From bf1042c0c107a6a033dd5d41ea7369c4355df202 Mon Sep 17 00:00:00 2001
From: zengxiaobin <zengxiaobin@example.com>
Date: Tue, 28 Nov 2023 15:34:04 +0800
Subject: [PATCH] no comment

---
 .gitignore                               |  4 ++--
 README.md                                | 16 ++++++++++++++--
 src/pStateManagement/StateManagement.cpp |  8 +++-----
 3 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/.gitignore b/.gitignore
index ad97f86..19b6a37 100644
--- a/.gitignore
+++ b/.gitignore
@@ -101,7 +101,7 @@ dkms.conf
 
 /log
 /launch/launch_local.moos
-bin/
-build/
+/bin/
+/build/
 /scripts
 /.vscode
diff --git a/README.md b/README.md
index 923b3b3..51d2d47 100755
--- a/README.md
+++ b/README.md
@@ -19,8 +19,20 @@ bin/ : 程序执行文件存放位置
 
 # 文件说明
 
-./build.sh : 编译脚本
+build.sh : 编译脚本
 
-./clean.sh : 清除编译生成文件
+clean.sh : 清除编译生成文件
+
+launch/launch.moos : Pi上的moos-ivp-pi启动脚本
+
+alpha.moos : moos-ivp调试端启动脚本，在pi以外的调试计算机上使用，可以监控pi的各个状态。
+
+.gitignore : git的配置文件，编辑这个可以文件以设置忽略哪些不需要跟踪的文件，比如编译生成文件等。
+
+setting/PlanConfigure.json : 使命文本
+
+setting/ControlParam.json ： 运动控制器参数配置文件
+
+setting/Origin.json ：经纬度原点配置文件
 
 
diff --git a/src/pStateManagement/StateManagement.cpp b/src/pStateManagement/StateManagement.cpp
index 315f326..e6b2027 100755
--- a/src/pStateManagement/StateManagement.cpp
+++ b/src/pStateManagement/StateManagement.cpp
@@ -36,7 +36,6 @@ 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 +44,10 @@ 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 +82,7 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
       {
         deviceState["opMode"] = opModeLists.service;
       }
-      else if((missionState == 3) )
+      if((missionState == 3) )
       {
         deviceState["opMode"] = opModeLists.maneuver;
       }