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增加了xc声纳的上电

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This commit is contained in:
zjk
2025-09-12 11:35:17 +08:00
parent c2b9bccfc6
commit 481171d9ea
43 changed files with 1921 additions and 296 deletions
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data/msg/uPower_currentState_st.json
+1 -47
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@@ -1,47 +1 @@
{
"HVABFTDev123Cur_uint16": 0,
"HVABactCur_uint16": 0,
"HVABbowRudCur_uint16": 0,
"HVABbusBCur_uint16": 0,
"HVABbusBVol_uint16": 0,
"HVABmastSteGeaCur_uint16": 0,
"HVABopenWaterCur_uint16": 0,
"HVABxczCur_uint16": 0,
"HVBBCCUCur_uint16": 0,
"HVBBFCSSecurSysCur_uint16": 0,
"HVBBbatInsCur_uint16": 0,
"HVBBbowLowVolDisBoxCur_uint16": 0,
"HVBBdcC1InsCur_uint16": 0,
"HVBBemer2BusVol_uint16": 0,
"HVBBemerBatCur_uint16": 0,
"HVBBinsBusVol_uint16": 0,
"HVBBplcCur_uint16": 0,
"HVBBreservedCur1_uint16": 0,
"HVBBreservedCur2_uint16": 0,
"HVBBunit4Cur_uint16": 0,
"HVBFTDev45Cur_uint16": 0,
"HVBbatGroupCur_uint16": 0,
"HVBbowHVolDisBoxCur_uint16": 0,
"HVBbusACur_uint16": 0,
"HVBbusAVol_uint16": 0,
"HVBdcDc5Cur_uint16": 0,
"HVBfbCur_uint16": 0,
"HVBmotorCur_uint16": 0,
"HVBpowerBusCur_uint16": 0,
"HVBpowerBusVol_uint16": 0,
"HVBreservedCur1_uint16": 0,
"HVBreservedCur2_uint16": 0,
"HVBreservedCur3_uint16": 0,
"HVBsternRud1Cur_uint16": 0,
"HVBsternRud2Cur_uint16": 0,
"HVBtyzCur_uint16": 0,
"LVBBbowPZDevCur_uint16": 0,
"LVBBemerBatCur_uint16": 0,
"LVBBemerBusVol_uint16": 0,
"LVBBinsBusCur_uint16": 0,
"LVBBunit1Cur_uint16": 0,
"LVBBunit2Cur_uint16": 0,
"LVBBunit3Cur_uint16": 0,
"LVBBunit5Cur_uint16": 0,
"LVBinsBusVol_uint16": 0
}
{"uPower_currentState_st":{"HVABFTDev123Cur_uint16":0,"HVABactCur_uint16":0,"HVABbowRudCur_uint16":0,"HVABbusBCur_uint16":0,"HVABbusBVol_uint16":0,"HVABmastSteGeaCur_uint16":0,"HVABopenWaterCur_uint16":0,"HVABxczCur_uint16":0,"HVBBCCUCur_uint16":0,"HVBBFCSSecurSysCur_uint16":0,"HVBBbatInsCur_uint16":0,"HVBBbowLowVolDisBoxCur_uint16":0,"HVBBdcC1InsCur_uint16":0,"HVBBemer2BusVol_uint16":0,"HVBBemerBatCur_uint16":0,"HVBBinsBusVol_uint16":0,"HVBBplcCur_uint16":0,"HVBBreservedCur1_uint16":0,"HVBBreservedCur2_uint16":0,"HVBBunit4Cur_uint16":0,"HVBFTDev45Cur_uint16":0,"HVBbatGroupCur_uint16":0,"HVBbowHVolDisBoxCur_uint16":0,"HVBbusACur_uint16":0,"HVBbusAVol_uint16":0,"HVBdcDc5Cur_uint16":0,"HVBfbCur_uint16":0,"HVBmotorCur_uint16":0,"HVBpowerBusCur_uint16":0,"HVBpowerBusVol_uint16":0,"HVBreservedCur1_uint16":0,"HVBreservedCur2_uint16":0,"HVBreservedCur3_uint16":0,"HVBsternRud1Cur_uint16":0,"HVBsternRud2Cur_uint16":0,"HVBtyzCur_uint16":0,"LVBBbowPZDevCur_uint16":0,"LVBBemerBatCur_uint16":0,"LVBBemerBusVol_uint16":0,"LVBBinsBusCur_uint16":0,"LVBBunit1Cur_uint16":0,"LVBBunit2Cur_uint16":0,"LVBBunit3Cur_uint16":0,"LVBBunit5Cur_uint16":0,"LVBinsBusVol_uint16":0}}
data/msg/uPower_disSysState_st.json
+1 -10
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@@ -1,10 +1 @@
{
"HVolABusBreaker_unit16": 0,
"HVolBBusBreaker_unit16": 0,
"HVolBusBreaker_uint16": 0,
"LVolBusBreaker_uint16": 0,
"faultCode_array":
[
0
]
}
{"uPower_disSysState_st":{"HVolABusBreaker_uint16":0,"HVolBBusBreaker_uint16":0,"HVolBusBreaker_uint16":0,"LVolBusBreaker_uint16":0,"faultCode_array":[1,2,3,4,5,6,7,8,9,13,14,15,16,17,18,19,20,21,22,25,26,27,28,29,33,34,35,36,37,38,39,40,41,42,44,45]}}
data/msg/uPower_equState_fb.json
+62 -62
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@@ -1,65 +1,65 @@
{"uPower_equState_fb":{
"DVL_uni8" : 0,
"USBL_uni8" : 0,
"bowCover1_uni8" : 0,
"bowCover2_uni8" : 0,
"bowCover3_uni8" : 0,
"bowCover4_uni8" : 0,
"bowCover5_uni8" : 0,
"bowCover6_uni8" : 0,
"bowRudderDeploy_uni8" : 0,
"bowRudderServo1_uni8" : 0,
"bowRudderServo2_uni8" : 0,
"bowThrow_uni8" : 0,
"bowWaterInet1_uni8" : 0,
"bowWaterInet2_uni8" : 0,
"bowWaterInet3_uni8" : 0,
"bowWaterInet4_uni8" : 0,
"bowWaterInet5_uni8" : 0,
"bowWaterInet6_uni8" : 0,
"bowWaterInet7_uni8" : 0,
"bowWaterInet8_uni8" : 0,
"buoyage_uni8" : 0,
"buoyancyAdjust1_uni8" : 0,
"buoyancyAdjust2_uni8" : 0,
"buoyancyAdjust3_uni8" : 0,
"buoyancyAdjust4_uni8" : 0,
"buoyancyAdjust5_uni8" : 0,
"commMast_uni8" : 0,
"ctd1_uni8" : 0,
"ctd2_uni8" : 0,
"depth1_uni8" : 0,
"depth2_uni8" : 0,
"depth3_uni8" : 0,
"electSensor_uni8" : 0,
"forwardSonar_uni8" : 0,
"inputWaterSensor1_uni8" : 0,
"inputWaterSensor2_uni8" : 0,
"inputWaterSensor3_uni8" : 0,
"ins_uni8" : 0,
"launchControler_uni8" : 0,
"lowFreqSonar_uni8" : 0,
"mastLiftingServo_uni8" : 0,
"ntp_uni8" : 0,
"overDeep1_uni8" : 0,
"overDeep2_uni8" : 0,
"photoSensor_uni8" : 0,
"sideSonar_uni8" : 0,
"singleBeamSonar1_uni8" : 0,
"singleBeamSonar2_uni8" : 0,
"singleBeamSonar3_uni8" : 0,
"singleBeamSonar4_uni8" : 0,
"singleBeamSonar5_uni8" : 0,
"singleBeamSonar6_uni8" : 0,
"singleBeamSonar7_uni8" : 0,
"singleBeamSonar8_uni8" : 0,
"soundVeloc_uni8" : 0,
"sternRudderServo1_uni8" : 0,
"sternRudderServo2_uni8" : 0,
"sternRudderServo3_uni8" : 0,
"sternRudderServo4_uni8" : 0,
"sternThrow_uni8" : 0,
"thruster_uni8" : 0,
"waterInject_uni8" : 0
"DVL_uint8" : 0,
"USBL_uint8" : 0,
"bowCover1_uint8" : 0,
"bowCover2_uint8" : 0,
"bowCover3_uint8" : 0,
"bowCover4_uint8" : 0,
"bowCover5_uint8" : 0,
"bowCover6_uint8" : 0,
"bowRudderDeploy_uint8" : 0,
"bowRudderServo1_uint8" : 0,
"bowRudderServo2_uint8" : 0,
"bowThrow_uint8" : 0,
"bowWaterInet1_uint8" : 0,
"bowWaterInet2_uint8" : 0,
"bowWaterInet3_uint8" : 0,
"bowWaterInet4_uint8" : 0,
"bowWaterInet5_uint8" : 0,
"bowWaterInet6_uint8" : 0,
"bowWaterInet7_uint8" : 0,
"bowWaterInet8_uint8" : 0,
"buoyage_uint8" : 0,
"buoyancyAdjust1_uint8" : 0,
"buoyancyAdjust2_uint8" : 0,
"buoyancyAdjust3_uint8" : 0,
"buoyancyAdjust4_uint8" : 0,
"buoyancyAdjust5_uint8" : 0,
"commDev_uint8" : 0,
"ctd1_uint8" : 0,
"ctd2_uint8" : 0,
"depth1_uint8" : 0,
"depth2_uint8" : 0,
"depth3_uint8" : 0,
"electSensor_uint8" : 0,
"forwardSonar_uint8" : 0,
"inputWaterSensor1_uint8" : 0,
"inputWaterSensor2_uint8" : 0,
"inputWaterSensor3_uint8" : 0,
"ins_uint8" : 1,
"launchControler_uint8" : 0,
"lowFreqSonar_uint8" : 0,
"mastLiftingServo_uint8" : 0,
"ntp_uint8" : 1,
"overDeep1_uint8" : 0,
"overDeep2_uint8" : 0,
"photoSensor_uint8" : 0,
"sideSonar_uint8" : 0,
"singleBeamSonar1_uint8" : 0,
"singleBeamSonar2_uint8" : 0,
"singleBeamSonar3_uint8" : 0,
"singleBeamSonar4_uint8" : 0,
"singleBeamSonar5_uint8" : 0,
"singleBeamSonar6_uint8" : 0,
"singleBeamSonar7_uint8" : 0,
"singleBeamSonar8_uint8" : 0,
"soundVeloc_uint8" : 0,
"sternRudderServo1_uint8" : 0,
"sternRudderServo2_uint8" : 0,
"sternRudderServo3_uint8" : 0,
"sternRudderServo4_uint8" : 0,
"sternThrow_uint8" : 0,
"thruster_uint8" : 0,
"waterInject_uint8" : 0
}
}
data/msg/uPower_fcsState_st.json
+1 -1
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@@ -1 +1 @@
null
{"uPower_fcsState_st":{"backpressure1_fp32":0.0,"backpressure2_fp32":0.0,"ch4oConcent1_fp32":0.0,"ch4oConcent2_fp32":0.0,"ch4o_fp32":0.0,"excTemp_fp32":0.0,"faultCode1_uint16":0,"faultCode2_uint16":0,"faultCode3_uint16":0,"faultCode4_uint16":0,"fcCommState_uint8":0,"fcuCurIns_fp32":0.0,"fcuCurPower_fp32":0.0,"fcuCur_fp32":0.0,"fcuFaultLeve_uint8":0,"fcuOutIns_fp32":0.0,"fcuOutPower_fp32":0.0,"fcuState_uint8":0,"fcuVolIns_fp32":0.0,"fcuVolPower_fp32":0.0,"fcuVol_fp32":0.0,"flameDet_uint8":0,"h2Concent1_fp32":0.0,"h2Concent2_fp32":0.0,"o2Concent1_fp32":0.0,"o2Concent2_fp32":0.0,"o2Level_fp32":0.0,"o2_fp32":0.0,"powLimit_fp32":0.0,"powerGen_fp32":0.0}}
data/msg/uPower_liBatState_st.json
+1 -1
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@@ -1 +1 @@
null
{"uPower_liBatState_st":{"insBatCurElect_uint16":0.0,"insBatLimit_uint16":0.0,"insBatSoc_uint8":0,"insBatTotalElect_uint16":0.0,"insChargeState_uint8":0,"insCommState_uint8":0,"insCurSocHold1_uint8":0,"insCurSocHold2_uint8":0,"insCurSocHold3_uint8":0,"insCurrent_uint16":0.0,"insFaultCode_uint8":0,"insLinkVol_uint16":0.0,"insNegRelayState_uint8":0,"insNegRes_uint16":0.0,"insPackVol_uint16":0.0,"insPosRelayState_uint8":0,"insPosRes_uint16":0.0,"powBatCurElect_uint16":0,"powBatSoc_uint8":0,"powBatTotalElect_uint16":0.0,"powChargeState_uint8":0,"powCommState_uint8":0,"powCurSocHold1_uint8":0,"powCurSocHold2_uint8":0,"powCurSocHold3_uint8":0,"powCurToInsLimit1_uint8":0.0,"powCurToInsLimit2_uint8":0.0,"powCur_uint16":0.0,"powFaultCode_uint8":0,"powLinkVol_uint16":0.0,"powNegRelayState_uint8":0,"powNegRes_uint16":0.0,"powPosRelayState_uint8":0,"powPosRes_uint16":0.0,"powerBatLimit_uint16":0,"powerPackVol_uint16":0.0}}
data/msg/uPower_secdistState_cmd.json
+1 -65
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@@ -1,65 +1 @@
{"uPower_secdistState_cmd":{
"DVL_uni8" : 0,
"USBL_uni8" : 0,
"bowCover1_uni8" : 0,
"bowCover2_uni8" : 0,
"bowCover3_uni8" : 0,
"bowCover4_uni8" : 0,
"bowCover5_uni8" : 0,
"bowCover6_uni8" : 0,
"bowRudderDeploy_uni8" : 0,
"bowRudderServo1_uni8" : 0,
"bowRudderServo2_uni8" : 0,
"bowThrow_uni8" : 0,
"bowWaterInet1_uni8" : 0,
"bowWaterInet2_uni8" : 0,
"bowWaterInet3_uni8" : 0,
"bowWaterInet4_uni8" : 0,
"bowWaterInet5_uni8" : 0,
"bowWaterInet6_uni8" : 0,
"bowWaterInet7_uni8" : 0,
"bowWaterInet8_uni8" : 0,
"buoyage_uni8" : 0,
"buoyancyAdjust1_uni8" : 0,
"buoyancyAdjust2_uni8" : 0,
"buoyancyAdjust3_uni8" : 0,
"buoyancyAdjust4_uni8" : 0,
"buoyancyAdjust5_uni8" : 0,
"commMast_uni8" : 1,
"ctd1_uni8" : 1,
"ctd2_uni8" : 1,
"depth1_uni8" : 1,
"depth2_uni8" : 1,
"depth3_uni8" : 1,
"electSensor_uni8" : 0,
"forwardSonar_uni8" : 0,
"inputWaterSensor1_uni8" : 1,
"inputWaterSensor2_uni8" : 1,
"inputWaterSensor3_uni8" : 1,
"ins_uni8" : 1,
"launchControler_uni8" : 0,
"lowFreqSonar_uni8" : 0,
"mastLiftingServo_uni8" : 0,
"ntp_uni8" : 1,
"overDeep1_uni8" : 1,
"overDeep2_uni8" : 1,
"photoSensor_uni8" : 0,
"sideSonar_uni8" : 0,
"singleBeamSonar1_uni8" : 0,
"singleBeamSonar2_uni8" : 1,
"singleBeamSonar3_uni8" : 0,
"singleBeamSonar4_uni8" : 0,
"singleBeamSonar5_uni8" : 0,
"singleBeamSonar6_uni8" : 0,
"singleBeamSonar7_uni8" : 0,
"singleBeamSonar8_uni8" : 0,
"soundVeloc_uni8" : 1,
"sternRudderServo1_uni8" : 0,
"sternRudderServo2_uni8" : 0,
"sternRudderServo3_uni8" : 0,
"sternRudderServo4_uni8" : 0,
"sternThrow_uni8" : 0,
"thruster_uni8" : 0,
"waterInject_uni8" : 0
}
}
{"uPower_secdistState_cmd":{"ADCP_uint8":2,"DVL_uint8":2,"USBL_uint8":2,"bowCover1_uint8":2,"bowCover2_uint8":2,"bowCover3_uint8":2,"bowCover4_uint8":2,"bowCover5_uint8":2,"bowCover6_uint8":2,"bowRudderDeploy_uint8":2,"bowRudderServo_uint8":2,"bowThrow_uint8":2,"bowWaterInet1_uint8":2,"bowWaterInet2_uint8":2,"bowWaterInet3_uint8":2,"bowWaterInet4_uint8":2,"bowWaterInet5_uint8":2,"bowWaterInet6_uint8":2,"bowWaterInet7_uint8":2,"bowWaterInet8_uint8":2,"buoyage_uint8":2,"buoyancyAdjust1_uint8":2,"buoyancyAdjust2_uint8":2,"buoyancyAdjust3_uint8":2,"buoyancyAdjust4_uint8":2,"buoyancyAdjust5_uint8":2,"commDevStern_uint8":2,"commDev_uint8":1,"ctd1_uint8":1,"ctd2_uint8":1,"depth1_uint8":1,"depth2_uint8":1,"depth3_uint8":1,"dragSonar_uint8":2,"electSensor_uint8":2,"forwardSonar_uint8":2,"haulingMachine_uint8":2,"inOutLetWater1_uint8":1,"inOutLetWater2_uint8":1,"inOutLetWater3_uint8":1,"launchControler_uint8":2,"lowFreqSonar_uint8":2,"mainINS_uint8":1,"mastLiftingServo_uint8":2,"photoSensor_uint8":2,"secINS_uint8":1,"sideSonar_uint8":2,"singleBeamSonar1_uint8":2,"singleBeamSonar2_uint8":2,"singleBeamSonar3_uint8":2,"singleBeamSonar4_uint8":2,"singleBeamSonar5_uint8":2,"singleBeamSonar6_uint8":2,"singleBeamSonar7_uint8":2,"singleBeamSonar8_uint8":2,"soundVeloc_uint8":1,"sternRudderServo1_uint8":2,"sternRudderServo2_uint8":2,"sternRudderServo3_uint8":2,"sternRudderServo4_uint8":2,"sternThrow_uint8":2,"thruster_uint8":2,"waterInject_uint8":2}}
data/testmsg/uExternComm_setOpCondition_cmd.json
+1 -1
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@@ -1,3 +1,3 @@
{
"state_uint8" : 1
"state_uint8" : 12
}