diff --git a/src/mqtt_report/include/mqtt_report/fault_codes.h b/src/mqtt_report/include/mqtt_report/fault_codes.h index 5536b8a..5a1f1df 100644 --- a/src/mqtt_report/include/mqtt_report/fault_codes.h +++ b/src/mqtt_report/include/mqtt_report/fault_codes.h @@ -20,29 +20,13 @@ public: // 添加错误码（自动去重） void addErrorCode(int code) { - auto result = errors.insert(code); - if (result.second) - { - std::cout << "Added error code: " << code << std::endl; - } - else - { - std::cout << "Error code " << code << " already exists.\n"; - } + errors.insert(code); } // 删除错误码 void removeErrorCode(int code) { - size_t erased = errors.erase(code); - if (erased > 0) - { - std::cout << "Removed error code: " << code << std::endl; - } - else - { - std::cout << "Error code " << code << " not found.\n"; - } + errors.erase(code); } // 打印所有当前错误码 @@ -75,6 +59,7 @@ private: // 故障字典声明（在 .cpp 实现里定义） extern std::unordered_map faultMap; extern const uint8_t mcuErrorCode[25]; +extern const uint8_t epsErrorCode[18]; extern ErrorCodeSet vehicle_error_code; std::string generateFaultJson(int code, const std::string &vin, int64_t timestamp); diff --git a/src/mqtt_report/src/fault_codes.cpp b/src/mqtt_report/src/fault_codes.cpp index 2133eb0..47f0730 100644 --- a/src/mqtt_report/src/fault_codes.cpp +++ b/src/mqtt_report/src/fault_codes.cpp @@ -39,6 +39,8 @@ bool updateFaultLevel(int code, int newLevel) const uint8_t mcuErrorCode[25] = {1, 2, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 30, 31, 32, 33, 34}; +const uint8_t epsErrorCode[18] = {0x10, 0x14, 0x12, 0x21, 0x22, 0x23, 0x24, 0x25, 0x32, 0x33, 0x35, 0x37, 0x43, 0x46, 0x51, 0x55, 0x61, 0x62}; + std::unordered_map faultMap = { {1001, {"BMS", "BMS_TEMP_HIGH_ERR", "温度过高", 0}}, {1002, {"BMS", "BMS_TEMP_LOW_ERR", "温度过低", 0}}, @@ -114,20 +116,36 @@ std::unordered_map faultMap = { {1217, {"EPS", "EPS_MIN_GEAR_BREAK_ERR", "小齿轮角度传感器断开", 0}}, {1218, {"EPS", "EPS_MED_GEAR_BREAK_ERR", "中齿轮角度传感器断开", 0}}, - {1301, {"MBC", "MBC_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, - {1302, {"MBC", "MBC_MS_COMM_ERR", "主从芯片通讯故障", 0}}, - {1303, {"MBC", "MBC_OVER_CURR_ERR", "过流", 0}}, - {1304, {"MBC", "MBC_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, - {1305, {"MBC", "MBC_MOS_ERR", "MOS故障", 0}}, - {1306, {"MBC", "MBC_LOCKED_ROTOR_ERR", "堵转", 0}}, - {1307, {"MBC", "MBC_OVER_VOL_ERR", "过压", 0}}, - {1308, {"MBC", "MBC_UNDER_VOL_ERR", "欠压", 0}}, + {1301, {"MBC", "MBCM_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, + {1302, {"MBC", "MBCM_MS_COMM_ERR", "主从芯片通讯故障", 0}}, + {1303, {"MBC", "MBCM_OVER_CURR_ERR", "过流", 0}}, + {1304, {"MBC", "MBCM_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, + {1305, {"MBC", "MBCM_MOS_ERR", "MOS故障", 0}}, + {1306, {"MBC", "MBCM_LOCKED_ROTOR_ERR", "堵转", 0}}, + {1307, {"MBC", "MBCM_OVER_VOL_ERR", "过压", 0}}, + {1308, {"MBC", "MBCM_UNDER_VOL_ERR", "欠压", 0}}, + {1309, {"MBC", "MBCS_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, + {1310, {"MBC", "MBCS_MS_COMM_ERR", "主从芯片通讯故障", 0}}, + {1311, {"MBC", "MBCS_OVER_CURR_ERR", "过流", 0}}, + {1312, {"MBC", "MBCS_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, + {1313, {"MBC", "MBCS_MOS_ERR", "MOS故障", 0}}, + {1314, {"MBC", "MBCS_LOCKED_ROTOR_ERR", "堵转", 0}}, + {1315, {"MBC", "MBCS_OVER_VOL_ERR", "过压", 0}}, + {1316, {"MBC", "MBCS_UNDER_VOL_ERR", "欠压", 0}}, - {1401, {"EBC", "EBC_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, - {1402, {"EBC", "EBC_MS_COMM_ERR", "主从芯片通讯故障", 0}}, - {1403, {"EBC", "EBC_OVER_CURR_ERR", "过流", 0}}, - {1404, {"EBC", "EBC_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, - {1405, {"EBC", "EBC_MOS_ERR", "MOS故障", 0}}, - {1406, {"EBC", "EBC_LOCKED_ROTOR_ERR", "堵转", 0}}, - {1407, {"EBC", "EBC_OVER_VOL_ERR", "过压", 0}}, - {1408, {"EBC", "EBC_UNDER_VOL_ERR", "欠压", 0}}}; \ No newline at end of file + {1401, {"EBC", "EBCM_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, + {1402, {"EBC", "EBCM_MS_COMM_ERR", "主从芯片通讯故障", 0}}, + {1403, {"EBC", "EBCM_OVER_CURR_ERR", "过流", 0}}, + {1404, {"EBC", "EBCM_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, + {1405, {"EBC", "EBCM_MOS_ERR", "MOS故障", 0}}, + {1406, {"EBC", "EBCM_LOCKED_ROTOR_ERR", "堵转", 0}}, + {1407, {"EBC", "EBCM_OVER_VOL_ERR", "过压", 0}}, + {1408, {"EBC", "EBCM_UNDER_VOL_ERR", "欠压", 0}}, + {1409, {"EBC", "EBCS_ZERO_CURR_DRIFT_ERR", "零点电流漂移", 0}}, + {1410, {"EBC", "EBCS_MS_COMM_ERR", "主从芯片通讯故障", 0}}, + {1411, {"EBC", "EBCS_OVER_CURR_ERR", "过流", 0}}, + {1412, {"EBC", "EBCS_PHASE_LOSS_ERR", "缺相（也有可能会由于大电流导致）", 0}}, + {1413, {"EBC", "EBCS_MOS_ERR", "MOS故障", 0}}, + {1414, {"EBC", "EBCS_LOCKED_ROTOR_ERR", "堵转", 0}}, + {1415, {"EBC", "EBCS_OVER_VOL_ERR", "过压", 0}}, + {1416, {"EBC", "EBCS_UNDER_VOL_ERR", "欠压", 0}}}; \ No newline at end of file diff --git a/src/mqtt_report/src/mqtt_report.cpp b/src/mqtt_report/src/mqtt_report.cpp index 5938892..9823aad 100644 --- a/src/mqtt_report/src/mqtt_report.cpp +++ b/src/mqtt_report/src/mqtt_report.cpp @@ -12,8 +12,6 @@ GeneralMsg info_report; // 常规消息上报 // 解析can报文，做消息上报 void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg) { - info_report.timestamp = getCurrentTimestampMs(); - switch (msg->id) { case 0x1821E5F1: @@ -98,6 +96,84 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg) } break; } + + case 0x401: + { + // 清空所有 EPS 错误码 + for (int code = 1201; code <= 1218; ++code) + { + vehicle_error_code.removeErrorCode(code); + } + + // 添加当前报文中的错误码（最多2个） + uint8_t data_bytes[2] = {msg->data[3], msg->data[7]}; + for (uint8_t byte : data_bytes) + { + for (int i = 0; i < 18; ++i) + { + if (byte == epsErrorCode[i]) + { + vehicle_error_code.addErrorCode(1201 + i); + break; // 每个 byte 最多匹配一个错误码 + } + } + } + break; + } + + case 0x0CFF26EF: + { + uint8_t byte = msg->data[7]; // 主芯片 + + for (int i = 0; i < 8; ++i) + { + uint8_t bit_flag = (byte >> (7 - i)) & 0x01; + if (bit_flag) + { + vehicle_error_code.addErrorCode(1401 + i); + break; // 每个 byte 最多匹配一个错误码 + } + } + + byte = msg->data[5]; + for (int i = 0; i < 8; ++i) + { + uint8_t bit_flag = (byte >> (7 - i)) & 0x01; + if (bit_flag) + { + vehicle_error_code.addErrorCode(1409 + i); + break; // 每个 byte 最多匹配一个错误码 + } + } + break; + } + + case 0x0CFF36EF: + { + uint8_t byte = msg->data[7]; // 主芯片 + + for (int i = 0; i < 8; ++i) + { + uint8_t bit_flag = (byte >> (7 - i)) & 0x01; + if (bit_flag) + { + vehicle_error_code.addErrorCode(1301 + i); + break; // 每个 byte 最多匹配一个错误码 + } + } + + byte = msg->data[5]; + for (int i = 0; i < 8; ++i) + { + uint8_t bit_flag = (byte >> (7 - i)) & 0x01; + if (bit_flag) + { + vehicle_error_code.addErrorCode(1309 + i); + break; // 每个 byte 最多匹配一个错误码 + } + } + break; + } } } @@ -151,6 +227,7 @@ private: void info_timer_callback() { + info_report.timestamp = getCurrentTimestampMs(); std::string json_msg = pack_general_info_to_json(info_report); mqtt_client_.publish(info_topic_, json_msg); }