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迁移pi上的feture-mc分支

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zjk
2023-11-20 09:58:12 +08:00
parent 036fbdbc9f
commit 1004233e20
26 changed files with 3173 additions and 618 deletions
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11
src/pTaskManger/TaskManger.h
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@@ -2,7 +2,7 @@
* @Author: 1553836110 1553836110@qq.com
* @Date: 2023-09-28 15:45:17
* @LastEditors: zjk 1553836110@qq.com
* @LastEditTime: 2023-11-08 14:53:05
* @LastEditTime: 2023-11-15 09:31:32
* @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h
* @Description:
*
@@ -74,7 +74,7 @@ class TaskManger : public AppCastingMOOSApp
inline void taskFinish();
void FaultFlagClear();
inline void InitConfig();
//内部消息发布
const string UPDATE_WPT = "WPT_UPDATE";
const string UPDATE_SPD = "SPEED_UPDATE";
const string UPDATE_DEP = "DEPTH_UPDATE";
@@ -82,7 +82,7 @@ class TaskManger : public AppCastingMOOSApp
const string UPDATE_MAXDEP = "MAXDEEP_UPDATES";
const string UPDATE_OPREGION = "OPREGION_UPDATES";
const string UPDATE_RESETFAULT = "OPREGION_RESET";
//内部消息订阅
const string MSG_WPTFLAG = "CurrentPointComplete";
const string MSG_ENDFLAG = "END_WayPoint";
const string MSG_START = "START";
@@ -90,12 +90,13 @@ class TaskManger : public AppCastingMOOSApp
const string MSG_FALUT = "TaskFault";
const string MSG_RUN = "RUN";
const string MSG_CLEARFAULT = "ClearFalut";
//交互消息
const string MSG_IN_SSM = "uMission_action_cmd";
const string MSG_TO_SSM = "uMission_task_fb";
const string MSG_TO_FH = "uMission_fault_fb";
const string MSG_IN_FH = "uDrive_fault_fb";
const string MSG_IN_MAN = "uManual_enable_cmd"; //TODO: 增加手操状态
const string MSG_FAULT_LEV2 = "uFH_errorMsg2_fb";
const string MSG_FALUT_LEV3 = "uFH_errorMsg3_fb";
protected:
// 任务参数