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Merge branch 'master' of http://10.25.0.206:3002/UUV/moos-ivp-pi

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This commit is contained in:
zhaojingkui
2023-11-30 09:32:06 +08:00
parent a4da4efb56 6f08e38c03
commit 6e35606305
6 changed files with 63 additions and 54 deletions
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12
launch/launch.moos
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@@ -18,14 +18,14 @@ AltOrigin = 0
VehicleName = lauv-150
LogEnable = false
LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
LogDir = /home/jhl/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/jhl/project/moos-ivp-pi/setting/Origin.json
//------------------------------------------
// Antler configuration block
@@ -209,9 +209,9 @@ ProcessConfig = pTaskManagement
{
AppTick = 8
CommsTick = 8
planConfigPath = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json
safetyRulesPath = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json
wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json
planConfigPath = /home/jhl/project/moos-ivp-pi/setting/PlanConfigure.json
safetyRulesPath = /home/jhl/project/moos-ivp-pi/setting/SafetyRules.json
wayConfigParamPath = /home/jhl/project/moos-ivp-pi/setting/WayConfigParam.json
}
ProcessConfig = pBoardSupportComm
@@ -273,7 +273,7 @@ ProcessConfig = pMotionControler
cheak_stalensee = true
delta_freqency = 5
config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json
config_file = /home/jhl/project/moos-ivp-pi/setting/ControlParam.json
}
ProcessConfig = pEmulator

86
src/pDataManagement/DataManagement.cpp
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@@ -76,7 +76,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
if (sval == "true")
{
logEnable = true;
OpenOutputStream();
OpenOutputStream("");
}
else
{
@@ -84,6 +84,39 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
CloseOutputStream();
}
}
if(key == "uMission_action_cmd")
{
if (logEnable)
{
std::string err;
Json::Value recvCommand;
std::istringstream iss(sval);
Json::CharReaderBuilder builder;
try
{
bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err);
if (!parsingResult)
{
throw ("uMission_action_cmd parse error");
}
if (recvCommand["action"].asString() == "start")
{
CloseOutputStream();
OpenOutputStream(recvCommand["taskName"].asString());
}
else
{
CloseOutputStream();
OpenOutputStream("");
}
}
catch (std::string s)
{
std::cout << s << std::endl;
}
}
}
if(key == "uDevice_monitor_fb")
{
@@ -265,6 +298,8 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
<< motionControlInfo.desiredDepth;
Notify("uMotion_desired_log", ss.str());
}
}
return(true);
@@ -415,44 +450,7 @@ bool DataManagement::OnStartUp()
if (logEnable)
{
// std::string subDir;
// std::string localTime;
// GenerateFileName(subDir, localTime);
// saveLogDir += "/" + subDir;
// if (access(saveLogDir.c_str(), F_OK) == -1 )
// {
// mode_t mode = 0775;
// mkdir(saveLogDir.c_str(), mode);
// }
// saveLogDir += "/" + localTime;
// if (access(saveLogDir.c_str(), F_OK) == -1 )
// {
// mode_t mode = 0775;
// mkdir(saveLogDir.c_str(), mode);
// }
// std::string auvDataSavePath = saveLogDir + "/" + auvDataFile;
// std::string missionHistorySavePath = saveLogDir + "/" + missionHistoryFile;
// std::string clientCommandSavePath = saveLogDir + "/" + clientCommandFile;
// std::string faultLogSavePath = saveLogDir + "/" + faultLogFile;
// std::string motionControlSavePath = saveLogDir + "/" + motionControlFile;
// if(!OpenFile(auvDataStream, auvDataSavePath))
// return MOOSFail("Failed to Open auvData file");
// if(!OpenFile(missionHistoryStream, missionHistorySavePath))
// return MOOSFail("Failed to Open missionHistory file");
// if(!OpenFile(clientCommandStream, clientCommandSavePath))
// return MOOSFail("Failed to Open clientCommand file");
// if(!OpenFile(faultLogStream, faultLogSavePath))
// return MOOSFail("Failed to Open faultLog file");
// if(!OpenFile(motionControlStream, motionControlSavePath))
// return MOOSFail("Failed to Open faultLog file");
// DoAuvDataLogBanner(auvDataStream);
// DoMissionHistoryBanner(missionHistoryStream);
// DoFaultHandleBanner(faultLogStream);
// DoMotionControlBanner(motionControlStream);
OpenOutputStream();
OpenOutputStream("");
}
RegisterVariables();
@@ -485,6 +483,7 @@ void DataManagement::RegisterVariables()
Register("DESIRED_DEPTH", 0);
Register("uMotion_desired_log", 0);
Register("uClient_logEnable_cmd", 0);
Register("uMission_action_cmd", 0);
}
bool DataManagement::buildReport()
@@ -635,7 +634,7 @@ void DataManagement::GenerateFileName(std::string &fileDir, std::string &fileNam
fileName = ss.str();
}
bool DataManagement::OpenOutputStream()
bool DataManagement::OpenOutputStream(std::string extraName)
{
std::string subDir;
std::string localTime;
@@ -646,7 +645,14 @@ bool DataManagement::OpenOutputStream()
mode_t mode = 0775;
mkdir(saveSubLogDir.c_str(), mode);
}
if (extraName.size() == 0)
{
saveSubLogDir += "/" + localTime;
}
else
{
saveSubLogDir += "/" + localTime + "_" + extraName;
}
if (access(saveSubLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;

2
src/pDataManagement/DataManagement.h
View File

@@ -44,7 +44,7 @@ protected:
void DoMotionControlBanner(std::ofstream &os);
void GenerateFileName(std::string &fileDir, std::string &fileName);
bool OpenOutputStream();
bool OpenOutputStream(std::string extraName);
void CloseOutputStream();
double getTimeStamp();
int nDoublePrecision;

1
src/pStateManagement/StateManagement.cpp
View File

@@ -45,7 +45,6 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
double mtime = msg.GetTime();
bool mdbl = msg.IsDouble();
bool mstr = msg.IsString();
Json::Value deviceState;
std::string manualState;
int missionState;

8
src/pSurfaceSupportComm/SurfaceSupportComm.cpp
View File

@@ -731,8 +731,10 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
<< "SetEntityParameters" << ":"
<< MOOS::Time();
try
{
Json::Value calibrationCommand;
for(; iter < msg->params.end(); iter++)
{
DUNE::IMC::EntityParameter *subEntityParameter = static_cast<DUNE::IMC::EntityParameter *>(*iter);
@@ -747,11 +749,11 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
{
throw ("SetEntityParameters parse error");
}
std::string parentName = msg->name;
std::string childName = subEntityParameter->name;
std::string dataType = parameterValue["type"].asString();
std::string dataValueTemp = parameterValue["value"].asString();
calibrationCommand[parentName][childName] = subEntityParameter->value;
#if 0
if (dataType == "float")
{
@@ -791,8 +793,10 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
<< std::string(msg->getName()) << ","
<< ss1.str();
appCastContent = appCastStream.str();
Notify("uClient_parameterSet_log", ss1.str());
Json::StreamWriterBuilder builder2;
Notify("uClient_calibration_cmd", Json::writeString(builder2, calibrationCommand));
}
catch(std::string s)
{