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zengxiaobin
2023-11-28 15:39:02 +08:00
parent bf1042c0c1 c59fd9641b
commit a05b90965e
4 changed files with 17 additions and 179 deletions
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175
PlanConfigure.json
View File

@@ -1,175 +0,0 @@
{
"east_waypt_survey" :
{
"boardStamp" : 1698135269.1985879,
"clientStamp" : 1698135269.1812179,
"closedLoop" : true,
"constSpeed" : -1.0,
"duration" : -1.0,
"maxDepth" : -1.0,
"minDepth" : -1.0,
"origin" :
{
"altitude" : 0.0,
"lat" : 43.825298309326172,
"lon" : -70.330398559570312
},
"perpetual" : false,
"points" :
[
{
"depth" : 9.0,
"east" : 121.51780491942634,
"lat" : 43.824428558349609,
"lon" : -70.328887939453125,
"name" : "station_1",
"north" : -96.635898081838207,
"speed" : 2.0,
"type" : "point"
},
{
"depth" : 7.0,
"east" : 201.91511278899367,
"lat" : 43.824676513671875,
"lon" : -70.327888488769531,
"name" : "station_2",
"north" : -69.083922179977421,
"speed" : 2.5,
"type" : "point"
}
],
"priority" : 10,
"repeat" : 3,
"sourceAddress" : "10.25.0.160",
"sourceName" : "CCU Neptus 0_163",
"taskId" : "1",
"taskName" : "east_waypt_survey"
},
"plan1_toMoos" :
{
"boardStamp" : 1699602762.2845099,
"clientStamp" : 1699602762.7520001,
"closedLoop" : false,
"duration" : -1.0,
"maxDepth" : -1.0,
"minDepth" : -1.0,
"origin" :
{
"altitude" : 0.0,
"lat" : 43.825299999999999,
"lon" : -70.330399999999997
},
"perpetual" : false,
"points" :
[
{
"depth" : 2.0,
"east" : 117.83291847226671,
"lat" : 43.825713999999998,
"lon" : -70.32893,
"name" : "Goto1",
"north" : 46.200319317940647,
"speed" : 2.0,
"type" : "point"
},
{
"depth" : 2.0,
"east" : -17.18366087421261,
"lat" : 43.826782000000001,
"lon" : -70.330609999999993,
"name" : "Goto2",
"north" : 164.87635389378988,
"speed" : 2.0,
"type" : "point"
},
{
"depth" : 2.0,
"east" : -241.19025325837993,
"lat" : 43.825465999999999,
"lon" : -70.333399999999997,
"name" : "Goto3",
"north" : 18.653618776002617,
"speed" : 2.0,
"type" : "point"
},
{
"depth" : 2.0,
"east" : -203.76118848802312,
"lat" : 43.823234999999997,
"lon" : -70.332930000000005,
"name" : "Goto4",
"north" : -229.29782627916489,
"speed" : 2.0,
"type" : "point"
}
],
"priority" : 10,
"repeat" : 1,
"sourceAddress" : "10.25.0.163",
"sourceName" : "CCU JHL 0_163",
"taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1",
"taskName" : "plan1_toMoos"
},
"west_waypt_survey" :
{
"boardStamp" : 1698135268.3958621,
"clientStamp" : 1698135268.2057669,
"closedLoop" : true,
"constSpeed" : -1.0,
"duration" : -1.0,
"maxDepth" : -1.0,
"minDepth" : -1.0,
"origin" :
{
"altitude" : 0.0,
"lat" : 43.825298309326172,
"lon" : -70.330398559570312
},
"perpetual" : true,
"points" :
[
{
"depth" : 9.0,
"east" : -91.445572043530944,
"lat" : 43.824195861816406,
"lon" : -70.331535339355469,
"name" : "station_1",
"north" : -122.49101460421512,
"speed" : 4.0
},
{
"depth" : 7.0,
"east" : 5.5235485468483718,
"lat" : 43.824298858642578,
"lon" : -70.330329895019531,
"name" : "station_2",
"north" : -111.04778559533926,
"speed" : 6.0
},
{
"depth" : 5.0,
"east" : 4.2961493948725868,
"lat" : 43.823516845703125,
"lon" : -70.330345153808594,
"name" : "station_3",
"north" : -197.93630920628678,
"speed" : 8.0
},
{
"depth" : 3.0,
"east" : -81.013520711457318,
"lat" : 43.823207855224609,
"lon" : -70.331405639648438,
"name" : "station_4",
"north" : -232.26737690334403,
"speed" : 10.0
}
],
"priority" : 10,
"repeat" : -1,
"sourceAddress" : "10.25.0.160",
"sourceName" : "CCU Neptus 0_163",
"taskId" : "2",
"taskName" : "west_waypt_survey"
}
}

4
src/pStateManagement/CMakeLists.txt
View File

@@ -17,6 +17,9 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
#find_package (jsoncpp NO_MODULE REQUIRED) #find_package (jsoncpp NO_MODULE REQUIRED)
find_package (GeographicLib REQUIRED)
include_directories(${GeographicLib_INCLUDE_DIRS})
include_directories(/usr/include/jsoncpp/) include_directories(/usr/include/jsoncpp/)
link_directories(/usr/local/lib/) link_directories(/usr/local/lib/)
@@ -27,6 +30,7 @@ TARGET_LINK_LIBRARIES(pStateManagement
${CMAKE_DL_LIBS} ${CMAKE_DL_LIBS}
${SYSTEM_LIBS} ${SYSTEM_LIBS}
${DUNE_LIB} ${DUNE_LIB}
${GeographicLib_LIBRARIES}
mbutil mbutil
m m
pthread pthread

9
src/pStateManagement/StateManagement.cpp
View File

@@ -9,6 +9,7 @@
#include "MBUtils.h" #include "MBUtils.h"
#include "StateManagement.h" #include "StateManagement.h"
#include <json/json.h> #include <json/json.h>
#include <cmath>
using namespace std; using namespace std;
@@ -48,6 +49,7 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
Json::Value deviceState; Json::Value deviceState;
std::string manualState; std::string manualState;
int missionState; int missionState;
int missionState;
if(key == "uManual_enable_cmd") if(key == "uManual_enable_cmd")
{ {
@@ -76,15 +78,16 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
{ {
if(missionState == 0) if(missionState == 0)
{ {
case 0:
deviceState["opMode"] = opModeLists.error; deviceState["opMode"] = opModeLists.error;
} break;
if(missionState == 1) case 1:
{
deviceState["opMode"] = opModeLists.service; deviceState["opMode"] = opModeLists.service;
} }
if((missionState == 3) ) if((missionState == 3) )
{ {
deviceState["opMode"] = opModeLists.maneuver; deviceState["opMode"] = opModeLists.maneuver;
break;
} }
} }

6
src/pStateManagement/StateManagement.h
View File

@@ -9,6 +9,12 @@
#define StateManagement_HEADER #define StateManagement_HEADER
#include "MOOS/libMOOS/MOOSLib.h" #include "MOOS/libMOOS/MOOSLib.h"
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include <DUNE/DUNE.hpp>
#include <GeographicLib/LocalCartesian.hpp>
#include <json/json.h>
#include <thread>
#include <chrono>
class StateManagement : public CMOOSApp class StateManagement : public CMOOSApp
{ {