From 4bd08f0355b6b2cf3c027202d5ad301b4e182953 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 31 三月 2023 17:16:22 +0800
Subject: [PATCH] 科目二修改
---
lib/src/main/cpp/master/comm_if.cpp | 196 ++++++++++++++++++++++++++++++++++++------------
1 files changed, 147 insertions(+), 49 deletions(-)
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 18a4d2f..486fa55 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -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("鍙戦�佸け璐�");
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) {
- // 鏇茬嚎椹鹃┒鏈�2缁�
- 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) {
+// // 鏇茬嚎椹鹃┒鏈�2缁�
+// 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("瑙ｆ瀽鐏厜閰嶇疆...");
+ /*DEBUG("瑙ｆ瀽鐏厜閰嶇疆...");
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: {
--
Gitblit v1.8.0