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