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修改了运动控制的显示信息,方便调试

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zhaojingkui
2023-11-30 11:07:05 +08:00
parent f75e622d96
commit af67e6a839
1 changed files with 18 additions and 4 deletions
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22
src/pMotionControler/MotionControler.cpp
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@@ -1,8 +1,8 @@
/* /*
* @Author: zjk 1553836110@qq.com * @Author: zjk 1553836110@qq.com
* @Date: 2023-10-12 09:52:27 * @Date: 2023-10-12 09:52:27
* @LastEditors: zjk 1553836110@qq.com * @LastEditors: zhaojingkui 1553836110@qq.com
* @LastEditTime: 2023-11-07 12:01:57 * @LastEditTime: 2023-11-30 11:05:18
* @FilePath: /moos-ivp-pi/src/pMotionControler/MotionControler.cpp * @FilePath: /moos-ivp-pi/src/pMotionControler/MotionControler.cpp
* @Description: * @Description:
* *
@@ -29,19 +29,33 @@ bool MotionControler::OnNewMail(MOOSMSG_LIST &NewMail)
if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE")) if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE"))
pengine.overrived(sval); pengine.overrived(sval);
else if(key == "DESIRED_HEADING") else if(key == "DESIRED_HEADING")
{
pengine.setDesHeading(dval, MOOSTime()); pengine.setDesHeading(dval, MOOSTime());
}
else if(key == "DESIRED_SPEED") else if(key == "DESIRED_SPEED")
pengine.setDesSpeed(dval, MOOSTime()); pengine.setDesSpeed(dval, MOOSTime());
else if(key == "DESIRED_DEPTH") else if(key == "DESIRED_DEPTH")
pengine.setDesDepth(dval, MOOSTime()); pengine.setDesDepth(dval, MOOSTime());
else if(key == "NAV_HEADING") else if(key == "NAV_HEADING")
{
pengine.setCurHeading(angle360(dval), MOOSTime()); pengine.setCurHeading(angle360(dval), MOOSTime());
RepList["NAV"]["Heading"] = dval;
}
else if(key == "NAV_SPEED") else if(key == "NAV_SPEED")
{
pengine.setCurSpeed(dval, MOOSTime()); pengine.setCurSpeed(dval, MOOSTime());
RepList["NAV"]["Speed"] = dval;
}
else if(key == "NAV_DEPTH") else if(key == "NAV_DEPTH")
{
pengine.setCurDepth(dval, MOOSTime()); pengine.setCurDepth(dval, MOOSTime());
RepList["NAV"]["Depth"] = dval;
}
else if(key == "NAV_PITCH") else if(key == "NAV_PITCH")
pengine.setCurPitch(dval, MOOSTime()); {
pengine.setCurPitch(dval, MOOSTime());
RepList["NAV"]["Pitch"] = dval;
}
else if(key == MSG_ReadConfig) //重新读取配置参数可以清除故障码 else if(key == MSG_ReadConfig) //重新读取配置参数可以清除故障码
{ {
int e = pengine.setParam(configFilePath); int e = pengine.setParam(configFilePath);
@@ -159,7 +173,7 @@ bool MotionControler::buildReport()
<< intToString(pengine.hasDphCtrl())+" |" << endl; << intToString(pengine.hasDphCtrl())+" |" << endl;
RepList["to BS"] = colVar; RepList["to BS"] = colVar;
RepList["PID"] = pengine.getReport()["W"]; // RepList["PID"] = pengine.getReport()["W"];
string rep = Json::writeString(RepJsBuilder, RepList); string rep = Json::writeString(RepJsBuilder, RepList);
m_msgs << rep << endl; m_msgs << rep << endl;