修改了上电操作
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@@ -14,6 +14,140 @@ void Driver::setDebug(bool debug)
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this->debug = debug;
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}
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void Driver::setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s) {
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switch(deviceId) {
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case DeviceId::depth1: driverTable.depth1 = s; break;
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case DeviceId::depth2: driverTable.depth2 = s; break;
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case DeviceId::depth3: driverTable.depth3 = s; break;
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case DeviceId::overDeep1: driverTable.overDeep1 = s; break;
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case DeviceId::overDeep2: driverTable.overDeep2 = s; break;
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case DeviceId::ctd1: driverTable.ctd1 = s; break;
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case DeviceId::ctd2: driverTable.ctd2 = s; break;
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case DeviceId::soundVeloc: driverTable.soundVeloc = s; break;
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case DeviceId::commMast: driverTable.commMast = s; break;
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case DeviceId::ins: driverTable.ins = s; break;
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case DeviceId::ntp: driverTable.ntp = s; break;
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case DeviceId::inputWaterSensor1: driverTable.inputWaterSensor1 = s; break;
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case DeviceId::inputWaterSensor2: driverTable.inputWaterSensor2 = s; break;
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case DeviceId::inputWaterSensor3: driverTable.inputWaterSensor3 = s; break;
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case DeviceId::singleBeamSonar1: driverTable.singleBeamSonar1 = s; break;
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case DeviceId::singleBeamSonar2: driverTable.singleBeamSonar2 = s; break;
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case DeviceId::singleBeamSonar3: driverTable.singleBeamSonar3 = s; break;
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case DeviceId::singleBeamSonar4: driverTable.singleBeamSonar4 = s; break;
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case DeviceId::singleBeamSonar5: driverTable.singleBeamSonar5 = s; break;
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case DeviceId::singleBeamSonar6: driverTable.singleBeamSonar6 = s; break;
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case DeviceId::singleBeamSonar7: driverTable.singleBeamSonar7 = s; break;
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case DeviceId::singleBeamSonar8: driverTable.singleBeamSonar8 = s; break;
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case DeviceId::forwardSonar: driverTable.forwardSonar = s; break;
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case DeviceId::DVL: driverTable.DVL = s; break;
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case DeviceId::lowFreqSonar: driverTable.lowFreqSonar = s; break;
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case DeviceId::USBL: driverTable.USBL = s; break;
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case DeviceId::bowWaterInet1: driverTable.bowWaterInet1 = s; break;
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case DeviceId::bowWaterInet2: driverTable.bowWaterInet2 = s; break;
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case DeviceId::bowWaterInet3: driverTable.bowWaterInet3 = s; break;
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case DeviceId::bowWaterInet4: driverTable.bowWaterInet4 = s; break;
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case DeviceId::bowWaterInet5: driverTable.bowWaterInet5 = s; break;
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case DeviceId::bowWaterInet6: driverTable.bowWaterInet6 = s; break;
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case DeviceId::bowWaterInet7: driverTable.bowWaterInet7 = s; break;
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case DeviceId::bowWaterInet8: driverTable.bowWaterInet8 = s; break;
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case DeviceId::bowRudderDeploy: driverTable.bowRudderDeploy = s; break;
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case DeviceId::bowRudderServo1: driverTable.bowRudderServo1 = s; break;
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case DeviceId::bowRudderServo2: driverTable.bowRudderServo2 = s; break;
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case DeviceId::bowCover1: driverTable.bowCover1 = s; break;
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case DeviceId::bowCover2: driverTable.bowCover2 = s; break;
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case DeviceId::bowCover3: driverTable.bowCover3 = s; break;
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case DeviceId::bowCover4: driverTable.bowCover4 = s; break;
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case DeviceId::bowCover5: driverTable.bowCover5 = s; break;
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case DeviceId::bowCover6: driverTable.bowCover6 = s; break;
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case DeviceId::waterInject: driverTable.waterInject = s; break;
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case DeviceId::mastLiftingServo: driverTable.mastLiftingServo = s; break;
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case DeviceId::buoyancyAdjust1: driverTable.buoyancyAdjust1 = s; break;
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case DeviceId::buoyancyAdjust2: driverTable.buoyancyAdjust2 = s; break;
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case DeviceId::buoyancyAdjust3: driverTable.buoyancyAdjust3 = s; break;
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case DeviceId::buoyancyAdjust4: driverTable.buoyancyAdjust4 = s; break;
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case DeviceId::buoyancyAdjust5: driverTable.buoyancyAdjust5 = s; break;
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case DeviceId::sternRudderServo1: driverTable.sternRudderServo1 = s; break;
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case DeviceId::sternRudderServo2: driverTable.sternRudderServo2 = s; break;
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case DeviceId::sternRudderServo3: driverTable.sternRudderServo3 = s; break;
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case DeviceId::sternRudderServo4: driverTable.sternRudderServo4 = s; break;
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case DeviceId::thruster: driverTable.thruster = s; break;
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case DeviceId::bowThrow: driverTable.bowThrow = s; break;
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case DeviceId::sternThrow: driverTable.sternThrow = s; break;
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case DeviceId::photoSensor: driverTable.photoSensor = s; break;
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case DeviceId::electSensor: driverTable.electSensor = s; break;
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case DeviceId::launchControler: driverTable.launchControler = s; break;
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case DeviceId::sideSonar: driverTable.sideSonar = s; break;
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case DeviceId::buoyage: driverTable.buoyage = s; break;
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default: break;
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}
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}
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unsigned char Driver::getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId) {
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switch(deviceId) {
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case DeviceId::depth1: return driverTable.depth1;
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case DeviceId::depth2: return driverTable.depth2;
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case DeviceId::depth3: return driverTable.depth3;
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case DeviceId::overDeep1: return driverTable.overDeep1;
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case DeviceId::overDeep2: return driverTable.overDeep2;
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case DeviceId::ctd1: return driverTable.ctd1;
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case DeviceId::ctd2: return driverTable.ctd2;
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case DeviceId::soundVeloc: return driverTable.soundVeloc;
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case DeviceId::commMast: return driverTable.commMast;
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case DeviceId::ins: return driverTable.ins;
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case DeviceId::ntp: return driverTable.ntp;
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case DeviceId::inputWaterSensor1: return driverTable.inputWaterSensor1;
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case DeviceId::inputWaterSensor2: return driverTable.inputWaterSensor2;
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case DeviceId::inputWaterSensor3: return driverTable.inputWaterSensor3;
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case DeviceId::singleBeamSonar1: return driverTable.singleBeamSonar1;
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case DeviceId::singleBeamSonar2: return driverTable.singleBeamSonar2;
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case DeviceId::singleBeamSonar3: return driverTable.singleBeamSonar3;
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case DeviceId::singleBeamSonar4: return driverTable.singleBeamSonar4;
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case DeviceId::singleBeamSonar5: return driverTable.singleBeamSonar5;
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case DeviceId::singleBeamSonar6: return driverTable.singleBeamSonar6;
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case DeviceId::singleBeamSonar7: return driverTable.singleBeamSonar7;
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case DeviceId::singleBeamSonar8: return driverTable.singleBeamSonar8;
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case DeviceId::forwardSonar: return driverTable.forwardSonar;
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case DeviceId::DVL: return driverTable.DVL;
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case DeviceId::lowFreqSonar: return driverTable.lowFreqSonar;
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case DeviceId::USBL: return driverTable.USBL;
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case DeviceId::bowWaterInet1: return driverTable.bowWaterInet1;
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case DeviceId::bowWaterInet2: return driverTable.bowWaterInet2;
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case DeviceId::bowWaterInet3: return driverTable.bowWaterInet3;
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case DeviceId::bowWaterInet4: return driverTable.bowWaterInet4;
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case DeviceId::bowWaterInet5: return driverTable.bowWaterInet5;
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case DeviceId::bowWaterInet6: return driverTable.bowWaterInet6;
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case DeviceId::bowWaterInet7: return driverTable.bowWaterInet7;
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case DeviceId::bowWaterInet8: return driverTable.bowWaterInet8;
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case DeviceId::bowRudderDeploy: return driverTable.bowRudderDeploy;
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case DeviceId::bowRudderServo1: return driverTable.bowRudderServo1;
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case DeviceId::bowRudderServo2: return driverTable.bowRudderServo2;
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case DeviceId::bowCover1: return driverTable.bowCover1;
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case DeviceId::bowCover2: return driverTable.bowCover2;
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case DeviceId::bowCover3: return driverTable.bowCover3;
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case DeviceId::bowCover4: return driverTable.bowCover4;
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case DeviceId::bowCover5: return driverTable.bowCover5;
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case DeviceId::bowCover6: return driverTable.bowCover6;
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case DeviceId::waterInject: return driverTable.waterInject;
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case DeviceId::mastLiftingServo: return driverTable.mastLiftingServo;
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case DeviceId::buoyancyAdjust1: return driverTable.buoyancyAdjust1;
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case DeviceId::buoyancyAdjust2: return driverTable.buoyancyAdjust2;
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case DeviceId::buoyancyAdjust3: return driverTable.buoyancyAdjust3;
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case DeviceId::buoyancyAdjust4: return driverTable.buoyancyAdjust4;
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case DeviceId::buoyancyAdjust5: return driverTable.buoyancyAdjust5;
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case DeviceId::sternRudderServo1: return driverTable.sternRudderServo1;
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case DeviceId::sternRudderServo2: return driverTable.sternRudderServo2;
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case DeviceId::sternRudderServo3: return driverTable.sternRudderServo3;
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case DeviceId::sternRudderServo4: return driverTable.sternRudderServo4;
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case DeviceId::thruster: return driverTable.thruster;
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case DeviceId::bowThrow: return driverTable.bowThrow;
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case DeviceId::sternThrow: return driverTable.sternThrow;
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case DeviceId::photoSensor: return driverTable.photoSensor;
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case DeviceId::electSensor: return driverTable.electSensor;
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case DeviceId::launchControler: return driverTable.launchControler;
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case DeviceId::sideSonar: return driverTable.sideSonar;
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case DeviceId::buoyage: return driverTable.buoyage;
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default: return 0; // 默认返回0表示无效状态
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}
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}
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void Driver::getSTANDBYTable(DriverTable* driverTable)
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{
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//打开所有传感器
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