迁移分支

src/pFaultHandle/FaultHandle.h

@@ -0,0 +1,211 @@
+/************************************************************/
+/*    NAME: wade                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: FaultHandle.h                                          */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef FaultHandle_HEADER
+#define FaultHandle_HEADER
+
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "MOOS/libMOOS/MOOSLib.h"
+//#include "moos.h"
+#include <json/json.h>
+#include <string>
+#include <vector>
+#include <map>
+#include <cstdlib>
+#include <iostream>  
+#include <fstream>  
+#include <sstream>  
+
+//class FaultHandle : public CMOOSApp
+class FaultHandle : public AppCastingMOOSApp
+{
+  public:
+    FaultHandle();
+    ~FaultHandle();
+   
+
+  protected: // Standard MOOSApp functions to overload  
+    bool OnNewMail(MOOSMSG_LIST &NewMail);
+    bool Iterate();
+    bool OnConnectToServer();
+    bool OnStartUp();
+    bool buildReport();
+
+    void RegisterVariables();
+   
+  protected: 
+    void handleMailNewDBClients();
+    void handleMailStatusUpdate(std::string);
+
+    bool handleConfigWatchList(std::string);
+    bool handleConfigWatchItem(std::string);
+
+    bool handleConfigExcludeList(std::string);
+    bool handleConfigExcludeItem(std::string);
+
+  protected:
+    bool addToWatchList(std::string);
+
+    void checkForIndividualUpdates();
+    void postFullSummary();
+
+    bool isAlive(std::string);
+    void procNotedHere(std::string);
+    void procNotedGone(std::string);
+    void procNotedExcused(std::string);
+
+    void handlePostMapping(std::string);
+    std::string postVar(std::string);
+
+    void populateAntlerList();
+
+    bool processIncluded(const std::string& procname);
+    bool processExcluded(const std::string& procname);
+
+  protected:
+    std::string convertSecondsToString(double);
+
+    void errorMsgInit();
+
+    void MoosAppStatusMonitor();
+    void MoosAppOverloadMonitor();
+    void MissionFaultMonitor();
+    void MotionControlMonitor();
+    void DeviceLeakageMonitor();
+    void BatteryStatusMonitor();
+    void EmergencyBatteryMonitor();
+    void ThrustStatusMonitor();
+    void CPUTempMonitor();
+    void FaultReset();
+
+
+    bool MoosAppMissing();
+    bool MoosAppOverload();
+
+
+  protected: // State Variables
+    bool         m_proc_watch_summary_changed;
+    double       m_last_posting_time;
+
+    // Clients and Summary stored across iterations
+    std::string  m_db_clients;
+    std::string  m_proc_watch_summary;
+
+    std::vector<std::string>  m_watch_list;
+    std::vector<std::string>  m_excused_list;
+
+    // Mapping from proc name to data
+    std::map<std::string, bool> m_map_alive;
+    std::map<std::string, bool> m_map_alive_prev;
+    std::map<std::string, unsigned int> m_map_noted_gone;
+    std::map<std::string, unsigned int> m_map_noted_here;
+    std::map<std::string, double>       m_map_now_cpuload;
+    std::map<std::string, double>       m_map_max_cpuload;
+
+    std::set<std::string> m_set_db_clients;
+    std::set<std::string> m_set_watch_clients;
+    std::set<std::string> m_set_antler_clients;
+
+  protected: // Configurations Variables
+    bool         m_watch_all_db;
+    bool         m_watch_all_antler;
+    double       m_allow_retractions;
+    double       m_min_wait;             
+    double       m_noted_gone_wait;
+
+    // Include List
+    std::vector<std::string>  m_include_list;
+    std::vector<bool>         m_include_list_prefix;
+
+    // Exclude List
+    std::vector<std::string>  m_exclude_list;
+    std::vector<bool>         m_exclude_list_prefix;
+
+    // A dedicated MOOS var for posting when a proc chgs status
+    std::map<std::string, std::string> m_map_proc_post;
+
+    // A map for changing the MOOS variable posted.
+    std::map<std::string, std::string> m_map_chgpost;
+
+  protected:
+    int             m_Mission_fault_fb;
+    int             m_Motion_fault_fb;
+    double          m_CPU_temperature;
+    bool            m_resetMsg_fb;
+
+    uint32_t        m_faultBattery;
+    uint32_t        m_faultEmergencyBattery;
+    uint32_t        m_faultLeakSensor;
+    uint32_t        m_faultThrust;
+    uint32_t        m_batteryLevel;
+
+    Json::Value     Device_monitor;
+    Json::Value     MoosApp_cpuLoad;
+    Json::Value     MoosAppStatus;
+    Json::Value     uFH_ErrorMsg_fb;
+
+    Json::Value     uFH_errorMsg1_fb;
+    Json::Value     uFH_errorMsg2_fb;
+    Json::Value     uFH_errorMsg3_fb;
+
+
+    Json::Value     msg3_faultID_array;
+    Json::Value     msg2_PSfaultID_array;
+    Json::Value     msg2_emergencyPS_array;
+    Json::Value     msg2_thrust_Status_array;
+
+    Json::Value     msg1_faultID_array;
+
+//--------------------------------------test------------------------------
+    //std::string     ODO_StatusStr;
+
+    std::string     BSC_StatusStr;
+    std::string     DM_StatusStr;
+    std::string     MC_StatusStr;
+    std::string     SSC_StatusStr;
+    std::string     TM_StatusStr;
+
+
+    std::string     pOdometryCPUload;
+    std::string     BSC_CPUloadStr;
+    std::string     DM_CPUloadStr;
+    std::string     MC_CPUloadStr;
+    std::string     SSC_CPUloadStr;
+    std::string     TM_CPUloadStr;
+
+
+    //double ABC;
+    double BSC_cpuload;
+    double DM_cpuload;
+    double MC_cpuload;
+    double SSC_cpuload;
+    double TM_cpuload;
+
+
+
+
+
+//--------------------------------------test------------------------------
+  protected:
+    //Contingency variable
+    
+    //  bool uSensor_leakage_fb;
+    //  bool uMission_deepOut_fb;
+    //  bool uMission_timeOut_fb;
+    //  bool uDrive_batteryLow_fb;
+    //  double uSoftWare_appMiss_fb;  //AppID
+
+    //------------------------------------------------
+    //subscribe variables
+
+  
+  private: // Configuration variables
+
+  private: // State variables
+};
+
+#endif