完善待机工况及相关逻辑
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+62
-62
@@ -59,72 +59,72 @@ int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
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void Driver::getSTANDBYTable(DriverTable* driverTable)
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{
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//打开所有传感器
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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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//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->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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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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//关闭所有执行机构
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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_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->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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driverTable->sternRudderServo4 = DRIVER_POWER_OFF;
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driverTable->thruster = DRIVER_POWER_OFF;
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driverTable->bowThrow = DRIVER_POWER_OFF;
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driverTable->sternThrow = DRIVER_POWER_OFF;
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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 = 0;
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driverTable->bowRudderServo1 = 0;
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driverTable->bowRudderServo2 = 0;
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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;
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driverTable->bowWaterlnet6 = 0;
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driverTable->bowWaterlnet7 = 0;
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driverTable->bowWaterlnet8 = 0;
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driverTable->waterInject = 0;
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driverTable->mastLiftingServo = 0;
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driverTable->buoyancyAdjust1 = 0;
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driverTable->buoyancyAdjust2 = 0;
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driverTable->buoyancyAdjust3 = 0;
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driverTable->buoyancyAdjust4 = 0;
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driverTable->buoyancyAdjust5 = 0;
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driverTable->sternRudderServo1 = 0;
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driverTable->sternRudderServo2 = 0;
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driverTable->sternRudderServo3 = 0;
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driverTable->sternRudderServo4 = 0;
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driverTable->thruster = 0;
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driverTable->bowThrow = 0;
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driverTable->sternThrow = 0;
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}
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void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
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