zjk/H100PowerManger
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修改了上电操作

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This commit is contained in:
zjk
2025-06-24 10:45:37 +08:00
parent 035205101b
commit 45fdc455e9
15 changed files with 3982 additions and 1888 deletions
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src/pPowerManger.zip
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src/pPowerManger/PowerManger.cpp
+23 -2
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@@ -341,11 +341,11 @@ void PowerManger::initControlCmd()
//================初始化复合管控=============================
m_CcuColCmd.fcmode = 0x00; //默认无效
m_CcuColCmd.fcuCmd = 0x00; //无效指令
m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
m_CcuColCmd.fcuPowerEfficiency = 8; //默认为8kw
m_CcuColCmd.insChargeEnable = 0x30; //不允许充电
m_CcuColCmd.insBatCmd = 0x00; //无效指令
m_CcuColCmd.powerBatCmd = 0x00; //无效指令
m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
m_CcuColCmd.powerBatEfficiency = 00; //默认为最大
m_CcuColCmd.heartbeat = 0;
m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
//================初始化上位机指令=========================
@@ -373,4 +373,25 @@ void PowerManger::injectFault(unsigned type,unsigned int faultCode){
LOG_F(INFO, "注入故障: %d %d", type, faultCode);
TestEvent testEvent("故障注入测试",type,faultCode);
PowerManagerFsm::dispatch(testEvent);
}
void PowerManger::pushDeviceCommand(DeviceSwitchCmd cmd) {
std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
m_deviceCmdQuenue.push(cmd);
}
bool PowerManger::popDeviceCommand(DeviceSwitchCmd &cmd) {
std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
if(m_deviceCmdQuenue.empty()) {
return false;
}
cmd = m_deviceCmdQuenue.front();
m_deviceCmdQuenue.pop();
return true;
}
bool PowerManger::isDeviceCmdEmpty() const {
std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
return m_deviceCmdQuenue.empty();
}
src/pPowerManger/PowerManger.h
+7 -2
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@@ -102,7 +102,12 @@ class PowerManger : public AppCastingMOOSApp
unsigned int m_faultNum;
Driver m_driver; //设备表处理
unsigned char m_leakage;
// std::string m_pmEvent; // 状态机事件描述
//============================Device Option================================
std::queue<DeviceSwitchCmd> m_deviceCmdQuenue;
mutable std::mutex m_deviceCmdMutex;
void pushDeviceCommand(DeviceSwitchCmd cmd);
bool popDeviceCommand(DeviceSwitchCmd &cmd);
bool isDeviceCmdEmpty() const;
//===========================CONFIG========================================
long m_lPort;
unsigned int m_nReceiveBufferSizeKB;
@@ -113,7 +118,7 @@ class PowerManger : public AppCastingMOOSApp
int connectState;
//=============================过程函数======================================
void initControlCmd();
public:
// CMOOSThread m_FsmThread;
LowerCommManager* m_lowerCommManager;
src/pPowerManger/UpperCommManager.cpp
+4 -4
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@@ -141,7 +141,7 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
else if(key == m_taskStopMsg.key)
{
#ifdef _DEBUG
m_taskStopMsg_st_debug = std::make_pair(key, strJson);
m_taskStopMsg_st_debug = std::make_pair(key, strJson);
#endif
bool stop = m_taskStopMsg.getTaskStop(key, strJson);
if (stop) {
@@ -170,9 +170,9 @@ void UpperCommManager::processPeriodicTasks() {
//发送仪表电状态
m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
#ifdef _DEBUG
m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
#endif
}
src/pPowerManger/driver.cpp
+134
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@@ -14,6 +14,140 @@ void Driver::setDebug(bool debug)
this->debug = debug;
}
void Driver::setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s) {
switch(deviceId) {
case DeviceId::depth1: driverTable.depth1 = s; break;
case DeviceId::depth2: driverTable.depth2 = s; break;
case DeviceId::depth3: driverTable.depth3 = s; break;
case DeviceId::overDeep1: driverTable.overDeep1 = s; break;
case DeviceId::overDeep2: driverTable.overDeep2 = s; break;
case DeviceId::ctd1: driverTable.ctd1 = s; break;
case DeviceId::ctd2: driverTable.ctd2 = s; break;
case DeviceId::soundVeloc: driverTable.soundVeloc = s; break;
case DeviceId::commMast: driverTable.commMast = s; break;
case DeviceId::ins: driverTable.ins = s; break;
case DeviceId::ntp: driverTable.ntp = s; break;
case DeviceId::inputWaterSensor1: driverTable.inputWaterSensor1 = s; break;
case DeviceId::inputWaterSensor2: driverTable.inputWaterSensor2 = s; break;
case DeviceId::inputWaterSensor3: driverTable.inputWaterSensor3 = s; break;
case DeviceId::singleBeamSonar1: driverTable.singleBeamSonar1 = s; break;
case DeviceId::singleBeamSonar2: driverTable.singleBeamSonar2 = s; break;
case DeviceId::singleBeamSonar3: driverTable.singleBeamSonar3 = s; break;
case DeviceId::singleBeamSonar4: driverTable.singleBeamSonar4 = s; break;
case DeviceId::singleBeamSonar5: driverTable.singleBeamSonar5 = s; break;
case DeviceId::singleBeamSonar6: driverTable.singleBeamSonar6 = s; break;
case DeviceId::singleBeamSonar7: driverTable.singleBeamSonar7 = s; break;
case DeviceId::singleBeamSonar8: driverTable.singleBeamSonar8 = s; break;
case DeviceId::forwardSonar: driverTable.forwardSonar = s; break;
case DeviceId::DVL: driverTable.DVL = s; break;
case DeviceId::lowFreqSonar: driverTable.lowFreqSonar = s; break;
case DeviceId::USBL: driverTable.USBL = s; break;
case DeviceId::bowWaterInet1: driverTable.bowWaterInet1 = s; break;
case DeviceId::bowWaterInet2: driverTable.bowWaterInet2 = s; break;
case DeviceId::bowWaterInet3: driverTable.bowWaterInet3 = s; break;
case DeviceId::bowWaterInet4: driverTable.bowWaterInet4 = s; break;
case DeviceId::bowWaterInet5: driverTable.bowWaterInet5 = s; break;
case DeviceId::bowWaterInet6: driverTable.bowWaterInet6 = s; break;
case DeviceId::bowWaterInet7: driverTable.bowWaterInet7 = s; break;
case DeviceId::bowWaterInet8: driverTable.bowWaterInet8 = s; break;
case DeviceId::bowRudderDeploy: driverTable.bowRudderDeploy = s; break;
case DeviceId::bowRudderServo1: driverTable.bowRudderServo1 = s; break;
case DeviceId::bowRudderServo2: driverTable.bowRudderServo2 = s; break;
case DeviceId::bowCover1: driverTable.bowCover1 = s; break;
case DeviceId::bowCover2: driverTable.bowCover2 = s; break;
case DeviceId::bowCover3: driverTable.bowCover3 = s; break;
case DeviceId::bowCover4: driverTable.bowCover4 = s; break;
case DeviceId::bowCover5: driverTable.bowCover5 = s; break;
case DeviceId::bowCover6: driverTable.bowCover6 = s; break;
case DeviceId::waterInject: driverTable.waterInject = s; break;
case DeviceId::mastLiftingServo: driverTable.mastLiftingServo = s; break;
case DeviceId::buoyancyAdjust1: driverTable.buoyancyAdjust1 = s; break;
case DeviceId::buoyancyAdjust2: driverTable.buoyancyAdjust2 = s; break;
case DeviceId::buoyancyAdjust3: driverTable.buoyancyAdjust3 = s; break;
case DeviceId::buoyancyAdjust4: driverTable.buoyancyAdjust4 = s; break;
case DeviceId::buoyancyAdjust5: driverTable.buoyancyAdjust5 = s; break;
case DeviceId::sternRudderServo1: driverTable.sternRudderServo1 = s; break;
case DeviceId::sternRudderServo2: driverTable.sternRudderServo2 = s; break;
case DeviceId::sternRudderServo3: driverTable.sternRudderServo3 = s; break;
case DeviceId::sternRudderServo4: driverTable.sternRudderServo4 = s; break;
case DeviceId::thruster: driverTable.thruster = s; break;
case DeviceId::bowThrow: driverTable.bowThrow = s; break;
case DeviceId::sternThrow: driverTable.sternThrow = s; break;
case DeviceId::photoSensor: driverTable.photoSensor = s; break;
case DeviceId::electSensor: driverTable.electSensor = s; break;
case DeviceId::launchControler: driverTable.launchControler = s; break;
case DeviceId::sideSonar: driverTable.sideSonar = s; break;
case DeviceId::buoyage: driverTable.buoyage = s; break;
default: break;
}
}
unsigned char Driver::getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId) {
switch(deviceId) {
case DeviceId::depth1: return driverTable.depth1;
case DeviceId::depth2: return driverTable.depth2;
case DeviceId::depth3: return driverTable.depth3;
case DeviceId::overDeep1: return driverTable.overDeep1;
case DeviceId::overDeep2: return driverTable.overDeep2;
case DeviceId::ctd1: return driverTable.ctd1;
case DeviceId::ctd2: return driverTable.ctd2;
case DeviceId::soundVeloc: return driverTable.soundVeloc;
case DeviceId::commMast: return driverTable.commMast;
case DeviceId::ins: return driverTable.ins;
case DeviceId::ntp: return driverTable.ntp;
case DeviceId::inputWaterSensor1: return driverTable.inputWaterSensor1;
case DeviceId::inputWaterSensor2: return driverTable.inputWaterSensor2;
case DeviceId::inputWaterSensor3: return driverTable.inputWaterSensor3;
case DeviceId::singleBeamSonar1: return driverTable.singleBeamSonar1;
case DeviceId::singleBeamSonar2: return driverTable.singleBeamSonar2;
case DeviceId::singleBeamSonar3: return driverTable.singleBeamSonar3;
case DeviceId::singleBeamSonar4: return driverTable.singleBeamSonar4;
case DeviceId::singleBeamSonar5: return driverTable.singleBeamSonar5;
case DeviceId::singleBeamSonar6: return driverTable.singleBeamSonar6;
case DeviceId::singleBeamSonar7: return driverTable.singleBeamSonar7;
case DeviceId::singleBeamSonar8: return driverTable.singleBeamSonar8;
case DeviceId::forwardSonar: return driverTable.forwardSonar;
case DeviceId::DVL: return driverTable.DVL;
case DeviceId::lowFreqSonar: return driverTable.lowFreqSonar;
case DeviceId::USBL: return driverTable.USBL;
case DeviceId::bowWaterInet1: return driverTable.bowWaterInet1;
case DeviceId::bowWaterInet2: return driverTable.bowWaterInet2;
case DeviceId::bowWaterInet3: return driverTable.bowWaterInet3;
case DeviceId::bowWaterInet4: return driverTable.bowWaterInet4;
case DeviceId::bowWaterInet5: return driverTable.bowWaterInet5;
case DeviceId::bowWaterInet6: return driverTable.bowWaterInet6;
case DeviceId::bowWaterInet7: return driverTable.bowWaterInet7;
case DeviceId::bowWaterInet8: return driverTable.bowWaterInet8;
case DeviceId::bowRudderDeploy: return driverTable.bowRudderDeploy;
case DeviceId::bowRudderServo1: return driverTable.bowRudderServo1;
case DeviceId::bowRudderServo2: return driverTable.bowRudderServo2;
case DeviceId::bowCover1: return driverTable.bowCover1;
case DeviceId::bowCover2: return driverTable.bowCover2;
case DeviceId::bowCover3: return driverTable.bowCover3;
case DeviceId::bowCover4: return driverTable.bowCover4;
case DeviceId::bowCover5: return driverTable.bowCover5;
case DeviceId::bowCover6: return driverTable.bowCover6;
case DeviceId::waterInject: return driverTable.waterInject;
case DeviceId::mastLiftingServo: return driverTable.mastLiftingServo;
case DeviceId::buoyancyAdjust1: return driverTable.buoyancyAdjust1;
case DeviceId::buoyancyAdjust2: return driverTable.buoyancyAdjust2;
case DeviceId::buoyancyAdjust3: return driverTable.buoyancyAdjust3;
case DeviceId::buoyancyAdjust4: return driverTable.buoyancyAdjust4;
case DeviceId::buoyancyAdjust5: return driverTable.buoyancyAdjust5;
case DeviceId::sternRudderServo1: return driverTable.sternRudderServo1;
case DeviceId::sternRudderServo2: return driverTable.sternRudderServo2;
case DeviceId::sternRudderServo3: return driverTable.sternRudderServo3;
case DeviceId::sternRudderServo4: return driverTable.sternRudderServo4;
case DeviceId::thruster: return driverTable.thruster;
case DeviceId::bowThrow: return driverTable.bowThrow;
case DeviceId::sternThrow: return driverTable.sternThrow;
case DeviceId::photoSensor: return driverTable.photoSensor;
case DeviceId::electSensor: return driverTable.electSensor;
case DeviceId::launchControler: return driverTable.launchControler;
case DeviceId::sideSonar: return driverTable.sideSonar;
case DeviceId::buoyage: return driverTable.buoyage;
default: return 0; // 默认返回0表示无效状态
}
}
void Driver::getSTANDBYTable(DriverTable* driverTable)
{
//打开所有传感器
src/pPowerManger/driver.h
+3 -4
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@@ -5,6 +5,7 @@
#include "iostream"
#include <sstream>
#include <vector>
#include "pmSysvariable.h"
#define DRIVER_POWER_OFF 0x00
#define DRIVER_FULL_POWER_ON 0x01
@@ -101,10 +102,8 @@ public:
std::unique_ptr<DriverTable> nextDriverTable;
//操作函数，操作指定设备
//TODO: 增加设备操作函数
void operateSubDriver(int id, int cmd, DriverTable* driverTable);
// void setDriverTable(DriverTable* driverTable, ,DriverCmd::Type cmd);
void setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s);
unsigned char getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId);
void getSTANDBYTable(DriverTable* driverTable);
void getSHORE_BASED_READYable(DriverTable* driverTable);
src/pPowerManger/fsm/PowerManagerFsm.cpp
+2094 -1742
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File diff suppressed because it is too large Load Diff
src/pPowerManger/fsm/PowerManagerFsm.hpp
+20 -4
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@@ -79,12 +79,12 @@ public:
static void init(PowerManger* powerManager) {
pm = powerManager;
}
virtual void react(tinyfsm::Event const &) { std::cout << "[ Reseve Envt ] " << "No Idear" << std::endl; }
virtual void react(InitEvent const &) {};
virtual void react(StandbyEvent const &) { };
virtual void react(StandbyEvent const &) {};
virtual void react(MasterCommandEvent const &) { LOG_F(INFO, "MasterCommandEvent");};
virtual void react(DeviceCmd const &);
// virtual void react(DeviceCmd const &);
virtual void react(DevCmdExt const &e);
virtual void react(TaskStartEvent const &e);
virtual void react(FaultEvent const &e);
@@ -94,22 +94,38 @@ public:
//测试事件
virtual void react(TestEvent const &);
//操作函数
//======================操作函数=============================
void handelPowerCmd();
void handleModCmd();
void handleWorkCmd();
void handleDeviceCmd();
// 非水声仪表设备
void handleNoPowerDeviceCmd(int id , int cmd);
// 水声设备处理
void handleHydroacousticDeviceCmd(int id , int cmd);
// 艏舵设备处理
void handleBowRudderSystemCmd(int id, int cmd);
// 启闭机构处理
void handleActuatorCmd(int id, int cmd);
// 艉舵设备处理
void handleSternRudderCmd(int id, int cmd);
// 推进电机处理
void handlePropulsionMotorCmd(int id, int cmd);
// 浮调设备处理
void handleBuoyancyAdjustmentCmd(int id, int cmd);
// FB设备处理
void handleFBSystemCmd(int id, int cmd);
// 舷侧设备处理
void handleSideSonarCmd(int id, int cmd);
// 桅杆设备处理
void handleMastFoldingSystemCmd(int id, int cmd);
//获取仅仪表设备状态
// void getNoPowerDeviceStatus()
bool handPowerProtection(DevCmdExt const &e);
//故障处理
void basicNavigationFault(FaultEvent const &e);
src/pPowerManger/httpserver/data.h
+4 -4
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@@ -1727,10 +1727,10 @@ function getDCDCStatusText(status) {
function getEmergencyStatusText(status) {
const statuses = {
0: '正常',
58: '一级紧急',
59: '二级紧急',
60: '三级紧急',
61: '四级紧急',
58: '四级紧急',
59: '三级紧急',
60: '二级紧急',
61: '一级紧急',
};
return statuses[status] || '未知状态';
}
src/pPowerManger/httpserver/httpserver.cpp
+12
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@@ -656,6 +656,7 @@ void HttpServer::pushSystemData() {
j["moosdb"]["serverHost"] = Json::Value(m_powerManger->GetServerHost());
j["moosdb"]["serverPort"] = Json::Value(m_powerManger->GetServerPort());
// degub
#ifdef _DEBUG
//订阅消息
@@ -714,6 +715,17 @@ void HttpServer::pushSystemData() {
j["debug"]["m_liBatStateMsg_st_debug"]["name"] = Json::Value(m_powerManger->m_upperCommManager->m_liBatStateMsg_st_debug.first);
j["debug"]["m_liBatStateMsg_st_debug"]["content"] = Json::Value(m_powerManger->m_upperCommManager->m_liBatStateMsg_st_debug.second);
#endif
j["ccuColCmd"]["fcmode"] = Json::Value(m_powerManger->m_CcuColCmd.fcmode);
j["ccuColCmd"]["fcuCmd"] = Json::Value(m_powerManger->m_CcuColCmd.fcuCmd);
j["ccuColCmd"]["fcuPowerEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.fcuPowerEfficiency);
j["ccuColCmd"]["insChargeEnable"] = Json::Value(m_powerManger->m_CcuColCmd.insChargeEnable);
j["ccuColCmd"]["insBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.insBatCmd);
j["ccuColCmd"]["powerBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatCmd);
j["ccuColCmd"]["powerBatEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatEfficiency);
j["ccuColCmd"]["heartbeat"] = Json::Value(m_powerManger->m_CcuColCmd.heartbeat);
j["ccuColCmd"]["masterState"] = Json::Value(m_powerManger->m_CcuColCmd.masterState);
// 时间戳
j["timestamp"] = Json::Value((Json::UInt64)(std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch()).count()));
src/pPowerManger/httpserver/index.h
+1551 -106
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File diff suppressed because it is too large Load Diff
src/pPowerManger/pmSysvariable.h
+69 -1
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@@ -679,7 +679,7 @@ namespace TaskType {
}
}
namespace DriverCmd {
namespace EquipmentCommand {
enum Type : unsigned char {
OFF = 0, //断电
ON = 1, //上电
@@ -773,6 +773,74 @@ namespace DeviceId {
inputWaterSensor2 = 60,
inputWaterSensor3 = 61,
};
inline const std::string toString(Type type) {
static const std::map<Type, std::string> names = {
{singleBeamSonar1, "singleBeamSonar1"},
{singleBeamSonar2, "singleBeamSonar2"},
{singleBeamSonar3, "singleBeamSonar3"},
{singleBeamSonar4, "singleBeamSonar4"},
{singleBeamSonar5, "singleBeamSonar5"},
{singleBeamSonar6, "singleBeamSonar6"},
{singleBeamSonar7, "singleBeamSonar7"},
{singleBeamSonar8, "singleBeamSonar8"},
{forwardSonar, "forwardSonar"},
{bowCover1, "bowCover1"},
{bowCover2, "bowCover2"},
{bowCover3, "bowCover3"},
{bowCover4, "bowCover4"},
{bowCover5, "bowCover5"},
{bowCover6, "bowCover6"},
{bowRudderDeploy, "bowRudderDeploy"},
{bowRudderServo1, "bowRudderServo1"},
{bowRudderServo2, "bowRudderServo2"},
{depth1, "depth1"},
{depth2, "depth2"},
{depth3, "depth3"},
{overDeep1, "overDeep1"},
{overDeep2, "overDeep2"},
{ctd1, "ctd1"},
{ctd2, "ctd2"},
{soundVeloc, "soundVeloc"},
{waterInject, "waterInject"},
{bowWaterInet1, "bowWaterInet1"},
{bowWaterInet2, "bowWaterInet2"},
{bowWaterInet3, "bowWaterInet3"},
{bowWaterInet4, "bowWaterInet4"},
{bowWaterInet5, "bowWaterInet5"},
{bowWaterInet6, "bowWaterInet6"},
{bowWaterInet7, "bowWaterInet7"},
{bowWaterInet8, "bowWaterInet8"},
{sideSonar, "sideSonar"},
{lowFreqSonar, "lowFreqSonar"},
{launchControler, "launchControler"},
{photoSensor, "photoSensor"},
{electSensor, "electSensor"},
{commMast, "commMast"},
{mastLiftingServo, "mastLiftingServo"},
{USBL, "USBL"},
{DVL, "DVL"},
{buoyancyAdjust1, "buoyancyAdjust1"},
{buoyancyAdjust2, "buoyancyAdjust2"},
{buoyancyAdjust3, "buoyancyAdjust3"},
{buoyancyAdjust4, "buoyancyAdjust4"},
{buoyancyAdjust5, "buoyancyAdjust5"},
{sternRudderServo1, "sternRudderServo1"},
{sternRudderServo2, "sternRudderServo2"},
{sternRudderServo3, "sternRudderServo3"},
{sternRudderServo4, "sternRudderServo4"},
{thruster, "thruster"},
{bowThrow, "bowThrow"},
{sternThrow, "sternThrow"},
{buoyage, "buoyage"},
{ins, "ins"},
{ntp, "ntp"},
{inputWaterSensor1, "inputWaterSensor1"},
{inputWaterSensor2, "inputWaterSensor2"},
{inputWaterSensor3, "inputWaterSensor3"}
};
auto it = names.find(type);
return it != names.end() ? it->second : "unknown";
}
}
namespace FaultEnable {