243 lines
8.9 KiB
C++
243 lines
8.9 KiB
C++
#include "UpperCommManager.h"
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#include "PowerManger.h"
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#include "driver.h"
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#include "fsm/PowerManagerFsm.hpp"
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UpperCommManager::UpperCommManager(PowerManger* pm) :
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m_pm(pm),
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m_secdistStateMsg(),
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m_setOpConditionMsg(),
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m_depthMsg(),
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m_taskStartMsg(),
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m_equInsStateMsg(),
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m_equStateMsg(),
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m_setPMSysMsg(),
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m_disSysStateMsg(),
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m_currentStateMsg(),
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m_pmStateMsg(),
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m_fcsStateMsg(),
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m_liBatStateMsg(),
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m_setOpModeMsg(),
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m_taskStopMsg(),
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m_setDevSwitchMsg(),
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m_sysStateMsg(),
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m_msCmd(),
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m_driver() {
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}
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DriverTable uDevice_secdistStateMsg::fault_state = {0};
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bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
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if (key == m_sysStateMsg.key)
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{
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#ifdef _DEBUG
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m_sysStateMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_msCmd = m_sysStateMsg.getMasterControlCmd(key, strJson);
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MasterCommandEvent event;
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PowerManagerFsm::dispatch(event);
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return true;
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}
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// 设备状态处理
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else if(key == m_equStateMsg.key_cmd)
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{
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#ifdef _DEBUG
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m_equStateMsg_cmd_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_MSDriverCmd = m_equStateMsg.getEquipmentCmd(key, strJson);
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vector<DriverCommand> devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson);
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if (devCmdExt.empty())
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{
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LOG_F(WARNING, "控制指令为空");
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}
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else {
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for (auto& cmd : devCmdExt) {
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DevCmdExt event(cmd.id, cmd.cmd);
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PowerManagerFsm::dispatch(event);
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}
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}
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return true;
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}
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// 次级配电状态处理
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else if(key == m_secdistStateMsg.key_fb)
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{
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#ifdef _DEBUG
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m_secdistStateMsg_fb_debug = std::make_pair(key, strJson);
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#endif
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m_secdistStateMsg.parseMsg(strJson, m_pm->m_subDisSysState);
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//TODO:自动更新到设备状态 调试
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//m_pm->m_subDisSysState = m_pm->m_deviceState;
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return true;
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}
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// 深度获取
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else if(key == m_depthMsg.key)
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{
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#ifdef _DEBUG
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m_depthMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_depth = m_depthMsg.getDepth(key, strJson);
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return true;
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}
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else if(key == m_taskStartMsg.key)
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{
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#ifdef _DEBUG
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m_taskStartMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_missionState = m_taskStartMsg.getMission(key, strJson);
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TaskStartEvent event;
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event.type = m_pm->m_missionState.type;
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event.enableBowRudder = m_pm->m_missionState.enableBowRudder;
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event.enableBuoyancyAdjustment = m_pm->m_missionState.enableBuoyancyAdjustment;
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PowerManagerFsm::dispatch(event);
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return true;
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}
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else if(key == m_setOpModeMsg.key)
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{
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#ifdef _DEBUG
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m_setOpModeMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_msCmd.modCMD = m_setOpModeMsg.getSetOpMode(key, strJson);
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MasterCommandEvent event;
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PowerManagerFsm::dispatch(event);
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return true;
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} else if(key == m_setOpConditionMsg.key)
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{
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#ifdef _DEBUG
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m_setOpConditionMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_msCmd.workCMD = m_setOpConditionMsg.getSetOpCondition(key, strJson);
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MasterCommandEvent event;
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PowerManagerFsm::dispatch(event);
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return true;
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}
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else if(key == m_setPMSysMsg.key)
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{
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#ifdef _DEBUG
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m_setPMSysMsg_st_debug = std::make_pair(key, strJson);
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#endif
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m_pm->m_msCmd.powerCMD = m_setPMSysMsg.getSetPMSys(key, strJson);
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MasterCommandEvent event;
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PowerManagerFsm::dispatch(event);
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return true;
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}
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else if(key == m_setDevSwitchMsg.key)
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{
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#ifdef _DEBUG
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m_setDevSwitchMsg_st_debug = std::make_pair(key, strJson);
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#endif
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DeviceSwitchCmd cmd;
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cmd = m_setDevSwitchMsg.getSetDevSwitch(key, strJson);
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if (cmd.id < 0) {
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LOG_F(WARNING, "parse device switch error:%s", strJson.c_str());
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}
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else
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{
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DevCmdExt devCmdExt;
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devCmdExt.id = cmd.id;
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devCmdExt.cmd = cmd.cmd;
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PowerManagerFsm::dispatch(devCmdExt);
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LOG_F(INFO, "set dev switch success");
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return true;
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}
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}
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else if(key == m_taskStopMsg.key)
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{
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#ifdef _DEBUG
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m_taskStopMsg_st_debug = std::make_pair(key, strJson);
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#endif
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bool stop = m_taskStopMsg.getTaskStop(key, strJson);
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if (stop) {
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LOG_F(INFO, "task stop success");
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return true;
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}
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else {
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LOG_F(WARNING, "task stop error:%s", strJson.c_str());
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return false;
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}
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}
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else if(key == uDetect_xcVoltage_cmd::key)
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{
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uDetect_xcVoltage_cmd xcCmd;
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xcCmd.xcHighVoltageAdd_int32 = 0;
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xcCmd.xcLowVoltageAdd_int32 = 0;
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xcCmd.fromJsonString(strJson);
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SideSonarCmd sideSonarCmd;
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sideSonarCmd.xcHighVoltageAdd = xcCmd.xcHighVoltageAdd_int32;
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sideSonarCmd.xcLowVoltageAdd = xcCmd.xcLowVoltageAdd_int32;
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PowerManagerFsm::dispatch(sideSonarCmd);
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return true;
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}
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else if(key == uDetect_zdpVoltage_cmd::key)
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{
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uDetect_zdpVoltage_cmd zdpCmd;
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zdpCmd.fromJsonString(strJson);
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DevCmdExt devCmdExt;
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devCmdExt.id = DeviceId::lowFreqSonar;
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devCmdExt.cmd = zdpCmd.zdpVoltageAdd_int32;
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PowerManagerFsm::dispatch(devCmdExt);
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LOG_F(INFO, "set dev switch success");
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return true;
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}
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else if(key == uDevice_thruster_st::key)
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{
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uDevice_thruster_st thrusterSt;
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thrusterSt.fromJsonString(strJson);
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m_pm->m_thrustRpm = thrusterSt.rpm_int16;
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if(thrusterSt.maxTorque_uint16 == 0)
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m_pm->m_thrustEnable = 0;
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else
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m_pm->m_thrustEnable = 1;
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return true;
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};
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LOG_F(WARNING, "Unknown key: %s", key.c_str());
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return false;
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}
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void UpperCommManager::processPeriodicTasks() {
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buildSystemReport();
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std::string strJson;
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//发送当前设备状态
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strJson = m_equStateMsg.buildMsg(m_pm->m_currentDriverState);
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m_pm->sendNotification(m_equStateMsg.key, strJson);
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//发送次级配电指令 修改后的代码
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strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd,m_pm->m_subDisSysState, m_pm->m_subDisSysFault);
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m_pm->sendNotification(m_secdistStateMsg.key_cmd, strJson);
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//发送仪表电状态
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m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
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#ifdef _DEBUG
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m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
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m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
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m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
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strJson = m_pm->m_driver.saveDriverTableToJson(&m_pm->m_subDisSysFault);
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m_pm->sendNotification("uPower_subDisFault_st",strJson);
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#endif
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}
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void UpperCommManager::buildSystemReport() {
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m_pmStateMsg.state.workCondition = m_pm->workCondition;
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m_pmStateMsg.state.currentMod = m_pm->currentMod;
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m_pmStateMsg.state.powerState = m_pm->powerState;
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m_pmStateMsg.state.faultLevel = m_pm->faultLevel;
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m_pmStateMsg.state.faultCode = m_pm->faultCode;
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// cout << "m_pmStateMsg.state.faultCode.size():" << m_pmStateMsg.state.faultCode.size() << endl;
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m_pmStateMsg.state.soc = m_pm->soc;
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m_pmStateMsg.state.sustainableTime = m_pm->sustainableTime;
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// m_pmStateMsg.state.m_leakage = m_pm->m_leakage;
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m_pmStateMsg.state.m_leakage = m_pm->m_systemData->generateLeakageCode();
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m_pmStateMsg.state.m_faultNum = m_pm->m_faultNum;
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m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
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m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
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#ifdef _DEBUG
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m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_fcsStateMsg_st_debug = std::make_pair(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_liBatStateMsg_st_debug = std::make_pair(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
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m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
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m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
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#endif
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}
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