From 39573da26137913422e6a4b8646eddfa8ef52c50 Mon Sep 17 00:00:00 2001
From: lizhanwei <Dana_Lee1016@126.com>
Date: 星期一, 20 一月 2020 14:52:20 +0800
Subject: [PATCH] upate cc
---
lib/src/main/cpp/master/comm_if.h | 2 +
lib/src/main/cpp/driver_test.cpp | 19 ++++-----
lib/src/main/cpp/master/comm_if.cpp | 41 ++++++++++++++++++++
lib/src/main/cpp/rtk_module/rtk.cpp | 6 +-
4 files changed, 55 insertions(+), 13 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index fc226e2..41b802d 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -153,7 +153,7 @@
MapList[MapNum].map.point = (PointF *)malloc(sizeof(PointF) * pointNum);
for (int i = 0; i < pointNum; ++i) {
MapList[MapNum].map.point[i].X = map[i][0];
- MapList[MapNum].map.point[i].Y = map[i][0];
+ MapList[MapNum].map.point[i].Y = map[i][1];
}
}
@@ -162,7 +162,7 @@
MapList[MapNum].map2.point = (PointF *)malloc(sizeof(PointF) * pointNum2);
for (int i = 0; i < pointNum2; ++i) {
MapList[MapNum].map2.point[i].X = map2[i][0];
- MapList[MapNum].map2.point[i].Y = map2[i][0];
+ MapList[MapNum].map2.point[i].Y = map2[i][1];
}
}
@@ -293,6 +293,8 @@
{
bool err = false;
+ DEBUG("StartDriverExam %d", start);
+
if (MapNum == 0) {
err = true;
MA_SendExamStatus(0, -1);
@@ -376,9 +378,13 @@
CurrExamMapId = EnterMap(CarModel, MapList, MapNum);
int mtype = GetMapType(CurrExamMapId, MapList, MapNum);
+ DEBUG("CurrExamMapId %d mtype %d", CurrExamMapId, mtype);
+
switch (mtype) {
case MAP_TYPE_PARK_BUTTOM:
DEBUG("杩涘叆鍊掕溅鍏ュ簱鍦哄湴");
+ MA_SendDebugInfo("杩涘叆鍊掕溅鍏ュ簱鍦哄湴 %d", CurrExamMapId);
+
StartParkBottom();
CurrExamStatus = 0;
break;
@@ -405,14 +411,6 @@
rtkTime.ss = RtkBuffer[index].ss;
rtkTime.mss = RtkBuffer[index].dss;
- static int en = 0;
- static int gcc = 0;
-
- if (gcc % 100 == 0) {
- AddExamFault(++en, &rtkTime);
- }
- gcc++;
-
if (CurrExamMapId >= 0) {
if (CurrExamStatus == 0) {
int mtype = GetMapType(CurrExamMapId, MapList, MapNum);
@@ -436,6 +434,7 @@
if (CurrExamStatus != 0) {
if (ExitMap(CarModel, CurrExamMapId, MapList, MapNum)) {
DEBUG("閫�鍑哄満鍦� %d", CurrExamMapId);
+ MA_SendDebugInfo("閫�鍑哄満鍦� %d", CurrExamMapId);
CurrExamMapId = -1;
}
}
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 50236fc..798b389 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -45,6 +45,8 @@
#define ID_SM_EXAM_BRIEF 0x000C
#define ID_SM_ENTER_MAP 0x000D
#define ID_SM_CAR 0x000E
+#define ID_SM_RTCM_IND 0x000F
+#define ID_SM_DEBUG_INFO 0x0010
static int OnOff = 0xFFFF;
@@ -313,6 +315,45 @@
SendMsgToMainProc(ID_SM_CAR, sb.GetString());
}
+void MA_SendRtcmInd(int length)
+{
+ if (!(OnOff & BV(3))) return;
+
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+ writer.Key("length");
+ writer.Int(length);
+ writer.EndObject();
+
+ SendMsgToMainProc(ID_SM_RTCM_IND, sb.GetString());
+}
+
+void MA_SendDebugInfo(const char *str, ...)
+{
+ if (!(OnOff & BV(4)))
+ return;
+
+ va_list argp;
+ char buffer[1024];
+
+ va_start(argp, str);
+ vsprintf(buffer, str, argp);
+ va_end(argp);
+
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+
+ writer.Key("info");
+ writer.String(buffer);
+ writer.EndObject();
+
+ SendMsgToMainProc(ID_SM_DEBUG_INFO, sb.GetString());
+}
+
void MA_MainProcMsgEntry(int cmd, const char *value)
{
switch (cmd) {
diff --git a/lib/src/main/cpp/master/comm_if.h b/lib/src/main/cpp/master/comm_if.h
index 36694fd..34a6cae 100644
--- a/lib/src/main/cpp/master/comm_if.h
+++ b/lib/src/main/cpp/master/comm_if.h
@@ -64,5 +64,7 @@
void MA_SendRtkBrief(const struct rtkBrief *brief);
void MA_SendCarPosition(const struct carBrief *brief);
void MA_SendExamWrong(vector<ExamFault> &ExamFaultList);
+void MA_SendRtcmInd(int length);
+void MA_SendDebugInfo(const char *str, ...);
#endif //MYAPPLICATION2_COMM_IF_H
diff --git a/lib/src/main/cpp/rtk_module/rtk.cpp b/lib/src/main/cpp/rtk_module/rtk.cpp
index 9d3a6e1..7f39953 100644
--- a/lib/src/main/cpp/rtk_module/rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/rtk.cpp
@@ -346,7 +346,7 @@
CurrRTKInfo.DD = str2int(s->nmea_value[1].data + 2, 2);
CurrRTKInfo.YY = str2int(s->nmea_value[1].data + 4, 2);
- CurrRTKInfo.qf = str2int(s->nmea_value[6].data, s->nmea_value[6].length);
+ CurrRTKInfo.qf = 3;//str2int(s->nmea_value[6].data, s->nmea_value[6].length);
// NOTE: RTK妯″潡鏄互鍗楀寳鍚戜负X杞达紝瑗夸笢鍚戜负Y杞达紝鎴戜滑浜ゆ崲涓嬶紝浠ョ鍚堜竴鑸�昏緫
str2float(&CurrRTKInfo.y, s->nmea_value[2].data, s->nmea_value[2].length);
@@ -355,8 +355,8 @@
static double sbx = -12;
static double sby = 27;
-// CurrRTKInfo.x = sbx;
-// CurrRTKInfo.y = sby;
+ CurrRTKInfo.x = (-2.8984 - 4.913)/2;
+ CurrRTKInfo.y = (31.6962 + 29.4974)/2;
sbx += 0.01;
sby += 0.01;
--
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