为数据库插入增加保护

2026-01-19 21:52:26 +08:00
parent 481171d9ea
commit b5ca051831
97 changed files with 363231 additions and 98 deletions
@@ -0,0 +1,62 @@
+#include "PowerManagerFsm.hpp"
+
+
+void WaterBasedReady::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    PowerManagerFsm::handleCuriseWork();
+    //启动水声设备
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
+    pm->m_upperCommManager->processPeriodicTasks();
+    pm->workCondition = WorkCondition::WATER_BASED_READY;
+    LOG_F(INFO, "进入水中备航状态");
+}
+
+// WaterBasedReady实现
+void WaterBasedReady::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}
+
+void WaterBasedReady::react(DevCmdExt const &e)
+{
+    int id = e.id;
+    int cmd = e.cmd;
+    if(underWterDevices.find(id) != underWterDevices.end())
+    {
+        if (pm->currentMod  != PMMode::Debug)
+        {
+            if(pm->m_depth < OVER_DEPTH)
+            {
+                LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+                return;
+            }
+        }
+        // 如果是前视声纳断电则先关机再断电
+        if(id == DeviceId::forwardSonar)
+        {
+            if(cmd == 0)
+            {
+                LOG_F(INFO,"前视声纳关机指令");
+                pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
+                MOOSPause(10000);
+            }
+        }
+        LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
+    }
+    else
+    {
+        if(pm->currentMod == PMMode::Normal)
+        {
+            LOG_F(INFO,"正常模式:操作禁止");
+            return;
+        }
+        else
+        {
+            PowerManagerFsm::react(e);
+        }
+    }
+}