125 lines
4.4 KiB
C++
125 lines
4.4 KiB
C++
/*
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{
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"rpm int16": "xxx", // 实际转速，类型：int16_t
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"voltage_uint16": "xxx", // 电压，类型：uint16_t，单位 V
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"current_uint16": "xxx", // 电流，类型：uint16_t，单位 A
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"ctrlTemp_uint16": "xxx", // 控制器温度，类型：uint16_t，单位 °C
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"motorTemp_uint16": "xxx", // 电机温度，类型：uint16_t，单位 °C
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"motorTorque_uint16": "xxx", // 电机扭矩，类型：uint16_t，单位 N・m
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"maxTorque_uint16": "xxx", // 电机最大扭矩，类型：uint16_t，单位 N・m，电机使能时该字段非零，无使能地址报警，含使能整标标识字，00 无故障，按位常量零
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"error_int64": "xxx" // 见表 [1]，类型：int64_t
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}
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*/
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#ifndef UDEVICE_THRUSTER_ST_H
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#define UDEVICE_THRUSTER_ST_H
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#include "../logc/loguru.hpp"
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#include "json/json.h"
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#include <string>
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#include <memory>
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#include <sstream>
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class uDevice_thruster_st
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{
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private:
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/* data */
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public:
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uDevice_thruster_st(){};
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~uDevice_thruster_st(){};
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int16_t rpm_int16;
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uint16_t voltage_uint16;
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uint16_t current_uint16;
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uint16_t ctrlTemp_uint16;
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uint16_t motorTemp_uint16;
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uint16_t motorTorque_uint16;
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uint16_t maxTorque_uint16;
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int64_t error_int64;
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static std::string key;
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std::string toJsonString()
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{
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Json::Value j;
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j["rpm_int16"] = rpm_int16;
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j["voltage_uint16"] = voltage_uint16;
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j["current_uint16"] = current_uint16;
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j["ctrlTemp_uint16"] = ctrlTemp_uint16;
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j["motorTemp_uint16"] = motorTemp_uint16;
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j["motorTorque_uint16"] = motorTorque_uint16;
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j["maxTorque_uint16"] = maxTorque_uint16;
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j["error_int64"] = static_cast<Json::Int64>(error_int64);
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Json::StreamWriterBuilder builder;
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builder.settings_["indentation"] = "";
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return Json::writeString(builder, j);
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}
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bool fromJsonString(std::string jsonString)
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{
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Json::Value root;
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Json::CharReaderBuilder builder;
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JSONCPP_STRING errs;
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// 解析JSON字符串
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std::istringstream stream(jsonString);
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if (!Json::parseFromStream(builder, stream, &root, &errs)) {
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LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
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return false;
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}
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// 提取rpm_int16
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if (root.isMember("rpm_int16") && root["rpm_int16"].isInt()) {
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rpm_int16 = root["rpm_int16"].asInt();
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// LOG_F(INFO, "rpm_int16: %d", rpm_int16);
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}
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// 提取voltage_uint16
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if (root.isMember("voltage_uint16") && root["voltage_uint16"].isUInt()) {
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voltage_uint16 = root["voltage_uint16"].asUInt();
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// LOG_F(INFO, "voltage_uint16: %u", voltage_uint16);
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}
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// 提取current_uint16
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if (root.isMember("current_uint16") && root["current_uint16"].isUInt()) {
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current_uint16 = root["current_uint16"].asUInt();
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// LOG_F(INFO, "current_uint16: %u", current_uint16);
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}
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// 提取ctrlTemp_uint16
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if (root.isMember("ctrlTemp_uint16") && root["ctrlTemp_uint16"].isUInt()) {
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ctrlTemp_uint16 = root["ctrlTemp_uint16"].asUInt();
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// LOG_F(INFO, "ctrlTemp_uint16: %u", ctrlTemp_uint16);
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}
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// 提取motorTemp_uint16
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if (root.isMember("motorTemp_uint16") && root["motorTemp_uint16"].isUInt()) {
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motorTemp_uint16 = root["motorTemp_uint16"].asUInt();
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// LOG_F(INFO, "motorTemp_uint16: %u", motorTemp_uint16);
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}
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// 提取motorTorque_uint16
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if (root.isMember("motorTorque_uint16") && root["motorTorque_uint16"].isUInt()) {
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motorTorque_uint16 = root["motorTorque_uint16"].asUInt();
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// LOG_F(INFO, "motorTorque_uint16: %u", motorTorque_uint16);
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}
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// 提取maxTorque_uint16
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if (root.isMember("maxTorque_uint16") && root["maxTorque_uint16"].isUInt()) {
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maxTorque_uint16 = root["maxTorque_uint16"].asUInt();
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// LOG_F(INFO, "maxTorque_uint16: %u", maxTorque_uint16);
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}
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// 提取error_int64
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if (root.isMember("error_int64") && root["error_int64"].isInt64()) {
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error_int64 = root["error_int64"].asInt64();
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// LOG_F(INFO, "error_int64: %lld", error_int64);
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}
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// LOG_F(INFO, "jsonString: %s", jsonString.c_str());
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return true;
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}
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};
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#endif
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