From 6e0f29b08a040d14576d7053c1206a8439936570 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期二, 24 十一月 2020 14:18:03 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/master/comm_if.cpp | 77 +++++++++++++++++++++++++++++++++++---
1 files changed, 70 insertions(+), 7 deletions(-)
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 3c01860..4ea6f8b 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -41,6 +41,7 @@
#define ID_MS_ROAD_MAP2 0x8013
#define ID_MS_SCHEME 0x8017
#define ID_MS_EXAM_PARAM 0x8019
+#define ID_MS_BLUETOOTH_NAME 0x8020
#define ID_SM_READ_CAR 0x0007
#define ID_MS_CAR 0x8007
@@ -71,6 +72,7 @@
#define ID_MS_INQ_ROAD_CROSSING 0x8018 // Master鏌ヨ褰撳墠璺鍜岃矾鍙�
#define ID_SM_CAN_BRIEF 0x0021
+#define ID_SM_BLUETOOTH_BRIEF 0x0022
#define MA_OUT_GPS_BRIEF 0x0001
#define MA_OUT_RTK_BRIEF 0x0002
@@ -1290,6 +1292,9 @@
case ID_MS_SCHEME: {
Document doc;
doc.Parse(value);
+
+ DEBUG("鏂规 %s", value);
+
if (!doc.HasParseError()) {
DEBUG("寮�濮嬭В鏋愯矾鑰冩柟妗�");
vector<scheme_t> schemes;
@@ -1379,87 +1384,104 @@
if (doc.HasMember("hold_start_key_limit_time")) {
const Value &a = doc["hold_start_key_limit_time"];
examParam.hold_start_key_limit_time = a.GetInt();
+ DEBUG("hold_start_key_limit_time = %d", examParam.hold_start_key_limit_time);
}
if (doc.HasMember("curve_pause_criteria")) {
const Value &a = doc["curve_pause_criteria"];
examParam.curve_pause_criteria = a.GetInt();
+ DEBUG("curve_pause_criteria = %d", examParam.curve_pause_criteria);
}
if (doc.HasMember("park_bottom_pause_criteria")) {
const Value &a = doc["park_bottom_pause_criteria"];
examParam.park_bottom_pause_criteria = a.GetInt();
+ DEBUG("park_bottom_pause_criteria = %d", examParam.park_bottom_pause_criteria);
}
if (doc.HasMember("park_bottom_limit_time")) {
const Value &a = doc["park_bottom_limit_time"];
examParam.park_bottom_limit_time = D_SEC(a.GetInt());
+ DEBUG("park_bottom_limit_time = %d", examParam.park_bottom_limit_time);
}
if (doc.HasMember("park_edge_pause_criteria")) {
const Value &a = doc["park_edge_pause_criteria"];
examParam.park_edge_pause_criteria = a.GetInt();
+ DEBUG("park_edge_pause_criteria = %d", examParam.park_edge_pause_criteria);
}
if (doc.HasMember("park_edge_limit_time")) {
const Value &a = doc["park_edge_limit_time"];
examParam.park_edge_limit_time = D_SEC(a.GetInt());
+ DEBUG("park_edge_limit_time = %d", examParam.park_edge_limit_time);
}
if (doc.HasMember("turn_a90_pause_criteria")) {
const Value &a = doc["turn_a90_pause_criteria"];
examParam.turn_a90_pause_criteria = a.GetInt();
+ DEBUG("turn_a90_pause_criteria = %d", examParam.turn_a90_pause_criteria);
}
if (doc.HasMember("ramp_stoppoint_red_distance")) {
const Value &a = doc["ramp_stoppoint_red_distance"];
examParam.ramp_stoppoint_red_distance = a.GetDouble();
+ DEBUG("ramp_stoppoint_red_distance = %f", examParam.ramp_stoppoint_red_distance);
}
if (doc.HasMember("ramp_edge_yellow_distance")) {
const Value &a = doc["ramp_edge_yellow_distance"];
examParam.ramp_edge_yellow_distance = a.GetDouble();
+ DEBUG("ramp_edge_yellow_distance = %f", examParam.ramp_edge_yellow_distance);
}
if (doc.HasMember("ramp_edge_red_distance")) {
const Value &a = doc["ramp_edge_red_distance"];
examParam.ramp_edge_red_distance = a.GetDouble();
+ DEBUG("ramp_edge_red_distance = %f", examParam.ramp_edge_red_distance);
}
if (doc.HasMember("ramp_slide_yellow_distance")) {
const Value &a = doc["ramp_slide_yellow_distance"];
examParam.ramp_slide_yellow_distance = a.GetDouble();
+ DEBUG("ramp_slide_yellow_distance = %f", examParam.ramp_slide_yellow_distance);
}
if (doc.HasMember("ramp_slide_red_distance")) {
const Value &a = doc["ramp_slide_red_distance"];
examParam.ramp_slide_red_distance = a.GetDouble();
+ DEBUG("ramp_slide_red_distance = %f", examParam.ramp_slide_red_distance);
}
if (doc.HasMember("ramp_start_car_limit_time")) {
const Value &a = doc["ramp_start_car_limit_time"];
examParam.ramp_start_car_limit_time = D_SEC(a.GetInt());
+ DEBUG("ramp_start_car_limit_time = %d", examParam.ramp_start_car_limit_time);
}
if (doc.HasMember("road_slide_yellow_distance")) {
const Value &a = doc["road_slide_yellow_distance"];
examParam.road_slide_yellow_distance = a.GetDouble();
+ DEBUG("road_slide_yellow_distance = %f", examParam.road_slide_yellow_distance);
}
double road_slide_red_distance;
if (doc.HasMember("road_slide_red_distance")) {
const Value &a = doc["road_slide_red_distance"];
examParam.road_slide_red_distance = a.GetDouble();
+ DEBUG("road_slide_red_distance = %f", examParam.road_slide_red_distance);
}
if (doc.HasMember("road_total_distance")) {
const Value &a = doc["road_total_distance"];
- examParam.road_total_distance = a.GetDouble();
+ examParam.road_total_distance = a.GetInt();
+ DEBUG("road_total_distance = %d", examParam.road_total_distance);
}
if (doc.HasMember("road_max_speed")) {
const Value &a = doc["road_max_speed"];
examParam.road_max_speed = a.GetInt();
+ DEBUG("road_max_speed = %d", examParam.road_max_speed);
}
if (doc.HasMember("gear_speed_table")) {
@@ -1467,12 +1489,17 @@
int m = 0, n = 0;
- for (Value::ConstValueIterator itr = a.Begin();
- itr != a.End() && m < 6; ++itr, ++m) {
- n = 0;
- for (Value::ConstValueIterator itr2 = (*itr).Begin();
- itr2 != (*itr).End() && n < 2; ++itr2, ++n) {
- examParam.gear_speed_table[m][n] = (*itr2).GetInt();
+ if (a.IsArray()) {
+ for (Value::ConstValueIterator itr = a.Begin();
+ itr != a.End() && m < 6; ++itr, ++m) {
+ n = 0;
+ if ((*itr).IsArray()) {
+ for (Value::ConstValueIterator itr2 = (*itr).Begin();
+ itr2 != (*itr).End() && n < 2; ++itr2, ++n) {
+ examParam.gear_speed_table[m][n] = (*itr2).GetInt();
+ DEBUG("gear_speed_table[%d][%d] = %d", m, n, examParam.gear_speed_table[m][n]);
+ }
+ }
}
}
}
@@ -1480,118 +1507,141 @@
if (doc.HasMember("gear_n_allow_time")) {
const Value &a = doc["gear_n_allow_time"];
examParam.gear_n_allow_time = D_SEC(a.GetInt());
+ DEBUG("gear_n_allow_time = %d", examParam.gear_n_allow_time);
}
if (doc.HasMember("same_gear_min_time")) {
const Value &a = doc["same_gear_min_time"];
examParam.same_gear_min_time = D_SEC(a.GetInt());
+ DEBUG("same_gear_min_time = %d", examParam.same_gear_min_time);
}
if (doc.HasMember("gear_speed_error_cumulative_time")) {
const Value &a = doc["gear_speed_error_cumulative_time"];
examParam.gear_speed_error_cumulative_time = D_SEC(a.GetInt());
+ DEBUG("gear_speed_error_cumulative_time = %d", examParam.gear_speed_error_cumulative_time);
}
if (doc.HasMember("road_pause_criteria")) {
const Value &a = doc["road_pause_criteria"];
examParam.road_pause_criteria = a.GetInt();
+ DEBUG("road_pause_criteria = %d", examParam.road_pause_criteria);
}
if (doc.HasMember("continuous_change_lane_min_time")) {
const Value &a = doc["continuous_change_lane_min_time"];
examParam.continuous_change_lane_min_time = D_SEC(a.GetInt());
+ DEBUG("continuous_change_lane_min_time = %d", examParam.continuous_change_lane_min_time);
}
if (doc.HasMember("crash_dotted_line_cumulative_time")) {
const Value &a = doc["crash_dotted_line_cumulative_time"];
examParam.crash_dotted_line_cumulative_time = D_SEC(a.GetInt());
+ DEBUG("crash_dotted_line_cumulative_time = %d", examParam.crash_dotted_line_cumulative_time);
}
if (doc.HasMember("turn_signal_min_advance")) {
const Value &a = doc["turn_signal_min_advance"];
examParam.turn_signal_min_advance = D_SEC(a.GetInt());
+ DEBUG("turn_signal_min_advance = %d", examParam.turn_signal_min_advance);
}
if (doc.HasMember("start_car_max_rpm")) {
const Value &a = doc["start_car_max_rpm"];
examParam.start_car_max_rpm = a.GetInt();
+ DEBUG("start_car_max_rpm = %d", examParam.start_car_max_rpm);
}
if (doc.HasMember("start_car_limit_distance")) {
const Value &a = doc["start_car_limit_distance"];
examParam.start_car_limit_distance = a.GetInt();
+ DEBUG("start_car_limit_distance = %d", examParam.start_car_limit_distance);
}
if (doc.HasMember("open_door_drive_allow_distance")) {
const Value &a = doc["open_door_drive_allow_distance"];
examParam.open_door_drive_allow_distance = a.GetDouble();
+ DEBUG("open_door_drive_allow_distance = %f", examParam.open_door_drive_allow_distance);
}
if (doc.HasMember("change_lane_limit_distance")) {
const Value &a = doc["change_lane_limit_distance"];
examParam.change_lane_limit_distance = a.GetInt();
+ DEBUG("change_lane_limit_distance = %d", examParam.change_lane_limit_distance);
}
if (doc.HasMember("shift_limit_distance")) {
const Value &a = doc["shift_limit_distance"];
examParam.shift_limit_distance = a.GetInt();
+ DEBUG("shift_limit_distance = %d", examParam.shift_limit_distance);
}
if (doc.HasMember("shift_hold_time")) {
const Value &a = doc["shift_hold_time"];
examParam.shift_hold_time = D_SEC(a.GetInt());
+ DEBUG("shift_hold_time = %d", examParam.shift_hold_time);
}
int straight_limit_distance;
if (doc.HasMember("straight_limit_distance")) {
const Value &a = doc["straight_limit_distance"];
examParam.straight_limit_distance = a.GetInt();
+ DEBUG("straight_limit_distance = %d", examParam.straight_limit_distance);
}
if (doc.HasMember("straight_max_offset")) {
const Value &a = doc["straight_max_offset"];
examParam.straight_max_offset = a.GetDouble();
+ DEBUG("straight_max_offset = %f", examParam.straight_max_offset);
}
if (doc.HasMember("overtake_limit_distance")) {
const Value &a = doc["overtake_limit_distance"];
examParam.overtake_limit_distance = a.GetInt();
+ DEBUG("overtake_limit_distance = %d", examParam.overtake_limit_distance);
}
if (doc.HasMember("stop_car_limit_distance")) {
const Value &a = doc["stop_car_limit_distance"];
examParam.stop_car_limit_distance = a.GetInt();
+ DEBUG("stop_car_limit_distance = %d", examParam.stop_car_limit_distance);
}
if (doc.HasMember("stop_car_open_door_allow_time")) {
const Value &a = doc["stop_car_open_door_allow_time"];
examParam.stop_car_open_door_allow_time = D_SEC(a.GetInt());
+ DEBUG("stop_car_open_door_allow_time = %d", examParam.stop_car_open_door_allow_time);
}
if (doc.HasMember("stop_car_edge_red_distance")) {
const Value &a = doc["stop_car_edge_red_distance"];
examParam.stop_car_edge_red_distance = a.GetDouble();
+ DEBUG("stop_car_edge_red_distance = %f", examParam.stop_car_edge_red_distance);
}
if (doc.HasMember("stop_car_edge_yellow_distance")) {
const Value &a = doc["stop_car_edge_yellow_distance"];
examParam.stop_car_edge_yellow_distance = a.GetDouble();
+ DEBUG("stop_car_edge_yellow_distance = %f", examParam.stop_car_edge_yellow_distance);
}
if (doc.HasMember("crossing_stop_valid_distance")) {
const Value &a = doc["crossing_stop_valid_distance"];
examParam.crossing_stop_valid_distance = a.GetDouble();
+ DEBUG("crossing_stop_valid_distance = %f", examParam.crossing_stop_valid_distance);
}
if (doc.HasMember("cross_school_max_speed")) {
const Value &a = doc["cross_school_max_speed"];
examParam.cross_school_max_speed = a.GetInt();
+ DEBUG("cross_school_max_speed = %d", examParam.cross_school_max_speed);
}
if (doc.HasMember("crossing_break_valid_distance")) {
const Value &a = doc["crossing_break_valid_distance"];
examParam.crossing_break_valid_distance = a.GetInt();
+ DEBUG("crossing_break_valid_distance = %d", examParam.crossing_break_valid_distance);
}
}
break;
@@ -1975,3 +2025,16 @@
{
SendMsgToMainProcIndep(ID_SM_LIGHT_EXAM_REQ, NULL);
}
+
+void MA_SendBlueStatus(int status)
+{
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+ writer.Key("bluetooth_status");
+ writer.Int(status);
+ writer.EndObject();
+
+ SendMsgToMainProcIndep(ID_SM_BLUETOOTH_BRIEF, sb.GetString());
+}
--
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