#include "driver.h"

Driver::Driver()
{
    currentDriverTable = new DriverTable();
    nextDriverTable = new DriverTable();
    debug = false;
    
}

Driver::~Driver()
{
    delete currentDriverTable;
    delete nextDriverTable;
}

void Driver::setDebug(bool debug)
{
    this->debug = debug;
}

void Driver::getSTANDBYTable(DriverTable* driverTable)
{
    //打开所有传感器
    driverTable->depth1 = 1;
    driverTable->depth2 = 1;
    driverTable->depth3 = 1;
    driverTable->overDeep1 = 1;
    driverTable->overDeep2 = 1;
    driverTable->ctd1 = 1;
    driverTable->ctd2 = 1;
    driverTable->soundVeloc = 1;
    driverTable->commMast = 1;
    driverTable->ins = 1;
    driverTable->ntp = 1;
    driverTable->inputWaterSensor1 = 1;
    driverTable->inputWaterSensor2 = 1;
    driverTable->inputWaterSensor3 = 1;

    //关闭所有负载
    driverTable->photoSensor = 0;
    driverTable->electSensor = 0;
    driverTable->launchControler = 0;
    driverTable->sideSonar = 0;
    driverTable->buoyage = 0;
    //关闭所有水声设备
    driverTable->singleBeamSonar1 = 0;
    driverTable->singleBeamSonar2 = 0;
    driverTable->singleBeamSonar3 = 0;
    driverTable->singleBeamSonar4 = 0;
    driverTable->singleBeamSonar5 = 0;
    driverTable->singleBeamSonar6 = 0;
    driverTable->singleBeamSonar7 = 0;
    driverTable->singleBeamSonar8 = 0;
    driverTable->DVL = 0;
    driverTable->forwardSonar = 0;
    driverTable->lowFreqSonar = 0;
    driverTable->USBL = 0;
    //关闭所有执行机构
    driverTable->bowCover1 = 0;
    driverTable->bowCover2 = 0;
    driverTable->bowCover3 = 0;
    driverTable->bowCover4 = 0;
    driverTable->bowCover5 = 0;
    driverTable->bowCover6 = 0;
    driverTable->bowRudderDeploy = 0;
    driverTable->bowRudderServo1 = 0;
    driverTable->bowRudderServo2 = 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;
    driverTable->buoyancyAdjust2 = 0;
    driverTable->buoyancyAdjust3 = 0;
    driverTable->buoyancyAdjust4 = 0;
    driverTable->buoyancyAdjust5 = 0;
    driverTable->sternRudderServo1 = 0;
    driverTable->sternRudderServo2 = 0;
    driverTable->sternRudderServo3 = 0;
    driverTable->sternRudderServo4 = 0;
    driverTable->thruster = 0;
    driverTable->bowThrow = 0;
    driverTable->sternThrow = 0;
}

void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = 1;
    driverTable->depth2 = 1;
    driverTable->depth3 = 1;
    driverTable->overDeep1 = 1;
    driverTable->overDeep2 = 1;
    driverTable->ctd1 = 1;
    driverTable->ctd2 = 1;
    driverTable->soundVeloc = 1;
    driverTable->commMast = 1;
    driverTable->ins = 1;
    driverTable->ntp = 1;
    driverTable->inputWaterSensor1 = 1;
    driverTable->inputWaterSensor2 = 1;
    driverTable->inputWaterSensor3 = 1;

    // 允许启动负载
    // 关闭xcz
    driverTable->photoSensor = 0;
    driverTable->electSensor = 0;
    driverTable->launchControler = 0;
    driverTable->sideSonar = 0; 
    driverTable->buoyage = 0;
    
    // 关闭所有水声设备
    driverTable->singleBeamSonar1 = 0;
    driverTable->singleBeamSonar2 = 0;
    driverTable->singleBeamSonar3 = 0;
    driverTable->singleBeamSonar4 = 0;
    driverTable->singleBeamSonar5 = 0;
    driverTable->singleBeamSonar6 = 0;
    driverTable->singleBeamSonar7 = 0;
    driverTable->singleBeamSonar8 = 0;
    driverTable->DVL = 0;
    driverTable->forwardSonar = 0;
    driverTable->lowFreqSonar = 0;
    driverTable->USBL = 0;

    // 打开必要的执行机构
    driverTable->bowCover1 = 1;
    driverTable->bowCover2 = 1;
    driverTable->bowCover3 = 1;
    driverTable->bowCover4 = 1;
    driverTable->bowCover5 = 1;
    driverTable->bowCover6 = 1;
    driverTable->bowRudderDeploy = 1;
    driverTable->bowRudderServo1 = 1;
    driverTable->bowRudderServo2 = 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;
    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;
}

void Driver::getWATER_BASED_READYable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = 1;
    driverTable->depth2 = 1;
    driverTable->depth3 = 1;
    driverTable->overDeep1 = 1;
    driverTable->overDeep2 = 1;
    driverTable->ctd1 = 1;
    driverTable->ctd2 = 1;
    driverTable->soundVeloc = 1;
    driverTable->commMast = 1;
    driverTable->ins = 1;
    driverTable->ntp = 1;
    driverTable->inputWaterSensor1 = 1;
    driverTable->inputWaterSensor2 = 1;
    driverTable->inputWaterSensor3 = 1;

    // 允许启动负载
    driverTable->photoSensor = 0;
    driverTable->electSensor = 0;
    driverTable->launchControler = 0;
    driverTable->sideSonar = 0;
    driverTable->buoyage = 0;

    // 所有水声设备待机
    driverTable->singleBeamSonar1 = 0;
    driverTable->singleBeamSonar2 = 0;
    driverTable->singleBeamSonar3 = 0;
    driverTable->singleBeamSonar4 = 0;
    driverTable->singleBeamSonar5 = 0;
    driverTable->singleBeamSonar6 = 0;
    driverTable->singleBeamSonar7 = 0;
    driverTable->singleBeamSonar8 = 0;
    driverTable->DVL = 0;   
    driverTable->forwardSonar = 0;
    driverTable->lowFreqSonar = 0;
    driverTable->USBL = 0;
    
    // 打开必要的执行机构
    driverTable->bowCover1 = 1;
    driverTable->bowCover2 = 1;
    driverTable->bowCover3 = 1;
    driverTable->bowCover4 = 1;
    driverTable->bowCover5 = 1;
    driverTable->bowCover6 = 1;
    driverTable->bowRudderDeploy = 1;
    driverTable->bowRudderServo1 = 1;
    driverTable->bowRudderServo2 = 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;
    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;
}

void Driver::getCRUISE_MODEable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = 1;
    driverTable->depth2 = 1;
    driverTable->depth3 = 1;
    driverTable->overDeep1 = 1;
    driverTable->overDeep2 = 1;
    driverTable->ctd1 = 1;
    driverTable->ctd2 = 1;
    driverTable->soundVeloc = 1;
    driverTable->commMast = 1;
    driverTable->ins = 1;
    driverTable->ntp = 1;
    driverTable->inputWaterSensor1 = 1;
    driverTable->inputWaterSensor2 = 1;
    driverTable->inputWaterSensor3 = 1;

    // 所有负载设备关机
    driverTable->photoSensor = 0;
    driverTable->electSensor = 0;
    driverTable->launchControler = 0;
    driverTable->sideSonar = 0;
    driverTable->buoyage = 0;
    
    // 打开必要的执行机构 
    // 关闭非必要的执行机构
    driverTable->bowCover1 = 0;
    driverTable->bowCover2 = 0;
    driverTable->bowCover3 = 0;
    driverTable->bowCover4 = 0;
    driverTable->bowCover5 = 0;
    driverTable->bowCover6 = 0;
    driverTable->bowRudderDeploy = 1;
    driverTable->bowRudderServo1 = 1;
    driverTable->bowRudderServo2 = 1;
    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;
    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;
}


void Driver::getHIGH_SPEED_MODEable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = DRIVER_FULL_POWER_ON;
    driverTable->depth2 = DRIVER_FULL_POWER_ON;
    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->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->launchControler = DRIVER_POWER_OFF;
    driverTable->sideSonar = DRIVER_POWER_OFF;
    driverTable->buoyage = DRIVER_POWER_OFF;
    
    // 打开必要的执行机构，只打开操纵机构
    // 关闭非必要的执行机构
    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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
    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;
    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;
    driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
    driverTable->thruster = DRIVER_FULL_POWER_ON;
    driverTable->bowThrow = DRIVER_FULL_POWER_ON;
    driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

// 上浮下潜与巡航模式一致
void Driver::getASCEND_DESCENDable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = DRIVER_FULL_POWER_ON;
    driverTable->depth2 = DRIVER_FULL_POWER_ON;
    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->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->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->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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
    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;
    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;
    driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
    driverTable->thruster = DRIVER_FULL_POWER_ON;
    driverTable->bowThrow = DRIVER_FULL_POWER_ON;
    driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

// 浮标调整与巡航模式一致
void Driver::getBUOYANCY_ADJUSTable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = DRIVER_FULL_POWER_ON;
    driverTable->depth2 = DRIVER_FULL_POWER_ON;
    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->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->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->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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
    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;
    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;
    driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
    driverTable->thruster = DRIVER_FULL_POWER_ON;
    driverTable->bowThrow = DRIVER_FULL_POWER_ON;
    driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

// 水下侦查
void Driver::getUNDERWATER_RECONable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = DRIVER_FULL_POWER_ON;
    driverTable->depth2 = DRIVER_FULL_POWER_ON;
    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->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->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->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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
    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;
    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;
    driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
    driverTable->thruster = DRIVER_FULL_POWER_ON;
    driverTable->bowThrow = DRIVER_FULL_POWER_ON;
    driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

// 水面探测
void Driver::getSURFACE_RECONable(DriverTable* driverTable)
{
    // 打开所有传感器
    driverTable->depth1 = DRIVER_FULL_POWER_ON;
    driverTable->depth2 = DRIVER_FULL_POWER_ON;
    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->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->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->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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
    driverTable->bowRudderServo2 = DRIVER_FULL_POWER_ON;
    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;
    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;
    driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
    driverTable->thruster = DRIVER_FULL_POWER_ON;
    driverTable->bowThrow = DRIVER_FULL_POWER_ON;
    driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

void Driver::getDJ_MODEable(DriverTable* driverTable)
{
        // 打开所有传感器
        driverTable->depth1 = DRIVER_FULL_POWER_ON;
        driverTable->depth2 = DRIVER_FULL_POWER_ON;
        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->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->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->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->bowRudderDeploy = DRIVER_FULL_POWER_ON;
        driverTable->bowRudderServo1 = DRIVER_FULL_POWER_ON;
        driverTable->bowRudderServo2 = 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;
        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;
        driverTable->sternRudderServo4 = DRIVER_FULL_POWER_ON;
        driverTable->thruster = DRIVER_FULL_POWER_ON;
        driverTable->bowThrow = DRIVER_FULL_POWER_ON;
        driverTable->sternThrow = DRIVER_FULL_POWER_ON;
}

std::string Driver::saveDriverTableToJson(const DriverTable* driverTable)
{
    Json::Value root;
    
    // 添加所有成员到json
    root["depth1_uint8"] = driverTable->depth1;
    root["depth2_uint8"] = driverTable->depth2;
    root["depth3_uint8"] = driverTable->depth3;
    root["overDeep1_uint8"] = driverTable->overDeep1;
    root["overDeep2_uint8"] = driverTable->overDeep2;
    root["ctd1_uint8"] = driverTable->ctd1;
    root["ctd2_uint8"] = driverTable->ctd2;
    root["soundVeloc_uint8"] = driverTable->soundVeloc;
    root["commDev_uint8"] = driverTable->commMast;
    root["ins_uint8"] = driverTable->ins;
    root["ntp_uint8"] = driverTable->ntp;
    root["inputWaterSensor1_uint8"] = driverTable->inputWaterSensor1;
    root["inputWaterSensor2_uint8"] = driverTable->inputWaterSensor2;
    root["inputWaterSensor3_uint8"] = driverTable->inputWaterSensor3;

    root["singleBeamSonar1_uint8"] = driverTable->singleBeamSonar1;
    root["singleBeamSonar2_uint8"] = driverTable->singleBeamSonar2;
    root["singleBeamSonar3_uint8"] = driverTable->singleBeamSonar3;
    root["singleBeamSonar4_uint8"] = driverTable->singleBeamSonar4;
    root["singleBeamSonar5_uint8"] = driverTable->singleBeamSonar5;
    root["singleBeamSonar6_uint8"] = driverTable->singleBeamSonar6;
    root["singleBeamSonar7_uint8"] = driverTable->singleBeamSonar7;
    root["singleBeamSonar8_uint8"] = driverTable->singleBeamSonar8;
    root["forwardSonar_uint8"] = driverTable->forwardSonar;
    root["DVL_uint8"] = driverTable->DVL;
    root["lowFreqSonar_uint8"] = driverTable->lowFreqSonar;
    root["USBL_uint8"] = driverTable->USBL;
    root["bowCover1_uint8"] = driverTable->bowCover1;
    root["bowCover2_uint8"] = driverTable->bowCover2;
    root["bowCover3_uint8"] = driverTable->bowCover3;
    root["bowCover4_uint8"] = driverTable->bowCover4;
    root["bowCover5_uint8"] = driverTable->bowCover5;
    root["bowCover6_uint8"] = driverTable->bowCover6;
    root["bowRudderDeploy_uint8"] = driverTable->bowRudderDeploy;
    root["bowRudderServo1_uint8"] = driverTable->bowRudderServo1;
    root["bowRudderServo2_uint8"] = driverTable->bowRudderServo2;
    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;
    root["buoyancyAdjust2_uint8"] = driverTable->buoyancyAdjust2;
    root["buoyancyAdjust3_uint8"] = driverTable->buoyancyAdjust3;
    root["buoyancyAdjust4_uint8"] = driverTable->buoyancyAdjust4;
    root["buoyancyAdjust5_uint8"] = driverTable->buoyancyAdjust5;
    root["sternRudderServo1_uint8"] = driverTable->sternRudderServo1;
    root["sternRudderServo2_uint8"] = driverTable->sternRudderServo2;
    root["sternRudderServo3_uint8"] = driverTable->sternRudderServo3;
    root["sternRudderServo4_uint8"] = driverTable->sternRudderServo4;
    root["thruster_uint8"] = driverTable->thruster;
    root["bowThrow_uint8"] = driverTable->bowThrow;
    root["sternThrow_uint8"] = driverTable->sternThrow;
    root["photoSensor_uint8"] = driverTable->photoSensor;
    root["electSensor_uint8"] = driverTable->electSensor;
    root["launchControler_uint8"] = driverTable->launchControler;
    root["sideSonar_uint8"] = driverTable->sideSonar;
    root["buoyage_uint8"] = 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
}

vector<DriverCommand> Driver::loadDriverIdFromJson(const std::string &strJson) {
    Json::CharReaderBuilder builder;
    Json::Value root;
    std::string errs;
    vector<DriverCommand> driverCmd;

    // 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 driverCmd;
    }
    // 设备字段名到ID的映射
    const std::map<std::string, int> fieldToId = {
        {"depth1_uint8", 18}, {"depth2_uint8", 19}, {"depth3_uint8", 20},
        {"overDeep1_uint8", 21}, {"overDeep2_uint8", 22},
        {"ctd1_uint8", 23}, {"ctd2_uint8", 24}, {"soundVeloc_uint8", 25},
        {"commDev_uint8", 40}, {"ins_uint8", 57}, {"ntp_uint8", 58},
        {"inputWaterSensor1_uint8", 59}, {"inputWaterSensor2_uint8", 60}, {"inputWaterSensor3_uint8", 61},
        {"singleBeamSonar1_uint8", 0}, {"singleBeamSonar2_uint8", 1}, {"singleBeamSonar3_uint8", 2},
        {"singleBeamSonar4_uint8", 3}, {"singleBeamSonar5_uint8", 4}, {"singleBeamSonar6_uint8", 5},
        {"singleBeamSonar7_uint8", 6}, {"singleBeamSonar8_uint8", 7}, {"forwardSonar_uint8", 8},
        {"DVL_uint8", 43}, {"lowFreqSonar_uint8", 36}, {"USBL_uint8", 42},
        {"bowCover1_uint8", 9}, {"bowCover2_uint8", 10}, {"bowCover3_uint8", 11},
        {"bowCover4_uint8", 12}, {"bowCover5_uint8", 13}, {"bowCover6_uint8", 14},
        {"bowRudderDeploy_uint8", 15}, {"bowRudderServo1_uint8", 16}, {"bowRudderServo2_uint8", 17},
        {"bowWaterInet1_uint8", 27}, {"bowWaterInet2_uint8", 28}, {"bowWaterInet3_uint8", 29},
        {"bowWaterInet4_uint8", 30}, {"bowWaterInet5_uint8", 31}, {"bowWaterInet6_uint8", 32},
        {"bowWaterInet7_uint8", 33}, {"bowWaterInet8_uint8", 34}, {"waterInject_uint8", 26},
        {"mastLiftingServo_uint8_uint8", 41}, {"buoyancyAdjust1_uint8", 44}, {"buoyancyAdjust2_uint8", 45},
        {"buoyancyAdjust3_uint8", 46}, {"buoyancyAdjust4_uint8", 47}, {"buoyancyAdjust5_uint8", 48},
        {"sternRudderServo1_uint8", 49}, {"sternRudderServo2_uint8", 50}, {"sternRudderServo3_uint8", 51},
        {"sternRudderServo4_uint8", 52}, {"thruster_uint8", 53}, {"bowThrow_uint8", 54},
        {"sternThrow_uint8", 55}, {"photoSensor_uint8", 38}, {"electSensor_uint8", 39},
        {"launchControler_uint8", 37}, {"sideSonar_uint8", 35}, {"buoyage_uint8", 56}
    };

    for (const auto& [field, id] : fieldToId) {
        if (root.isMember(field)) {
            unsigned char newValue = root[field].asUInt();
            DriverCommand cmd;
            cmd.id = id;
            cmd.cmd = newValue;
            driverCmd.push_back(cmd);
        }
    }

    return driverCmd;
}

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_uint8", table.depth1);

    error_code = SafeReadUInt(root, "depth2_uint8", table.depth2);

    error_code = SafeReadUInt(root, "depth3_uint8", table.depth3);

    // error_code = SafeReadUInt(root, "overDeep1_uint8", table.overDeep1);
    // if (error_code != 0) return error_code;

    // error_code = SafeReadUInt(root, "overDeep2_uint8", table.overDeep2);
    // if (error_code != 0) return error_code;

    error_code = SafeReadUInt(root, "ctd1_uint8", table.ctd1);

    error_code = SafeReadUInt(root, "ctd2_uint8", table.ctd2);

    error_code = SafeReadUInt(root, "soundVeloc_uint8", table.soundVeloc);

    error_code = SafeReadUInt(root, "commDev_uint8", table.commMast);

    error_code = SafeReadUInt(root, "ins_uint8", table.ins);

    error_code = SafeReadUInt(root, "ntp_uint8", table.ntp);

    error_code = SafeReadUInt(root, "inputWaterSensor1_uint8", table.inputWaterSensor1);

    error_code = SafeReadUInt(root, "inputWaterSensor2_uint8", table.inputWaterSensor2);

    error_code = SafeReadUInt(root, "inputWaterSensor3_uint8", table.inputWaterSensor3);

    // 水声设备
    error_code = SafeReadUInt(root, "singleBeamSonar1_uint8", table.singleBeamSonar1);

    error_code = SafeReadUInt(root, "singleBeamSonar2_uint8", table.singleBeamSonar2);

    error_code = SafeReadUInt(root, "singleBeamSonar3_uint8", table.singleBeamSonar3);

    error_code = SafeReadUInt(root, "singleBeamSonar4_uint8", table.singleBeamSonar4);

    error_code = SafeReadUInt(root, "singleBeamSonar5_uint8", table.singleBeamSonar5);

    error_code = SafeReadUInt(root, "singleBeamSonar6_uint8", table.singleBeamSonar6);

    error_code = SafeReadUInt(root, "singleBeamSonar7_uint8", table.singleBeamSonar7);

    error_code = SafeReadUInt(root, "singleBeamSonar8_uint8", table.singleBeamSonar8);

    error_code = SafeReadUInt(root, "forwardSonar_uint8", table.forwardSonar);

    error_code = SafeReadUInt(root, "DVL_uint8", table.DVL);

    error_code = SafeReadUInt(root, "lowFreqSonar_uint8", table.lowFreqSonar);

    error_code = SafeReadUInt(root, "USBL_uint8", table.USBL);

    // 执行机构
    error_code = SafeReadUInt(root, "bowWaterInet1_uint8", table.bowWaterInet1);

    error_code = SafeReadUInt(root, "bowWaterInet2_uint8", table.bowWaterInet2);

    error_code = SafeReadUInt(root, "bowWaterInet3_uint8", table.bowWaterInet3);

    error_code = SafeReadUInt(root, "bowWaterInet4_uint8", table.bowWaterInet4);

    error_code = SafeReadUInt(root, "bowWaterInet5_uint8", table.bowWaterInet5);

    error_code = SafeReadUInt(root, "bowWaterInet6_uint8", table.bowWaterInet6);

    error_code = SafeReadUInt(root, "bowWaterInet7_uint8", table.bowWaterInet7);

    error_code = SafeReadUInt(root, "bowWaterInet8_uint8", table.bowWaterInet8);

    error_code = SafeReadUInt(root, "bowRudderDeploy_uint8", table.bowRudderDeploy);

    error_code = SafeReadUInt(root, "bowRudderServo1_uint8", table.bowRudderServo1);

    error_code = SafeReadUInt(root, "bowRudderServo2_uint8", table.bowRudderServo2);

    error_code = SafeReadUInt(root, "bowCover1_uint8", table.bowCover1);

    error_code = SafeReadUInt(root, "bowCover2_uint8", table.bowCover2);

    error_code = SafeReadUInt(root, "bowCover3_uint8", table.bowCover3);

    error_code = SafeReadUInt(root, "bowCover4_uint8", table.bowCover4);

    error_code = SafeReadUInt(root, "bowCover5_uint8", table.bowCover5);

    error_code = SafeReadUInt(root, "bowCover6_uint8", table.bowCover6);

    error_code = SafeReadUInt(root, "waterInject_uint8", table.waterInject);

    error_code = SafeReadUInt(root, "mastLiftingServo_uint8", table.mastLiftingServo);

    error_code = SafeReadUInt(root, "buoyancyAdjust1_uint8", table.buoyancyAdjust1);

    error_code = SafeReadUInt(root, "buoyancyAdjust2_uint8", table.buoyancyAdjust2);

    error_code = SafeReadUInt(root, "buoyancyAdjust3_uint8", table.buoyancyAdjust3);

    error_code = SafeReadUInt(root, "buoyancyAdjust4_uint8", table.buoyancyAdjust4);

    error_code = SafeReadUInt(root, "buoyancyAdjust5_uint8", table.buoyancyAdjust5);

    error_code = SafeReadUInt(root, "sternRudderServo1_uint8", table.sternRudderServo1);

    error_code = SafeReadUInt(root, "sternRudderServo2_uint8", table.sternRudderServo2);

    error_code = SafeReadUInt(root, "sternRudderServo3_uint8", table.sternRudderServo3);

    error_code = SafeReadUInt(root, "sternRudderServo4_uint8", table.sternRudderServo4);

    error_code = SafeReadUInt(root, "thruster_uint8", table.thruster);

    error_code = SafeReadUInt(root, "bowThrow_uint8", table.bowThrow);

    error_code = SafeReadUInt(root, "sternThrow_uint8", table.sternThrow);

    // 负载
    error_code = SafeReadUInt(root, "photoSensor_uint8", table.photoSensor);

    error_code = SafeReadUInt(root, "electSensor_uint8", table.electSensor);

    error_code = SafeReadUInt(root, "launchControler_uint8", table.launchControler);

    error_code = SafeReadUInt(root, "sideSonar_uint8", table.sideSonar);

    error_code = SafeReadUInt(root, "buoyage_uint8", table.buoyage);

    return 0;  // 返回0表示所有数据成功读取
}