diff --git a/CMakeLists.txt b/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/README b/README old mode 100644 new mode 100755 diff --git a/README.md b/README.md old mode 100644 new mode 100755 diff --git a/alpha.moos b/alpha.moos deleted file mode 100644 index d65fb50..0000000 --- a/alpha.moos +++ /dev/null @@ -1,147 +0,0 @@ - -ServerHost = localhost -ServerPort = 9000 -Community = zjk -MOOSTimeWarp = 1 - -// Forest Lake -//这两个参数没有pMarineViewer就会闪退 -LatOrigin = 43.825300 -LongOrigin = -70.330400 - -//------------------------------------------ -// Antler configuration block -ProcessConfig = ANTLER -{ - MSBetweenLaunches = 200 - - Run = MOOSDB @ NewConsole = false - //Run = pLogger @ NewConsole = false - Run = pMarineViewer @ NewConsole = false - Run = pRealm @ NewConsole = false - Run = pShare @ NewConsole = false -} -ProcessConfig = pShare -{ - AppTick = 2 - CommsTick = 2 - - input = route = localhost:8085 - output = src_name=APPCAST_REQ, route=10.25.0.230:8081 - - //输出有两个端口，8081和8082，选择用1或者2 - //发送消息看以下格式 - //output = src_name=Y, dest_name=B, route=host:port - - output = src_name=uMission_action_cmd,route=10.25.0.230:8081 - output = src_name=uMotion_config_cmd,route=10.25.0.230:8081 -} - -ProcessConfig = pLogger -{ - AppTick = 8 - CommsTick = 8 - - AsyncLog = true - - // For variables that are published in a bundle on their first post, - // explicitly declare their logging request - //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC - //Log = REPORT @ 0 NOSYNC - //Log = BHV_SETTINGS @ 0 NOSYNC - Log = OPREGION_RESET @ 0 NOSYNC - - LogAuxSrc = true - WildCardLogging = true - WildCardOmitPattern = *_STATUS - WildCardOmitPattern = DB_VARSUMMARY - WildCardOmitPattern = DB_RWSUMMARY - WildCardExclusionLog = true -} -//------------------------------------------ -// pMarineViewer config block - -ProcessConfig = pMarineViewer -{ - AppTick = 4 - CommsTick = 4 - - tiff_file = forrest19.tif - //tiff_file = MIT_SP.tif - vehicles_name_mode = names+depth //+shortmode - - - set_pan_x = -90 - set_pan_y = -280 - zoom = 0.65 - vehicle_shape_scale = 1.5 - hash_delta = 50 - hash_shade = 0.22 - hash_viewable = true - - trails_point_size = 1 - - //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa - //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa - //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa - //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa - - // Appcast configuration - appcast_height = 75 - appcast_width = 30 - appcast_viewable = true - appcast_color_scheme = indigo - nodes_font_size = xlarge - procs_font_size = xlarge - appcast_font_size = large - - // datum_viewable = true - // datum_size = 18 - // gui_size = small - - // left_context[survey-point] = DEPLOY=true - // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false - // left_context[survey-point] = RETURN=false - - right_context[return] = DEPLOY=true - right_context[return] = MOOS_MANUAL_OVERRIDE=false - right_context[return] = RETURN=false - - scope = RETURN - scope = WPT_STAT - scope = VIEW_SEGLIST - scope = VIEW_POINT - scope = VIEW_POLYGON - scope = MVIEWER_LCLICK - scope = MVIEWER_RCLICK - - button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} - button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} - button_three = ReConfig # uMotion_config_cmd = true - button_four = SendSecurityZone # SendSaftRules = true - - - action = MENU_KEY=deploy # DEPLOY = true # RETURN = false - action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false - action = RETURN=true - action = UPDATES_RETURN=speed=1.4 - cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) - cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) - cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) - cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) - cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) - - cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) - cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) - - cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore - - cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink - - cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) - cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) - - cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) - cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) - cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) -} \ No newline at end of file diff --git a/bin/pBoardSupportComm b/bin/pBoardSupportComm deleted file mode 100755 index 38279f7..0000000 Binary files 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a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/cache-v2-dd2c937f009d9a652f28.json b/build/.cmake/api/v1/reply/cache-v2-dd2c937f009d9a652f28.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/cmakeFiles-v1-a2b0be97f994224a37d6.json b/build/.cmake/api/v1/reply/cmakeFiles-v1-a2b0be97f994224a37d6.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/codemodel-v2-e5f65b12d81cb1175a33.json b/build/.cmake/api/v1/reply/codemodel-v2-e5f65b12d81cb1175a33.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pBoardSupportComm-None-6b6714a772e692ce7bda.json b/build/.cmake/api/v1/reply/target-pBoardSupportComm-None-6b6714a772e692ce7bda.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pClientViewer-None-637c837c32b7f1c4a3f8.json 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a/build/.cmake/api/v1/reply/target-pStateManagement-None-12c0626db4f6cdfc3816.json b/build/.cmake/api/v1/reply/target-pStateManagement-None-12c0626db4f6cdfc3816.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pSurfaceSupportComm-None-5c1b066d62accb72956a.json b/build/.cmake/api/v1/reply/target-pSurfaceSupportComm-None-5c1b066d62accb72956a.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pTaskManagement-None-97473a05e92e62137b49.json b/build/.cmake/api/v1/reply/target-pTaskManagement-None-97473a05e92e62137b49.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pTaskSend-None-3a4f500e73d7f1e47a5a.json b/build/.cmake/api/v1/reply/target-pTaskSend-None-3a4f500e73d7f1e47a5a.json old mode 100644 new mode 100755 diff --git a/build/read.txt b/build/read.txt old mode 100644 new mode 100755 diff --git a/launch/.LastOpenedMOOSLogDirectory b/launch/.LastOpenedMOOSLogDirectory old mode 100644 new mode 100755 diff --git a/launch/alpha.bhv b/launch/alpha.bhv old mode 100644 new mode 100755 diff --git a/launch/alpha.moos b/launch/alpha.moos old mode 100644 new mode 100755 diff --git a/launch/launch.moos b/launch/launch.moos old mode 100644 new mode 100755 diff --git a/launch/launch_local.moos b/launch/launch_local.moos new file mode 100755 index 0000000..ec833e9 --- /dev/null +++ b/launch/launch_local.moos @@ -0,0 +1,328 @@ +//====================================== +//1. 在phare配置块里面添加需要的变量和调试端端口配置 +//2. Our define process中加入自定义程序 +//3. For test process 中加入配合调试的程序 + +ServerHost = localhost +ServerPort = 9000 +Simulator = true + +Community = pi + +MOOSTimeWarp = 1 + +LatOrigin = 43.825300 +LongOrigin = -70.330400 +AltOrigin = 0 + +VehicleName = lauv-150 + +LogEnable = false +//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/ +LogDir = /home/ben/project/moos-ivp-pi/log/ +AuvDataLog = auvData.mdat +MissionHistoryLog = missionHistory.txt +ClientCommandLog = clientCommand.txt +FaultLog = faultLog.txt +MotionControlLog = motionControl.txt + +//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json +llaOriginPath = /home/ben/project/moos-ivp-pi/setting/Origin.json + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + //============MOOS process========================= + Run = MOOSDB @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pRealm @ NewConsole = false + //Run = pShare @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + //===========Our define process==================== + Run = pBoardSupportComm @ NewConsole = false + Run = pTaskManagement @ NewConsole = false + //Run = pMotionControler @ NewConsole = false + Run = pSurfaceSupportComm @ NewConsole = false + Run = pDataManagement @ NewConsole = false + Run = pFaultHandle @ NewConsole = false + Run = pStateManagement @ NewConsole = false + //===============For test process=================== + //Run = pEmulator @ NewConsole = false + Run = uSimMarine @ NewConsole = false + Run = pMarinePID @ NewConsole = false + +} + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + //button_one = START # START=true + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //button_two = MOOS_MANUAL_OVERRIDE=true + //button_three = FaultClear # ClearFalut = true + //button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + +} +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* + nowatch = pShare* + nowatch = pRealm* + nowatch = pNodeReporter* +} + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + platform_type = UUV + platform_color = red + platform_length = 4 +} + + +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + //UUV 信息 + output = src_name = NODE_REPORT*, route = 10.25.0.160:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.248:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.165:8085 + //App 信息 + output = src_name = APPCAST*, route = 10.25.0.160:8085 + output = src_name = APPCAST*, route = 10.25.0.165:8085 + output = src_name = APPCAST*, route = 10.25.0.248:8085 + //路径点信息 + output = src_name = VIEW*, route = 10.25.0.160:8085 + output = src_name = VIEW*, route = 10.25.0.165:8085 + output = src_name = VIEW*, route = 10.25.0.248:8085 + //调试端输入端口 + input = route = localhost:8081 + input = route = localhost:8082 + input = route = localhost:8083 +} + +ProcessConfig = pTaskManagement +{ + AppTick = 8 + CommsTick = 8 + //planConfigPath = /home/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json + planConfigPath = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.json + +} + +ProcessConfig = pBoardSupportComm +{ + AppTick = 5 + CommsTick = 5 +} + +ProcessConfig = uSimMarine +{ + AppTick = 10 + CommsTick = 10 + + START_X = 0 + START_Y = 0 + START_SPEED = 0 + START_HEADING = 180 + + PREFIX = NAV +} + +ProcessConfig = pMarinePID +{ + AppTick = 20 + CommsTick = 20 + + VERBOSE = true + DEPTH_CONTROL = false + + // Yaw PID controller + YAW_PID_KP = 0.5 + YAW_PID_KD = 0.0 + YAW_PID_KI = 0.0 + YAW_PID_INTEGRAL_LIMIT = 0.07 + + // Speed PID controller + SPEED_PID_KP = 1.0 + SPEED_PID_KD = 0.0 + SPEED_PID_KI = 0.0 + SPEED_PID_INTEGRAL_LIMIT = 0.07 + + //MAXIMUMS + MAXRUDDER = 100 + MAXTHRUST = 100 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + SPEED_FACTOR = 20 + +} + +ProcessConfig = pMotionControler +{ + AppTick = 5 + CommsTick = 5 + tardy_nav_thresh = 2.0 + tardy_helm_thresh = 2.0 + + cheak_stalensee = true + delta_freqency = 5 + + //config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json + config_file = /home/ben/project/moos-ivp-pi/setting/ControlParam.json +} + +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 10.25.0.137 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pDataManagement +{ + AppTick = 4 + CommsTick = 4 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + FileTimeStamp = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + Log = REPORT @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} +ProcessConfig = pFaultHandle +{ + AppTick = 4 + CommsTick = 4 +} + diff --git a/missions/alder/README b/missions/alder/README old mode 100644 new mode 100755 diff --git a/missions/alder/alder.bhv b/missions/alder/alder.bhv old mode 100644 new mode 100755 diff --git a/missions/alder/alder.moos b/missions/alder/alder.moos old mode 100644 new mode 100755 diff --git a/missions/alder/alder_orig.bhv b/missions/alder/alder_orig.bhv old mode 100644 new mode 100755 diff --git a/missions/s1_alpha/alpha.bhv b/missions/s1_alpha/alpha.bhv old mode 100644 new mode 100755 diff --git a/missions/s1_alpha/alpha.moos b/missions/s1_alpha/alpha.moos old mode 100644 new mode 100755 diff --git a/missions/xrelay/xrelay.moos b/missions/xrelay/xrelay.moos old mode 100644 new mode 100755 diff 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a/src/pEmulator/main.cpp b/src/pEmulator/main.cpp old mode 100644 new mode 100755 diff --git a/src/pEmulator/pEmulator.moos b/src/pEmulator/pEmulator.moos old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/CMakeLists.txt b/src/pFaultHandle/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle.cpp b/src/pFaultHandle/FaultHandle.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle.h b/src/pFaultHandle/FaultHandle.h old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle_Info.cpp b/src/pFaultHandle/FaultHandle_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle_Info.h b/src/pFaultHandle/FaultHandle_Info.h old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/main.cpp b/src/pFaultHandle/main.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/pFaultHandle.moos b/src/pFaultHandle/pFaultHandle.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/CMakeLists.txt b/src/pMotionControler/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pMotionControler/ControlParam.json b/src/pMotionControler/ControlParam.json old mode 100644 new mode 100755 diff --git a/src/pMotionControler/Controler.cpp b/src/pMotionControler/Controler.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/Controler.hpp b/src/pMotionControler/Controler.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/MotionControler.cpp b/src/pMotionControler/MotionControler.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/MotionControler.hpp b/src/pMotionControler/MotionControler.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/a.moos b/src/pMotionControler/a.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/alpha.bhv b/src/pMotionControler/alpha.bhv old mode 100644 new mode 100755 diff --git a/src/pMotionControler/alpha.moos b/src/pMotionControler/alpha.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/main.cpp b/src/pMotionControler/main.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/pidControl.cpp b/src/pMotionControler/pidControl.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/pidControl.hpp b/src/pMotionControler/pidControl.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/simMat.moos b/src/pMotionControler/simMat.moos old mode 100644 new mode 100755 diff --git a/src/pStateManagement/CMakeLists.txt b/src/pStateManagement/CMakeLists.txt old mode 100644 new mode 100755 index bde6d92..0e5676b --- a/src/pStateManagement/CMakeLists.txt +++ b/src/pStateManagement/CMakeLists.txt @@ -17,6 +17,9 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}) #find_package (jsoncpp NO_MODULE REQUIRED) +find_package (GeographicLib REQUIRED) +include_directories(${GeographicLib_INCLUDE_DIRS}) + include_directories(/usr/include/jsoncpp/) link_directories(/usr/local/lib/) @@ -26,7 +29,8 @@ TARGET_LINK_LIBRARIES(pStateManagement ${MOOS_LIBRARIES} ${CMAKE_DL_LIBS} ${SYSTEM_LIBS} - ${DUNE_LIB} + ${DUNE_LIB} + ${GeographicLib_LIBRARIES} mbutil m pthread diff --git a/src/pStateManagement/StateManagement.cpp b/src/pStateManagement/StateManagement.cpp old mode 100644 new mode 100755 index 315f326..4a49619 --- a/src/pStateManagement/StateManagement.cpp +++ b/src/pStateManagement/StateManagement.cpp @@ -9,6 +9,7 @@ #include "MBUtils.h" #include "StateManagement.h" #include +#include using namespace std; @@ -36,7 +37,6 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail) for(p=NewMail.begin(); p!=NewMail.end(); p++) { CMOOSMsg &msg = *p; -#if 1 // Keep these around just for template string key = msg.GetKey(); string comm = msg.GetCommunity(); double dval = msg.GetDouble(); @@ -45,11 +45,10 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail) double mtime = msg.GetTime(); bool mdbl = msg.IsDouble(); bool mstr = msg.IsString(); -#endif - Json::Value deviceState; + Json::Value deviceState; std::string manualState; - double missionState; + int missionState; if(key == "uManual_enable_cmd") { @@ -84,7 +83,7 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail) { deviceState["opMode"] = opModeLists.service; } - else if((missionState == 3) ) + if((missionState == 3) ) { deviceState["opMode"] = opModeLists.maneuver; } diff --git a/src/pStateManagement/StateManagement.h b/src/pStateManagement/StateManagement.h old mode 100644 new mode 100755 index 5da5f97..6635540 --- a/src/pStateManagement/StateManagement.h +++ b/src/pStateManagement/StateManagement.h @@ -9,6 +9,12 @@ #define StateManagement_HEADER #include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include +#include +#include class StateManagement : public CMOOSApp { diff --git a/src/pStateManagement/StateManagement_Info.cpp b/src/pStateManagement/StateManagement_Info.cpp old 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