~yy/smart_train.git

			@@ -10,6 +10,7 @@
			#include "../rapidjson/stringbuffer.h"
			#include "../rtk_platform/platform.h"
			#include "../utils/xconvert.h"
			#include "../driver_test.h"

			#include <string>
			#include <iostream>
			@@ -26,6 +27,13 @@
			#define ID_MS_MAP 0x8006
			#define ID_SM_READ_CAR 0x0007
			#define ID_MS_CAR 0x8007
			#define ID_SM_READ_SENSOR_CFG 0x0008
			#define ID_MS_SENSOR_CFG 0x8008
			#define ID_MS_START_EXAM 0x8009
			#define ID_SM_EXAM_STATUS 0x0009
			#define ID_SM_GPS_BRIEF 0x000A
			#define ID_SM_RTK_BRIEF 0x000B
			#define ID_SM_EXAM_BRIEF 0x000B

			void MA_NdkStart(void)
			{
			@@ -102,6 +110,11 @@
			SendMsgToMainProc(ID_SM_READ_CAR, NULL);
			}

			void MA_ReadSensor(void)
			{
			SendMsgToMainProc(ID_SM_READ_SENSOR_CFG, NULL);
			}

			void MA_MainProcMsgEntry(int cmd, const char *value)
			{
			switch (cmd) {
			@@ -160,5 +173,203 @@
			ConfigPlatform(&cfg);
			break;
			}
			case ID_MS_MAP: {
			Document doc;
			doc.Parse(value);
			if (!doc.HasParseError()) {
			ClearMap();

			const Value &a = doc.GetArray();

			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;

			if (itr->IsObject()) {
			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("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 = new double[pointNum][2];
			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 = new double[s2.Size()][2];
			for (Value::ConstValueIterator itr3 = s2.Begin();
			itr3 != s2.End(); ++itr3) {
			map2[i][j] = (*itr3).GetDouble();
			if (++j == 2) {
			j = 0;
			i++;
			}
			}
			}
			}
			}

			AddMap(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 pointNum = 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("point")) {
			const Value& s = doc["point"];
			if (s.IsArray()) {
			int i = 0, j = 0;
			pointNum = s.Size()/2;
			point = new double[pointNum][2];

			for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
			point[i][j] = itr->GetDouble();
			if (++j == 2) {
			j = 0;
			i++;
			}
			}
			}
			}

			SetCarMeasurePoint(basePoint, axial, left_front_tire, right_front_tire,
			left_rear_tire, right_rear_tire, point, pointNum);

			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)[2] = new int[n][2];

			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();
			}
			++i;
			}
			SetSensorCfg(sensor, n);
			delete []sensor;
			}
			}
			break;
			}
			case ID_MS_START_EXAM: {

			break;
			}
			default:break;
			}
			}