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重构了与DB的交互逻辑,以及与任务\上位机指令的消息,使用新的loguru库进行日志管理

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This commit is contained in:
zjk
2025-04-20 22:42:28 +08:00
parent c5e28cee54
commit 06226b6704
35 changed files with 5430 additions and 175 deletions
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data/testmsg/uDevice_depth_st.json
+3
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{
"value_array_uint16" :[2,1,3]
}
data/testmsg/uDevice_secdistState_st.json
+64
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{
"DVL" : 0,
"USBL" : 0,
"bowCover1" : 0,
"bowCover2" : 0,
"bowCover3" : 0,
"bowCover4" : 0,
"bowCover5" : 0,
"bowCover6" : 0,
"bowRudderDeploy" : 0,
"bowRudderServo1" : 0,
"bowRudderServo2" : 0,
"bowThrow" : 0,
"bowWaterlnet1" : 0,
"bowWaterlnet2" : 0,
"bowWaterlnet3" : 0,
"bowWaterlnet4" : 0,
"bowWaterlnet5" : 0,
"bowWaterlnet6" : 0,
"bowWaterlnet7" : 0,
"bowWaterlnet8" : 0,
"buoyage" : 0,
"buoyancyAdjust1" : 0,
"buoyancyAdjust2" : 0,
"buoyancyAdjust3" : 0,
"buoyancyAdjust4" : 0,
"buoyancyAdjust5" : 0,
"commMast" : 0,
"ctd1" : 0,
"ctd2" : 0,
"depth1" : 0,
"depth2" : 0,
"depth3" : 0,
"electSensor" : 0,
"forwardSonar" : 0,
"inputWaterSensor1" : 0,
"inputWaterSensor2" : 0,
"inputWaterSensor3" : 0,
"ins" : 0,
"launchControler" : 0,
"lowFreqSonar" : 0,
"mastLiftingServo" : 0,
"ntp" : 0,
"overDeep1" : 0,
"overDeep2" : 0,
"photoSensor" : 0,
"sideSonar" : 0,
"singleBeamSonar1" : 0,
"singleBeamSonar2" : 0,
"singleBeamSonar3" : 0,
"singleBeamSonar4" : 0,
"singleBeamSonar5" : 0,
"singleBeamSonar6" : 0,
"singleBeamSonar7" : 0,
"singleBeamSonar8" : 0,
"soundVeloc" : 0,
"sternRudderServo1" : 0,
"sternRudderServo2" : 0,
"sternRudderServo3" : 0,
"sternRudderServo4" : 0,
"sternThrow" : 0,
"thruster" : 0,
"waterInject" : 0
}
data/testmsg/uPlan_taskStart_cmd.json
+38
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{
"balanceEnabled_bool" : false,
"bowRudderUnfold_bool" : false,
"depthPoints_array_fp32" :
[
0.0
],
"desiredDepth_fp32" : 0,
"desiredHeight_fp32" : 0,
"desiredSpeed_fp32" : 2,
"destination_array_fp64" :
[
20.650305473106499,
111.4256434229589
],
"estimatedConsume_fp32" : 0,
"estimatedTime_fp32" : 0,
"fixedType_int32" : 1,
"latPoints_array_fp64" :
[
20.650305473106499
],
"lonPoints_array_fp64" :
[
111.4256434229589
],
"pastPointIndex_int32" : -1,
"pathLength_fp32" : 0,
"pointID_array_str" :
[
"68991759_0"
],
"source_int32" : 1,
"speedType_int32" : 2,
"taskID_int32" : 68991759,
"taskName_str" : "Goto2",
"taskType_str" : "sail"
}
data/testmsg/uPower_equState_cmd.json
+64
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{
"DVL" : 0,
"USBL" : 0,
"bowCover1" : 0,
"bowCover2" : 0,
"bowCover3" : 0,
"bowCover4" : 0,
"bowCover5" : 0,
"bowCover6" : 0,
"bowRudderDeploy" : 0,
"bowRudderServo1" : 0,
"bowRudderServo2" : 0,
"bowThrow" : 0,
"bowWaterlnet1" : 0,
"bowWaterlnet2" : 0,
"bowWaterlnet3" : 0,
"bowWaterlnet4" : 0,
"bowWaterlnet5" : 0,
"bowWaterlnet6" : 0,
"bowWaterlnet7" : 0,
"bowWaterlnet8" : 0,
"buoyage" : 0,
"buoyancyAdjust1" : 0,
"buoyancyAdjust2" : 0,
"buoyancyAdjust3" : 0,
"buoyancyAdjust4" : 0,
"buoyancyAdjust5" : 0,
"commMast" : 0,
"ctd1" : 0,
"ctd2" : 0,
"depth1" : 0,
"depth2" : 0,
"depth3" : 0,
"electSensor" : 0,
"forwardSonar" : 0,
"inputWaterSensor1" : 0,
"inputWaterSensor2" : 0,
"inputWaterSensor3" : 0,
"ins" : 0,
"launchControler" : 0,
"lowFreqSonar" : 0,
"mastLiftingServo" : 0,
"ntp" : 0,
"overDeep1" : 0,
"overDeep2" : 0,
"photoSensor" : 0,
"sideSonar" : 0,
"singleBeamSonar1" : 0,
"singleBeamSonar2" : 0,
"singleBeamSonar3" : 0,
"singleBeamSonar4" : 0,
"singleBeamSonar5" : 0,
"singleBeamSonar6" : 0,
"singleBeamSonar7" : 0,
"singleBeamSonar8" : 0,
"soundVeloc" : 0,
"sternRudderServo1" : 0,
"sternRudderServo2" : 0,
"sternRudderServo3" : 0,
"sternRudderServo4" : 0,
"sternThrow" : 0,
"thruster" : 0,
"waterInject" : 0
}
data/testmsg/uPower_sysState_cmd.json
+5
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{
"powerCMD":4,
"modCMD":1,
"workCMD":12
}