From 7c5b25c8617807635e9f272ebe9e98304d07cf2f Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期五, 14 二月 2020 14:28:25 +0800
Subject: [PATCH] 增加单片机信息传递。
---
lib/src/main/cpp/driver_test.cpp | 44 +++++++++++++++++++++++++++++++++++---------
1 files changed, 35 insertions(+), 9 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 64c63c9..ca588b9 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -80,6 +80,13 @@
static car_model *CarModel = NULL;
static car_model *CarModelPrev = NULL;
+static struct sensor_cfg {
+ int gpioId;
+ int funId;
+ int validLvl;
+} SensorConfig[32];
+static int SensorNum = 0;
+
#define MOV_AVG_SIZE 1
#define RTK_BUFFER_SIZE 100
#define CAR_MODEL_CACHE_SIZE 10
@@ -104,6 +111,9 @@
MapNum = 0;
CarModel = NULL;
CarModelPrev = NULL;
+
+ SensorNum = 0;
+ memset(SensorConfig, 0, sizeof(SensorConfig));
RtkBuffer = (rtk_info *) malloc(RTK_BUFFER_SIZE * sizeof(rtk_info));
RtkBufferNum = RtkBufferIn = 0;
@@ -287,9 +297,26 @@
DEBUG("SetCarMeasurePoint Calc Over");
}
-void SetSensorCfg(int (*sensor)[2], int sensorNum)
+void SetSensorCfg(int (*sensor)[3], int sensorNum)
{
DEBUG("SetSensorCfg sensorNum %d", sensorNum);
+
+ SensorNum = sensorNum;
+ for (int i = 0; i < sensorNum; ++i) {
+ SensorConfig[i].gpioId = sensor[i][0];
+ SensorConfig[i].funId = sensor[i][1];
+ SensorConfig[i].validLvl = sensor[i][2];
+ }
+}
+
+void GetFuncGpio(int func, int &gpio, int &lvl)
+{
+ for (int i = 0; i < SensorNum; ++i) {
+ if (SensorConfig[i].funId == func) {
+ gpio = SensorConfig[i].gpioId;
+ lvl = SensorConfig[i].validLvl;
+ }
+ }
}
void StartDriverExam(int start)
@@ -345,7 +372,7 @@
RtkBuffer[index].mm, RtkBuffer[index].ss, RtkBuffer[index].dss);
brief.qf = RtkBuffer[index].qf;
- brief.map_id = 865;//GetMapId(CurrExamMapIndex, MapList, MapNum);
+ brief.map_id = 866;//GetMapId(CurrExamMapIndex, MapList, MapNum);
brief.move = move;
brief.speed = speed * 3.6;
brief.heading = RtkBuffer[index].heading;
@@ -469,15 +496,14 @@
}
/*************************************************
- * 2娆￠噰鏍风浉宸殑鏃堕棿
+ * 2娆￠噰鏍风浉宸殑鏃堕棿, a 鏈�杩戠殑锛宐 鍏堝墠鐨�
* @param a
* @param b
* @return ms
*/
static uint32_t CalcTimeDiff(const rtk_info *a, const rtk_info *b)
{
- return ABS((long)(TimeMakeComposite(2000 + a->YY, a->MM, a->DD, a->hh, a->mm, a->ss) * 1000 + a->dss*10) -
- (long)(TimeMakeComposite(2000 + b->YY, b->MM, b->DD, b->hh, b->mm, b->ss) * 1000 + b->dss*10));
+ return TimeGetDiff(a->hh, a->mm, a->ss, a->dss*10, b->hh, b->mm, b->ss, b->dss*10);
}
static bool UpdateCarCoord(double &spd, int &mov, int &idx)
@@ -686,7 +712,7 @@
{
// 杞︾殑鏈�鍓嶇偣鏄惁杩涘叆鍦板浘
for (int i = 0; i < mapNum && car != NULL; ++i) {
- if (mapList[i].type == MAP_TYPE_STOP_START) {
+ /*if (mapList[i].type == MAP_TYPE_STOP_START) {
// 鏋勯�犺櫄鎷熺殑宸︿笂瑙掔偣
double x9, y9, xo, yo;
@@ -721,7 +747,7 @@
free(map.point);
if (enter) return i;
- } /*else if (mapList[i].type == MAP_TYPE_CURVE) {
+ } else if (mapList[i].type == MAP_TYPE_CURVE) {
} else if (mapList[i].type == MAP_TYPE_PARK_BUTTOM || mapList[i].type == MAP_TYPE_PART_EDGE) {
if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
@@ -734,7 +760,7 @@
DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine2) > 0.1)
return i;
}
- } else if (mapList[i].type == MAP_TYPE_TURN_90) {
+ } else */if (mapList[i].type == MAP_TYPE_TURN_90) {
if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
Line enterLine1;
@@ -743,7 +769,7 @@
if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1)
return i;
}
- }*/
+ }
}
return -1;
}
--
Gitblit v1.8.0