurrent = 800
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m.busbarACurrent = 500
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m.lithiumBatteryGroupMeterCurrent = 300
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m.bowHighVoltageDistributionBoxCurrent = 200
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m.sternFTDevice45Current = 150
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m.tyzReservedSwitchCurrent = 0
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m.sternRudderSwitch1Current = 100
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m.reservedCurrent1 = 1000
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m.sternRudderSwitch2Current = 100
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m.reservedCurrent2 = 1000
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m.fbReservedSwitchCurrent = 10000
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m.reservedCurrent3 = 1000
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m.coolWaterPressure = 1000
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def _init_high_a_vol(self):
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m = self.fb[0x0006]
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for name in m.field_names():
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setattr(m, name, 0)
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for name in ("bowFTDevice123CircuitBreaker", "actuatorCircuitBreaker",
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"mastSteeringGearControlBoxCircuitBreaker", "xczCircuitBreaker",
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"bowRudderControlBoxCircuitBreaker", "openWaterCoverStartCylinderCircuitBreaker"):
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setattr(m, name, BREAKER_ON)
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m.instrumentPowerFailureSignal = BREAKER_ON
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m.emergencyPowerFailureSignal = BREAKER_ON
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m.waterIngressionAlarm = BREAKER_ON
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m.busbarBVoltage = 6000
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m.busbarBCurrent = 300
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m.bowFTDevice123Current = 200
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m.actuatorCurrent = 150
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m.mastSteeringGearControlBoxCurrent = 100
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m.xczCurrent = 50
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m.bowRudderControlBoxCurrent = 80
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m.openWaterCoverStartCylinderCurrent = 0
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def _init_low_main(self):
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m = self.fb[0x0007]
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for name in m.field_names():
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setattr(m, name, 0)
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m.lithiumBatteryGroupInstrumentCircuitBreaker = BREAKER_ON
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m.bowLowVoltageDistributionBoxCircuitBreaker = BREAKER_ON
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m.unit4InstrumentDC48VCircuitBreaker = BREAKER_ON
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m.dcC1DCDistributionPanelCircuitBreaker = BREAKER_ON
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m.reservedCircuitBreaker1 = BREAKER_ON
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m.reservedCircuitBreaker2 = BREAKER_ON
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m.emergencyLithiumBatteryGroup2CircuitBreaker = BREAKER_ON
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m.instrumentPowerFailureSignal = BREAKER_ON
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m.emergencyPowerFailureSignal = BREAKER_ON
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m.instrumentBusbarInsulationLow = BREAKER_ON
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m.instrumentBusbarVoltage = 480
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m.bowLowVoltageDistributionBoxCurrent = 100
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m.dcC1InstrumentDC48VCurrent = 50
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m.reservedCurrent1 = 1100
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m.emergencyLithiumBatteryGroup2Current = 1000
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m.lithiumBatteryGroupInstrumentCurrent = 200
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m.unit4InstrumentDC48VCurrent = 50
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m.reservedCurrent2 = 1000
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m.emergency2BusbarVoltage = 480
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m.compositeEnergyManagementSystemEmergencyDC48VCurrent = 20
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m.fuelCellSecuritySystemEmergencyDC48VCurrent = 20
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m.plcControlPowerCurrent = 10
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def _init_low_bus(self):
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m = self.fb[0x0008]
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for name in m.field_names():
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setattr(m, name, 0)
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for name in ("unit1CircuitBreaker", "unit2CircuitBreaker",
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"unit3CircuitBreaker", "unit5CircuitBreaker",
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"bowPZDeviceCircuitBreaker", "reservedCircuitBreaker1",
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"reservedCircuitBreaker2", "emergencyLithiumBatteryGroup1CircuitBreaker"):
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setattr(m, name, BREAKER_ON)
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m.instrumentPowerFailureSignal = BREAKER_ON
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m.emergencyPowerFailureSignal = BREAKER_ON
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m.waterIngressionAlarm = BREAKER_ON
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m.instrumentBusbarVoltage = 480
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m.instrumentBusbarCurrent = 5000
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m.unit1Current = 1000
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m.unit2Current = 1000
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m.unit3Current = 1000
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m.unit5Current = 1000
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m.bowPZDeviceCurrent = 500
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m.emergencyLithiumBatteryGroup1Current = 1000
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m.emergency1BusbarVoltage = 480
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# ---- 对外接口 ------------------------------------------------
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def apply_command(self, cmd):
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"""收到配电指令后回写对应母线反馈的断路器状态。"""
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fb = self.fb.get(self.CMD_TO_FB.get(cmd.MSG_ID))
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if fb is None:
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return
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self.last_cmd[cmd.MSG_ID] = cmd
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for name in cmd.field_names():
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if hasattr(fb, name):
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setattr(fb, name, getattr(cmd, name))
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def _jitter(self, fb):
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"""给电流/电压叠加轻微随机波动，模拟真实读数。"""
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for name in fb.field_names():
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if name.endswith("Current") or name.endswith("Voltage") or name.endswith("Pressure"):
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v = getattr(fb, name)
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if v > 0:
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setattr(fb, name, max(0, v + random.randint(-int(v * 0.05), int(v * 0.05))))
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def _step_fault(self):
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m = self.fb[0x0005]
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w1 = ((m.dcDcFaultWord1 << 1) | (m.dcDcFaultWord1 >> 7)) & 0xFF
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w2 = ((m.dcDcFaultWord2 >> 1) | (m.dcDcFaultWord2 << 7)) & 0xFF
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m.dcDcFaultWord1 = w1
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m.dcDcFaultWord2 = w2
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def update(self, interval=1.0):
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"""推进一帧模拟。返回需要注入解析管线的反馈消息列表。"""
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if self.fault_animation:
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self._step_fault()
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if self.noise:
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for fb in self.fb.values():
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self._jitter(fb)
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return list(self.fb.values())
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