110 lines
3.7 KiB
C++
110 lines
3.7 KiB
C++
#include "PowerManagerFsm.hpp"
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#include "PowerManger.h"
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#include <string>
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#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
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// 定义静态成员
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PowerManger* PowerManagerFsm::pm = nullptr;
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// InitState实现
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void InitState::entry() {
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PowerManagerFsm::entry();
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std::cout << "===========================" << std::endl;
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// PowerManagerFsm::pm->m_pmEvent = "初始化状态";
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PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
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}
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void InitState::react(InitEvent const &) {
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// double StartTime = PowerManagerFsm::pm->GetAppStartTime();
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std::cout << "开始初始化" << std::endl;
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double StartTime = 0;
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while (PowerManagerFsm::pm->connectState < 5) {
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MOOSPause(1000);
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PowerManagerFsm::pm->updateTime();
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double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
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if(dft > 10) {
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transit<FaultState>();
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PowerManagerFsm::pm->m_faultNum = 1;
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return;
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}
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string desp = "等待复合管控消息 : " + to_string(10-dft);
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PowerManagerFsm::pm->printState("InitState", desp);
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}
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if(PowerManagerFsm::pm->checkError() < 0) {
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transit<FaultState>();
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PowerManagerFsm::pm->m_faultNum = 2;
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return;
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}
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PowerManagerFsm::pm->initControlCmd();
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while (true) {
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if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
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PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
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PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
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PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
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PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
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transit<StandbyState>();
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return;
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}
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PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
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MOOSPause(1000);
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PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
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}
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std::cout << "InitState: 初始化完成" << std::endl;
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//转换到待机状态
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transit<StandbyState>();
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}
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// StandbyState实现
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void StandbyState::entry() {
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PowerManagerFsm::entry();
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PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
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}
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void StandbyState::react(StandbyEvent const &) {
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while (true) {
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if(PowerManagerFsm::pm->checkError() < 0) {
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transit<FaultState>();
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return;
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}
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handlePowerCommands();
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MOOSPause(1000);
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}
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}
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void StandbyState::handlePowerCommands() {
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switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
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case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
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case 1: handlePowerOn(); break;
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}
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}
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void StandbyState::handlePowerOn() {
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PowerManagerFsm::pm->m_pmEvent = "动力电上电";
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PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
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if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
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PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
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}
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// FaultState实现
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void FaultState::entry() {
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PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
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}
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void FaultState::react(FaultEvent const & e) {
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switch (e.faultCode) {
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case 1:
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PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
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PowerManagerFsm::pm->printState("FaultState", "通信故障");
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break;
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case 2:
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PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
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PowerManagerFsm::pm->printState("FaultState", "能源故障");
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break;
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}
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}
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// 设置初始状态
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FSM_INITIAL_STATE(PowerManagerFsm, InitState); |