s

yy1717

2020-01-13 edc694498e7ca9a0475bbf5576729aedfc88d3f0

 lib/src/main/cpp/master/comm_if.cpp

@@ -11,6 +11,7 @@
#include "../rtk_platform/platform.h"
#include "../utils/xconvert.h"
#include "../driver_test.h"
#include "../defs.h"

#include <string>
#include <iostream>
@@ -33,9 +34,14 @@
#define ID_MS_SENSOR_CFG        0x8008
#define ID_MS_START_EXAM        0x8009
#define ID_SM_EXAM_STATUS       0x0009
#define ID_MS_IND_ONOFF         0x800A
#define ID_SM_GPS_BRIEF         0x000A
#define ID_SM_RTK_BRIEF         0x000B
#define ID_SM_EXAM_BRIEF         0x000C
#define ID_SM_ENTER_MAP         0x000D
#define ID_SM_CAR               0x000E

static int OnOff = 0;

void MA_NdkStart(void)
{
@@ -136,6 +142,9 @@

void MA_SendGpsBrief(const struct gpsBrief *brief)
{
    if (!(OnOff & BV(0)))
        return;

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

@@ -163,6 +172,9 @@

void MA_SendRtkBrief(const struct rtkBrief *brief)
{
    if (!(OnOff & BV(1)))
        return;

    char a[2] = {brief->coord_x_dir, 0};
    char b[2] = {brief->coord_y_dir, 0};

@@ -197,6 +209,76 @@
void MA_SendExamWrong(vector<int>&err)
{

}

void MA_SendCarPosition(const struct carBrief *brief)
{
    if (!(OnOff & BV(2))) return;

    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();

    writer.Key("utc");
    writer.String(brief->utc);
    writer.Key("qf");
    writer.Int(brief->qf);
    writer.Key("map_id");
    writer.Int(brief->map_id);
    writer.Key("move");
    writer.Int(brief->move);
    writer.Key("speed");
    writer.Double(brief->speed);
    writer.Key("heading");
    writer.Double(brief->heading);

    writer.Key("main_ant");
    writer.StartArray();
    writer.Double(brief->main_ant[0]);
    writer.Double(brief->main_ant[1]);
    writer.EndArray();

    writer.Key("axial");
    writer.StartArray();
    writer.Int(brief->axial[0]);
    writer.Int(brief->axial[1]);
    writer.EndArray();

    writer.Key("left_front_tire");
    writer.StartArray();
    writer.Int(brief->left_front_tire[0]);
    writer.Int(brief->left_front_tire[1]);
    writer.EndArray();

    writer.Key("right_front_tire");
    writer.StartArray();
    writer.Int(brief->right_front_tire[0]);
    writer.Int(brief->right_front_tire[1]);
    writer.EndArray();

    writer.Key("left_rear_tire");
    writer.StartArray();
    writer.Int(brief->left_rear_tire[0]);
    writer.Int(brief->left_rear_tire[1]);
    writer.EndArray();

    writer.Key("right_rear_tire");
    writer.StartArray();
    writer.Int(brief->right_rear_tire[0]);
    writer.Int(brief->right_rear_tire[1]);
    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]);
    }
    writer.EndArray();
    writer.EndObject();

    SendMsgToMainProc(ID_SM_CAR, sb.GetString());
}

void MA_MainProcMsgEntry(int cmd, const char *value)
@@ -461,6 +543,19 @@
            }
            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;
        }
        default:break;
    }
}