//
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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 <string>
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#include <iostream>
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#include <vector>
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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_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_SM_READ_CAR 0x0007
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#define ID_MS_CAR 0x8007
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#define ID_SM_READ_SENSOR_CFG 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_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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void MA_NdkStart(void)
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{
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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(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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SendMsgToMainProc(ID_SM_READ_SENSOR_CFG, NULL);
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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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SendMsgToMainProc(ID_SM_EXAM_STATUS, 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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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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SendMsgToMainProc(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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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("heading");
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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.EndObject();
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SendMsgToMainProc(ID_SM_RTK_BRIEF, sb.GetString());
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}
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void MA_SendExamWrong(vector<int>&err)
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{
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}
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void MA_MainProcMsgEntry(int cmd, const char *value)
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{
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switch (cmd) {
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case ID_MS_RTK_PLAT_CFG: {
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rtk_platform_cfg_t cfg;
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memset(&cfg, 0, sizeof(cfg));
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Document d;
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d.Parse(value);
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if (d.HasMember("ip")) {
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Value& s = d["ip"];
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strcpy(cfg.domain_name, s.GetString());
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}
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if (d.HasMember("port")) {
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Value& s = d["port"];
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cfg.port = s.GetInt();
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}
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if (d.HasMember("province")) {
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Value& s = d["province"];
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cfg.province = s.GetInt();
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}
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if (d.HasMember("city")) {
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Value& s = d["city"];
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cfg.city = s.GetInt();
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}
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if (d.HasMember("model")) {
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Value& s = d["model"];
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strcpy(cfg.device_model, s.GetString());
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}
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if (d.HasMember("sn")) {
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Value& s = d["sn"];
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strcpy(cfg.device_sn, s.GetString());
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}
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if (d.HasMember("imei")) {
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Value& s = d["imei"];
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strcpy(cfg.imei, s.GetString());
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}
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if (d.HasMember("phone")) {
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Value& s = d["phone"];
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strcpy(cfg.phone, s.GetString());
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}
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if (d.HasMember("password")) {
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Value& s = d["password"];
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strcpy(cfg.password, s.GetString());
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}
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if (d.HasMember("registered")) {
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Value& s = d["registered"];
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cfg.registered = s.GetInt();
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}
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if (d.HasMember("interval")) {
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Value& s = d["interval"];
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cfg.rtk_interval = s.GetInt();
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}
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ConfigPlatform(&cfg);
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break;
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}
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case ID_MS_MAP: {
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Document doc;
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doc.Parse(value);
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if (!doc.HasParseError()) {
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ClearMap();
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const Value &a = doc.GetArray();
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if (a.IsArray()) {
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for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
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// a Map
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int id, type, pointNum = 0, point2Num = 0;
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double (*map)[2] = NULL, (*map2)[2] = NULL;
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if (itr->IsObject()) {
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if (itr->HasMember("id")) {
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const Value &s = (*itr)["id"];
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id = s.GetInt();
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}
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if (itr->HasMember("item")) {
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const Value &s = (*itr)["item"];
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type = s.GetInt();
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}
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if (itr->HasMember("point")) {
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const Value &s = (*itr)["point"];
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int map_index = 0;
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for (Value::ConstValueIterator itr2 = s.Begin();
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itr2 != s.End(); ++itr2, ++map_index) {
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// 曲线驾驶有2组
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const Value &s2 = (*itr2)["x-y"];
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if (map_index == 0) {
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int i = 0, j = 0;
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pointNum = s2.Size()/2;
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map = new double[pointNum][2];
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for (Value::ConstValueIterator itr3 = s2.Begin();
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itr3 != s2.End(); ++itr3) {
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map[i][j] = (*itr3).GetDouble();
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if (++j == 2) {
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j = 0;
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i++;
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}
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}
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} else if (map_index == 1) {
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int i = 0, j = 0;
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point2Num = s2.Size()/2;
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map2 = new double[s2.Size()][2];
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for (Value::ConstValueIterator itr3 = s2.Begin();
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itr3 != s2.End(); ++itr3) {
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map2[i][j] = (*itr3).GetDouble();
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if (++j == 2) {
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j = 0;
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i++;
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}
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}
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}
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}
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}
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AddMap(id, type, map, pointNum, map2, point2Num);
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if (map) delete []map;
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if (map2) delete []map2;
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}
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}
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}
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}
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break;
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}
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case ID_MS_CAR: {
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Document doc;
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doc.Parse(value);
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if (!doc.HasParseError()) {
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double basePoint[2];
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int axial[2], left_front_tire[2], right_front_tire[2], left_rear_tire[2], right_rear_tire[2];
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int pointNum = 0;
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double (*point)[2] = NULL;
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if (doc.HasMember("main_ant")) {
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const Value& s = doc["main_ant"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) basePoint[i++] = itr->GetDouble();
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}
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}
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}
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if (doc.HasMember("axial")) {
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const Value& s = doc["axial"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) axial[i++] = itr->GetInt();
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}
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}
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}
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if (doc.HasMember("left_front_tire")) {
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const Value& s = doc["left_front_tire"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) left_front_tire[i++] = itr->GetInt();
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}
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}
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}
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if (doc.HasMember("right_front_tire")) {
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const Value& s = doc["right_front_tire"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) right_front_tire[i++] = itr->GetInt();
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}
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}
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}
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if (doc.HasMember("left_rear_tire")) {
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const Value& s = doc["left_rear_tire"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) left_rear_tire[i++] = itr->GetInt();
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}
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}
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}
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if (doc.HasMember("right_rear_tire")) {
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const Value& s = doc["right_rear_tire"];
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if (s.IsArray()) {
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int i = 0;
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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if (i < 2) right_rear_tire[i++] = itr->GetInt();
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}
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}
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}
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if (doc.HasMember("point")) {
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const Value& s = doc["point"];
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if (s.IsArray()) {
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int i = 0, j = 0;
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pointNum = s.Size()/2;
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point = new double[pointNum][2];
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for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
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point[i][j] = itr->GetDouble();
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if (++j == 2) {
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j = 0;
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i++;
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}
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}
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}
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}
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SetCarMeasurePoint(basePoint, axial, left_front_tire, right_front_tire,
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left_rear_tire, right_rear_tire, point, pointNum);
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if (point != NULL) delete []point;
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}
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break;
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}
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case ID_MS_SENSOR_CFG: {
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Document doc;
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doc.Parse(value);
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if (!doc.HasParseError()) {
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const Value &a = doc.GetArray();
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if (a.IsArray() && a.Size() > 0) {
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int n = a.Size();
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int i = 0;
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int (*sensor)[2] = new int[n][2];
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for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
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// a gpio mapping
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if (itr->HasMember("gpio_num")) {
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const Value &s = (*itr)["gpio_num"];
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sensor[i][0] = s.GetInt();
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}
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if (itr->HasMember("func_id")) {
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const Value &s = (*itr)["func_id"];
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sensor[i][1] = s.GetInt();
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}
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++i;
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}
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SetSensorCfg(sensor, n);
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delete []sensor;
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}
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}
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break;
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}
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case ID_MS_START_EXAM: {
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Document doc;
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doc.Parse(value);
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if (!doc.HasParseError()) {
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if (doc.HasMember("exam")) {
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Value& s = doc["exam"];
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StartDriverExam(s.GetInt());
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}
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}
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break;
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}
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default:break;
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}
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}
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