void be() { #ifdef SIMULATION AUV_R_Main_Init(); AUV_R_MAIN_DataInit(); AUV_R_Init_SIMU_NET(); AUV_R_WL_Com_Init(); FLSNId = taskSpawn("tFLSNNet", 102, VX_FP_TASK, 5000, (FUNCPTR)AUV_R_Init_FLSN_NET, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); NetId = taskSpawn("tCtrlNet", 102, VX_FP_TASK, 5000, (FUNCPTR)AUV_T_Init_CTRL_NET, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); #else AUV_R_Main_Init(); AUV_R_MAIN_DataInit(); AUV_R_Init_BCHECK_NET();/**/ AUV_R_BD1_Com_Init();/* */ /*AUV_R_GPS_NET_Init(); */ AUV_R_Init_IPS_NET(); AUV_R_INS_NET_Init();/**/ AUV_R_WL_Com_Init();/**/ AUV_R_4G_Com_Init(); AUV_R_ETC_NET_Init(); AUV_R_DVL__NET_Init(); FLSNId = taskSpawn("tFLSNNet", 102, VX_FP_TASK, 5000, (FUNCPTR)AUV_R_Init_FLSN_NET, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); NetId = taskSpawn("tCtrlNet", 102, VX_FP_TASK, 5000, (FUNCPTR)AUV_T_Init_CTRL_NET, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); #endif AUV_R_PreProcess_init(); AUV_R_DataProc_init(); AUV_R_Controller_Init(); AUV_R_PathPlan_Init(); }