~yy/smart_train.git

			@@ -16,6 +16,7 @@
			#include "../jni_log.h"
			#include "../mcu/mcu_if.h"
			#include "../test_common/car_sensor.h"
			#include "../map.h"

			#include <string>
			#include <iostream>
			@@ -146,6 +147,31 @@
			DEBUG("发送失败");
			usleep(500000);
			sem_post(&sem_msg_income);
			}
			}
			}
			}

			static void LoadPoint(PointF &p, const rapidjson::Value &v)
			{
			if (v.IsArray() && v.Size() >= 2) {
			p.X = v[0].GetDouble();
			p.Y = v[1].GetDouble();
			}
			}

			static void LoadPoints(vector<PointF> &ps, const rapidjson::Value &v)
			{
			if (v.IsArray()) {
			PointF point;
			for (int i = 0; i < v.Size();) {
			if (v.Size() - i >= 2) {
			point.X = v[i].GetDouble();
			point.Y = v[i+1].GetDouble();
			ps.push_back(point);
			i += 2;
			} else {
			break;
			}
			}
			}
			@@ -420,7 +446,7 @@
			writer.Double(brief->coord_y);
			writer.Key("coord_y_dir");
			writer.String(b);
			writer.Key("heading");
			writer.Key("yaw");
			writer.Double(brief->heading);
			writer.Key("pitch");
			writer.Double(brief->pitch);
			@@ -556,7 +582,7 @@
			writer.Int(brief->move);
			writer.Key("speed");
			writer.Double(brief->speed);
			writer.Key("heading");
			writer.Key("yaw");
			writer.Double(brief->heading);

			writer.Key("main_ant");
			@@ -597,16 +623,16 @@

			writer.Key("body");
			writer.StartArray();
			for (int i = 0; i < brief->bodyNum; ++i) {
			for (int i = 0; i < brief->body.size(); ++i) {
			writer.Int(brief->body[i]);
			}
			writer.EndArray();

			writer.Key("point");
			writer.StartArray();
			for (int i = 0; i < brief->pointNum; ++i) {
			writer.Double(brief->point[i*2]);
			writer.Double(brief->point[i*2+1]);
			for (int i = 0; i < brief->point.size(); ++i) {
			writer.Double(brief->point[i][0]);
			writer.Double(brief->point[i][1]);
			}
			writer.EndArray();
			writer.EndObject();
			@@ -1673,63 +1699,136 @@
			if (a.IsArray()) {
			for (Value::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) {
			// a Map
			int id, type, pointNum = 0, point2Num = 0;
			double (map)[2] = NULL, (map2)[2] = NULL;
			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();
			}
			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++;
			}
			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);
			}
			} 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++;
			}
			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;
			}
			}

			AddAreaMap(id, type, map, pointNum, map2, point2Num);
			// 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++;
			// }
			// }
			// }
			// }
			// }

			if (map) delete[]map;
			if (map2) delete[]map2;
			// AddAreaMap(id, type, map, pointNum, map2, point2Num);
			//
			// if (map) delete[]map;
			// if (map2) delete[]map2;
			}
			}
			}
			@@ -1968,7 +2067,7 @@
			Document doc;
			doc.Parse(value);
			if (!doc.HasParseError()) {
			DEBUG("解析灯光配置...");
			/*DEBUG("解析灯光配置...");
			if (doc.HasMember("exam")) {
			const Value& s = doc["exam"];
			s.GetInt();
			@@ -2022,12 +2121,11 @@

			delete []content;
			}
			}
			}*/
			}
			break;
			}
			case ID_MS_INQ_ROAD_CROSSING: {
			MasterInqRoadStatus();
			break;
			}
			case ID_MS_BLUETOOTH_NAME: {