//
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// Created by YY on 2020/1/7.
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//
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#include "comm_if.h"
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#include "../native-lib.h"
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#include "../rapidjson/document.h"
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#include "../rapidjson/writer.h"
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#include "../rapidjson/stringbuffer.h"
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#include "../rtk_platform/platform.h"
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#include "../utils/xconvert.h"
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#include "../driver_test.h"
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#include "../defs.h"
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#include "../common/apptimer.h"
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#include "../jni_log.h"
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#include "../mcu/mcu_if.h"
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#include "../test_common/car_sensor.h"
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#include "../map.h"
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#include <string>
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#include <iostream>
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#include <vector>
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#include <list>
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#include <thread>
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#include <mutex>
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#include <semaphore.h>
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#include <unistd.h>
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#define DEBUG(fmt, args...) LOGD("<comm_if> <%s>: " fmt, __func__, ##args)
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using namespace rapidjson;
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using namespace std;
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#define ID_SM_NDK_START 0x0001
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#define ID_MS_NDK_ACK 0x8001
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#define ID_SM_REQ_RTK_PLAT_CFG 0x0002
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#define ID_MS_RTK_PLAT_CFG 0x8002
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#define ID_SM_RTK_PLAT_CONN 0x0003
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#define ID_SM_RTK_PLAT_REG 0x0004
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#define ID_SM_RTK_PLAT_LOGIN 0x0005
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#define ID_SM_READ_MAP 0x0006
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#define ID_MS_MAP 0x8006
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#define ID_MS_ROAD_MAP 0x8014
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#define ID_MS_ROAD_MAP2 0x8013
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#define ID_MS_SCHEME 0x8017
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#define ID_MS_EXAM_PARAM 0x8019
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#define ID_MS_BLUETOOTH_NAME 0x8020
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#define ID_SM_READ_CAR 0x0007
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#define ID_MS_CAR 0x8007
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#define ID_SM_MCU_BRIEF 0x0008
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#define ID_MS_SENSOR_CFG 0x8008
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#define ID_MS_START_EXAM 0x8009
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#define ID_SM_EXAM_STATUS 0x0009
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#define ID_MS_IND_ONOFF 0x800A
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#define ID_SM_GPS_BRIEF 0x000A
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#define ID_SM_RTK_BRIEF 0x000B
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#define ID_SM_EXAM_BRIEF 0x000C
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#define ID_SM_ENTER_MAP 0x000D
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#define ID_MS_EXAM_MAP 0x800D
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#define ID_SM_CAR 0x000E
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#define ID_SM_RTCM_IND 0x000F
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#define ID_SM_DEBUG_INFO 0x0010
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#define ID_MS_FILE 0x8100
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#define ID_MS_READ_CARD 0x8011
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#define ID_SM_PUT_CARD 0x0011
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#define ID_MS_SYS_SHUTDOWN 0x8010
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#define ID_SM_LIGHT_EXAM_REQ 0x0012
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#define ID_MS_LIGHT_EXAM_RES 0x8012
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#define ID_SM_DISTANCE 0x0020
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#define ID_SM_CARSENSOR 0x0013
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#define ID_SM_ROAD_BRIEF 0x0015 // 科目三项目标定，进出某条路的提示
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#define ID_SM_CROSSING_BRIEF 0x0016 // 科目三项目标定，接近/驶离某各路口的提示
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#define ID_MS_INQ_ROAD_CROSSING 0x8018 // Master查询当前路段和路口
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#define ID_SM_CAN_BRIEF 0x0021
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#define ID_SM_BLUETOOTH_BRIEF 0x0022
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#define ID_SM_RTK_STATUS_BRIEF 0x0023
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#define MA_OUT_GPS_BRIEF 0x0001
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#define MA_OUT_RTK_BRIEF 0x0002
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#define MA_OUT_CAR_BRIEF 0x0004
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#define MA_OUT_RTCM_IND 0x0008
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#define MA_OUT_DBG_INFO 0x0010
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static int OnOff = 0;//0xFFFF;
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struct msg_2_main_t {
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int cmd;
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string value;
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};
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static list<struct msg_2_main_t> MessageBuffer;
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static sem_t sem_msg_income;
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static std::mutex msg_mutex;
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static void SendMsgToMainProcIndep(int cmd, const char *value);
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static void SendMsgToMainProcThread(void);
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static void SendMsgToMainProcIndep(int cmd, const char *value)
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{
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struct msg_2_main_t msg;
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msg.cmd = cmd;
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if (value != NULL) {
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msg.value = value;
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} else {
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msg.value.clear();
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}
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lock_guard<mutex> lock(msg_mutex);
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MessageBuffer.push_front(msg);
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sem_post(&sem_msg_income);
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}
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static void SendMsgToMainProcThread(void) {
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while (true) {
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sem_wait(&sem_msg_income);
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if (MessageBuffer.size() > 0) {
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struct msg_2_main_t msg;
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int success;
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unique_lock<mutex> lock(msg_mutex);
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msg = MessageBuffer.back();
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lock.unlock();
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if (msg.value.length() > 0)
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success = SendMsgToMainProc(msg.cmd, msg.value.c_str());
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else
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success = SendMsgToMainProc(msg.cmd, NULL);
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if (success == 0) {
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lock.lock();
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MessageBuffer.pop_back();
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lock.unlock();
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} else {
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// 延迟重发
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DEBUG("发送失败");
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usleep(500000);
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sem_post(&sem_msg_income);
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}
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}
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}
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}
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static void LoadPoint(PointF &p, const rapidjson::Value &v)
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{
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if (v.IsArray() && v.Size() >= 2) {
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p.X = v[0].GetDouble();
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p.Y = v[1].GetDouble();
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}
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}
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static void LoadPoints(vector<PointF> &ps, const rapidjson::Value &v)
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{
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if (v.IsArray()) {
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PointF point;
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for (int i = 0; i < v.Size();) {
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if (v.Size() - i >= 2) {
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point.X = v[i].GetDouble();
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point.Y = v[i+1].GetDouble();
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ps.push_back(point);
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i += 2;
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} else {
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break;
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}
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}
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}
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}
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void MA_Init(void)
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{
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sem_init(&sem_msg_income, 0, 0);
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MessageBuffer.clear();
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std::thread(SendMsgToMainProcThread).detach();
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}
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void MA_NdkStart(void)
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{
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SendMsgToMainProcIndep(ID_SM_NDK_START, NULL);
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}
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void MA_ReqRtkPlatformConfig(void)
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{
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SendMsgToMainProcIndep(ID_SM_REQ_RTK_PLAT_CFG, NULL);
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}
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void MA_RtkPlatformConnect(int conn, const char *ip, int port)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("connected");
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writer.Int(conn);
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writer.Key("ip");
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writer.String(ip);
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writer.Key("port");
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writer.Int(port);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_RTK_PLAT_CONN, sb.GetString());
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}
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void MA_RtkPlatformRegister(int reg, const uint8_t *pwd, int length)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("register_code");
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writer.Int(reg);
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if (reg == 0 && length > 0) {
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writer.Key("password");
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char *str = new char[length*2 + 1];
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ConvertHex2String(str, pwd, length);
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writer.String(str);
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delete[]str;
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}
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_RTK_PLAT_REG, sb.GetString());
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}
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void MA_RtkPlatformLogin(int login)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("login_code");
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writer.Int(login);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_RTK_PLAT_LOGIN, sb.GetString());
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}
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void MA_ReadMap(void)
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{
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SendMsgToMainProcIndep(ID_SM_READ_MAP, NULL);
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}
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void MA_ReadCar(void)
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{
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SendMsgToMainProcIndep(ID_SM_READ_CAR, NULL);
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}
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void MA_ReadSensor(void)
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{
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ReadCard();
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}
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void MA_SendExamStatus(int start, int errorCode)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("exam");
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writer.Int(start);
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writer.Key("error");
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writer.Int(errorCode);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_EXAM_STATUS, sb.GetString());
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}
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void MA_SendCardBrief(const struct cardBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("result");
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writer.Int(brief->result);
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writer.Key("serialno");
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writer.String(brief->card);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_PUT_CARD, sb.GetString());
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}
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void MA_SendMcuBrief(const struct mcuBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("version");
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writer.String(brief->version);
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writer.Key("selftest");
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writer.Int(brief->selftest);
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// writer.Key("gpio");
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// writer.Int(brief->gpio);
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// writer.Key("speed");
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// writer.Int(brief->speed);
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// writer.Key("engine");
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// writer.Int(brief->engine);
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writer.Key("sn");
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writer.String(brief->sn);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_MCU_BRIEF, sb.GetString());
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}
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void MA_SendCarSensorBrief(const struct carSensorBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("odo");
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writer.Int(brief->odo);
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writer.Key("trip");
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writer.Int(brief->trip);
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writer.Key("trip_time");
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writer.Int(brief->tripTime);
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writer.Key("cell_volt");
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writer.Double(brief->cellVolt);
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writer.Key("speed");
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writer.Double(brief->speed);
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writer.Key("engine");
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writer.Int(brief->engine);
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writer.Key("sas");
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writer.Int(brief->sas);
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writer.Key("key");
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writer.Int(brief->key);
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writer.Key("gear");
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writer.Int(brief->gear);
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writer.Key("aps");
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writer.Int(brief->aps);
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writer.Key("lock");
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writer.Int(brief->door);
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writer.Key("seat_belt");
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writer.Int(brief->seatBelt);
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writer.Key("clutch");
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writer.Int(brief->clutch);
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writer.Key("horn");
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writer.Int(brief->horn);
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writer.Key("wiper");
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writer.Int(brief->wiper);
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writer.Key("hand_break");
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writer.Int(brief->handBreak);
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writer.Key("main_break");
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writer.Int(brief->mainBreak);
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writer.Key("left_turn_lamp");
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writer.Int(brief->leftTurnLamp);
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writer.Key("right_turn_lamp");
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writer.Int(brief->rightTurnLamp);
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writer.Key("clearance_lamp");
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writer.Int(brief->clearanceLamp);
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writer.Key("dipped_beam_lamp");
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writer.Int(brief->dippedBeamLamp);
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writer.Key("main_beam_lamp");
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writer.Int(brief->mainBeamLamp);
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writer.Key("fog_lamp");
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writer.Int(brief->fogLamp);
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writer.Key("assist_break");
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writer.Int(brief->assBreak);
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writer.Key("surround1");
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writer.Int(brief->surround1);
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writer.Key("surround2");
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writer.Int(brief->surround2);
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writer.Key("surround3");
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writer.Int(brief->surround3);
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writer.Key("surround4");
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writer.Int(brief->surround4);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_CARSENSOR, sb.GetString());
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}
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void MA_SendGpsBrief(const struct gpsBrief *brief)
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{
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if (!(OnOff & MA_OUT_GPS_BRIEF))
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return;
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("utc");
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writer.String(brief->utc);
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writer.Key("sat_num");
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writer.Int(brief->sat_num);
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writer.Key("qf");
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writer.Int(brief->qf);
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writer.Key("latitude");
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writer.Double(brief->latitude);
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writer.Key("longitude");
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writer.Double(brief->longitude);
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writer.Key("altitude");
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writer.Double(brief->altitude);
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writer.Key("speed");
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writer.Double(brief->speed);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_GPS_BRIEF, sb.GetString());
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}
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void MA_SendRtkBrief(const struct rtkBrief *brief)
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{
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if (!(OnOff & MA_OUT_RTK_BRIEF))
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return;
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char a[2] = {brief->coord_x_dir, 0};
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char b[2] = {brief->coord_y_dir, 0};
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("utc");
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writer.String(brief->utc);
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writer.Key("qf");
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writer.Int(brief->qf);
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writer.Key("coord_x");
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writer.Double(brief->coord_x);
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writer.Key("coord_x_dir");
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writer.String(a);
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writer.Key("coord_y");
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writer.Double(brief->coord_y);
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writer.Key("coord_y_dir");
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writer.String(b);
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writer.Key("yaw");
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writer.Double(brief->heading);
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writer.Key("pitch");
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writer.Double(brief->pitch);
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writer.Key("roll");
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writer.Double(brief->roll);
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writer.Key("sat_num");
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writer.Int(brief->sat_num);
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writer.Key("latitude");
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writer.Double(brief->latitude);
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writer.Key("longitude");
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writer.Double(brief->longitude);
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writer.Key("altitude");
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writer.Double(brief->altitude);
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writer.Key("speed");
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writer.Double(brief->speed);
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writer.Key("track_ture");
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writer.Double(brief->trackTure);
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writer.Key("rtcm_length");
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writer.Int(brief->rtcm_length);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_RTK_BRIEF, sb.GetString());
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}
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void MA_SendDistance(double l, double r)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("left");
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writer.Double(l);
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writer.Key("right");
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writer.Double(r);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_DISTANCE, sb.GetString());
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}
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void MA_SendCanStatus(const struct canBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("gpio");
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writer.Int(brief->gpio);
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writer.Key("rpm");
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writer.Int(brief->rpm);
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writer.Key("speed");
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writer.Int(brief->speed);
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writer.Key("voltage");
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writer.Int(brief->voltage);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_CAN_BRIEF, sb.GetString());
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}
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void MA_SendRoadStatus(const struct roadStatusBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("road_id");
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writer.Int(brief->road_id);
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writer.Key("status");
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writer.Int(brief->status);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_ROAD_BRIEF, sb.GetString());
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}
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void MA_SendCrossingStatus(const struct crossingStatusBrief *brief)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("road_id");
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writer.Int(brief->road_id);
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writer.Key("crossing_index");
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writer.Int(brief->crossing_index);
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writer.Key("status");
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writer.Int(brief->status);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_CROSSING_BRIEF, sb.GetString());
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}
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void MA_SendExamWrong(vector<ExamFault> &ExamFaultList)
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{
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartArray();
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for (vector<ExamFault>::iterator iter = ExamFaultList.begin(); iter != ExamFaultList.end(); ++iter) {
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writer.StartObject();
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writer.Key("sn");
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writer.Int(iter->sn);
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writer.Key("utc");
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writer.String(iter->utc);
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writer.Key("wrong_id");
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writer.Int(iter->wrong_id);
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writer.EndObject();
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}
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writer.EndArray();
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SendMsgToMainProcIndep(ID_SM_EXAM_BRIEF, sb.GetString());
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}
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void MA_SendCarPosition(const struct carBrief *brief)
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{
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if (!(OnOff & MA_OUT_CAR_BRIEF)) return;
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("utc");
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writer.String(brief->utc);
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writer.Key("qf");
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writer.Int(brief->qf);
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writer.Key("map_id");
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writer.Int(brief->map_id);
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writer.Key("move");
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writer.Int(brief->move);
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writer.Key("speed");
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writer.Double(brief->speed);
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writer.Key("yaw");
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writer.Double(brief->heading);
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writer.Key("main_ant");
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writer.StartArray();
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writer.Double(brief->main_ant[0]);
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writer.Double(brief->main_ant[1]);
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writer.EndArray();
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writer.Key("axial");
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writer.StartArray();
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writer.Int(brief->axial[0]);
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writer.Int(brief->axial[1]);
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writer.EndArray();
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writer.Key("left_front_tire");
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writer.StartArray();
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writer.Int(brief->left_front_tire[0]);
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writer.Int(brief->left_front_tire[1]);
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writer.EndArray();
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writer.Key("right_front_tire");
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writer.StartArray();
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writer.Int(brief->right_front_tire[0]);
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writer.Int(brief->right_front_tire[1]);
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writer.EndArray();
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writer.Key("left_rear_tire");
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writer.StartArray();
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writer.Int(brief->left_rear_tire[0]);
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writer.Int(brief->left_rear_tire[1]);
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writer.EndArray();
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writer.Key("right_rear_tire");
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writer.StartArray();
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writer.Int(brief->right_rear_tire[0]);
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writer.Int(brief->right_rear_tire[1]);
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writer.EndArray();
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writer.Key("body");
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writer.StartArray();
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for (int i = 0; i < brief->body.size(); ++i) {
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writer.Int(brief->body[i]);
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}
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writer.EndArray();
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writer.Key("point");
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writer.StartArray();
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for (int i = 0; i < brief->point.size(); ++i) {
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writer.Double(brief->point[i][0]);
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writer.Double(brief->point[i][1]);
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}
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writer.EndArray();
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_CAR, sb.GetString());
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}
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void MA_SendRtcmInd(int length)
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{
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if (!(OnOff & MA_OUT_RTCM_IND)) return;
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StringBuffer sb;
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Writer<StringBuffer> writer(sb);
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writer.StartObject();
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writer.Key("length");
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writer.Int(length);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_RTCM_IND, sb.GetString());
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}
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void MA_SendDebugInfo(const char *str, ...)
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{
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if (!(OnOff & MA_OUT_DBG_INFO))
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return;
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|
va_list argp;
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char buffer[1024];
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va_start(argp, str);
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vsprintf(buffer, str, argp);
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va_end(argp);
|
|
StringBuffer sb;
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Writer<StringBuffer> writer(sb);
|
|
writer.StartObject();
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writer.Key("info");
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writer.String(buffer);
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writer.EndObject();
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SendMsgToMainProcIndep(ID_SM_DEBUG_INFO, sb.GetString());
|
}
|
|
void MA_MainProcMsgEntry(int cmd, const char *value)
|
{
|
switch (cmd) {
|
case ID_MS_RTK_PLAT_CFG: {
|
DEBUG("平台信息 %s", value);
|
if (OnOff == 0) OnOff = MA_OUT_GPS_BRIEF + MA_OUT_RTK_BRIEF + MA_OUT_CAR_BRIEF;
|
|
rtk_platform_cfg_t cfg;
|
memset(&cfg, 0, sizeof(cfg));
|
|
Document d;
|
d.Parse(value);
|
|
if (d.HasMember("ip")) {
|
Value& s = d["ip"];
|
strcpy(cfg.domain_name, s.GetString());
|
}
|
if (d.HasMember("port")) {
|
Value& s = d["port"];
|
cfg.port = s.GetInt();
|
}
|
if (d.HasMember("province")) {
|
Value& s = d["province"];
|
cfg.province = s.GetInt();
|
}
|
if (d.HasMember("city")) {
|
Value& s = d["city"];
|
cfg.city = s.GetInt();
|
}
|
if (d.HasMember("model")) {
|
Value& s = d["model"];
|
strcpy(cfg.device_model, s.GetString());
|
}
|
if (d.HasMember("sn")) {
|
Value& s = d["sn"];
|
strcpy(cfg.device_sn, s.GetString());
|
}
|
if (d.HasMember("imei")) {
|
Value& s = d["imei"];
|
strcpy(cfg.imei, s.GetString());
|
}
|
if (d.HasMember("phone")) {
|
Value& s = d["phone"];
|
strcpy(cfg.phone, s.GetString());
|
}
|
if (d.HasMember("password")) {
|
Value& s = d["password"];
|
strcpy(cfg.password, s.GetString());
|
}
|
if (d.HasMember("registered")) {
|
Value& s = d["registered"];
|
cfg.registered = s.GetInt();
|
}
|
if (d.HasMember("interval")) {
|
Value& s = d["interval"];
|
cfg.rtk_interval = s.GetInt();
|
}
|
|
ConfigPlatform(&cfg);
|
break;
|
}
|
case ID_MS_ROAD_MAP: {
|
Document doc;
|
doc.Parse(value);
|
|
if (!doc.HasParseError()) {
|
CleanRoadMap();
|
|
DEBUG("开始解析路考地图");
|
|
vector<double> mapPoints;
|
mapPoints.clear();
|
|
if (doc.HasMember("points")) {
|
const Value &s = doc["points"];
|
|
DEBUG("得到所有点");
|
// X-Y坐标集合
|
for (Value::ConstValueIterator itr2 = s.Begin();
|
itr2 != s.End(); ++itr2) {
|
mapPoints.push_back((*itr2).GetDouble());
|
}
|
|
}
|
|
if (doc.HasMember("maps")) {
|
const Value &a = doc["maps"];
|
|
for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
|
|
DEBUG("得到各子地图");
|
if (itr->IsObject()) {
|
// a Map
|
int id, type;
|
int stop_flag = 0;
|
string tts;
|
|
vector<vector<int>> redLines;
|
vector<vector<int>> greenLines;
|
vector<vector<int>> triggerLines;
|
vector<vector<int>> redAreas;
|
vector<vector<int>> roadEdgeLines;
|
|
vector<int> area;
|
vector<int> stopLine;
|
|
roadEdgeLines.clear();
|
stopLine.clear();
|
area.clear();
|
tts.clear();
|
redLines.clear();
|
greenLines.clear();
|
triggerLines.clear();
|
redAreas.clear();
|
|
vector<int> points;
|
|
if (itr->HasMember("red_line")) {
|
const Value &s = (*itr)["red_line"];
|
|
for (Value::ConstValueIterator itrLine = s.Begin();
|
itrLine != s.End(); ++itrLine) {
|
points.clear();
|
for (Value::ConstValueIterator itrPoint = (*itrLine).Begin();
|
itrPoint != (*itrLine).End(); ++itrPoint) {
|
points.push_back((*itrPoint).GetInt());
|
}
|
redLines.push_back(points);
|
}
|
}
|
|
if (itr->HasMember("green_line")) {
|
const Value &s = (*itr)["green_line"];
|
|
for (Value::ConstValueIterator itrLine = s.Begin();
|
itrLine != s.End(); ++itrLine) {
|
points.clear();
|
for (Value::ConstValueIterator itrPoint = (*itrLine).Begin();
|
itrPoint != (*itrLine).End(); ++itrPoint) {
|
points.push_back((*itrPoint).GetInt());
|
}
|
greenLines.push_back(points);
|
}
|
}
|
|
if (itr->HasMember("all_trigger_line")) {
|
const Value &s = (*itr)["all_trigger_line"];
|
|
for (Value::ConstValueIterator itrLine = s.Begin();
|
itrLine != s.End(); ++itrLine) {
|
points.clear();
|
for (Value::ConstValueIterator itrPoint = (*itrLine).Begin();
|
itrPoint != (*itrLine).End(); ++itrPoint) {
|
points.push_back((*itrPoint).GetInt());
|
}
|
triggerLines.push_back(points);
|
}
|
}
|
|
if (itr->HasMember("red_area")) {
|
const Value &s = (*itr)["red_area"];
|
|
for (Value::ConstValueIterator itrLine = s.Begin();
|
itrLine != s.End(); ++itrLine) {
|
points.clear();
|
for (Value::ConstValueIterator itrPoint = (*itrLine).Begin();
|
itrPoint != (*itrLine).End(); ++itrPoint) {
|
points.push_back((*itrPoint).GetInt());
|
}
|
redAreas.push_back(points);
|
}
|
}
|
|
if (itr->HasMember("road_edge_line")) {
|
const Value &s = (*itr)["road_edge_line"];
|
|
for (Value::ConstValueIterator itrLine = s.Begin();
|
itrLine != s.End(); ++itrLine) {
|
points.clear();
|
for (Value::ConstValueIterator itrPoint = (*itrLine).Begin();
|
itrPoint != (*itrLine).End(); ++itrPoint) {
|
points.push_back((*itrPoint).GetInt());
|
}
|
roadEdgeLines.push_back(points);
|
}
|
}
|
|
if (itr->HasMember("area")) {
|
const Value &s = (*itr)["area"];
|
|
for (Value::ConstValueIterator itrPoint = s.Begin();
|
itrPoint != s.End(); ++itrPoint) {
|
area.push_back((*itrPoint).GetInt());
|
}
|
}
|
|
if (itr->HasMember("stop_line")) {
|
const Value &s = (*itr)["stop_line"];
|
|
for (Value::ConstValueIterator itrPoint = s.Begin();
|
itrPoint != s.End(); ++itrPoint) {
|
stopLine.push_back((*itrPoint).GetInt());
|
}
|
}
|
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
id = s.GetInt();
|
}
|
|
if (itr->HasMember("item")) {
|
const Value &s = (*itr)["item"];
|
type = s.GetInt();
|
}
|
|
if (itr->HasMember("stop_flag")) {
|
const Value &s = (*itr)["stop_flag"];
|
stop_flag = s.GetInt();
|
}
|
|
if (itr->HasMember("tts")) {
|
const Value &s = (*itr)["tts"];
|
tts = s.GetString();
|
}
|
|
}
|
}
|
}
|
} else {
|
DEBUG("############## 地图解析出错###################");
|
}
|
break;
|
}
|
case ID_MS_ROAD_MAP2: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
DEBUG("开始解析路考地图");
|
|
vector<PointF> mapPoints;
|
mapPoints.clear();
|
|
if (doc.HasMember("points")) {
|
const Value &s = doc["points"];
|
|
DEBUG("得到所有点 共 %d", s.Size()/2);
|
|
int n = 0;
|
PointF temp;
|
|
// X-Y坐标集合
|
for (Value::ConstValueIterator itr = s.Begin();
|
itr != s.End(); ++itr, ++n) {
|
if ((n % 2) == 0) {
|
temp.X = (*itr).GetDouble();
|
} else {
|
temp.Y = (*itr).GetDouble();
|
mapPoints.push_back(temp);
|
}
|
}
|
}
|
|
road_exam_map map;
|
|
if (doc.HasMember("road")) {
|
const Value &a = doc["road"];
|
|
if (a.IsArray()) {
|
for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
|
road_t road;
|
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
DEBUG("路id %d", s.GetInt());
|
road.id = s.GetInt();
|
}
|
if (itr->HasMember("crossing")) {
|
const Value &a2 = (*itr)["crossing"];
|
|
vector<stop_line_t> crossing;
|
|
|
for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
|
stop_line_t temp;
|
if (!itr2->IsObject()) {
|
break;
|
}
|
if (itr2->HasMember("stop_flag")) {
|
const Value &s = (*itr2)["stop_flag"];
|
temp.stopFlag = s.GetInt();
|
DEBUG("路口停车 %d", temp.stopFlag);
|
} else {
|
temp.stopFlag = false;
|
}
|
if (itr2->HasMember("line")) {
|
const Value &s = (*itr2)["line"];
|
PointF p1, p2;
|
int n = 0;
|
|
if (s.IsArray() && s.Size() >= 2) {
|
for (Value::ConstValueIterator itr3 = s.Begin(); itr3 != s.End(); ++itr3, ++n) {
|
if (n == 0) {
|
p1 = mapPoints[(*itr3).GetInt()];
|
} else if (n == 1) {
|
p2 = mapPoints[(*itr3).GetInt()];
|
}
|
}
|
MakeLine(&temp.line, &p1, &p2);
|
}
|
}
|
if (itr2->HasMember("center_point")) {
|
const Value &s = (*itr2)["center_point"];
|
temp.centrePoint = mapPoints[s.GetInt()];
|
temp.centrePointValid = true;
|
} else {
|
temp.centrePointValid = false;
|
}
|
crossing.push_back(temp);
|
}
|
|
road.stopLine.assign(crossing.begin(), crossing.end());
|
}
|
|
if (itr->HasMember("next_road")) {
|
const Value &s = (*itr)["next_road"];
|
road.targetRoad = s.GetInt();
|
}
|
if (itr->HasMember("left_edge")) {
|
const Value &a2 = (*itr)["left_edge"];
|
DEBUG("左边线");
|
|
if (a2.IsArray()) {
|
for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
|
edge_t edge;
|
|
if (itr2->HasMember("type")) {
|
const Value &s = (*itr2)["type"];
|
DEBUG("\t类型 %d", s.GetInt());
|
|
edge.character = s.GetInt();
|
}
|
if (itr2->HasMember("line")) {
|
const Value &a3 = (*itr2)["line"];
|
if (a3.IsArray()) {
|
for (Value::ConstValueIterator itr3 = a3.Begin(); itr3 != a3.End(); ++itr3) {
|
DEBUG("\t线点 %d", (*itr3).GetInt());
|
edge.points.push_back(mapPoints[(*itr3).GetInt()]);
|
}
|
}
|
}
|
|
road.leftEdge.push_back(edge);
|
}
|
}
|
}
|
if (itr->HasMember("right_edge")) {
|
const Value &a2 = (*itr)["right_edge"];
|
DEBUG("右边线");
|
if (a2.IsArray()) {
|
for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
|
edge_t edge;
|
|
if (itr2->HasMember("type")) {
|
const Value &s = (*itr2)["type"];
|
DEBUG("\t类型 %d", s.GetInt());
|
edge.character = s.GetInt();
|
}
|
if (itr2->HasMember("line")) {
|
const Value &a3 = (*itr2)["line"];
|
if (a3.IsArray()) {
|
for (Value::ConstValueIterator itr3 = a3.Begin(); itr3 != a3.End(); ++itr3) {
|
DEBUG("\t线点 %d", (*itr3).GetInt());
|
edge.points.push_back(mapPoints[(*itr3).GetInt()]);
|
}
|
}
|
}
|
|
road.rightEdge.push_back(edge);
|
}
|
}
|
}
|
if (itr->HasMember("separate")) {
|
const Value &a2 = (*itr)["separate"];
|
DEBUG("分道数量 %d", a2.Size());
|
|
for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
|
separate_t sep;
|
if (!itr2->IsObject())
|
break;
|
|
if (itr2->HasMember("lane_guide")) {
|
const Value &a3 = (*itr2)["lane_guide"];
|
|
for (Value::ConstValueIterator itr3 = a3.Begin(); itr3 != a3.End(); ++itr3) {
|
lane_direct_t temp;
|
|
if (itr3->HasMember("head_tail")) {
|
const Value &a4 = (*itr3)["head_tail"];
|
int n = 0;
|
|
for (Value::ConstValueIterator itr4 = a4.Begin(); itr4 != a4.End(); ++itr4, ++n) {
|
if (n == 0)
|
temp.start = mapPoints[(*itr4).GetInt()];
|
else if (n == 1)
|
temp.end = mapPoints[(*itr4).GetInt()];
|
}
|
}
|
if (itr3->HasMember("guide")) {
|
const Value &a4 = (*itr3)["guide"];
|
|
for (Value::ConstValueIterator itr4 = a4.Begin(); itr4 != a4.End(); ++itr4) {
|
temp.direct.push_back((*itr4).GetInt());
|
}
|
}
|
DEBUG("\t得到一组导向线");
|
sep.lane_direct.push_back(temp);
|
}
|
}
|
if (itr2->HasMember("lane_line")) {
|
const Value &a3 = (*itr2)["lane_line"];
|
DEBUG("\t线数量 %d", a3.Size());
|
for (Value::ConstValueIterator itr3 = a3.Begin(); itr3 != a3.End(); ++itr3) {
|
DEBUG("\t\t节数量 %d", (*itr3).Size());
|
vector<segment_t> sline;
|
|
for (Value::ConstValueIterator itr4 = (*itr3).Begin(); itr4 != (*itr3).End(); ++itr4) {
|
const Value &type = (*itr4)["type"];
|
const Value &line = (*itr4)["line"];
|
|
segment_t seg;
|
|
DEBUG("\t\t\t节类型 = %d", type.GetInt());
|
seg.character = type.GetInt();
|
|
for (Value::ConstValueIterator itr5 = line.Begin(); itr5 != line.End(); ++itr5) {
|
DEBUG("\t\t\t点 = %d", (*itr5).GetInt());
|
|
seg.points.push_back(mapPoints[(*itr5).GetInt()]);
|
}
|
|
sline.push_back(seg);
|
}
|
sep.lines.push_back(sline);
|
}
|
}
|
road.separate.push_back(sep);
|
}
|
}
|
|
map.roads.push_back(road);
|
}
|
}
|
}
|
|
if (doc.HasMember("special_area")) {
|
const Value &a = doc["special_area"];
|
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End(); ++itr) {
|
special_area_t specialArea;
|
|
if (itr->HasMember("type")) {
|
const Value &s = (*itr)["type"];
|
specialArea.type = s.GetInt();
|
}
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
specialArea.id = s.GetInt();
|
}
|
if (itr->HasMember("road")) {
|
const Value &s = (*itr)["road"];
|
specialArea.road = s.GetInt();
|
}
|
|
if (itr->HasMember("area")) {
|
const Value &a2 = (*itr)["area"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
specialArea.area.push_back(mapPoints[(*itr2).GetInt()]);
|
}
|
}
|
|
map.specialAreas.push_back(specialArea);
|
}
|
}
|
/*if (doc.HasMember("trigger_line")) {
|
const Value &a = doc["trigger_line"];
|
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End(); ++itr) {
|
trigger_line_t trigger;
|
|
if (itr->HasMember("type")) {
|
const Value &s = (*itr)["type"];
|
trigger.active = s.GetInt();
|
}
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
trigger.id = s.GetInt();
|
}
|
if (itr->HasMember("road")) {
|
const Value &s = (*itr)["road"];
|
trigger.road = s.GetInt();
|
}
|
if (itr->HasMember("tts")) {
|
const Value &s = (*itr)["tts"];
|
trigger.tts = s.GetString();
|
}
|
if (itr->HasMember("time")) {
|
const Value &s = (*itr)["time"];
|
trigger.time = s.GetInt();
|
} else {
|
trigger.time = 0;
|
}
|
if (itr->HasMember("distance")) {
|
const Value &s = (*itr)["distance"];
|
trigger.distance = s.GetInt();
|
} else {
|
trigger.distance = 0;
|
}
|
|
if (itr->HasMember("line")) {
|
const Value &a2 = (*itr)["line"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
trigger.points.push_back(mapPoints[(*itr2).GetInt()]);
|
}
|
}
|
|
map.triggerLines.push_back(trigger);
|
}
|
}*/
|
if (doc.HasMember("red_line")) {
|
const Value &a = doc["red_line"];
|
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End(); ++itr) {
|
forbid_line_t forbid;
|
|
if (itr->HasMember("type")) {
|
const Value &s = (*itr)["type"];
|
forbid.type = s.GetInt();
|
|
DEBUG("禁止线 type %d", forbid.type);
|
}
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
forbid.id = s.GetInt();
|
}
|
if (itr->HasMember("points")) {
|
const Value &a2 = (*itr)["points"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
forbid.points.push_back(mapPoints[(*itr2).GetInt()]);
|
}
|
}
|
map.forbidLines.push_back(forbid);
|
}
|
}
|
|
vector<scheme_t> schemes;
|
|
if (doc.HasMember("scheme")) {
|
const Value &a = doc["scheme"];
|
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End(); ++itr) {
|
scheme_t scheme;
|
if (itr->HasMember("name")) {
|
const Value &s = (*itr)["name"];
|
scheme.name = s.GetString();
|
}
|
if (itr->HasMember("crossing_active")) {
|
const Value &a2 = (*itr)["crossing_active"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
crossing_active_t act;
|
|
if (itr2->HasMember("road")) {
|
const Value &s = (*itr2)["road"];
|
act.road_id = s.GetInt();
|
}
|
if (itr2->HasMember("idx")) {
|
const Value &s = (*itr2)["idx"];
|
act.index = s.GetInt();
|
}
|
if (itr2->HasMember("active")) {
|
const Value &s = (*itr2)["active"];
|
act.active = s.GetInt();
|
}
|
|
scheme.crossingActive.push_back(act);
|
}
|
}
|
if (itr->HasMember("trigger_line")) {
|
const Value &a2 = (*itr)["trigger_line"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
trigger_line_t ins;
|
|
if (itr2->HasMember("x_y")) {
|
const Value &a3 = (*itr2)["x_y"];
|
if (a3.IsArray()) {
|
PointF point;
|
int n = 0;
|
for (Value::ConstValueIterator itr3 = a3.Begin();
|
itr3 != a3.End(); ++itr3) {
|
if (n == 0) {
|
point.X = (*itr3).GetDouble();
|
n = 1;
|
} else if (n == 1) {
|
point.Y = (*itr3).GetDouble();
|
ins.points.push_back(point);
|
n = 0;
|
}
|
}
|
}
|
}
|
if (itr2->HasMember("road")) {
|
const Value &s = (*itr2)["road"];
|
ins.road = s.GetInt();
|
}
|
if (itr2->HasMember("type")) {
|
const Value &s = (*itr2)["type"];
|
ins.active = s.GetInt();
|
}
|
|
scheme.triggerLines.push_back(ins);
|
}
|
}
|
schemes.push_back(scheme);
|
}
|
}
|
|
DEBUG("地图解析完毕");
|
|
CleanRoadMap();
|
SetRoadMap(map, schemes);
|
} else {
|
DEBUG("############## 地图解析出错###################");
|
}
|
|
break;
|
}
|
case ID_MS_SCHEME: {
|
Document doc;
|
doc.Parse(value);
|
|
DEBUG("方案 %s", value);
|
|
if (!doc.HasParseError()) {
|
DEBUG("开始解析路考方案");
|
vector<scheme_t> schemes;
|
|
if (doc.HasMember("scheme")) {
|
const Value &a = doc["scheme"];
|
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End(); ++itr) {
|
scheme_t scheme;
|
if (itr->HasMember("name")) {
|
const Value &s = (*itr)["name"];
|
scheme.name = s.GetString();
|
}
|
if (itr->HasMember("crossing_active")) {
|
const Value &a2 = (*itr)["crossing_active"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
crossing_active_t act;
|
|
if (itr2->HasMember("road")) {
|
const Value &s = (*itr2)["road"];
|
act.road_id = s.GetInt();
|
}
|
if (itr2->HasMember("idx")) {
|
const Value &s = (*itr2)["idx"];
|
act.index = s.GetInt();
|
}
|
if (itr2->HasMember("active")) {
|
const Value &s = (*itr2)["active"];
|
act.active = s.GetInt();
|
}
|
|
scheme.crossingActive.push_back(act);
|
}
|
}
|
if (itr->HasMember("trigger_line")) {
|
const Value &a2 = (*itr)["trigger_line"];
|
|
for (Value::ConstValueIterator itr2 = a2.Begin();
|
itr2 != a2.End(); ++itr2) {
|
trigger_line_t ins;
|
|
if (itr2->HasMember("x_y")) {
|
const Value &a3 = (*itr2)["x_y"];
|
if (a3.IsArray()) {
|
PointF point;
|
int n = 0;
|
for (Value::ConstValueIterator itr3 = a3.Begin();
|
itr3 != a3.End(); ++itr3) {
|
if (n == 0) {
|
point.X = (*itr3).GetDouble();
|
n = 1;
|
} else if (n == 1) {
|
point.Y = (*itr3).GetDouble();
|
ins.points.push_back(point);
|
n = 0;
|
}
|
}
|
}
|
}
|
if (itr2->HasMember("road")) {
|
const Value &s = (*itr2)["road"];
|
ins.road = s.GetInt();
|
}
|
if (itr2->HasMember("type")) {
|
const Value &s = (*itr2)["type"];
|
ins.active = s.GetInt();
|
}
|
|
scheme.triggerLines.push_back(ins);
|
}
|
}
|
schemes.push_back(scheme);
|
}
|
}
|
SetRoadExamScheme(schemes);
|
}
|
break;
|
}
|
|
case ID_MS_EXAM_PARAM: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
if (doc.HasMember("hold_start_key_limit_time")) {
|
const Value &a = doc["hold_start_key_limit_time"];
|
examParam.hold_start_key_limit_time = a.GetInt();
|
DEBUG("hold_start_key_limit_time = %d", examParam.hold_start_key_limit_time);
|
}
|
|
if (doc.HasMember("curve_pause_criteria")) {
|
const Value &a = doc["curve_pause_criteria"];
|
examParam.curve_pause_criteria = a.GetInt();
|
DEBUG("curve_pause_criteria = %d", examParam.curve_pause_criteria);
|
}
|
|
if (doc.HasMember("park_bottom_pause_criteria")) {
|
const Value &a = doc["park_bottom_pause_criteria"];
|
examParam.park_bottom_pause_criteria = a.GetInt();
|
DEBUG("park_bottom_pause_criteria = %d", examParam.park_bottom_pause_criteria);
|
}
|
|
if (doc.HasMember("park_bottom_limit_time")) {
|
const Value &a = doc["park_bottom_limit_time"];
|
examParam.park_bottom_limit_time = D_SEC(a.GetInt());
|
DEBUG("park_bottom_limit_time = %d", examParam.park_bottom_limit_time);
|
}
|
|
if (doc.HasMember("park_edge_pause_criteria")) {
|
const Value &a = doc["park_edge_pause_criteria"];
|
examParam.park_edge_pause_criteria = a.GetInt();
|
DEBUG("park_edge_pause_criteria = %d", examParam.park_edge_pause_criteria);
|
}
|
|
if (doc.HasMember("park_edge_limit_time")) {
|
const Value &a = doc["park_edge_limit_time"];
|
examParam.park_edge_limit_time = D_SEC(a.GetInt());
|
DEBUG("park_edge_limit_time = %d", examParam.park_edge_limit_time);
|
}
|
|
if (doc.HasMember("turn_a90_pause_criteria")) {
|
const Value &a = doc["turn_a90_pause_criteria"];
|
examParam.turn_a90_pause_criteria = a.GetInt();
|
DEBUG("turn_a90_pause_criteria = %d", examParam.turn_a90_pause_criteria);
|
}
|
|
if (doc.HasMember("ramp_stoppoint_red_distance")) {
|
const Value &a = doc["ramp_stoppoint_red_distance"];
|
examParam.ramp_stoppoint_red_distance = a.GetDouble();
|
DEBUG("ramp_stoppoint_red_distance = %f", examParam.ramp_stoppoint_red_distance);
|
}
|
|
if (doc.HasMember("ramp_edge_yellow_distance")) {
|
const Value &a = doc["ramp_edge_yellow_distance"];
|
examParam.ramp_edge_yellow_distance = a.GetDouble();
|
DEBUG("ramp_edge_yellow_distance = %f", examParam.ramp_edge_yellow_distance);
|
}
|
|
if (doc.HasMember("ramp_edge_red_distance")) {
|
const Value &a = doc["ramp_edge_red_distance"];
|
examParam.ramp_edge_red_distance = a.GetDouble();
|
DEBUG("ramp_edge_red_distance = %f", examParam.ramp_edge_red_distance);
|
}
|
|
if (doc.HasMember("ramp_slide_yellow_distance")) {
|
const Value &a = doc["ramp_slide_yellow_distance"];
|
examParam.ramp_slide_yellow_distance = a.GetDouble();
|
DEBUG("ramp_slide_yellow_distance = %f", examParam.ramp_slide_yellow_distance);
|
}
|
|
if (doc.HasMember("ramp_slide_red_distance")) {
|
const Value &a = doc["ramp_slide_red_distance"];
|
examParam.ramp_slide_red_distance = a.GetDouble();
|
DEBUG("ramp_slide_red_distance = %f", examParam.ramp_slide_red_distance);
|
}
|
|
if (doc.HasMember("ramp_start_car_limit_time")) {
|
const Value &a = doc["ramp_start_car_limit_time"];
|
examParam.ramp_start_car_limit_time = D_SEC(a.GetInt());
|
DEBUG("ramp_start_car_limit_time = %d", examParam.ramp_start_car_limit_time);
|
}
|
|
if (doc.HasMember("road_slide_yellow_distance")) {
|
const Value &a = doc["road_slide_yellow_distance"];
|
examParam.road_slide_yellow_distance = a.GetDouble();
|
DEBUG("road_slide_yellow_distance = %f", examParam.road_slide_yellow_distance);
|
}
|
|
double road_slide_red_distance;
|
if (doc.HasMember("road_slide_red_distance")) {
|
const Value &a = doc["road_slide_red_distance"];
|
examParam.road_slide_red_distance = a.GetDouble();
|
DEBUG("road_slide_red_distance = %f", examParam.road_slide_red_distance);
|
}
|
|
if (doc.HasMember("road_total_distance")) {
|
const Value &a = doc["road_total_distance"];
|
examParam.road_total_distance = a.GetInt();
|
DEBUG("road_total_distance = %d", examParam.road_total_distance);
|
}
|
|
if (doc.HasMember("road_max_speed")) {
|
const Value &a = doc["road_max_speed"];
|
examParam.road_max_speed = a.GetInt();
|
DEBUG("road_max_speed = %d", examParam.road_max_speed);
|
}
|
|
if (doc.HasMember("gear_speed_table")) {
|
const Value &a = doc["gear_speed_table"];
|
|
int m = 0, n = 0;
|
|
if (a.IsArray()) {
|
for (Value::ConstValueIterator itr = a.Begin();
|
itr != a.End() && m < 6; ++itr, ++m) {
|
n = 0;
|
if ((*itr).IsArray()) {
|
for (Value::ConstValueIterator itr2 = (*itr).Begin();
|
itr2 != (*itr).End() && n < 2; ++itr2, ++n) {
|
examParam.gear_speed_table[m][n] = (*itr2).GetInt();
|
DEBUG("gear_speed_table[%d][%d] = %d", m, n, examParam.gear_speed_table[m][n]);
|
}
|
}
|
}
|
}
|
}
|
|
if (doc.HasMember("gear_n_allow_time")) {
|
const Value &a = doc["gear_n_allow_time"];
|
examParam.gear_n_allow_time = D_SEC(a.GetInt());
|
DEBUG("gear_n_allow_time = %d", examParam.gear_n_allow_time);
|
}
|
|
|
if (doc.HasMember("same_gear_min_time")) {
|
const Value &a = doc["same_gear_min_time"];
|
examParam.same_gear_min_time = D_SEC(a.GetInt());
|
DEBUG("same_gear_min_time = %d", examParam.same_gear_min_time);
|
}
|
|
if (doc.HasMember("gear_speed_error_cumulative_time")) {
|
const Value &a = doc["gear_speed_error_cumulative_time"];
|
examParam.gear_speed_error_cumulative_time = D_SEC(a.GetInt());
|
DEBUG("gear_speed_error_cumulative_time = %d", examParam.gear_speed_error_cumulative_time);
|
}
|
|
if (doc.HasMember("road_pause_criteria")) {
|
const Value &a = doc["road_pause_criteria"];
|
examParam.road_pause_criteria = a.GetInt();
|
DEBUG("road_pause_criteria = %d", examParam.road_pause_criteria);
|
}
|
|
if (doc.HasMember("continuous_change_lane_min_time")) {
|
const Value &a = doc["continuous_change_lane_min_time"];
|
examParam.continuous_change_lane_min_time = D_SEC(a.GetInt());
|
DEBUG("continuous_change_lane_min_time = %d", examParam.continuous_change_lane_min_time);
|
}
|
|
if (doc.HasMember("crash_dotted_line_cumulative_time")) {
|
const Value &a = doc["crash_dotted_line_cumulative_time"];
|
examParam.crash_dotted_line_cumulative_time = D_SEC(a.GetInt());
|
DEBUG("crash_dotted_line_cumulative_time = %d", examParam.crash_dotted_line_cumulative_time);
|
}
|
|
if (doc.HasMember("turn_signal_min_advance")) {
|
const Value &a = doc["turn_signal_min_advance"];
|
examParam.turn_signal_min_advance = D_SEC(a.GetInt());
|
DEBUG("turn_signal_min_advance = %d", examParam.turn_signal_min_advance);
|
}
|
|
if (doc.HasMember("start_car_max_rpm")) {
|
const Value &a = doc["start_car_max_rpm"];
|
examParam.start_car_max_rpm = a.GetInt();
|
DEBUG("start_car_max_rpm = %d", examParam.start_car_max_rpm);
|
}
|
|
if (doc.HasMember("start_car_limit_distance")) {
|
const Value &a = doc["start_car_limit_distance"];
|
examParam.start_car_limit_distance = a.GetInt();
|
DEBUG("start_car_limit_distance = %d", examParam.start_car_limit_distance);
|
}
|
|
if (doc.HasMember("open_door_drive_allow_distance")) {
|
const Value &a = doc["open_door_drive_allow_distance"];
|
examParam.open_door_drive_allow_distance = a.GetDouble();
|
DEBUG("open_door_drive_allow_distance = %f", examParam.open_door_drive_allow_distance);
|
}
|
|
if (doc.HasMember("change_lane_limit_distance")) {
|
const Value &a = doc["change_lane_limit_distance"];
|
examParam.change_lane_limit_distance = a.GetInt();
|
DEBUG("change_lane_limit_distance = %d", examParam.change_lane_limit_distance);
|
}
|
|
if (doc.HasMember("shift_limit_distance")) {
|
const Value &a = doc["shift_limit_distance"];
|
examParam.shift_limit_distance = a.GetInt();
|
DEBUG("shift_limit_distance = %d", examParam.shift_limit_distance);
|
}
|
|
if (doc.HasMember("shift_hold_time")) {
|
const Value &a = doc["shift_hold_time"];
|
examParam.shift_hold_time = D_SEC(a.GetInt());
|
DEBUG("shift_hold_time = %d", examParam.shift_hold_time);
|
}
|
|
int straight_limit_distance;
|
if (doc.HasMember("straight_limit_distance")) {
|
const Value &a = doc["straight_limit_distance"];
|
examParam.straight_limit_distance = a.GetInt();
|
DEBUG("straight_limit_distance = %d", examParam.straight_limit_distance);
|
}
|
|
if (doc.HasMember("straight_max_offset")) {
|
const Value &a = doc["straight_max_offset"];
|
examParam.straight_max_offset = a.GetDouble();
|
DEBUG("straight_max_offset = %f", examParam.straight_max_offset);
|
}
|
|
if (doc.HasMember("overtake_limit_distance")) {
|
const Value &a = doc["overtake_limit_distance"];
|
examParam.overtake_limit_distance = a.GetInt();
|
DEBUG("overtake_limit_distance = %d", examParam.overtake_limit_distance);
|
}
|
|
if (doc.HasMember("stop_car_limit_distance")) {
|
const Value &a = doc["stop_car_limit_distance"];
|
examParam.stop_car_limit_distance = a.GetInt();
|
DEBUG("stop_car_limit_distance = %d", examParam.stop_car_limit_distance);
|
}
|
|
if (doc.HasMember("stop_car_open_door_allow_time")) {
|
const Value &a = doc["stop_car_open_door_allow_time"];
|
examParam.stop_car_open_door_allow_time = D_SEC(a.GetInt());
|
DEBUG("stop_car_open_door_allow_time = %d", examParam.stop_car_open_door_allow_time);
|
}
|
|
if (doc.HasMember("stop_car_edge_red_distance")) {
|
const Value &a = doc["stop_car_edge_red_distance"];
|
examParam.stop_car_edge_red_distance = a.GetDouble();
|
DEBUG("stop_car_edge_red_distance = %f", examParam.stop_car_edge_red_distance);
|
}
|
|
if (doc.HasMember("stop_car_edge_yellow_distance")) {
|
const Value &a = doc["stop_car_edge_yellow_distance"];
|
examParam.stop_car_edge_yellow_distance = a.GetDouble();
|
DEBUG("stop_car_edge_yellow_distance = %f", examParam.stop_car_edge_yellow_distance);
|
}
|
|
if (doc.HasMember("crossing_stop_valid_distance")) {
|
const Value &a = doc["crossing_stop_valid_distance"];
|
examParam.crossing_stop_valid_distance = a.GetDouble();
|
DEBUG("crossing_stop_valid_distance = %f", examParam.crossing_stop_valid_distance);
|
}
|
|
if (doc.HasMember("cross_school_max_speed")) {
|
const Value &a = doc["cross_school_max_speed"];
|
examParam.cross_school_max_speed = a.GetInt();
|
DEBUG("cross_school_max_speed = %d", examParam.cross_school_max_speed);
|
}
|
|
if (doc.HasMember("crossing_break_valid_distance")) {
|
const Value &a = doc["crossing_break_valid_distance"];
|
examParam.crossing_break_valid_distance = a.GetInt();
|
DEBUG("crossing_break_valid_distance = %d", examParam.crossing_break_valid_distance);
|
}
|
}
|
break;
|
}
|
|
case ID_MS_MAP: {
|
Document doc;
|
doc.Parse(value);
|
|
if (!doc.HasParseError()) {
|
ClearAreaMap();
|
|
if (doc.IsObject() && doc.HasMember("items")) {
|
const Value &a = doc["items"];
|
|
if (a.IsArray()) {
|
for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
|
// a Map
|
string name;
|
int id = -1, type = -1;
|
//int id, type, pointNum = 0, point2Num = 0;
|
//double (*map)[2] = NULL, (*map2)[2] = NULL;
|
|
if (itr->IsObject()) {
|
if (itr->HasMember("id")) {
|
const Value &s = (*itr)["id"];
|
id = s.GetInt();
|
}
|
if (itr->HasMember("name")) {
|
const Value &s = (*itr)["id"];
|
name = s.GetString();
|
}
|
if (itr->HasMember("item")) {
|
const Value &s = (*itr)["item"];
|
type = s.GetInt();
|
|
switch (type) {
|
case MAP_TYPE_CURVE: {
|
curve_map_t map;
|
map.id = id;
|
if (itr->HasMember("left_start_point")) {
|
const Value &s2 = (*itr)["left_start_point"];
|
LoadPoint(map.left_start_point, s2);
|
}
|
if (itr->HasMember("right_start_point")) {
|
const Value &s2 = (*itr)["right_start_point"];
|
LoadPoint(map.right_start_point, s2);
|
}
|
if (itr->HasMember("left_end_point")) {
|
const Value &s2 = (*itr)["left_end_point"];
|
LoadPoint(map.left_end_point, s2);
|
}
|
if (itr->HasMember("right_end_point")) {
|
const Value &s2 = (*itr)["right_end_point"];
|
LoadPoint(map.right_end_point, s2);
|
}
|
AddCurveMap(map);
|
break;
|
}
|
case MAP_TYPE_PARK_BUTTOM: {
|
park_button_map_t map;
|
|
map.id = id;
|
if (itr->HasMember("point") && (*itr)["point"].IsArray()) {
|
const Value &arr = (*itr)["point"];
|
LoadPoints(map.map, arr);
|
}
|
AddParkButtonMap(map);
|
break;
|
}
|
case MAP_TYPE_PARK_EDGE: {
|
park_edge_map_t map;
|
map.id = id;
|
if (itr->HasMember("point") && (*itr)["point"].IsArray()) {
|
const Value &arr = (*itr)["point"];
|
LoadPoints(map.map, arr);
|
}
|
AddParkEdgeMap(map);
|
break;
|
}
|
case MAP_TYPE_UPHILL: {
|
uphill_map_t map;
|
map.id = id;
|
if (itr->HasMember("point") && (*itr)["point"].IsArray()) {
|
const Value &arr = (*itr)["point"];
|
LoadPoints(map.map, arr);
|
}
|
break;
|
}
|
case MAP_TYPE_TURN_90: {
|
turn_a90_map_t map;
|
map.id = id;
|
if (itr->HasMember("point") && (*itr)["point"].IsArray()) {
|
const Value &arr = (*itr)["point"];
|
LoadPoints(map.map, arr);
|
}
|
break;
|
}
|
default:
|
break;
|
}
|
}
|
|
// if (itr->HasMember("point")) {
|
// const Value &s = (*itr)["point"];
|
// int map_index = 0;
|
//
|
// for (Value::ConstValueIterator itr2 = s.Begin();
|
// itr2 != s.End(); ++itr2, ++map_index) {
|
// // 曲线驾驶有2组
|
// const Value &s2 = (*itr2)["x-y"];
|
//
|
// if (map_index == 0) {
|
// int i = 0, j = 0;
|
// pointNum = s2.Size() / 2;
|
// map = (double (*)[2]) new double[pointNum][2];
|
//// map = (double (*)[2]) malloc(pointNum * 2 * sizeof(double));
|
//
|
// for (Value::ConstValueIterator itr3 = s2.Begin();
|
// itr3 != s2.End(); ++itr3) {
|
// map[i][j] = (*itr3).GetDouble();
|
// if (++j == 2) {
|
// j = 0;
|
// i++;
|
// }
|
// }
|
// } else if (map_index == 1) {
|
// int i = 0, j = 0;
|
// point2Num = s2.Size() / 2;
|
// map2 = (double (*)[2]) new double[s2.Size()][2];
|
//// map2 = (double (*)[2]) malloc(point2Num * 2 * sizeof(double));
|
//
|
// for (Value::ConstValueIterator itr3 = s2.Begin();
|
// itr3 != s2.End(); ++itr3) {
|
// map2[i][j] = (*itr3).GetDouble();
|
// if (++j == 2) {
|
// j = 0;
|
// i++;
|
// }
|
// }
|
// }
|
// }
|
// }
|
|
// AddAreaMap(id, type, map, pointNum, map2, point2Num);
|
//
|
// if (map) delete[]map;
|
// if (map2) delete[]map2;
|
}
|
}
|
}
|
}
|
}
|
break;
|
}
|
case ID_MS_CAR: {
|
Document doc;
|
|
doc.Parse(value);
|
|
if (!doc.HasParseError()) {
|
double basePoint[2];
|
int axial[2], left_front_tire[2], right_front_tire[2], left_rear_tire[2], right_rear_tire[2];
|
int bodyNum = 0;
|
int *body = NULL;
|
int pointNum = 0;
|
double antPitch = 0;
|
double antHeight = 0;
|
double groundHeight = 0;
|
|
double (*point)[2] = NULL;
|
|
if (doc.HasMember("main_ant")) {
|
const Value& s = doc["main_ant"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) basePoint[i++] = itr->GetDouble();
|
}
|
}
|
}
|
|
if (doc.HasMember("axial")) {
|
const Value& s = doc["axial"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) axial[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("left_front_tire")) {
|
const Value& s = doc["left_front_tire"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) left_front_tire[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("right_front_tire")) {
|
const Value& s = doc["right_front_tire"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) right_front_tire[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("left_rear_tire")) {
|
const Value& s = doc["left_rear_tire"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) left_rear_tire[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("right_rear_tire")) {
|
const Value& s = doc["right_rear_tire"];
|
if (s.IsArray()) {
|
int i = 0;
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
if (i < 2) right_rear_tire[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("body")) {
|
const Value& s = doc["body"];
|
if (s.IsArray()) {
|
int i = 0;
|
bodyNum = s.Size();
|
body = new int[bodyNum];
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
body[i++] = itr->GetInt();
|
}
|
}
|
}
|
|
if (doc.HasMember("point")) {
|
const Value& s = doc["point"];
|
if (s.IsArray()) {
|
int i = 0, j = 0;
|
pointNum = s.Size()/2;
|
point = (double (*)[2]) new double[pointNum][2];
|
// point = (double (*)[2])malloc(pointNum * 2 * sizeof(double));
|
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
point[i][j] = itr->GetDouble();
|
if (++j == 2) {
|
j = 0;
|
i++;
|
}
|
}
|
}
|
}
|
|
if (doc.HasMember("ant_pitch")) {
|
const Value& s = doc["ant_pitch"];
|
antPitch = s.GetDouble();
|
}
|
|
if (doc.HasMember("ant_height")) {
|
const Value& s = doc["ant_height"];
|
antHeight = s.GetDouble();
|
}
|
|
if (doc.HasMember("ground_height")) {
|
const Value& s = doc["ground_height"];
|
groundHeight = s.GetDouble();
|
}
|
|
SetCarMeasurePoint(basePoint, axial, left_front_tire, right_front_tire,
|
left_rear_tire, right_rear_tire, body, bodyNum, point, pointNum, antPitch, antHeight, groundHeight);
|
|
if (body != NULL) delete []body;
|
if (point != NULL) delete []point;
|
}
|
break;
|
}
|
case ID_MS_SENSOR_CFG: {
|
/*Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
const Value &a = doc.GetArray();
|
|
if (a.IsArray() && a.Size() > 0) {
|
int n = a.Size();
|
int i = 0;
|
int (*sensor)[3] = (int (*)[3]) new int[n][3];
|
|
for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
|
// a gpio mapping
|
if (itr->HasMember("gpio_num")) {
|
const Value &s = (*itr)["gpio_num"];
|
sensor[i][0] = s.GetInt();
|
}
|
if (itr->HasMember("func_id")) {
|
const Value &s = (*itr)["func_id"];
|
sensor[i][1] = s.GetInt();
|
}
|
if (itr->HasMember("level")) {
|
const Value &s = (*itr)["level"];
|
sensor[i][2] = s.GetInt();
|
}
|
++i;
|
}
|
SetSensorCfg(sensor, n);
|
delete []sensor;
|
}
|
}*/
|
break;
|
}
|
case ID_MS_START_EXAM: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
int start = 0, type = 0;
|
if (doc.HasMember("exam")) {
|
Value& s = doc["exam"];
|
start = s.GetInt();
|
}
|
if (doc.HasMember("type")) {
|
Value& s = doc["type"];
|
type = s.GetInt();
|
}
|
StartDriverExam(start, type);
|
}
|
break;
|
}
|
case ID_MS_EXAM_MAP: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
if (doc.HasMember("map_id") && doc.HasMember("exam")) {
|
Value& s = doc["map_id"];
|
Value& s2 = doc["exam"];
|
|
}
|
}
|
break;
|
}
|
case ID_MS_IND_ONOFF: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
if (doc.HasMember("on_off")) {
|
Value& s = doc["on_off"];
|
do {
|
OnOff = s.GetInt();
|
} while (OnOff != s.GetInt());
|
}
|
}
|
break;
|
}
|
case ID_MS_READ_CARD : {
|
ReadCard();
|
break;
|
}
|
case ID_MS_SYS_SHUTDOWN: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
int event = 0, timeout = 15;
|
|
if (doc.HasMember("event")) {
|
Value& s = doc["event"];
|
event = s.GetInt();
|
}
|
if (doc.HasMember("timeout")) {
|
Value& s = doc["timeout"];
|
timeout = s.GetInt();
|
}
|
SystemShutdown(event, timeout);
|
}
|
break;
|
}
|
case ID_MS_LIGHT_EXAM_RES: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
/*DEBUG("解析灯光配置...");
|
if (doc.HasMember("exam")) {
|
const Value& s = doc["exam"];
|
s.GetInt();
|
}
|
if (doc.HasMember("question")) {
|
const Value& s = doc["question"];
|
if (s.IsArray() && s.Size() > 0) {
|
int n = 0;
|
struct dummy_light_exam *content = new struct dummy_light_exam[s.Size()];
|
|
DEBUG("题目数量 %d", s.Size());
|
|
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
|
|
if (itr->HasMember("item") && itr->HasMember("tts")) {
|
const Value &s1 = (*itr)["item"];
|
const Value &s2 = (*itr)["tts"];
|
|
content[n].item = s1.GetInt();
|
content[n].tts = s2.GetString();
|
|
DEBUG("题目 %s", s2.GetString());
|
}
|
|
if (itr->HasMember("wrong_code")) {
|
const Value &s = (*itr)["wrong_code"];
|
|
content[n].wrongCode = s.GetInt();
|
|
DEBUG("题目wrongCode %d", s.GetInt());
|
}
|
|
if (itr->HasMember("process")) {
|
const Value& s = (*itr)["process"];
|
for(Value::ConstValueIterator itr2 = s.Begin(); itr2 != s.End(); ++itr2) {
|
DEBUG("题目process %d", itr2->GetInt());
|
content[n].process.push_back(itr2->GetInt());
|
}
|
}
|
if (itr->HasMember("solution")) {
|
const Value& s = (*itr)["solution"];
|
for(Value::ConstValueIterator itr2 = s.Begin(); itr2 != s.End(); ++itr2) {
|
DEBUG("题目solution %d", itr2->GetInt());
|
content[n].solution.push_back(itr2->GetInt());
|
}
|
}
|
n++;
|
}
|
|
SetDummyLightExam(n, content);
|
|
delete []content;
|
}
|
}*/
|
}
|
break;
|
}
|
case ID_MS_INQ_ROAD_CROSSING: {
|
break;
|
}
|
case ID_MS_BLUETOOTH_NAME: {
|
Document doc;
|
doc.Parse(value);
|
if (!doc.HasParseError()) {
|
if (doc.HasMember("bluetooth_name") && doc.HasMember("bluetooth_addr")) {
|
const Value& s1 = doc["bluetooth_name"];
|
const Value& s2 = doc["bluetooth_addr"];
|
SetRemoteBluetooth(s1.GetString(), s2.GetString());
|
} else if (doc.HasMember("bluetooth_addr")) {
|
const Value& s = doc["bluetooth_addr"];
|
SetRemoteBluetooth(NULL, s.GetString());
|
}
|
}
|
break;
|
}
|
default:break;
|
}
|
}
|
|
void MA_MainProcBinMsgEntry(int cmd, const uint8_t *value, int length)
|
{
|
switch (cmd) {
|
case ID_MS_FILE: {
|
////////////////////UploadDfuFile(value, length);
|
break;
|
}
|
default:
|
break;
|
}
|
}
|
|
void MA_EnterMap(int map_id, int type, int enter)
|
{
|
StringBuffer sb;
|
Writer<StringBuffer> writer(sb);
|
|
writer.StartObject();
|
writer.Key("map_id");
|
writer.Int(map_id);
|
writer.Key("type");
|
writer.Int(type);
|
writer.Key("enter");
|
writer.Int(enter);
|
writer.EndObject();
|
|
SendMsgToMainProcIndep(ID_SM_ENTER_MAP, sb.GetString());
|
}
|
|
void MA_ExamLight(void)
|
{
|
SendMsgToMainProcIndep(ID_SM_LIGHT_EXAM_REQ, NULL);
|
}
|
|
void MA_SendBlueStatus(const char *name, const char *addr, int status)
|
{
|
StringBuffer sb;
|
Writer<StringBuffer> writer(sb);
|
|
writer.StartObject();
|
|
if (name != NULL) {
|
writer.Key("bluetooth_name");
|
writer.String(name);
|
}
|
if (addr != NULL) {
|
writer.Key("bluetooth_addr");
|
writer.String(addr);
|
}
|
|
writer.Key("bluetooth_status");
|
writer.Int(status);
|
writer.EndObject();
|
|
SendMsgToMainProcIndep(ID_SM_BLUETOOTH_BRIEF, sb.GetString());
|
}
|
|
void MA_SendRtkStatus(const char *model, int status)
|
{
|
StringBuffer sb;
|
Writer<StringBuffer> writer(sb);
|
|
writer.StartObject();
|
|
writer.Key("model");
|
if (model == NULL || model[0] == 0) {
|
writer.String("Unknown");
|
} else {
|
writer.String(model);
|
}
|
|
writer.Key("status");
|
writer.Int(status);
|
|
writer.EndObject();
|
|
SendMsgToMainProcIndep(ID_SM_RTK_STATUS_BRIEF, sb.GetString());
|
}
|
