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应急联调完成

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zjk
2025-05-19 20:42:20 +08:00
parent baa2e395fa
commit fea319d3bf
35 changed files with 1188 additions and 558 deletions
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src/pPowerManger/driver.cpp
+99 -99
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@@ -66,14 +66,14 @@ void Driver::getSTANDBYTable(DriverTable* driverTable)
driverTable->bowRudderDeploy = 0;
driverTable->bowRudderServo1 = 0;
driverTable->bowRudderServo2 = 0;
driverTable->bowWaterlnet1 = 0;
driverTable->bowWaterlnet2 = 0;
driverTable->bowWaterlnet3 = 0;
driverTable->bowWaterlnet4 = 0;
driverTable->bowWaterlnet5 = 0;
driverTable->bowWaterlnet6 = 0;
driverTable->bowWaterlnet7 = 0;
driverTable->bowWaterlnet8 = 0;
driverTable->bowWaterInet1 = 0;
driverTable->bowWaterInet2 = 0;
driverTable->bowWaterInet3 = 0;
driverTable->bowWaterInet4 = 0;
driverTable->bowWaterInet5 = 0;
driverTable->bowWaterInet6 = 0;
driverTable->bowWaterInet7 = 0;
driverTable->bowWaterInet8 = 0;
driverTable->waterInject = 0;
driverTable->mastLiftingServo = 0;
driverTable->buoyancyAdjust1 = 0;
@@ -140,14 +140,14 @@ void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
driverTable->bowRudderDeploy = 1;
driverTable->bowRudderServo1 = 1;
driverTable->bowRudderServo2 = 1;
driverTable->bowWaterlnet1 = 1;
driverTable->bowWaterlnet2 = 1;
driverTable->bowWaterlnet3 = 1;
driverTable->bowWaterlnet4 = 1;
driverTable->bowWaterlnet5 = 1;
driverTable->bowWaterlnet6 = 1;
driverTable->bowWaterlnet7 = 1;
driverTable->bowWaterlnet8 = 1;
driverTable->bowWaterInet1 = 1;
driverTable->bowWaterInet2 = 1;
driverTable->bowWaterInet3 = 1;
driverTable->bowWaterInet4 = 1;
driverTable->bowWaterInet5 = 1;
driverTable->bowWaterInet6 = 1;
driverTable->bowWaterInet7 = 1;
driverTable->bowWaterInet8 = 1;
driverTable->waterInject = 1;
driverTable->mastLiftingServo = 1;
driverTable->buoyancyAdjust1 = 1;
@@ -213,14 +213,14 @@ void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
driverTable->bowRudderDeploy = 1;
driverTable->bowRudderServo1 = 1;
driverTable->bowRudderServo2 = 1;
driverTable->bowWaterlnet1 = 1;
driverTable->bowWaterlnet2 = 1;
driverTable->bowWaterlnet3 = 1;
driverTable->bowWaterlnet4 = 1;
driverTable->bowWaterlnet5 = 1;
driverTable->bowWaterlnet6 = 1;
driverTable->bowWaterlnet7 = 1;
driverTable->bowWaterlnet8 = 1;
driverTable->bowWaterInet1 = 1;
driverTable->bowWaterInet2 = 1;
driverTable->bowWaterInet3 = 1;
driverTable->bowWaterInet4 = 1;
driverTable->bowWaterInet5 = 1;
driverTable->bowWaterInet6 = 1;
driverTable->bowWaterInet7 = 1;
driverTable->bowWaterInet8 = 1;
driverTable->waterInject = 1;
driverTable->mastLiftingServo = 1;
driverTable->buoyancyAdjust1 = 1;
@@ -273,14 +273,14 @@ void Driver::getCRUISE_MODEable(DriverTable* driverTable)
driverTable->bowRudderDeploy = 1;
driverTable->bowRudderServo1 = 1;
driverTable->bowRudderServo2 = 1;
driverTable->bowWaterlnet1 = 0;
driverTable->bowWaterlnet2 = 0;
driverTable->bowWaterlnet3 = 0;
driverTable->bowWaterlnet4 = 0;
driverTable->bowWaterlnet5 = 0;
driverTable->bowWaterlnet6 = 0;
driverTable->bowWaterlnet7 = 0;
driverTable->bowWaterlnet8 = 0;
driverTable->bowWaterInet1 = 0;
driverTable->bowWaterInet2 = 0;
driverTable->bowWaterInet3 = 0;
driverTable->bowWaterInet4 = 0;
driverTable->bowWaterInet5 = 0;
driverTable->bowWaterInet6 = 0;
driverTable->bowWaterInet7 = 0;
driverTable->bowWaterInet8 = 0;
driverTable->waterInject = 0;
driverTable->mastLiftingServo = 1;
driverTable->buoyancyAdjust1 = 1;
@@ -334,14 +334,14 @@ void Driver::getHIGH_SPEED_MODEable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_POWER_OFF;
driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
@@ -395,14 +395,14 @@ void Driver::getASCEND_DESCENDable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_POWER_OFF;
driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -456,14 +456,14 @@ void Driver::getBUOYANCY_ADJUSTable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_POWER_OFF;
driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -517,14 +517,14 @@ void Driver::getUNDERWATER_RECONable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_POWER_OFF;
driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_POWER_OFF;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -578,14 +578,14 @@ void Driver::getSURFACE_RECONable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_POWER_OFF;
driverTable->bowWaterInet2 = DRIVER_POWER_OFF;
driverTable->bowWaterInet3 = DRIVER_POWER_OFF;
driverTable->bowWaterInet4 = DRIVER_POWER_OFF;
driverTable->bowWaterInet5 = DRIVER_POWER_OFF;
driverTable->bowWaterInet6 = DRIVER_POWER_OFF;
driverTable->bowWaterInet7 = DRIVER_POWER_OFF;
driverTable->bowWaterInet8 = DRIVER_POWER_OFF;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -638,14 +638,14 @@ void Driver::getDJ_MODEable(DriverTable* driverTable)
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->bowWaterInet1 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet2 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet3 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet4 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet5 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet6 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet7 = DRIVER_FULL_POWER_ON;
driverTable->bowWaterInet8 = DRIVER_FULL_POWER_ON;
driverTable->waterInject = DRIVER_POWER_OFF;
driverTable->mastLiftingServo = DRIVER_FULL_POWER_ON;
driverTable->buoyancyAdjust1 = DRIVER_FULL_POWER_ON;
@@ -703,14 +703,14 @@ std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
root["bowRudderDeploy_uint8"] = driverTable->bowRudderDeploy;
root["bowRudderServo1_uint8"] = driverTable->bowRudderServo1;
root["bowRudderServo2_uint8"] = driverTable->bowRudderServo2;
root["bowWaterlnet1_uint8"] = driverTable->bowWaterlnet1;
root["bowWaterlnet2_uint8"] = driverTable->bowWaterlnet2;
root["bowWaterlnet3_uint8"] = driverTable->bowWaterlnet3;
root["bowWaterlnet4_uint8"] = driverTable->bowWaterlnet4;
root["bowWaterlnet5_uint8"] = driverTable->bowWaterlnet5;
root["bowWaterlnet6_uint8"] = driverTable->bowWaterlnet6;
root["bowWaterlnet7_uint8"] = driverTable->bowWaterlnet7;
root["bowWaterlnet8_uint8"] = driverTable->bowWaterlnet8;
root["bowWaterInet1_uint8"] = driverTable->bowWaterInet1;
root["bowWaterInet2_uint8"] = driverTable->bowWaterInet2;
root["bowWaterInet3_uint8"] = driverTable->bowWaterInet3;
root["bowWaterInet4_uint8"] = driverTable->bowWaterInet4;
root["bowWaterInet5_uint8"] = driverTable->bowWaterInet5;
root["bowWaterInet6_uint8"] = driverTable->bowWaterInet6;
root["bowWaterInet7_uint8"] = driverTable->bowWaterInet7;
root["bowWaterInet8_uint8"] = driverTable->bowWaterInet8;
root["waterInject_uint8"] = driverTable->waterInject;
root["mastLiftingServo_uint8"] = driverTable->mastLiftingServo;
root["buoyancyAdjust1_uint8"] = driverTable->buoyancyAdjust1;
@@ -789,9 +789,9 @@ vector<DriverCommand> Driver::loadDriverIdFromJson(const std::string &strJson) {
{"bowCover1", 9}, {"bowCover2", 10}, {"bowCover3", 11},
{"bowCover4", 12}, {"bowCover5", 13}, {"bowCover6", 14},
{"bowRudderDeploy", 15}, {"bowRudderServo1", 16}, {"bowRudderServo2", 17},
{"bowWaterlnet1", 27}, {"bowWaterlnet2", 28}, {"bowWaterlnet3", 29},
{"bowWaterlnet4", 30}, {"bowWaterlnet5", 31}, {"bowWaterlnet6", 32},
{"bowWaterlnet7", 33}, {"bowWaterlnet8", 34}, {"waterInject", 26},
{"bowWaterInet1", 27}, {"bowWaterInet2", 28}, {"bowWaterInet3", 29},
{"bowWaterInet4", 30}, {"bowWaterInet5", 31}, {"bowWaterInet6", 32},
{"bowWaterInet7", 33}, {"bowWaterInet8", 34}, {"waterInject", 26},
{"mastLiftingServo", 41}, {"buoyancyAdjust1", 44}, {"buoyancyAdjust2", 45},
{"buoyancyAdjust3", 46}, {"buoyancyAdjust4", 47}, {"buoyancyAdjust5", 48},
{"sternRudderServo1", 49}, {"sternRudderServo2", 50}, {"sternRudderServo3", 51},
@@ -910,28 +910,28 @@ int Driver::loadDriverTableFromJson(const std::string &strJson, DriverTable& tab
if (error_code != 0) return error_code;
// 执行机构
error_code = SafeReadUInt(root, "bowWaterlnet1_uint8", table.bowWaterlnet1);
error_code = SafeReadUInt(root, "bowWaterInet1_uint8", table.bowWaterInet1);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet2_uint8", table.bowWaterlnet2);
error_code = SafeReadUInt(root, "bowWaterInet2_uint8", table.bowWaterInet2);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet3_uint8", table.bowWaterlnet3);
error_code = SafeReadUInt(root, "bowWaterInet3_uint8", table.bowWaterInet3);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet4_uint8", table.bowWaterlnet4);
error_code = SafeReadUInt(root, "bowWaterInet4_uint8", table.bowWaterInet4);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet5_uint8", table.bowWaterlnet5);
error_code = SafeReadUInt(root, "bowWaterInet5_uint8", table.bowWaterInet5);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet6_uint8", table.bowWaterlnet6);
error_code = SafeReadUInt(root, "bowWaterInet6_uint8", table.bowWaterInet6);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet7_uint8", table.bowWaterlnet7);
error_code = SafeReadUInt(root, "bowWaterInet7_uint8", table.bowWaterInet7);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowWaterlnet8_uint8", table.bowWaterlnet8);
error_code = SafeReadUInt(root, "bowWaterInet8_uint8", table.bowWaterInet8);
if (error_code != 0) return error_code;
error_code = SafeReadUInt(root, "bowRudderDeploy_uint8", table.bowRudderDeploy);