566 lines
17 KiB
C++
566 lines
17 KiB
C++
#ifndef PMSYSVARIABLE_H
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#define PMSYSVARIABLE_H
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//宏定义
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#include<string>
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#include <map>
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#define BREAK_OFF 0xAA
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#define BREAK_ON 0x55
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#define BREAK_FALSE 0x5A
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//消息结构体变量定义
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#pragma pack (1)
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typedef struct ccuState
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{
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unsigned char currentWorkCondition;
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unsigned char fcuState;
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unsigned char fcuFaultLeve;
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float powerLimit;
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float totalPowerGeneration;
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float ch4o;
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float o2;
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float fcuVoltage;
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float fcuCurrent;
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float o2Level;
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float placeholder1;
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float exchangerTemperature;
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float fcuOutPower;
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float fcuOutIns;
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float fcuVoltageIns;
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float fcuVoltagePower;
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float fcuCurrentIns;
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float fcuCurrentPower;
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float h2Concentration1;
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float h2Concentration2;
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float o2Concentration1;
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float o2Concentration2;
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float ch4oConcentration1;
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float ch4oConcentration2;
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float backpressure1;
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float backpressure2;
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unsigned char flameDetection;
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unsigned char fcuGZ_1L;
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unsigned char fcuGZ_1H;
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unsigned char fcuGZ_2L;
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unsigned char fcuGZ_2H;
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unsigned char fcuGZ_3L;
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unsigned char fcuGZ_3H;
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unsigned char insPosRelayState;
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unsigned char insNegRelayState;
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unsigned char powerPosRelayState;
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unsigned char powerNegRelayState;
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unsigned short insBatLimit;
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unsigned short powerBatLimit;
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unsigned char insBatSoc;
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unsigned char powerBatSoc;
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unsigned short insBatTotalElectricity;
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unsigned short powerBatTotalElectricity;
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unsigned short insBatCurrentElectricity;
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unsigned short powerBatCurrentElectricity;
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unsigned char insChargeState;
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unsigned char powerChargeState;
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unsigned short insLinkVoltage;
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unsigned short insPackVoltage;
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unsigned short insCurrent;
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unsigned short insPosInsulationResistance;
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unsigned short insNegInsulationResistance;
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unsigned short powerLinkVoltage;
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unsigned short powerPackVoltage;
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unsigned short powerCurrent;
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unsigned short powerPosInsulationResistance;
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unsigned short powerNegInsulationResistance;
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unsigned char insEmergencyStatusWord;
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unsigned char powerEmergencyStatusWord;
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unsigned char insAlarmIdentificationWord;
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unsigned char powerAlarmIdentificationWord;
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unsigned char insCurrentSocHold1;
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unsigned char insCurrentSocHold2;
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unsigned char insCurrentSocHold3;
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unsigned char fcuCurrentToInsLimit1;
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unsigned char fcuCurrentToinsLimit2;
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unsigned char powerCurrentSocHold1;
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unsigned char powerCurrentSocHold2;
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unsigned char powerCurrentSocHold3;
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unsigned char powerCurrentToInsLimit1;
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unsigned char powerCurrentToinsLimit2;
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float placeholder2;
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float placeholder3;
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float placeholder4;
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float placeholder5;
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} ccuState;
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typedef struct {
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unsigned char insSocHold1;
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unsigned char insSocHold2;
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unsigned char insSocHold3;
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unsigned char fcuToInsLimit1;
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unsigned char fcuToinsLimit2;
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unsigned char powerSocHold1;
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unsigned char powerSocHold2;
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unsigned char powerSocHold3;
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unsigned char fcuToPowerLimit1;
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unsigned char fcuToPowerLimit2;
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}ccuSetParmCmd;
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typedef struct {
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unsigned char workCondition;
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unsigned char fcuCmd;
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unsigned char fcuPowerEfficiency;
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unsigned char fcuInsEfficiency;
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unsigned char insBatCmd;
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unsigned char powerBatCmd;
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unsigned char powerBatEfficiency;
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unsigned char heartbeat;
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unsigned char masterState;
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}ccuColCmd;
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typedef struct disHighVolBusState
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{
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unsigned char fuelCellCircuitBreaker;
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unsigned char powerLithiumBatteryCircuitBreaker;
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unsigned char propulsionMotorCircuitBreaker;
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
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unsigned char dcDc5ModuleCircuitBreaker;
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unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
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unsigned char sternFTDevice45CircuitBreaker;
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unsigned char sternRudderSwitch1CircuitBreaker;
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unsigned char sternRudderSwitch2CircuitBreaker;
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unsigned char fbReservedCircuitBreaker;
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unsigned char tyzReservedCircuitBreaker;
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unsigned char reservedCircuitBreaker;
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unsigned char busInsulationLow;
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unsigned char busAInsulationHigh;
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unsigned char lostPower;
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unsigned char lostEmerPower;
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unsigned short powerBusVoltage;
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unsigned short dcDc5ModuleCurrent;
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unsigned short powerBusCurrent;
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unsigned short busbarAVoltage;
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unsigned short propulsionMotorControlBoxCurrent;
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unsigned short busbarACurrent;
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unsigned short lithiumBatteryGroupMeterCurrent;
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unsigned short bowHighVoltageDistributionBoxCurrent;
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unsigned short sternFTDevice45Current;
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unsigned short tyzReservedSwitchCurrent;
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unsigned short sternRudderSwitch1Current;
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unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
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unsigned short sternRudderSwitch2Current;
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unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
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unsigned short fbReservedSwitchCurrent;
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unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
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}disHighVolBusState;
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typedef struct disHighAVolBusState
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{
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unsigned char bowFTDevice123CircuitBreaker;
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unsigned char actuatorCircuitBreaker;
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unsigned char mastSteeringGearControlBoxCircuitBreaker;
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unsigned char xczCircuitBreaker;
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unsigned char bowRudderControlBoxCircuitBreaker;
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unsigned char openWaterCoverStartCylinderCircuitBreaker;
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unsigned char instrumentPowerFailureSignal;
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unsigned char emergencyPowerFailureSignal;
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unsigned char waterIngressionAlarm;
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unsigned short busbarBVoltage;
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unsigned short busbarBCurrent;
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unsigned short bowFTDevice123Current;
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unsigned short actuatorCurrent;
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unsigned short mastSteeringGearControlBoxCurrent;
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unsigned short xczCurrent;
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unsigned short bowRudderControlBoxCurrent;
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unsigned short openWaterCoverStartCylinderCurrent;
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}disHighAVolBusState;
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typedef struct disHighBVolBusState
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{
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
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unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
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unsigned char unit4InstrumentDC48VCircuitBreaker;
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unsigned char dcC1DCDistributionPanelCircuitBreaker;
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unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
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unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
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unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
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unsigned char instrumentPowerFailureSignal;
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unsigned char emergencyPowerFailureSignal;
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unsigned char instrumentBusbarInsulationLow;
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unsigned short instrumentBusbarVoltage;
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unsigned short bowLowVoltageDistributionBoxCurrent;
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unsigned short dcC1InstrumentDC48VCurrent;
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unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
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unsigned short emergencyLithiumBatteryGroup2Current;
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unsigned short lithiumBatteryGroupInstrumentCurrent;
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unsigned short unit4InstrumentDC48VCurrent;
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unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
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unsigned short emergency2BusbarVoltage;
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unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
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unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
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unsigned short plcControlPowerCurrent;
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}disHighBVolBusState;
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typedef struct disLowBusState
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{
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unsigned char unit1CircuitBreaker;
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unsigned char unit2CircuitBreaker;
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unsigned char unit3CircuitBreaker;
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unsigned char unit5CircuitBreaker;
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unsigned char bowPZDeviceCircuitBreaker;
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unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
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unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
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unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
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unsigned char powerFailureSignal;
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unsigned char waterIngressionAlarm;
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unsigned short instrumentBusbarVoltage;
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unsigned short instrumentBusbarCurrent;
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unsigned short unit1Current;
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unsigned short unit2Current;
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unsigned short unit3Current;
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unsigned short unit5Current;
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unsigned short bowPZDeviceCurrent;
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unsigned short emergencyLithiumBatteryGroup1Current;
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unsigned short emergency1BusbarVoltage;
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}disLowBusState;
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typedef struct disHighVolBusCmd
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{
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unsigned char fuelCellCircuitBreaker;
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unsigned char powerLithiumBatteryCircuitBreaker;
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unsigned char propulsionMotorCircuitBreaker;
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
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unsigned char dcDc5ModuleCircuitBreaker;
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unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
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unsigned char sternFTDevice45CircuitBreaker;
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unsigned char sternRudderSwitch1CircuitBreaker;
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unsigned char sternRudderSwitch2CircuitBreaker;
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unsigned char fbReservedCircuitBreaker;
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unsigned char tyzReservedCircuitBreaker;
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unsigned char reservedCircuitBreaker;
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unsigned char dcdc5Module;
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unsigned char inputWater;
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unsigned char outputWater;
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}disHighVolBusCmd;
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typedef struct disHighAVolBusCmd
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{
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unsigned char bowFTDevice123CircuitBreaker;
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unsigned char actuatorCircuitBreaker;
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unsigned char mastSteeringGearControlBoxCircuitBreaker;
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unsigned char xczCircuitBreaker;
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unsigned char bowRudderControlBoxCircuitBreaker;
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unsigned char openWaterCoverStartCylinderCircuitBreaker;
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}disHighAVolBusCmd;
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typedef struct disHighBVolBusCmd
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{
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
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unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
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unsigned char unit4InstrumentDC48VCircuitBreaker;
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unsigned char dcC1DCDistributionPanelCircuitBreaker;
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unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
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unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
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unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
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}disHighBVolBusCmd;
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typedef struct disLowBusCmd
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{
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unsigned char unit1CircuitBreaker;
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unsigned char unit2CircuitBreaker;
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unsigned char unit3CircuitBreaker;
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unsigned char unit5CircuitBreaker;
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unsigned char bowPZDeviceCircuitBreaker;
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unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
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unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
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unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
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}disLowBusCmd;
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#pragma pack (0)
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//状态结构体定义
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typedef struct pmState
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{
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ccuState ccustate;
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disHighVolBusState bus1State;
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disHighAVolBusState bus2State;
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disHighBVolBusState bus3State;
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disLowBusState bus4State;
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} PmState;
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typedef struct disBus1Breaker
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{
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unsigned char fuelCellCircuitBreaker : 1;
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unsigned char powerLithiumBatteryCircuitBreaker : 1;
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unsigned char propulsionMotorCircuitBreaker : 1;
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
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unsigned char dcDc5ModuleCircuitBreaker : 1;
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unsigned char bowHighVoltageDistributionBoxCircuitBreaker : 1;
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unsigned char sternFTDevice45CircuitBreaker : 1;
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unsigned char sternRudderSwitch1CircuitBreaker : 1;
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unsigned char sternRudderSwitch2CircuitBreaker : 1;
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unsigned char fbReservedCircuitBreaker : 1;
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unsigned char tyzReservedCircuitBreaker : 1;
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unsigned char reservedCircuitBreaker : 1;
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unsigned short paceholder : 4;
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} disBus1Breaker;
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typedef struct disBus2Breaker
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{
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unsigned char bowFTDevice123CircuitBreaker : 1;
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unsigned char actuatorCircuitBreaker : 1;
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unsigned char mastSteeringGearControlBoxCircuitBreaker : 1;
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unsigned char xczCircuitBreaker : 1;
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unsigned char bowRudderControlBoxCircuitBreaker : 1;
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unsigned char openWaterCoverStartCylinderCircuitBreaker : 1;
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unsigned short paceholder : 10;
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/* data */
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} disBus2Breaker;
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typedef struct disBus3Breaker
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{
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unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
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unsigned char bowLowVoltageDistributionBoxCircuitBreaker : 1;
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unsigned char unit4InstrumentDC48VCircuitBreaker : 1;
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unsigned char dcC1DCDistributionPanelCircuitBreaker : 1;
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unsigned char reservedCircuitBreaker1 : 1;
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unsigned char reservedCircuitBreaker2 : 1;
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unsigned char emergencyLithiumBatteryGroup2CircuitBreaker : 1;
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unsigned short paceholder : 9;
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/* data */
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} disBus3Breaker;
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typedef struct disBus4Breaker
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{
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unsigned char unit1CircuitBreaker : 1;
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unsigned char unit2CircuitBreaker : 1;
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unsigned char unit3CircuitBreaker : 1;
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unsigned char unit5CircuitBreaker : 1;
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unsigned char bowPZDeviceCircuitBreaker : 1;
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unsigned char reservedCircuitBreaker1 : 1; // 为了区分，添加了数字后缀
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unsigned char reservedCircuitBreaker2 : 1; // 为了区分，添加了数字后缀
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unsigned char emergencyLithiumBatteryGroup1CircuitBreaker : 1;
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unsigned short paceholder : 8;
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/* data */
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} disBus4Breaker;
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typedef struct disSysBreakerList
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{
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disBus1Breaker bus1Breaker;
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disBus2Breaker bus2Breaker;
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disBus3Breaker bus3Breaker;
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disBus4Breaker bus4Breaker;
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} disSysBreaker;
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typedef struct MSControlCmd
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{
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unsigned int powerCMD;
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unsigned int modCMD;
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unsigned int workCMD;
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}MSControlCmd;
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namespace FcuCommand {
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enum Type : unsigned char {
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SelfCheck = 0x01,
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Start = 0x02,
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Stop = 0x03,
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Reset = 0x04,
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EmergencyStop = 0x05,
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Supply = 0x06,
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WarmUp = 0x07,
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Maintenance = 0x08
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};
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}
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enum class FcuState : unsigned char {
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//初始化
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Init = 0x01,
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//待机
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Standby = 0x02,
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//自检异常
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SelfCheckError = 0x03,
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//就绪
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Ready = 0x04,
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//启动
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Start = 0x05,
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//运行
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Running = 0x06,
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//停机
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Stop = 0x07,
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//故障
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Fault = 0x08,
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//补给
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Supply = 0x09,
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//预热
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WarmUp = 0x0A,
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//预热完成
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WarmUpComplete = 0x0B,
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//维护
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Maintenance = 0x0C,
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//维护完成
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MaintenanceComplete = 0x0D
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};
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namespace BatteryCommand {
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enum Type : unsigned char {
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Start = 0x10,
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Stop = 0x20
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};
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};
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namespace PMMode {
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enum Type : unsigned char {
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Normal = 0,
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Test = 1,
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Debug = 2
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};
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};
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//工况定义
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namespace WorkCondition {
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enum Type : unsigned char {
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CHANING = 0, // 工况切换中
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STANDBY = 1, // 待机工况
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SHORE_BASED_READY = 2, // 岸基备航
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WATER_BASED_READY = 3, // 水中备航
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REMOTE_CONTROL = 4, // 遥控工况
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CRUISE_MODE = 5, // 巡航模式
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HIGH_SPEED_MODE = 6, // 高速模式
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ASCEND_DESCEND = 7, // 上浮下潜
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BUOYANCY_ADJUST = 8, // 浮调模式
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UNDERWATER_RECON = 9, // 水下侦查
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SURFACE_RECON = 10, // 水面侦查
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DJ_MODE = 11, // DJ模式
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DEBUG_MODE = 12 // 调试模式
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};
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};
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namespace TaskType {
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enum Type : unsigned char {
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THROW_LOAD = 1, // 抛载
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FLOAT_UP = 2, // 运动上浮
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RECYCLE = 3, // 回收
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HOVER = 4, // 悬停
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SAT_COMM = 5, // 上浮通信
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SAT_CALIBRATE = 6, // 上浮校准
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TOUR = 7, // 游曳
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SAIL = 8 // 航行
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};
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inline const std::string toString(Type type) {
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static const std::map<Type, std::string> names = {
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{THROW_LOAD, "throwLoad"},
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{FLOAT_UP, "floatUp"},
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{RECYCLE, "recycle"},
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{HOVER, "hover"},
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{SAT_COMM, "satComm"},
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{SAT_CALIBRATE, "satCalibrate"},
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{TOUR, "tour"},
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{SAIL, "sail"}
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};
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auto it = names.find(type);
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return it != names.end() ? it->second : "unknown";
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}
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inline Type fromString(const std::string& str) {
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static const std::map<std::string, Type> stringToEnum = {
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{"throwLoad", THROW_LOAD},
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{"floatUp", FLOAT_UP},
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{"recycle", RECYCLE},
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{"hover", HOVER},
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{"satComm", SAT_COMM},
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{"satCalibrate", SAT_CALIBRATE},
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{"tour", TOUR},
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{"sail", SAIL}
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};
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auto it = stringToEnum.find(str);
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return it != stringToEnum.end() ? it->second : static_cast<Type>(0); // 返回0表示无效类型
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}
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}
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namespace DriverCmd {
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enum Type : unsigned char {
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OFF = 0, //断电
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ON = 1, //上电
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//仪表电上电
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METER_ON = 2,
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//动力电上电
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POWER_ON = 3,
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//仪表电断电
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METER_OFF = 4,
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//动力电断电
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POWER_OFF = 5,
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};
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};
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struct MissionState
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{
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int type;
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bool enableBowRudder;
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bool enableBuoyancyAdjustment;
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};
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struct DeviceSwitchCmd
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{
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int id;
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int cmd;
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};
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namespace FaultEnable {
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enum Type : bool {
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BasicNavigationFault_1 = true, // 使能故障
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BasicNavigationFault_2 = false,
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BasicNavigationFault_3 = false,
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BasicNavigationFault_4 = false,
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BasicNavigationFault_5 = false,
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BasicNavigationFault_6 = false,
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BasicNavigationFault_7 = false,
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BasicNavigationFault_8 = false,
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BasicNavigationFault_9 = false,
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BasicNavigationFault_10 = false,
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ExtendedNavigationFault_1 = false, // 使能故障
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ExtendedNavigationFault_2 = false,
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ExtendedNavigationFault_3 = false,
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ExtendedNavigationFault_4 = false,
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ObstacleAvoidanceFault_1 = false, // 使能故障
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ObstacleAvoidanceFault_2 = false,
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ObstacleAvoidanceFault_3 = false,
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BuoyancyControlFault_1 = false, // 使能故障
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BuoyancyControlFault_2 = false,
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BuoyancyControlFault_3 = false,
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BuoyancyControlFault_4 = false,
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CommunicationSystemFault_1 = false, // 使能故障
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CommunicationSystemFault_2 = false,
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CommunicationSystemFault_3 = false,
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PayloadSystemFault_1 = false, // 使能故障
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PayloadSystemFault_2 = false,
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PayloadSystemFault_3 = false,
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PayloadSystemFault_4 = false,
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PayloadSystemFault_5 = false,
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PayloadSystemFault_6 = false,
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PayloadSystemFault_7 = false,
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EmergencySystemFault_1 = false, // 使能故障
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EmergencySystemFault_2 = false,
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EmergencySystemFault_3 = false,
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EmergencySystemFault_4 = false,
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EmergencySystemFault_5 = false,
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EmergencySystemFault_6 = false,
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SensorSystemFault_1 = false, // 使能故障
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SensorSystemFault_2 = false,
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SensorSystemFault_3 = false,
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};
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}
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#endif |