zjk/moos-ivp-pi
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This commit is contained in:
zengxiaobin
2023-11-28 09:06:15 +08:00
parent 61c67ff7e2
commit 70008ee3d8
16 changed files with 506 additions and 1319 deletions
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8
src/pStateManagement/StateManagement.cpp
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@@ -48,12 +48,12 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
#endif
Json::Value deviceState;
double manualState;
std::string manualState;
double missionState;
if(key == "uManual_enable_cmd")
{
manualState = msg.GetDouble();
manualState = msg.GetString();
}
if(key == "uMission_task_fb")
{
@@ -70,11 +70,11 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
missionState = missionStateData["state"].asInt();
}
if(fabs(manualState - 1) < 1e-6) //manualState=1
if(manualState == "true")
{
deviceState["opMode"] = opModeLists.external;
}
else if (fabs(manualState - 0) < 1e-6) //manualState=0
else if (manualState == "faluse")
{
if(missionState == 0)
{