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故障来源上报正常信号后,故障自动清除

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wade
2023-11-30 09:39:13 +08:00
parent 1e9b71b673
commit 1a10bbedaa
1 changed files with 74 additions and 25 deletions
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99
src/pFaultHandle/FaultHandle.cpp
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@@ -1,8 +1,8 @@
/************************************************************/ /************************************************************/
/* NAME: wade */ /* NAME: wade */
/* ORGN: MIT */ /* ORGN: JHL */
/* FILE: FaultHandle.cpp */ /* FILE: FaultHandle.cpp */
/* DATE: */ /* LAST MODIFY DATE: 20231127 */
/************************************************************/ /************************************************************/
#include <iterator> #include <iterator>
@@ -169,6 +169,7 @@ bool FaultHandle::Iterate()
m_proc_watch_summary_changed = false; m_proc_watch_summary_changed = false;
CPUTempMonitor();//监控CPU温度并实时反馈 CPUTempMonitor();//监控CPU温度并实时反馈
//---------------------------------------- //----------------------------------------
AppCastingMOOSApp::PostReport(); AppCastingMOOSApp::PostReport();
@@ -890,7 +891,7 @@ void FaultHandle::MoosAppStatusMonitor()
if(MoosAppMissing()) if(MoosAppMissing())
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uSoftWare_appMiss_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uSoftWare_appMiss_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uSoftWare_appMiss_fault"]["Source"] = "MOOSDB"; uFH_errorMsg2_fb["FaultMsgs"]["uSoftWare_appMiss_fault"]["Source"] = "MOOSDB";
@@ -936,6 +937,10 @@ void FaultHandle::MoosAppStatusMonitor()
} }
//APP故障预留ID：906-1000 //APP故障预留ID：906-1000
}
else if(!MoosAppMissing())
{
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uSoftWare_appMiss_fault");
} }
//发布当前时间 //发布当前时间
string str_time = convertSecondsToString(m_curr_time); string str_time = convertSecondsToString(m_curr_time);
@@ -1007,7 +1012,7 @@ void FaultHandle::MoosAppOverloadMonitor()
if(MoosAppOverload()) if(MoosAppOverload())
{ {
uFH_errorMsg1_fb["FaultLevel"] = 1; //uFH_errorMsg1_fb["FaultLevel"] = 1;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["Source"] = "MOOSDB"; uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["Source"] = "MOOSDB";
@@ -1056,6 +1061,11 @@ void FaultHandle::MoosAppOverloadMonitor()
// } // }
} }
else if(!MoosAppOverload())
{
uFH_errorMsg1_fb["FaultMsgs"].removeMember("uSoftWare_appOverload_fault");
}
} }
//--------------------------------------------------------------------------- //---------------------------------------------------------------------------
@@ -1072,7 +1082,13 @@ void FaultHandle::MissionFaultMonitor()
static int misson_fault_lastTime = 0; static int misson_fault_lastTime = 0;
if(m_Mission_fault_fb != 0 & misson_fault_lastTime != m_Mission_fault_fb) //
if(m_Mission_fault_fb == 0)
{
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uMission_status_fault");
}
else if(m_Mission_fault_fb != 0 & misson_fault_lastTime != m_Mission_fault_fb)
{ {
//--------------------------------------------------------------- //---------------------------------------------------------------
//test //test
@@ -1080,7 +1096,7 @@ void FaultHandle::MissionFaultMonitor()
// m_msgs << "FirstRecvTime:" << FirstRecvTime << endl; // m_msgs << "FirstRecvTime:" << FirstRecvTime << endl;
//---------------------------------------------------------------- //----------------------------------------------------------------
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["Source"] = "TaskManagement"; uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["Source"] = "TaskManagement";
@@ -1134,7 +1150,7 @@ void FaultHandle::MotionControlMonitor()//20231109未完成
static bool motionFaultFlag1 = false; static bool motionFaultFlag1 = false;
if((m_Motion_fault_fb == 1) && (motionFaultFlag1 == false)) if((m_Motion_fault_fb == 1) && (motionFaultFlag1 == false))
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl";
@@ -1146,7 +1162,7 @@ void FaultHandle::MotionControlMonitor()//20231109未完成
static bool motionFaultFlag2 = false; static bool motionFaultFlag2 = false;
if((m_Motion_fault_fb > 2) && (motionFaultFlag2 == false)) if((m_Motion_fault_fb > 2) && (motionFaultFlag2 == false))
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl";
@@ -1158,7 +1174,7 @@ void FaultHandle::MotionControlMonitor()//20231109未完成
if((m_Motion_fault_fb == 2) && (motionFaultFlag3 == false)) if((m_Motion_fault_fb == 2) && (motionFaultFlag3 == false))
{ {
uFH_errorMsg1_fb["FaultLevel"] = 1; //uFH_errorMsg1_fb["FaultLevel"] = 1;
//uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl";
@@ -1167,6 +1183,11 @@ void FaultHandle::MotionControlMonitor()//20231109未完成
} }
//此处，关于uMotion_control_fault的FaultID预留了1104-1200，后续有需要可添加。 //此处，关于uMotion_control_fault的FaultID预留了1104-1200，后续有需要可添加。
} }
else if(m_Motion_fault_fb == 0)
{
uFH_errorMsg1_fb["FaultMsgs"].removeMember("uMotion_control_fault");
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uMotion_control_fault");
}
} }
//------------------------------------------------------------------------- //-------------------------------------------------------------------------
@@ -1186,7 +1207,7 @@ void FaultHandle::DeviceLeakageMonitor()
if((m_faultLeakSensor != 0) & (m_faultLeakSensorLastTime != m_faultLeakSensor)) if((m_faultLeakSensor != 0) & (m_faultLeakSensorLastTime != m_faultLeakSensor))
{ {
uFH_errorMsg3_fb["FaultLevel"] = 3; //uFH_errorMsg3_fb["FaultLevel"] = 3;
//uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["Source"] = "AUV"; uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["Source"] = "AUV";
@@ -1202,6 +1223,10 @@ void FaultHandle::DeviceLeakageMonitor()
uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FaultID"] = msg3_faultID_array; uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FaultID"] = msg3_faultID_array;
m_faultLeakSensorLastTime = m_faultLeakSensor; m_faultLeakSensorLastTime = m_faultLeakSensor;
} }
else if(m_faultLeakSensor == 0)
{
uFH_errorMsg3_fb["FaultMsgs"].removeMember("uSensor_leakage_fault");
}
//----------------------changed by zhangwei 20231115--------------------------------------- //----------------------changed by zhangwei 20231115---------------------------------------
@@ -1216,13 +1241,17 @@ void FaultHandle::BatteryStatusMonitor()
static bool FirstLowPower_flag = false; static bool FirstLowPower_flag = false;
if((m_batteryLevel < 20) && (FirstLowPower_flag == false)) if((m_batteryLevel < 20) && (FirstLowPower_flag == false))
{ {
uFH_errorMsg1_fb["FaultLevel"] = 1; //uFH_errorMsg1_fb["FaultLevel"] = 1;
//uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FirstRecvTime"] = MOOSTime(); uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FirstRecvTime"] = MOOSTime();
uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["Source"] = "AUV"; uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["Source"] = "AUV";
uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FaultID"].append(700); uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FaultID"].append(700);
FirstLowPower_flag = true; FirstLowPower_flag = true;
} }
else if(m_batteryLevel >= 20)
{
uFH_errorMsg1_fb["FaultMsgs"].removeMember("uBattery_level_warning");
}
//--------------------------------------------------------------------------------------- //---------------------------------------------------------------------------------------
//电池状态监控 //电池状态监控
@@ -1237,7 +1266,7 @@ void FaultHandle::BatteryStatusMonitor()
if((m_faultBattery != 0) && (m_faultBatteryLastTime != m_faultBattery)) if((m_faultBattery != 0) && (m_faultBatteryLastTime != m_faultBattery))
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["Source"] = "AUV"; uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["Source"] = "AUV";
@@ -1253,6 +1282,13 @@ void FaultHandle::BatteryStatusMonitor()
uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FaultID"] = msg2_PSfaultID_array; uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FaultID"] = msg2_PSfaultID_array;
m_faultBatteryLastTime = m_faultBattery; m_faultBatteryLastTime = m_faultBattery;
} }
else if(m_faultBattery == 0)
{
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uBattery_status_fault");
}
//----------------------changed by zhangwei 20231115---------------------------------------
} }
//------------------------------------------------------------------------- //-------------------------------------------------------------------------
//获取AUV设备信息，判断以及反馈应急电池状态//20231110修改 //获取AUV设备信息，判断以及反馈应急电池状态//20231110修改
@@ -1271,7 +1307,7 @@ void FaultHandle::EmergencyBatteryMonitor()
if((m_faultEmergencyBattery != 0) & (m_faultEmergencyBatteryLastTime != m_faultEmergencyBattery)) if((m_faultEmergencyBattery != 0) & (m_faultEmergencyBatteryLastTime != m_faultEmergencyBattery))
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["Source"] = "AUV"; uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["Source"] = "AUV";
@@ -1287,6 +1323,10 @@ void FaultHandle::EmergencyBatteryMonitor()
uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FaultID"] = msg2_emergencyPS_array; uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FaultID"] = msg2_emergencyPS_array;
m_faultEmergencyBatteryLastTime = m_faultEmergencyBattery; m_faultEmergencyBatteryLastTime = m_faultEmergencyBattery;
} }
else if(m_faultEmergencyBattery == 0)
{
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uEmergency_Battery_fault");
}
//----------------------changed by zhangwei 20231115--------------------------------------- //----------------------changed by zhangwei 20231115---------------------------------------
} }
@@ -1304,11 +1344,13 @@ void FaultHandle::ThrustStatusMonitor()
firstRecvFlag = true; firstRecvFlag = true;
} }
//----------------------changed by zhangwei 20231115---------------------------------------
static uint32_t m_faultThrustLastTime = m_faultThrust; static uint32_t m_faultThrustLastTime = m_faultThrust;
if((m_faultThrust != 0) & (m_faultThrustLastTime != m_faultThrust)) if((m_faultThrust != 0) & (m_faultThrustLastTime != m_faultThrust))
{ {
uFH_errorMsg2_fb["FaultLevel"] = 2; //uFH_errorMsg2_fb["FaultLevel"] = 2;
//uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FirstRecvTime"] = FirstRecvTime; uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FirstRecvTime"] = FirstRecvTime;
uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["Source"] = "AUV"; uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["Source"] = "AUV";
@@ -1326,9 +1368,15 @@ void FaultHandle::ThrustStatusMonitor()
uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FaultID"] = msg2_thrust_Status_array; uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FaultID"] = msg2_thrust_Status_array;
m_faultThrustLastTime = m_faultThrust; m_faultThrustLastTime = m_faultThrust;
} }
else if(m_faultThrust == 0)
{
uFH_errorMsg2_fb["FaultMsgs"].removeMember("uPropeller_status_fault");
}
} }
//----------------------changed by zhangwei 20231115---------------------------------------
//------------------------------------------------------------------------- //-------------------------------------------------------------------------
@@ -1390,22 +1438,23 @@ void FaultHandle::CPUTempMonitor()
{ {
Notify("CPUTemperature", "Failed"); Notify("CPUTemperature", "Failed");
} }
} }
void FaultHandle::errorMsgInit() void FaultHandle::errorMsgInit()
{ {
uFH_errorMsg1_fb["FaultLevel"] = 0; //uFH_errorMsg1_fb["FaultLevel"] = 0;
uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg1_fb["FaultMsgs"]; uFH_errorMsg1_fb["FaultMsgs"] = Json::objectValue;
uFH_errorMsg2_fb["FaultLevel"] = 0; //uFH_errorMsg2_fb["FaultLevel"] = 0;
uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"]; uFH_errorMsg2_fb["FaultMsgs"] = Json::objectValue;
uFH_errorMsg3_fb["FaultLevel"] = 0;
//uFH_errorMsg3_fb["FaultLevel"] = 0;
uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg3_fb["FaultMsgs"]; uFH_errorMsg3_fb["FaultMsgs"] = Json::objectValue;
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
@@ -1436,21 +1485,21 @@ bool FaultHandle::MoosAppOverload()
return false; return false;
} }
//----------------------------------------------------------------------- //-----------------------------------------------------------------------
//接收外部故障复位命令，将故障上报信息重置,暂时未启用 20231121 //接收外部故障复位命令，将故障上报信息重置,暂时未启用 20231121，现已更改为自动恢复故障逻辑
void FaultHandle::FaultReset() void FaultHandle::FaultReset()
{ {
if(m_resetMsg_fb) if(m_resetMsg_fb)
{ {
Json::Value empty; Json::Value empty;
uFH_errorMsg1_fb["FaultLevel"] = 0; //uFH_errorMsg1_fb["FaultLevel"] = 0;
uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg1_fb["FaultMsgs"] = empty; uFH_errorMsg1_fb["FaultMsgs"] = empty;
uFH_errorMsg2_fb["FaultLevel"] = 0; //uFH_errorMsg2_fb["FaultLevel"] = 0;
uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg2_fb["FaultMsgs"] = empty; uFH_errorMsg2_fb["FaultMsgs"] = empty;
uFH_errorMsg3_fb["FaultLevel"] = 0; //uFH_errorMsg3_fb["FaultLevel"] = 0;
uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time);
uFH_errorMsg3_fb["FaultMsgs"] = empty; uFH_errorMsg3_fb["FaultMsgs"] = empty;
} }