增加了交互变量的状态,增加了设备状态和设备表的json解析和生成函数,修复了设备表类和通信协议中不同的地方
This commit is contained in:
+474
-181
@@ -65,16 +65,20 @@ void Driver::getSTANDBYTable(DriverTable* driverTable)
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driverTable->depth3 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
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driverTable->CTD1 = DRIVER_FULL_POWER_ON;
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driverTable->CTD2 = DRIVER_FULL_POWER_ON;
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driverTable->ctd1 = DRIVER_FULL_POWER_ON;
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driverTable->ctd2 = DRIVER_FULL_POWER_ON;
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driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
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driverTable->commMast = DRIVER_FULL_POWER_ON;
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driverTable->ins = DRIVER_FULL_POWER_ON;
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driverTable->ntp = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
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//关闭所有负载
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driverTable->photoSensor = DRIVER_STANDBY;
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driverTable->electSensor = DRIVER_STANDBY;
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driverTable->zhfk = DRIVER_STANDBY;
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driverTable->launchControler = DRIVER_STANDBY;
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driverTable->sideSonar = DRIVER_POWER_OFF;
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driverTable->buoyage = DRIVER_POWER_OFF;
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//关闭所有水声设备
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@@ -88,31 +92,33 @@ void Driver::getSTANDBYTable(DriverTable* driverTable)
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driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
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driverTable->DVL = DRIVER_POWER_OFF;
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driverTable->forwardSonar = DRIVER_POWER_OFF;
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driverTable->zdp = DRIVER_POWER_OFF;
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driverTable->usbl = DRIVER_POWER_OFF;
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driverTable->lowFreqSonar = DRIVER_POWER_OFF;
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driverTable->USBL = DRIVER_POWER_OFF;
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//关闭所有执行机构
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driverTable->bowOpen1 = DRIVER_POWER_OFF;
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driverTable->bowOpen2 = DRIVER_POWER_OFF;
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driverTable->bowOpen3 = DRIVER_POWER_OFF;
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driverTable->bowOpen4 = DRIVER_POWER_OFF;
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driverTable->bowOpen5 = DRIVER_POWER_OFF;
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driverTable->bowOpen6 = DRIVER_POWER_OFF;
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driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
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driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
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driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
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driverTable->bowCover1 = DRIVER_POWER_OFF;
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driverTable->bowCover2 = DRIVER_POWER_OFF;
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driverTable->bowCover3 = DRIVER_POWER_OFF;
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driverTable->bowCover4 = DRIVER_POWER_OFF;
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driverTable->bowCover5 = DRIVER_POWER_OFF;
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driverTable->bowCover6 = DRIVER_POWER_OFF;
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driverTable->bowCover7 = DRIVER_POWER_OFF;
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driverTable->bowCover8 = DRIVER_POWER_OFF;
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driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
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driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
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driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
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driverTable->waterInject = DRIVER_POWER_OFF;
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driverTable->wgDJ = DRIVER_POWER_OFF;
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driverTable->mastLiftingServo = DRIVER_POWER_OFF;
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driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
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driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
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driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
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driverTable->buoyancyAdjust4 = DRIVER_POWER_OFF;
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driverTable->buoyancyAdjust5 = DRIVER_POWER_OFF;
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driverTable->sternRudderServo1 = DRIVER_POWER_OFF;
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driverTable->sternRudderServo2 = DRIVER_POWER_OFF;
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driverTable->sternRudderServo3 = DRIVER_POWER_OFF;
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@@ -130,18 +136,21 @@ void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
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driverTable->depth3 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
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driverTable->CTD1 = DRIVER_FULL_POWER_ON;
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driverTable->CTD2 = DRIVER_FULL_POWER_ON;
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driverTable->ctd1 = DRIVER_FULL_POWER_ON;
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driverTable->ctd2 = DRIVER_FULL_POWER_ON;
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driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
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driverTable->commMast = DRIVER_FULL_POWER_ON;
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driverTable->ins = DRIVER_FULL_POWER_ON;
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driverTable->ntp = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
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// 允许启动负载
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// 关闭xcz
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driverTable->photoSensor = DRIVER_STANDBY;
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driverTable->electSensor = DRIVER_STANDBY;
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driverTable->zhfk = DRIVER_STANDBY;
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driverTable->launchControler = DRIVER_STANDBY;
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driverTable->sideSonar = DRIVER_POWER_OFF;
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driverTable->buoyage = DRIVER_STANDBY;
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@@ -156,32 +165,34 @@ void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
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driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
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driverTable->DVL = DRIVER_POWER_OFF;
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driverTable->forwardSonar = DRIVER_POWER_OFF;
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driverTable->zdp = DRIVER_POWER_OFF;
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driverTable->usbl = DRIVER_POWER_OFF;
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driverTable->lowFreqSonar = DRIVER_POWER_OFF;
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driverTable->USBL = DRIVER_POWER_OFF;
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// 打开必要的执行机构
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driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet1 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet2 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet3 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet4 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet5 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet6 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet7 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet8 = DRIVER_FULL_POWER_ON;
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driverTable->waterInject = DRIVER_FULL_POWER_ON;
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driverTable->wgDJ = DRIVER_FULL_POWER_ON;
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driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
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@@ -199,17 +210,20 @@ void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
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driverTable->depth3 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
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driverTable->CTD1 = DRIVER_FULL_POWER_ON;
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driverTable->CTD2 = DRIVER_FULL_POWER_ON;
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driverTable->ctd1 = DRIVER_FULL_POWER_ON;
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driverTable->ctd2 = DRIVER_FULL_POWER_ON;
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driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
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driverTable->commMast = DRIVER_FULL_POWER_ON;
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driverTable->ins = DRIVER_FULL_POWER_ON;
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driverTable->ntp = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
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// 允许启动负载
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driverTable->photoSensor = DRIVER_STANDBY;
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driverTable->electSensor = DRIVER_STANDBY;
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driverTable->zhfk = DRIVER_STANDBY;
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driverTable->launchControler = DRIVER_STANDBY;
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driverTable->sideSonar = DRIVER_STANDBY;
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driverTable->buoyage = DRIVER_STANDBY;
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@@ -225,32 +239,34 @@ void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
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driverTable->singleBeamSonar8 = DRIVER_STANDBY;
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driverTable->DVL = DRIVER_FULL_POWER_ON;
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driverTable->forwardSonar = DRIVER_STANDBY;
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driverTable->zdp = DRIVER_STANDBY;
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driverTable->usbl = DRIVER_STANDBY;
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driverTable->lowFreqSonar = DRIVER_STANDBY;
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driverTable->USBL = DRIVER_STANDBY;
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// 打开必要的执行机构
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driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
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driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet1 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet2 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet3 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet4 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet5 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet6 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet7 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet8 = DRIVER_FULL_POWER_ON;
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driverTable->waterInject = DRIVER_FULL_POWER_ON;
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driverTable->wgDJ = DRIVER_FULL_POWER_ON;
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driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
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@@ -268,44 +284,49 @@ void Driver::getCRUISE_MODEable(DriverTable* driverTable)
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driverTable->depth3 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
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driverTable->CTD1 = DRIVER_FULL_POWER_ON;
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driverTable->CTD2 = DRIVER_FULL_POWER_ON;
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driverTable->ctd1 = DRIVER_FULL_POWER_ON;
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driverTable->ctd2 = DRIVER_FULL_POWER_ON;
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driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
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driverTable->commMast = DRIVER_FULL_POWER_ON;
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driverTable->ins = DRIVER_FULL_POWER_ON;
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driverTable->ntp = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
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// 所有负载设备关机
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driverTable->photoSensor = DRIVER_POWER_OFF;
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driverTable->electSensor = DRIVER_POWER_OFF;
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driverTable->zhfk = DRIVER_POWER_OFF;
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driverTable->launchControler = DRIVER_POWER_OFF;
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driverTable->sideSonar = DRIVER_POWER_OFF;
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driverTable->buoyage = DRIVER_POWER_OFF;
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// 打开必要的执行机构
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// 关闭非必要的执行机构
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driverTable->bowOpen1 = DRIVER_POWER_OFF;
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driverTable->bowOpen2 = DRIVER_POWER_OFF;
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driverTable->bowOpen3 = DRIVER_POWER_OFF;
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driverTable->bowOpen4 = DRIVER_POWER_OFF;
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driverTable->bowOpen5 = DRIVER_POWER_OFF;
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driverTable->bowOpen6 = DRIVER_POWER_OFF;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = DRIVER_POWER_OFF;
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driverTable->bowCover2 = DRIVER_POWER_OFF;
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driverTable->bowCover3 = DRIVER_POWER_OFF;
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driverTable->bowCover4 = DRIVER_POWER_OFF;
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driverTable->bowCover5 = DRIVER_POWER_OFF;
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driverTable->bowCover6 = DRIVER_POWER_OFF;
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driverTable->bowCover7 = DRIVER_POWER_OFF;
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driverTable->bowCover8 = DRIVER_POWER_OFF;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
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driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
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driverTable->waterInject = DRIVER_POWER_OFF;
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driverTable->wgDJ = DRIVER_FULL_POWER_ON;
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driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
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driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
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driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
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@@ -324,44 +345,49 @@ void Driver::getHIGH_SPEED_MODEable(DriverTable* driverTable)
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driverTable->depth3 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
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driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
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driverTable->CTD1 = DRIVER_FULL_POWER_ON;
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driverTable->CTD2 = DRIVER_FULL_POWER_ON;
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driverTable->ctd1 = DRIVER_FULL_POWER_ON;
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driverTable->ctd2 = DRIVER_FULL_POWER_ON;
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driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
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driverTable->commMast = DRIVER_FULL_POWER_ON;
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driverTable->ins = DRIVER_FULL_POWER_ON;
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driverTable->ntp = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
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driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
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// 所有负载设备关机
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driverTable->photoSensor = DRIVER_POWER_OFF;
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driverTable->electSensor = DRIVER_POWER_OFF;
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driverTable->zhfk = DRIVER_POWER_OFF;
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driverTable->launchControler = DRIVER_POWER_OFF;
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driverTable->sideSonar = DRIVER_POWER_OFF;
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driverTable->buoyage = DRIVER_POWER_OFF;
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// 打开必要的执行机构，只打开操纵机构
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// 关闭非必要的执行机构
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driverTable->bowOpen1 = DRIVER_POWER_OFF;
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driverTable->bowOpen2 = DRIVER_POWER_OFF;
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driverTable->bowOpen3 = DRIVER_POWER_OFF;
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driverTable->bowOpen4 = DRIVER_POWER_OFF;
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driverTable->bowOpen5 = DRIVER_POWER_OFF;
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driverTable->bowOpen6 = DRIVER_POWER_OFF;
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driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover8 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_POWER_OFF;
|
||||
driverTable->mastLiftingServo = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_POWER_OFF;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -380,44 +406,49 @@ void Driver::getASCEND_DESCENDable(DriverTable* driverTable)
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
|
||||
// 所有负载设备关机
|
||||
driverTable->photoSensor = DRIVER_POWER_OFF;
|
||||
driverTable->electSensor = DRIVER_POWER_OFF;
|
||||
driverTable->zhfk = DRIVER_POWER_OFF;
|
||||
driverTable->launchControler = DRIVER_POWER_OFF;
|
||||
driverTable->sideSonar = DRIVER_POWER_OFF;
|
||||
driverTable->buoyage = DRIVER_POWER_OFF;
|
||||
|
||||
// 打开必要的执行机构
|
||||
// 关闭非必要的执行机构
|
||||
driverTable->bowOpen1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover8 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
|
||||
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -436,44 +467,49 @@ void Driver::getBUOYANCY_ADJUSTable(DriverTable* driverTable)
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
|
||||
// 所有负载设备关机
|
||||
driverTable->photoSensor = DRIVER_POWER_OFF;
|
||||
driverTable->electSensor = DRIVER_POWER_OFF;
|
||||
driverTable->zhfk = DRIVER_POWER_OFF;
|
||||
driverTable->launchControler = DRIVER_POWER_OFF;
|
||||
driverTable->sideSonar = DRIVER_POWER_OFF;
|
||||
driverTable->buoyage = DRIVER_POWER_OFF;
|
||||
|
||||
// 打开必要的执行机构
|
||||
// 关闭非必要的执行机构
|
||||
driverTable->bowOpen1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover8 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
|
||||
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -492,44 +528,49 @@ void Driver::getUNDERWATER_RECONable(DriverTable* driverTable)
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
|
||||
// 所有负载设备关机
|
||||
driverTable->photoSensor = DRIVER_POWER_OFF;
|
||||
driverTable->electSensor = DRIVER_POWER_OFF;
|
||||
driverTable->zhfk = DRIVER_POWER_OFF;
|
||||
driverTable->launchControler = DRIVER_POWER_OFF;
|
||||
driverTable->sideSonar = DRIVER_STANDBY;
|
||||
driverTable->buoyage = DRIVER_POWER_OFF;
|
||||
|
||||
// 打开必要的执行机构
|
||||
// 关闭非必要的执行机构
|
||||
driverTable->bowOpen1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover8 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_POWER_OFF;
|
||||
driverTable->mastLiftingServo = DRIVER_POWER_OFF;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -548,44 +589,49 @@ void Driver::getSURFACE_RECONable(DriverTable* driverTable)
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
|
||||
// 所有负载设备关机
|
||||
driverTable->photoSensor = DRIVER_STANDBY;
|
||||
driverTable->electSensor = DRIVER_STANDBY;
|
||||
driverTable->zhfk = DRIVER_POWER_OFF;
|
||||
driverTable->launchControler = DRIVER_POWER_OFF;
|
||||
driverTable->sideSonar = DRIVER_POWER_OFF;
|
||||
driverTable->buoyage = DRIVER_POWER_OFF;
|
||||
|
||||
// 打开必要的执行机构
|
||||
// 关闭非必要的执行机构
|
||||
driverTable->bowOpen1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowOpen6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowCover8 = DRIVER_POWER_OFF;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
|
||||
driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
|
||||
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -603,44 +649,49 @@ void Driver::getDJ_MODEable(DriverTable* driverTable)
|
||||
driverTable->depth3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->CTD2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ctd2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
|
||||
driverTable->commMast = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ins = DRIVER_FULL_POWER_ON;
|
||||
driverTable->ntp = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
|
||||
|
||||
// 所有负载设备关机
|
||||
driverTable->photoSensor = DRIVER_POWER_OFF;
|
||||
driverTable->electSensor = DRIVER_POWER_OFF;
|
||||
driverTable->zhfk = DRIVER_FULL_POWER_ON;
|
||||
driverTable->launchControler = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sideSonar = DRIVER_POWER_OFF;
|
||||
driverTable->buoyage = DRIVER_STANDBY;
|
||||
|
||||
// 打开必要的执行机构
|
||||
// 关闭非必要的执行机构
|
||||
driverTable->bowOpen1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowOpen2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowOpen3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowOpen4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowOpen5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowOpen6 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover6 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover7 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowCover8 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderDeploy = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet6 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet7 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->bowWaterlnet8 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->waterInject = DRIVER_POWER_OFF;
|
||||
driverTable->wgDJ = DRIVER_FULL_POWER_ON;
|
||||
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust3 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust4 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->buoyancyAdjust5 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo1 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo2 = DRIVER_FULL_POWER_ON;
|
||||
driverTable->sternRudderServo3 = DRIVER_FULL_POWER_ON;
|
||||
@@ -660,12 +711,16 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
|
||||
root["depth3"] = driverTable->depth3;
|
||||
root["overDeep1"] = driverTable->overDeep1;
|
||||
root["overDeep2"] = driverTable->overDeep2;
|
||||
root["CTD1"] = driverTable->CTD1;
|
||||
root["CTD2"] = driverTable->CTD2;
|
||||
root["ctd1"] = driverTable->ctd1;
|
||||
root["ctd2"] = driverTable->ctd2;
|
||||
root["soundVeloc"] = driverTable->soundVeloc;
|
||||
root["commMast"] = driverTable->commMast;
|
||||
root["ins"] = driverTable->ins;
|
||||
root["ntp"] = driverTable->ntp;
|
||||
root["inputWaterSensor1"] = driverTable->inputWaterSensor1;
|
||||
root["inputWaterSensor2"] = driverTable->inputWaterSensor2;
|
||||
root["inputWaterSensor3"] = driverTable->inputWaterSensor3;
|
||||
|
||||
root["singleBeamSonar1"] = driverTable->singleBeamSonar1;
|
||||
root["singleBeamSonar2"] = driverTable->singleBeamSonar2;
|
||||
root["singleBeamSonar3"] = driverTable->singleBeamSonar3;
|
||||
@@ -676,30 +731,32 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
|
||||
root["singleBeamSonar8"] = driverTable->singleBeamSonar8;
|
||||
root["forwardSonar"] = driverTable->forwardSonar;
|
||||
root["DVL"] = driverTable->DVL;
|
||||
root["zdp"] = driverTable->zdp;
|
||||
root["usbl"] = driverTable->usbl;
|
||||
root["bowOpen1"] = driverTable->bowOpen1;
|
||||
root["bowOpen2"] = driverTable->bowOpen2;
|
||||
root["bowOpen3"] = driverTable->bowOpen3;
|
||||
root["bowOpen4"] = driverTable->bowOpen4;
|
||||
root["bowOpen5"] = driverTable->bowOpen5;
|
||||
root["bowOpen6"] = driverTable->bowOpen6;
|
||||
root["bowRudderDeploy"] = driverTable->bowRudderDeploy;
|
||||
root["bowRudderServo1"] = driverTable->bowRudderServo1;
|
||||
root["bowRudderServo2"] = driverTable->bowRudderServo2;
|
||||
root["lowFreqSonar"] = driverTable->lowFreqSonar;
|
||||
root["USBL"] = driverTable->USBL;
|
||||
root["bowCover1"] = driverTable->bowCover1;
|
||||
root["bowCover2"] = driverTable->bowCover2;
|
||||
root["bowCover3"] = driverTable->bowCover3;
|
||||
root["bowCover4"] = driverTable->bowCover4;
|
||||
root["bowCover5"] = driverTable->bowCover5;
|
||||
root["bowCover6"] = driverTable->bowCover6;
|
||||
root["bowCover7"] = driverTable->bowCover7;
|
||||
root["bowCover8"] = driverTable->bowCover8;
|
||||
root["bowRudderDeploy"] = driverTable->bowRudderDeploy;
|
||||
root["bowRudderServo1"] = driverTable->bowRudderServo1;
|
||||
root["bowRudderServo2"] = driverTable->bowRudderServo2;
|
||||
root["bowWaterlnet1"] = driverTable->bowWaterlnet1;
|
||||
root["bowWaterlnet2"] = driverTable->bowWaterlnet2;
|
||||
root["bowWaterlnet3"] = driverTable->bowWaterlnet3;
|
||||
root["bowWaterlnet4"] = driverTable->bowWaterlnet4;
|
||||
root["bowWaterlnet5"] = driverTable->bowWaterlnet5;
|
||||
root["bowWaterlnet6"] = driverTable->bowWaterlnet6;
|
||||
root["bowWaterlnet7"] = driverTable->bowWaterlnet7;
|
||||
root["bowWaterlnet8"] = driverTable->bowWaterlnet8;
|
||||
root["waterInject"] = driverTable->waterInject;
|
||||
root["wgDJ"] = driverTable->wgDJ;
|
||||
root["mastLiftingServo"] = driverTable->mastLiftingServo;
|
||||
root["buoyancyAdjust1"] = driverTable->buoyancyAdjust1;
|
||||
root["buoyancyAdjust2"] = driverTable->buoyancyAdjust2;
|
||||
root["buoyancyAdjust3"] = driverTable->buoyancyAdjust3;
|
||||
root["buoyancyAdjust4"] = driverTable->buoyancyAdjust4;
|
||||
root["buoyancyAdjust5"] = driverTable->buoyancyAdjust5;
|
||||
root["sternRudderServo1"] = driverTable->sternRudderServo1;
|
||||
root["sternRudderServo2"] = driverTable->sternRudderServo2;
|
||||
root["sternRudderServo3"] = driverTable->sternRudderServo3;
|
||||
@@ -709,13 +766,249 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
|
||||
root["sternThrow"] = driverTable->sternThrow;
|
||||
root["photoSensor"] = driverTable->photoSensor;
|
||||
root["electSensor"] = driverTable->electSensor;
|
||||
root["zhfk"] = driverTable->zhfk;
|
||||
root["launchControler"] = driverTable->launchControler;
|
||||
root["sideSonar"] = driverTable->sideSonar;
|
||||
root["buoyage"] = driverTable->buoyage;
|
||||
|
||||
|
||||
return root.toStyledString();
|
||||
}
|
||||
std::string Driver::getDriverTableJson()
|
||||
{
|
||||
return saveDriverTableToJson(currentDriverTable);
|
||||
}
|
||||
|
||||
std::string Driver::getSubDisCmdJson(const DriverTable* driverTable)
|
||||
{
|
||||
return saveDriverTableToJson(currentDriverTable);
|
||||
}
|
||||
|
||||
std::string Driver::getDriveStateJson(const DriverTable* driverTable)
|
||||
{
|
||||
return saveDriverTableToJson(currentDriverTable);
|
||||
}
|
||||
|
||||
|
||||
int Driver::SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value) {
|
||||
if (!root.isMember(key)) {
|
||||
std::cerr << "错误: 缺少字段 " << key << std::endl;
|
||||
return -1; // 返回-1表示缺少字段
|
||||
}
|
||||
|
||||
if (!root[key].isUInt()) {
|
||||
std::cerr << "错误: 字段 " << key << " 数据类型不正确，应为无符号整数" << std::endl;
|
||||
return -2; // 返回-2表示数据类型错误
|
||||
}
|
||||
|
||||
value = root[key].asUInt();
|
||||
return 0; // 成功读取
|
||||
}
|
||||
|
||||
int Driver::loadDriverTableFromJson(const std::string &strJson, DriverTable& table)
|
||||
{
|
||||
Json::CharReaderBuilder builder;
|
||||
Json::Value root;
|
||||
std::string errs;
|
||||
|
||||
// 解析JSON字符串
|
||||
std::istringstream s(strJson);
|
||||
if (!Json::parseFromStream(builder, s, &root, &errs))
|
||||
{
|
||||
std::cerr << "JSON解析失败: " << errs << std::endl;
|
||||
return -3; // 解析失败
|
||||
}
|
||||
|
||||
// 读取 JSON 数据并填充结构体，逐个字段检查
|
||||
int error_code = 0;
|
||||
|
||||
error_code = SafeReadUInt(root, "depth1", table.depth1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "depth2", table.depth2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "depth3", table.depth3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "overDeep1", table.overDeep1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "overDeep2", table.overDeep2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "ctd1", table.ctd1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "ctd2", table.ctd2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "soundVeloc", table.soundVeloc);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "commMast", table.commMast);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "ins", table.ins);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "ntp", table.ntp);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "inputWaterSensor1", table.inputWaterSensor1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "inputWaterSensor2", table.inputWaterSensor2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "inputWaterSensor3", table.inputWaterSensor3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
// 水声设备
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar1", table.singleBeamSonar1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar2", table.singleBeamSonar2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar3", table.singleBeamSonar3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar4", table.singleBeamSonar4);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar5", table.singleBeamSonar5);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar6", table.singleBeamSonar6);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar7", table.singleBeamSonar7);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "singleBeamSonar8", table.singleBeamSonar8);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "forwardSonar", table.forwardSonar);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "DVL", table.DVL);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "lowFreqSonar", table.lowFreqSonar);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "USBL", table.USBL);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
// 执行机构
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet1", table.bowWaterlnet1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet2", table.bowWaterlnet2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet3", table.bowWaterlnet3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet4", table.bowWaterlnet4);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet5", table.bowWaterlnet5);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet6", table.bowWaterlnet6);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet7", table.bowWaterlnet7);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowWaterlnet8", table.bowWaterlnet8);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowRudderDeploy", table.bowRudderDeploy);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowRudderServo1", table.bowRudderServo1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowRudderServo2", table.bowRudderServo2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover1", table.bowCover1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover2", table.bowCover2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover3", table.bowCover3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover4", table.bowCover4);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover5", table.bowCover5);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowCover6", table.bowCover6);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "waterInject", table.waterInject);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "mastLiftingServo", table.mastLiftingServo);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyancyAdjust1", table.buoyancyAdjust1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyancyAdjust2", table.buoyancyAdjust2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyancyAdjust3", table.buoyancyAdjust3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyancyAdjust4", table.buoyancyAdjust4);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyancyAdjust5", table.buoyancyAdjust5);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sternRudderServo1", table.sternRudderServo1);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sternRudderServo2", table.sternRudderServo2);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sternRudderServo3", table.sternRudderServo3);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sternRudderServo4", table.sternRudderServo4);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "thruster", table.thruster);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "bowThrow", table.bowThrow);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sternThrow", table.sternThrow);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
// 负载
|
||||
error_code = SafeReadUInt(root, "photoSensor", table.photoSensor);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "electSensor", table.electSensor);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "launchControler", table.launchControler);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "sideSonar", table.sideSonar);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
error_code = SafeReadUInt(root, "buoyage", table.buoyage);
|
||||
if (error_code != 0) return error_code;
|
||||
|
||||
return 0; // 返回0表示所有数据成功读取
|
||||
}
|
||||
Reference in New Issue
Block a user