From 611f51ed073de48e83f46d47c82cd5ebe61258d7 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期三, 16 九月 2020 18:14:27 +0800
Subject: [PATCH] 加入地图标定模式
---
lib/src/main/cpp/master/comm_if.cpp | 154 +++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 119 insertions(+), 35 deletions(-)
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index c81177e..0468b02 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -64,6 +64,9 @@
#define ID_SM_DISTANCE 0x0020
#define ID_SM_CARSENSOR 0x0013
+#define ID_MS_ROAD_BRIEF 0x0015 // 绉戠洰涓夐」鐩爣瀹氾紝杩涘嚭鏌愭潯璺殑鎻愮ず
+#define ID_MS_CROSSING_BRIEF 0x0016 // 绉戠洰涓夐」鐩爣瀹氾紝鎺ヨ繎/椹剁鏌愬悇璺彛鐨勬彁绀�
+
#define MA_OUT_GPS_BRIEF 0x0001
#define MA_OUT_RTK_BRIEF 0x0002
#define MA_OUT_CAR_BRIEF 0x0004
@@ -438,6 +441,38 @@
writer.EndObject();
SendMsgToMainProcIndep(ID_SM_DISTANCE, sb.GetString());
+}
+
+void MA_SendRoadStatus(const struct roadStatusBrief *brief)
+{
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+ writer.Key("road_id");
+ writer.Int(brief->road_id);
+ writer.Key("status");
+ writer.Int(brief->status);
+ writer.EndObject();
+
+ SendMsgToMainProcIndep(ID_MS_ROAD_BRIEF, sb.GetString());
+}
+
+void MA_SendCrossingStatus(const struct crossingStatusBrief *brief)
+{
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+ writer.Key("road_id");
+ writer.Int(brief->road_id);
+ writer.Key("crossing_index");
+ writer.Int(brief->crossing_index);
+ writer.Key("status");
+ writer.Int(brief->status);
+ writer.EndObject();
+
+ SendMsgToMainProcIndep(ID_MS_CROSSING_BRIEF, sb.GetString());
}
void MA_SendExamWrong(vector<ExamFault> &ExamFaultList)
@@ -844,10 +879,6 @@
road_exam_map map;
- map.roads.clear();
- map.specialAreas.clear();
- map.triggerLines.clear();
-
if (doc.HasMember("road")) {
const Value &a = doc["road"];
@@ -860,23 +891,6 @@
DEBUG("璺痠d %d", s.GetInt());
road.id = s.GetInt();
}
- if (itr->HasMember("start_line")) {
- const Value &a2 = (*itr)["start_line"];
-
- PointF p1, p2;
- int n = 0;
-
- for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2, ++n) {
- DEBUG("璧峰绾� %d", (*itr2).GetInt());
- if (n == 0) {
- p1 = mapPoints[(*itr2).GetInt()];
- } else if (n == 1) {
- p2 = mapPoints[(*itr2).GetInt()];
- }
- }
-
- MakeLine(&road.startLine, &p1, &p2);
- }
if (itr->HasMember("crossing")) {
const Value &a2 = (*itr)["crossing"];
@@ -887,20 +901,12 @@
if (!itr2->IsObject()) {
break;
}
- if (itr2->HasMember("active")) {
- const Value &s = (*itr2)["active"];
- temp.active = s.GetInt();
- DEBUG("璺彛鍔ㄤ綔 %d", temp.active);
- }
if (itr2->HasMember("stop_flag")) {
const Value &s = (*itr2)["stop_flag"];
temp.stopFlag = s.GetInt();
DEBUG("璺彛鍋滆溅 %d", temp.stopFlag);
- }
- if (itr2->HasMember("tts")) {
- const Value &s = (*itr2)["tts"];
- temp.tts = s.GetString();
- DEBUG("璺彛鎻愮ず %s", temp.tts.c_str());
+ } else {
+ temp.stopFlag = false;
}
if (itr2->HasMember("line")) {
const Value &s = (*itr2)["line"];
@@ -920,8 +926,10 @@
}
if (itr2->HasMember("center_point")) {
const Value &s = (*itr2)["center_point"];
-
temp.centrePoint = mapPoints[s.GetInt()];
+ temp.centrePointValid = true;
+ } else {
+ temp.centrePointValid = false;
}
crossing.push_back(temp);
}
@@ -1092,7 +1100,7 @@
map.specialAreas.push_back(specialArea);
}
}
- if (doc.HasMember("trigger_line")) {
+ /*if (doc.HasMember("trigger_line")) {
const Value &a = doc["trigger_line"];
for (Value::ConstValueIterator itr = a.Begin();
@@ -1139,7 +1147,7 @@
map.triggerLines.push_back(trigger);
}
- }
+ }*/
if (doc.HasMember("red_line")) {
const Value &a = doc["red_line"];
@@ -1169,10 +1177,86 @@
}
}
+ vector<scheme_t> schemes;
+
+ if (doc.HasMember("scheme")) {
+ const Value &a = doc["scheme"];
+
+ for (Value::ConstValueIterator itr = a.Begin();
+ itr != a.End(); ++itr) {
+ scheme_t scheme;
+ if (itr->HasMember("name")) {
+ const Value &s = (*itr)["name"];
+ scheme.name = s.GetString();
+ }
+ if (itr->HasMember("crossing_active")) {
+ const Value &a2 = (*itr)["crossing_active"];
+
+ for (Value::ConstValueIterator itr2 = a2.Begin();
+ itr2 != a2.End(); ++itr2) {
+ crossing_active_t act;
+
+ if (itr2->HasMember("road")) {
+ const Value &s = (*itr2)["road"];
+ act.road_id = s.GetInt();
+ }
+ if (itr2->HasMember("idx")) {
+ const Value &s = (*itr2)["idx"];
+ act.index = s.GetInt();
+ }
+ if (itr2->HasMember("active")) {
+ const Value &s = (*itr2)["active"];
+ act.active = s.GetInt();
+ }
+
+ scheme.crossingActive.push_back(act);
+ }
+ }
+ if (itr->HasMember("trigger_line")) {
+ const Value &a2 = (*itr)["trigger_line"];
+
+ for (Value::ConstValueIterator itr2 = a2.Begin();
+ itr2 != a2.End(); ++itr2) {
+ trigger_line_t ins;
+
+ if (itr2->HasMember("x_y")) {
+ const Value &a3 = (*itr2)["x_y"];
+ if (a3.IsArray()) {
+ PointF point;
+ int n = 0;
+ for (Value::ConstValueIterator itr3 = a3.Begin();
+ itr3 != a3.End(); ++itr3) {
+ if (n == 0) {
+ point.X = (*itr3).GetDouble();
+ n = 1;
+ } else if (n == 1) {
+ point.Y = (*itr3).GetDouble();
+ ins.points.push_back(point);
+ n = 0;
+ }
+ }
+ }
+ }
+ if (itr2->HasMember("road")) {
+ const Value &s = (*itr2)["road"];
+ ins.road = s.GetInt();
+ }
+ if (itr2->HasMember("type")) {
+ const Value &s = (*itr2)["type"];
+ ins.active = s.GetInt();
+ }
+
+ scheme.triggerLines.push_back(ins);
+ }
+ }
+ schemes.push_back(scheme);
+ }
+ }
+
DEBUG("鍦板浘瑙ｆ瀽瀹屾瘯");
CleanRoadMap();
- SetRoadMap(map);
+ SetRoadMap(map, schemes);
} else {
DEBUG("############## 鍦板浘瑙ｆ瀽鍑洪敊###################");
}
--
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