进行了水面端测试
This commit is contained in:
+236
-238
@@ -93,209 +93,208 @@ void Driver::getSTANDBYTable(DriverTable* driverTable)
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void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
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{
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// 打开所有传感器
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driverTable->depth1 = DRIVER_FULL_POWER_ON;
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driverTable->depth2 = DRIVER_FULL_POWER_ON;
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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->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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driverTable->depth1 = 1;
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driverTable->depth2 = 1;
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driverTable->depth3 = 1;
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driverTable->overDeep1 = 1;
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driverTable->overDeep2 = 1;
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driverTable->ctd1 = 1;
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driverTable->ctd2 = 1;
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driverTable->soundVeloc = 1;
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driverTable->commMast = 1;
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driverTable->ins = 1;
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driverTable->ntp = 1;
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driverTable->inputWaterSensor1 = 1;
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driverTable->inputWaterSensor2 = 1;
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driverTable->inputWaterSensor3 = 1;
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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->launchControler = DRIVER_STANDBY;
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driverTable->sideSonar = DRIVER_POWER_OFF;
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driverTable->buoyage = DRIVER_STANDBY;
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driverTable->photoSensor = 0;
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driverTable->electSensor = 0;
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driverTable->launchControler = 0;
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driverTable->sideSonar = 0;
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driverTable->buoyage = 0;
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// 关闭所有水声设备
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driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
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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->lowFreqSonar = DRIVER_POWER_OFF;
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driverTable->USBL = DRIVER_POWER_OFF;
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driverTable->singleBeamSonar1 = 0;
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driverTable->singleBeamSonar2 = 0;
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driverTable->singleBeamSonar3 = 0;
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driverTable->singleBeamSonar4 = 0;
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driverTable->singleBeamSonar5 = 0;
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driverTable->singleBeamSonar6 = 0;
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driverTable->singleBeamSonar7 = 0;
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driverTable->singleBeamSonar8 = 0;
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driverTable->DVL = 0;
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driverTable->forwardSonar = 0;
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driverTable->lowFreqSonar = 0;
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driverTable->USBL = 0;
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// 打开必要的执行机构
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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->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->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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driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
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driverTable->thruster = DRIVER_FULL_POWER_ON;
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driverTable->bowThrow = DRIVER_FULL_POWER_ON;
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driverTable->sternThrow = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = 1;
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driverTable->bowCover2 = 1;
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driverTable->bowCover3 = 1;
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driverTable->bowCover4 = 1;
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driverTable->bowCover5 = 1;
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driverTable->bowCover6 = 1;
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driverTable->bowRudderDeploy = 1;
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driverTable->bowRudderServo1 = 1;
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driverTable->bowRudderServo2 = 1;
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driverTable->bowWaterlnet1 = 1;
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driverTable->bowWaterlnet2 = 1;
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driverTable->bowWaterlnet3 = 1;
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driverTable->bowWaterlnet4 = 1;
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driverTable->bowWaterlnet5 = 1;
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driverTable->bowWaterlnet6 = 1;
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driverTable->bowWaterlnet7 = 1;
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driverTable->bowWaterlnet8 = 1;
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driverTable->waterInject = 1;
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driverTable->mastLiftingServo = 1;
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driverTable->buoyancyAdjust1 = 1;
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driverTable->buoyancyAdjust2 = 1;
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driverTable->buoyancyAdjust3 = 1;
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driverTable->buoyancyAdjust4 = 1;
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driverTable->buoyancyAdjust5 = 1;
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driverTable->sternRudderServo1 = 1;
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driverTable->sternRudderServo2 = 1;
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driverTable->sternRudderServo3 = 1;
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driverTable->sternRudderServo4 = 1;
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driverTable->thruster = 1;
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driverTable->bowThrow = 1;
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driverTable->sternThrow = 1;
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}
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void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
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{
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// 打开所有传感器
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driverTable->depth1 = DRIVER_FULL_POWER_ON;
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driverTable->depth2 = DRIVER_FULL_POWER_ON;
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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->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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driverTable->depth1 = 1;
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driverTable->depth2 = 1;
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driverTable->depth3 = 1;
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driverTable->overDeep1 = 1;
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driverTable->overDeep2 = 1;
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driverTable->ctd1 = 1;
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driverTable->ctd2 = 1;
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driverTable->soundVeloc = 1;
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driverTable->commMast = 1;
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driverTable->ins = 1;
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driverTable->ntp = 1;
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driverTable->inputWaterSensor1 = 1;
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driverTable->inputWaterSensor2 = 1;
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driverTable->inputWaterSensor3 = 1;
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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->launchControler = DRIVER_STANDBY;
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driverTable->sideSonar = DRIVER_STANDBY;
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driverTable->buoyage = DRIVER_STANDBY;
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driverTable->photoSensor = 0;
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driverTable->electSensor = 0;
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driverTable->launchControler = 0;
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driverTable->sideSonar = 0;
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driverTable->buoyage = 0;
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// 所有水声设备待机
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// 打开DVL
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driverTable->singleBeamSonar1 = DRIVER_STANDBY;
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driverTable->singleBeamSonar2 = DRIVER_STANDBY;
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driverTable->singleBeamSonar3 = DRIVER_STANDBY;
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driverTable->singleBeamSonar4 = DRIVER_STANDBY;
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driverTable->singleBeamSonar5 = DRIVER_STANDBY;
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driverTable->singleBeamSonar6 = DRIVER_STANDBY;
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driverTable->singleBeamSonar7 = DRIVER_STANDBY;
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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->lowFreqSonar = DRIVER_STANDBY;
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driverTable->USBL = DRIVER_STANDBY;
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driverTable->singleBeamSonar1 = 0;
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driverTable->singleBeamSonar2 = 0;
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driverTable->singleBeamSonar3 = 0;
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driverTable->singleBeamSonar4 = 0;
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driverTable->singleBeamSonar5 = 0;
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driverTable->singleBeamSonar6 = 0;
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driverTable->singleBeamSonar7 = 0;
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driverTable->singleBeamSonar8 = 0;
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driverTable->DVL = 0;
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driverTable->forwardSonar = 0;
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driverTable->lowFreqSonar = 0;
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driverTable->USBL = 0;
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// 打开必要的执行机构
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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->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->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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driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
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driverTable->thruster = DRIVER_FULL_POWER_ON;
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driverTable->bowThrow = DRIVER_FULL_POWER_ON;
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driverTable->sternThrow = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = 1;
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driverTable->bowCover2 = 1;
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driverTable->bowCover3 = 1;
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driverTable->bowCover4 = 1;
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driverTable->bowCover5 = 1;
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driverTable->bowCover6 = 1;
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driverTable->bowRudderDeploy = 1;
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driverTable->bowRudderServo1 = 1;
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driverTable->bowRudderServo2 = 1;
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driverTable->bowWaterlnet1 = 1;
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driverTable->bowWaterlnet2 = 1;
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driverTable->bowWaterlnet3 = 1;
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driverTable->bowWaterlnet4 = 1;
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driverTable->bowWaterlnet5 = 1;
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driverTable->bowWaterlnet6 = 1;
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driverTable->bowWaterlnet7 = 1;
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driverTable->bowWaterlnet8 = 1;
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driverTable->waterInject = 1;
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driverTable->mastLiftingServo = 1;
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driverTable->buoyancyAdjust1 = 1;
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driverTable->buoyancyAdjust2 = 1;
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driverTable->buoyancyAdjust3 = 1;
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driverTable->buoyancyAdjust4 = 1;
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driverTable->buoyancyAdjust5 = 1;
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driverTable->sternRudderServo1 = 1;
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driverTable->sternRudderServo2 = 1;
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driverTable->sternRudderServo3 = 1;
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driverTable->sternRudderServo4 = 1;
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driverTable->thruster = 1;
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driverTable->bowThrow = 1;
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driverTable->sternThrow = 1;
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}
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void Driver::getCRUISE_MODEable(DriverTable* driverTable)
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{
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// 打开所有传感器
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driverTable->depth1 = DRIVER_FULL_POWER_ON;
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driverTable->depth2 = DRIVER_FULL_POWER_ON;
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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->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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driverTable->depth1 = 1;
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driverTable->depth2 = 1;
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driverTable->depth3 = 1;
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driverTable->overDeep1 = 1;
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driverTable->overDeep2 = 1;
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driverTable->ctd1 = 1;
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driverTable->ctd2 = 1;
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driverTable->soundVeloc = 1;
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driverTable->commMast = 1;
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driverTable->ins = 1;
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driverTable->ntp = 1;
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driverTable->inputWaterSensor1 = 1;
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driverTable->inputWaterSensor2 = 1;
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driverTable->inputWaterSensor3 = 1;
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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->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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driverTable->photoSensor = 0;
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driverTable->electSensor = 0;
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driverTable->launchControler = 0;
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driverTable->sideSonar = 0;
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driverTable->buoyage = 0;
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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->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->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->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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driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
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driverTable->thruster = DRIVER_FULL_POWER_ON;
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driverTable->bowThrow = DRIVER_FULL_POWER_ON;
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driverTable->sternThrow = DRIVER_FULL_POWER_ON;
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driverTable->bowCover1 = 0;
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driverTable->bowCover2 = 0;
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driverTable->bowCover3 = 0;
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driverTable->bowCover4 = 0;
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driverTable->bowCover5 = 0;
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driverTable->bowCover6 = 0;
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driverTable->bowRudderDeploy = 1;
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driverTable->bowRudderServo1 = 1;
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driverTable->bowRudderServo2 = 1;
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driverTable->bowWaterlnet1 = 0;
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driverTable->bowWaterlnet2 = 0;
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driverTable->bowWaterlnet3 = 0;
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driverTable->bowWaterlnet4 = 0;
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driverTable->bowWaterlnet5 = 0;
|
||||
driverTable->bowWaterlnet6 = 0;
|
||||
driverTable->bowWaterlnet7 = 0;
|
||||
driverTable->bowWaterlnet8 = 0;
|
||||
driverTable->waterInject = 0;
|
||||
driverTable->mastLiftingServo = 1;
|
||||
driverTable->buoyancyAdjust1 = 1;
|
||||
driverTable->buoyancyAdjust2 = 1;
|
||||
driverTable->buoyancyAdjust3 = 1;
|
||||
driverTable->buoyancyAdjust4 = 1;
|
||||
driverTable->buoyancyAdjust5 = 1;
|
||||
driverTable->sternRudderServo1 = 1;
|
||||
driverTable->sternRudderServo2 = 1;
|
||||
driverTable->sternRudderServo3 = 1;
|
||||
driverTable->sternRudderServo4 = 1;
|
||||
driverTable->thruster = 1;
|
||||
driverTable->bowThrow = 1;
|
||||
driverTable->sternThrow = 1;
|
||||
}
|
||||
|
||||
|
||||
@@ -668,70 +667,69 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
|
||||
Json::Value root;
|
||||
|
||||
// 添加所有成员到json
|
||||
root["depth1"] = driverTable->depth1;
|
||||
root["depth2"] = driverTable->depth2;
|
||||
root["depth3"] = driverTable->depth3;
|
||||
root["overDeep1"] = driverTable->overDeep1;
|
||||
root["overDeep2"] = driverTable->overDeep2;
|
||||
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;
|
||||
root["singleBeamSonar4"] = driverTable->singleBeamSonar4;
|
||||
root["singleBeamSonar5"] = driverTable->singleBeamSonar5;
|
||||
root["singleBeamSonar6"] = driverTable->singleBeamSonar6;
|
||||
root["singleBeamSonar7"] = driverTable->singleBeamSonar7;
|
||||
root["singleBeamSonar8"] = driverTable->singleBeamSonar8;
|
||||
root["forwardSonar"] = driverTable->forwardSonar;
|
||||
root["DVL"] = driverTable->DVL;
|
||||
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["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["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;
|
||||
root["sternRudderServo4"] = driverTable->sternRudderServo4;
|
||||
root["thruster"] = driverTable->thruster;
|
||||
root["bowThrow"] = driverTable->bowThrow;
|
||||
root["sternThrow"] = driverTable->sternThrow;
|
||||
root["photoSensor"] = driverTable->photoSensor;
|
||||
root["electSensor"] = driverTable->electSensor;
|
||||
root["launchControler"] = driverTable->launchControler;
|
||||
root["sideSonar"] = driverTable->sideSonar;
|
||||
root["buoyage"] = driverTable->buoyage;
|
||||
root["depth1_uni8"] = driverTable->depth1;
|
||||
root["depth2_uni8"] = driverTable->depth2;
|
||||
root["depth3_uni8"] = driverTable->depth3;
|
||||
root["overDeep1_uni8"] = driverTable->overDeep1;
|
||||
root["overDeep2_uni8"] = driverTable->overDeep2;
|
||||
root["ctd1_uni8"] = driverTable->ctd1;
|
||||
root["ctd2_uni8"] = driverTable->ctd2;
|
||||
root["soundVeloc_uni8"] = driverTable->soundVeloc;
|
||||
root["commMast_uni8"] = driverTable->commMast;
|
||||
root["ins_uni8"] = driverTable->ins;
|
||||
root["ntp_uni8"] = driverTable->ntp;
|
||||
root["inputWaterSensor1_uni8"] = driverTable->inputWaterSensor1;
|
||||
root["inputWaterSensor2_uni8"] = driverTable->inputWaterSensor2;
|
||||
root["inputWaterSensor3_uni8"] = driverTable->inputWaterSensor3;
|
||||
|
||||
root["singleBeamSonar1_uni8"] = driverTable->singleBeamSonar1;
|
||||
root["singleBeamSonar2_uni8"] = driverTable->singleBeamSonar2;
|
||||
root["singleBeamSonar3_uni8"] = driverTable->singleBeamSonar3;
|
||||
root["singleBeamSonar4_uni8"] = driverTable->singleBeamSonar4;
|
||||
root["singleBeamSonar5_uni8"] = driverTable->singleBeamSonar5;
|
||||
root["singleBeamSonar6_uni8"] = driverTable->singleBeamSonar6;
|
||||
root["singleBeamSonar7_uni8"] = driverTable->singleBeamSonar7;
|
||||
root["singleBeamSonar8_uni8"] = driverTable->singleBeamSonar8;
|
||||
root["forwardSonar_uni8"] = driverTable->forwardSonar;
|
||||
root["DVL_uni8"] = driverTable->DVL;
|
||||
root["lowFreqSonar_uni8"] = driverTable->lowFreqSonar;
|
||||
root["USBL_uni8"] = driverTable->USBL;
|
||||
root["bowCover1_uni8"] = driverTable->bowCover1;
|
||||
root["bowCover2_uni8"] = driverTable->bowCover2;
|
||||
root["bowCover3_uni8"] = driverTable->bowCover3;
|
||||
root["bowCover4_uni8"] = driverTable->bowCover4;
|
||||
root["bowCover5_uni8"] = driverTable->bowCover5;
|
||||
root["bowCover6_uni8"] = driverTable->bowCover6;
|
||||
root["bowRudderDeploy_uni8"] = driverTable->bowRudderDeploy;
|
||||
root["bowRudderServo1_uni8"] = driverTable->bowRudderServo1;
|
||||
root["bowRudderServo2_uni8"] = driverTable->bowRudderServo2;
|
||||
root["bowWaterlnet1_uni8"] = driverTable->bowWaterlnet1;
|
||||
root["bowWaterlnet2_uni8"] = driverTable->bowWaterlnet2;
|
||||
root["bowWaterlnet3_uni8"] = driverTable->bowWaterlnet3;
|
||||
root["bowWaterlnet4_uni8"] = driverTable->bowWaterlnet4;
|
||||
root["bowWaterlnet5_uni8"] = driverTable->bowWaterlnet5;
|
||||
root["bowWaterlnet6_uni8"] = driverTable->bowWaterlnet6;
|
||||
root["bowWaterlnet7_uni8"] = driverTable->bowWaterlnet7;
|
||||
root["bowWaterlnet8_uni8"] = driverTable->bowWaterlnet8;
|
||||
root["waterInject_uni8"] = driverTable->waterInject;
|
||||
root["mastLiftingServo_uni8"] = driverTable->mastLiftingServo;
|
||||
root["buoyancyAdjust1_uni8"] = driverTable->buoyancyAdjust1;
|
||||
root["buoyancyAdjust2_uni8"] = driverTable->buoyancyAdjust2;
|
||||
root["buoyancyAdjust3_uni8"] = driverTable->buoyancyAdjust3;
|
||||
root["buoyancyAdjust4_uni8"] = driverTable->buoyancyAdjust4;
|
||||
root["buoyancyAdjust5_uni8"] = driverTable->buoyancyAdjust5;
|
||||
root["sternRudderServo1_uni8"] = driverTable->sternRudderServo1;
|
||||
root["sternRudderServo2_uni8"] = driverTable->sternRudderServo2;
|
||||
root["sternRudderServo3_uni8"] = driverTable->sternRudderServo3;
|
||||
root["sternRudderServo4_uni8"] = driverTable->sternRudderServo4;
|
||||
root["thruster_uni8"] = driverTable->thruster;
|
||||
root["bowThrow_uni8"] = driverTable->bowThrow;
|
||||
root["sternThrow_uni8"] = driverTable->sternThrow;
|
||||
root["photoSensor_uni8"] = driverTable->photoSensor;
|
||||
root["electSensor_uni8"] = driverTable->electSensor;
|
||||
root["launchControler_uni8"] = driverTable->launchControler;
|
||||
root["sideSonar_uni8"] = driverTable->sideSonar;
|
||||
root["buoyage_uni8"] = driverTable->buoyage;
|
||||
return root.toStyledString();
|
||||
}
|
||||
std::string Driver::getDriverTableJson()
|
||||
|
||||
Reference in New Issue
Block a user