GPS信息合并到RTK中，以RTK包，发送

fctom1215

2020-02-21 4581cc42ba485366603ca8e3f61183f6a50ad72f

GPS信息合并到RTK中，以RTK包，发送

 lib/src/main/cpp/driver_test.cpp

@@ -359,14 +359,17 @@
{
    bool err = false;

    DEBUG("StartDriverExam %d", start);
    if (start == 0) {
        DEBUG("-------------结束考试----------------");

        CurrExamMapIndex = -1;
        TestStart = false;
        CommTestStart(false);
        MA_SendExamStatus(0, 0);
        return;
    }

    DEBUG("+++++++++++++++开始考试++++++++++++++++++++");

    if (MapNum == 0) {
        err = true;
@@ -977,6 +980,18 @@
        double tx = carModel->carDesc[i].distance*sin(toRadians(azimuth));
        double ty = carModel->carDesc[i].distance*cos(toRadians(azimuth));

//        double qrx = carModel->carDesc[i].distance * sin(toRadians(carModel->carDesc[i].angle));
//        double qry = carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) * cos(toRadians(pitch));
//
//        double projDis = sqrt(pow(qrx, 2) + pow(pry, 2));
//        double projAng;
//
//        if (fabs(qry) <= EPSILON) {
//            projAng = 90;
//        } else {
//            projAng = toDegree(atan(qrx / qry));
//        }

        carModel->carXY[i].X = (tx)*cos(toRadians(carModel->carDesc[i].angle)) -
                                   (ty)*sin(toRadians(carModel->carDesc[i].angle)) + main_ant.X;
        carModel->carXY[i].Y = (tx)*sin(toRadians(carModel->carDesc[i].angle)) +

 lib/src/main/cpp/driver_test.h

@@ -87,9 +87,11 @@
void FindSensorCfg(int func, int &gpio, bool &lvl);

void StartDriverExam(int start);
void StartMapExam(int map_id, int exam);
void GetRtkClock(struct RtkTime *s);
void UpdateRTKInfo(const rtk_info *s);
void AddExamFault(int wrong, const struct RtkTime *rtkTime);
car_model_cache_t *GetCarModelCache(int node);
void SystemShutdown(int event, int timeout);

#endif //RTKDRIVERTEST_DRIVER_TEST_H

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

@@ -45,12 +45,14 @@
#define ID_SM_RTK_BRIEF         0x000B
#define ID_SM_EXAM_BRIEF         0x000C
#define ID_SM_ENTER_MAP         0x000D
#define ID_MS_EXAM_MAP          0x800D
#define ID_SM_CAR               0x000E
#define ID_SM_RTCM_IND           0x000F
#define ID_SM_DEBUG_INFO        0x0010
#define ID_MS_FILE              0x8100
#define ID_MS_READ_CARD         0x800F
#define ID_SM_PUT_CARD          0x000F
#define ID_MS_SYS_SHUTDOWN      0x8010

#define MA_OUT_GPS_BRIEF        0x0001
#define MA_OUT_RTK_BRIEF        0x0002
@@ -706,6 +708,19 @@
            }
            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"];

                    StartMapExam(s.GetInt(), s2.GetInt());
                }
            }
            break;
        }
        case ID_MS_IND_ONOFF: {
            Document doc;
            doc.Parse(value);
@@ -723,6 +738,24 @@
            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;
        }
        default:break;
    }
}
@@ -738,3 +771,18 @@
            break;
    }
}

void MA_EnterMap(int map_id, int enter)
{
    StringBuffer sb;
    Writer<StringBuffer> writer(sb);

    writer.StartObject();
    writer.Key("map_id");
    writer.Int(map_id);
    writer.Key("enter");
    writer.Int(enter);
    writer.EndObject();

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

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

@@ -93,5 +93,6 @@
void MA_SendExamWrong(vector<ExamFault> &ExamFaultList);
void MA_SendRtcmInd(int length);
void MA_SendDebugInfo(const char *str, ...);
void MA_EnterMap(int map_id, int enter);

#endif //MYAPPLICATION2_COMM_IF_H

 lib/src/main/cpp/mcu/mcu_if.cpp

@@ -45,6 +45,7 @@
#define ID_CM_RTK_DATA            0x0008
#define ID_CM_READ_RFCARD         0x0009
#define ID_MC_RFCARD_RSP        0x8009
#define ID_CM_SHUTDOWN          0x0020

static parse_status_t parse_status;

@@ -514,3 +515,10 @@
    AppTimer_add(ReadCardTimeout, D_SEC(3));
    SendMcuCommand(ID_CM_READ_RFCARD, NULL, 0);
}

void ShutdownInd(int timeout)
{
    uint8_t v = timeout;

    SendMcuCommand(ID_CM_SHUTDOWN, &v, 1);
}

 lib/src/main/cpp/mcu/mcu_if.h

@@ -16,5 +16,6 @@
void UploadDfuFileEnd(void);
void UploadDfuFile(const uint8_t *file, int length);
void ReadCard(void);
void ShutdownInd(int timeout);

#endif //RTKDRIVERTEST_MCU_IF_H

 lib/src/main/cpp/test_items/comm_test.cpp

@@ -33,7 +33,7 @@
        if (CheckSensorX(SEATBELT) == 0) {
            struct RtkTime rt;
            GetRtkClock(&rt);
            AddExamFault(1, &rt);
//            AddExamFault(1, &rt);
        }
    }
}