From 87156fa3adfa2e3232a6f6e612584aa8a4ebaea1 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期二, 19 一月 2021 18:40:25 +0800
Subject: [PATCH] 添加模拟灯光
---
lib/src/main/cpp/rtk_platform/parse_net.cpp | 2
lib/src/main/cpp/driver_test.cpp | 18 +
lib/src/main/cpp/common/net.h | 56 +++
lib/src/main/cpp/master/comm_if.cpp | 14
lib/src/main/cpp/common/net.cpp | 354 +++++++++++++--------------
lib/src/main/cpp/test_items2/dummy_light.cpp | 7
lib/src/main/cpp/test_common/car_sensor.cpp | 27 -
lib/src/main/cpp/mcu/mcu_if.cpp | 6
lib/src/main/cpp/rtk_module/virtual_rtk.cpp | 134 +++++++++
lib/src/main/cpp/rtk_module/virtual_rtk.h | 1
lib/src/main/cpp/rtk_platform/platform.cpp | 157 ++++-------
11 files changed, 454 insertions(+), 322 deletions(-)
diff --git a/lib/src/main/cpp/common/net.cpp b/lib/src/main/cpp/common/net.cpp
index 3ea1083..4923c65 100644
--- a/lib/src/main/cpp/common/net.cpp
+++ b/lib/src/main/cpp/common/net.cpp
@@ -13,19 +13,77 @@
#include <arpa/inet.h>
#include <regex>
#include <pthread.h>
+#include <semaphore.h>
+#include <string>
#include "net.h"
#include "../jni_log.h"
#define DEBUG(fmt, args...) LOGD("<net> <%s>: " fmt, __func__, ##args)
+#define PARSE_BUFF_SIZE 4096
using namespace std;
+
+CTcpPort::CTcpPort()
+{
+ m_iServiceType = TYPE_CLIENT;
+ m_sIp.clear();
+ m_nPort = 0;
+ m_connected = false;
+ m_pClientSocket = 0;
+ m_pServerSocket = 0;
+
+ event_func = NULL;
+ event_func_context = NULL;
+ receive_data_func = NULL;
+ receive_data_func_context = NULL;
+}
+
+CTcpPort::~CTcpPort()
+{
+ CloseTcpPort();
+}
+
+bool CTcpPort::IsOpen(void)
+{
+ if (m_iServiceType == TYPE_SERVER) {
+ if (m_pServerSocket > 0) {
+ return true;
+ } else {
+ return false;
+ }
+ } else {
+ if (m_pClientSocket > 0) {
+ return true;
+ } else {
+ return false;
+ }
+ }
+}
+
+bool CTcpPort::OpenTcpPort(const char *ip, int port)
+{
+ if (IsOpen()) {
+ return true;
+ }
+
+ m_sIp = ip;
+ m_nPort = port;
+
+ pthread_t platform_pid;
+ pthread_attr_t attr;
+ pthread_attr_init(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
+ pthread_create(&platform_pid, &attr, TcpConnectThread, this);
+
+ return true;
+}
/*************************************************************
host_name:domain name
net_addr:return numbers-and-dots notation
*/
-int GetHostIP(const char *host_name, char *net_addr)
+int CTcpPort::GetHostIP(const char *host_name, char *net_addr)
{
struct hostent *hptr;
char **pptr;
@@ -68,7 +126,7 @@
return -2;
}
-static bool is_domain_name(const char *ip)
+bool CTcpPort::is_domain_name(const char *ip)
{
regex pattern0("^((2(5[0-5]|[0-4]\\d))|[0-1]?\\d{1,2})(\\.((2(5[0-5]|[0-4]\\d))|[0-1]?\\d{1,2})){3}$");
string target(ip);
@@ -76,7 +134,7 @@
return !regex_match(target, pattern0);
}
-static int socket_set_keepalive(int fd)
+int CTcpPort::socket_set_keepalive(int fd)
{
int alive, idle, cnt, intv;
@@ -133,7 +191,7 @@
return 0;
}
-static int tcp_connect(char *ip, uint16_t port)
+int CTcpPort::tcp_connect(char *ip, uint16_t port)
{
struct sockaddr_in server_sockaddr;
int soc;
@@ -259,51 +317,116 @@
return( -1 );
}
-static int udp_connect(const char *ip, uint16_t port) {
- struct sockaddr_in server_sockaddr;
- int soc;
- int opt;
- int arg;
+void *CTcpPort::TcpConnectThread(void *p)
+{
+ CTcpPort *pCTcpPort = (CTcpPort *)p;
- if ((soc = socket(PF_INET, SOCK_DGRAM, 0)) == -1) {
- return -1;
+ char net_addr[32] = {0};
+
+ if (pCTcpPort->is_domain_name(pCTcpPort->m_sIp.c_str())) {
+ if (pCTcpPort->GetHostIP(pCTcpPort->m_sIp.c_str(), net_addr) != 0) {
+ goto CONNECT_END;
+ }
+ } else {
+ strcpy(net_addr, pCTcpPort->m_sIp.c_str());
}
- /*Enable send broadcast packet*/
- opt = 1;
- if (setsockopt(soc, SOL_SOCKET, SO_BROADCAST, &opt, sizeof(opt)) != 0) {
- perror("setsockopt");
- close(soc);
- return -1;
+ pCTcpPort->m_pClientSocket = pCTcpPort->tcp_connect(net_addr, pCTcpPort->m_nPort);
+
+ if (pCTcpPort->m_pClientSocket > 0) {
+ if (pCTcpPort->event_func != NULL) {
+ pCTcpPort->event_func(0, pCTcpPort, pCTcpPort->event_func_context);
+ }
+
+ pthread_t platform_pid;
+ pthread_attr_t attr;
+ pthread_attr_init(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
+ pthread_create(&platform_pid, &attr, TcpListenThread, p);
+ } else {
+ if (pCTcpPort->event_func != NULL) {
+ pCTcpPort->event_func(-1, pCTcpPort, pCTcpPort->event_func_context);
+ }
}
- // Set non-blocking
- if( (arg = fcntl(soc, F_GETFL, NULL)) < 0 ) {
- close(soc);
- return -1;
- }
-
- if ( fcntl(soc, F_SETFL, arg | O_NONBLOCK) < 0 ) {
- close(soc);
- return -1;
- }
-
- server_sockaddr.sin_family = AF_INET;
- server_sockaddr.sin_addr.s_addr = inet_addr(ip);//htonl(INADDR_ANY);
- server_sockaddr.sin_port = htons(port);
- bzero(&server_sockaddr.sin_zero, 8);
-
- return soc;
+CONNECT_END:
+ pthread_exit(NULL);
}
-int WriteTCP(int fd, const uint8_t * buf, uint32_t len)
+void *CTcpPort::TcpListenThread(void *p)
+{
+ int fds_ret;
+ struct timeval tv;
+ fd_set rdfds;
+ fd_set exfds;
+ uint8_t RxBuf[PARSE_BUFF_SIZE];
+
+ CTcpPort *pCTcpPort = (CTcpPort *)p;
+
+ while (pCTcpPort->m_pClientSocket > 0) {
+ tv.tv_sec = 5;
+ tv.tv_usec = 0;
+ FD_ZERO(&rdfds); //clean
+ FD_SET(pCTcpPort->m_pClientSocket, &rdfds); //set
+
+ fds_ret = select(pCTcpPort->m_pClientSocket + 1, &rdfds, NULL, NULL, &tv);
+
+ if (fds_ret < 0) {
+ break;
+ } else if(fds_ret == 0) {
+ //Occur failure(such as line disconnect)
+ } else if(FD_ISSET(pCTcpPort->m_pClientSocket, &rdfds)) {
+ int recvLen = recv(pCTcpPort->m_pClientSocket, RxBuf, sizeof(RxBuf), 0);
+
+ if (recvLen == 0) {
+ LOGW("tcp error TCP disconnected 0 errno = %d", errno);
+ break;
+ } else if (recvLen < 0) {
+ if (errno == EINTR || errno == EWOULDBLOCK || errno == EAGAIN) {
+
+ } else {
+ LOGW("tcp error TCP disconnected errno = %d", errno);;
+ break;
+ }
+ }
+
+ if (recvLen > 0) {
+ if (pCTcpPort->receive_data_func != NULL) {
+ pCTcpPort->receive_data_func(RxBuf, recvLen, pCTcpPort, pCTcpPort->receive_data_func_context);
+ }
+ }
+ }
+ }
+
+ pCTcpPort->CloseTcpPort();
+
+ if (pCTcpPort->event_func) {
+ pCTcpPort->event_func(-1, pCTcpPort, pCTcpPort->event_func_context);
+ }
+
+ pthread_exit(NULL);
+}
+
+void CTcpPort::set_event_callback(void (*callback)(int, void *, void *), void *context)
+{
+ event_func = callback;
+ event_func_context = context;
+}
+
+void CTcpPort::set_data_callback(void (*callback)(void *, int, void *, void *), void *context)
+{
+ receive_data_func = callback;
+ receive_data_func_context = context;
+}
+
+int CTcpPort::WriteTCP(const uint8_t * buf, uint32_t len)
{
int ret = 0;
int fds_ret;
struct timeval tv;
fd_set rdfds;
- if (fd < 0)
+ if (m_pClientSocket <= 0)
return -2;
/*******************************************************
@@ -314,9 +437,9 @@
tv.tv_usec = 0;
FD_ZERO(&rdfds); //clean
- FD_SET(fd, &rdfds); //set
+ FD_SET(m_pClientSocket, &rdfds); //set
- fds_ret = select(fd + 1, NULL, &rdfds, NULL, &tv);
+ fds_ret = select(m_pClientSocket + 1, NULL, &rdfds, NULL, &tv);
if (fds_ret < 0) {
DEBUG("tcp error send select error");
@@ -325,8 +448,8 @@
DEBUG("tcp error Occur failure(such as line disconnect)");
//Occur failure(such as line disconnect)
ret = -1;
- } else if(FD_ISSET(fd, &rdfds)) {
- ret = send(fd, buf, len, 0);
+ } else if(FD_ISSET(m_pClientSocket, &rdfds)) {
+ ret = send(m_pClientSocket, buf, len, 0);
if(ret == -1) {
DEBUG("tcp error TCP Send Error");
}
@@ -337,148 +460,15 @@
return ret;
}
-int ReadTCP(int fd, uint8_t * buf, uint32_t len)
+bool CTcpPort::CloseTcpPort(void)
{
- if (fd < 0) {
- return -2;
+ DEBUG("DisconnectTCP fd = %d", m_pClientSocket);
+
+ if (m_pClientSocket > 0) {
+ shutdown(m_pClientSocket, SHUT_RDWR);
+ close(m_pClientSocket);
+ m_pClientSocket = 0;
+ return true;
}
-
- int recvLen = recv(fd, buf, len, 0); //read socket data from server
-
- if (recvLen == 0) {
- LOGW("tcp error TCP disconnected 0 errno = %d", errno);
- return -1;
- } else if (recvLen < 0) {
- if (errno == EINTR || errno == EWOULDBLOCK || errno == EAGAIN) {
- return 0;
- } else {
- LOGW("tcp error TCP disconnected errno = %d", errno);;
- return -1;
- }
- }
-
- return recvLen;
-}
-
-int ConnectTCP(const char *ip, uint16_t port)
-{
- char net_addr[32] = {0};
-
- if (is_domain_name(ip)) {
- if (GetHostIP(ip, net_addr) != 0) {
- return -3;
- }
- } else {
- strcpy(net_addr, ip);
- }
-
- return tcp_connect(net_addr, port);
-}
-
-void DisconnectTCP(int fd)
-{
- DEBUG("DisconnectTCP fd = %d", fd);
- if (fd >= 0) {
- shutdown(fd, SHUT_RDWR);
- close(fd);
- }
-}
-
-int EstablishUDP(const char *ip, uint16_t port)
-{
- char net_addr[32] = {0};
-
- if (is_domain_name(ip)) {
- if (GetHostIP(ip, net_addr) != 0) {
- return -3;
- }
- } else {
- strcpy(net_addr, ip);
- }
-
- return udp_connect(net_addr, port);
-}
-
-void RemoveUDP(int fd)
-{
- close(fd);
-}
-
-int WriteUDP(int fd, char *ip, uint16_t port, const uint8_t * buf, uint32_t len)
-{
- int ret = 0;
- int fds_ret;
- struct timeval tv;
- fd_set rdfds;
-
- if (fd < 0)
- return -2;
-
- /*******************************************************
- TCP send with nonblock, if occur failure(such as line disconnect...),
- will send timeout, so terminate TCP.
- */
- tv.tv_sec = 5;
- tv.tv_usec = 0;
-
- FD_ZERO(&rdfds); //clean
- FD_SET(fd, &rdfds); //set
-
- fds_ret = select(fd + 1, NULL, &rdfds, NULL, &tv);
-
- if (fds_ret < 0)
- {
- DEBUG("UDP send select error");
- return -1;
- }
- else if(fds_ret == 0)
- {
- DEBUG("Occur failure(such as line disconnect)");
- ret = -1;
- }
- else if(FD_ISSET(fd, &rdfds))
- {
- struct sockaddr_in server_sockaddr;
-
- server_sockaddr.sin_family = AF_INET;
- server_sockaddr.sin_addr.s_addr = inet_addr(ip);//htonl(INADDR_ANY);
- server_sockaddr.sin_port = htons(port);
- bzero(&server_sockaddr.sin_zero, 8);
-
- ret = sendto(fd, buf, len, 0, (struct sockaddr *)&server_sockaddr, sizeof(struct sockaddr_in));
-
- if(ret == -1)
- {
- DEBUG("UDP Send Error");
- }
- }
- else
- {
- DEBUG("UDP send has error\n");
- }
-
- return ret;
-}
-
-int ReadUDP(int fd, uint8_t * buf, uint32_t len)
-{
- struct sockaddr_in from_addr;
- socklen_t from_len;
-
- int recvLen = recvfrom(fd, buf, len, 0,
- (struct sockaddr *) &from_addr,
- &from_len);//read socket data from server//
-
- if (recvLen == 0) {
- return 0;
- } else if (recvLen < 0) {
- if (errno == EINTR || errno == EWOULDBLOCK || errno == EAGAIN) {
- return 0;
- } else {
- DEBUG("UDP ERROR!! = %d", errno);
- return -1;
- }
- }
-
- return recvLen;
+ return false;
}
diff --git a/lib/src/main/cpp/common/net.h b/lib/src/main/cpp/common/net.h
index 48a7c7a..9f5685c 100644
--- a/lib/src/main/cpp/common/net.h
+++ b/lib/src/main/cpp/common/net.h
@@ -5,13 +5,53 @@
#ifndef RTKBASESTATION_NET_H
#define RTKBASESTATION_NET_H
-int WriteTCP(int fd, const uint8_t * buf, uint32_t len);
-int ReadTCP(int fd, uint8_t * buf, uint32_t len);
-int ConnectTCP(const char *ip, uint16_t port);
-void DisconnectTCP(int fd);
-int EstablishUDP(const char *ip, uint16_t port);
-void RemoveUDP(int fd);
-int WriteUDP(int fd, char *ip, uint16_t port, const uint8_t * buf, uint32_t len);
-int ReadUDP(int fd, uint8_t * buf, uint32_t len);
+#include <string>
+
+enum SERVICE_TYPE {
+ TYPE_SERVER,
+ TYPE_CLIENT
+};
+
+class CTcpPort
+{
+public:
+ SERVICE_TYPE m_iServiceType;
+ std::string m_sIp;
+ int m_nPort;
+ bool m_connected;
+
+ int m_pServerSocket;
+ int m_pClientSocket;
+
+public:
+ CTcpPort();
+ virtual ~CTcpPort();
+
+ bool IsOpen(void);
+ bool CloseTcpPort();
+ bool OpenTcpPort(const char *ip, int port);
+ void set_event_callback(void (*callback)(int, void *, void *), void *context);
+ void set_data_callback(void (*callback)(void *, int, void *, void *), void *context);
+ int WriteTCP(const uint8_t * buf, uint32_t len);
+private:
+ int GetHostIP(const char *host_name, char *net_addr);
+ bool is_domain_name(const char *ip);
+ int socket_set_keepalive(int fd);
+ int tcp_connect(char *ip, uint16_t port);
+
+ void(*event_func)(int, void *, void *); //鏁版嵁鍥炶皟鍑芥暟鎸囬拡
+ void *event_func_context; //鏁版嵁鍥炶皟鍑芥暟涓婁笅鏂�
+
+ void(*receive_data_func)(void *, int, void *, void *); //鏁版嵁鍥炶皟鍑芥暟鎸囬拡
+ void *receive_data_func_context; //鏁版嵁鍥炶皟鍑芥暟涓婁笅鏂�
+
+ static void *TcpConnectThread(void *p);
+ static void *TcpListenThread(void *p);
+};
+
+//int WriteTCP(int fd, const uint8_t * buf, uint32_t len);
+//int ReadTCP(int fd, uint8_t * buf, uint32_t len);
+//int ConnectTCP(const char *ip, uint16_t port);
+//void DisconnectTCP(int fd);
#endif //RTKBASESTATION_NET_H
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index e1df9bb..29b76ee 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -520,7 +520,15 @@
{
DEBUG("鑾峰彇妯℃嫙璺�冪伅鍏夋祴璇曢」鐩� N = %d %d", n, ExamStart);
- static const int cov[] = {0,
+ static const int CONV_TABLE[] = {(FLASH_BEAM_LAMP<<8)+OFF_LIGHT,
+ (TURN_SIGNAL_LAMP<<8)+OFF_LIGHT,
+ (TURN_SIGNAL_LAMP<<8)+OFF_LIGHT,
+ (TURN_SIGNAL_LAMP<<8)+OFF_LIGHT,
+ (FOG_LAMP<<8)+OFF_LIGHT,
+ (CLEARANCE_LAMP<<8)+OFF_LIGHT,
+ (MAIN_BEAM_LAMP<<8)+OFF_LIGHT,
+ (DIPPED_BEAM_LAMP<<8)+OFF_LIGHT,
+ 0,
(DIPPED_BEAM_LAMP<<8)+DIPPED_BEAM_LIGHT,
(MAIN_BEAM_LAMP<<8)+MAIN_BEAM_LIGHT,
(CLEARANCE_LAMP<<8)+CLEARANCE_LIGHT,
@@ -529,6 +537,8 @@
(TURN_SIGNAL_LAMP<<8)+RIGHT_TURN_LIGHT,
(TURN_SIGNAL_LAMP<<8)+HAZARD_LIGHTS,
(FLASH_BEAM_LAMP<<8)+FLASH_BEAM_LIGHT};
+
+ const int *cov = CONV_TABLE + 8;
if (ExamStart) return;
@@ -547,10 +557,10 @@
DummyLightContent[i].wrongCode = cfg[i].wrongCode;
// Sensor Name<<8 + Sensor Status
for (int j = 0; j < cfg[i].process.size(); ++j) {
- DummyLightContent[i].process[j] = cov[cfg[i].process[j]];
+ DummyLightContent[i].process.push_back(cov[cfg[i].process[j]]);
}
for (int j = 0; j < cfg[i].solution.size(); ++j) {
- DummyLightContent[i].solution[j] = cov[cfg[i].solution[j]];
+ DummyLightContent[i].solution.push_back(cov[cfg[i].solution[j]]);
}
}
}
@@ -746,7 +756,7 @@
"杩戝厜鐏�",
"闆剧伅",
"绀哄粨鐏�",
- "杩滆繎鍏�",
+ "闂伅鎻愮ず",
"杩滃厜鐏�",
"瀹夊叏甯�",
"鍚姩寮曟搸",
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index b1898f6..b2772e1 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -1969,6 +1969,7 @@
Document doc;
doc.Parse(value);
if (!doc.HasParseError()) {
+ DEBUG("瑙ｆ瀽鐏厜閰嶇疆...");
if (doc.HasMember("exam")) {
const Value& s = doc["exam"];
s.GetInt();
@@ -1979,30 +1980,39 @@
int n = 0;
struct dummy_light_exam *content = new struct dummy_light_exam[s.Size()];
+ DEBUG("棰樼洰鏁伴噺 %d", s.Size());
+
for(Value::ConstValueIterator itr = s.Begin(); itr != s.End(); ++itr) {
+
if (itr->HasMember("item") && itr->HasMember("tts")) {
const Value &s1 = (*itr)["item"];
const Value &s2 = (*itr)["tts"];
content[n].item = s1.GetInt();
content[n].tts = s2.GetString();
+
+ DEBUG("棰樼洰 %s", s2.GetString());
}
if (itr->HasMember("wrong_code")) {
const Value &s = (*itr)["wrong_code"];
content[n].wrongCode = s.GetInt();
+
+ DEBUG("棰樼洰wrongCode %d", s.GetInt());
}
if (itr->HasMember("process")) {
- const Value& s = doc["process"];
+ const Value& s = (*itr)["process"];
for(Value::ConstValueIterator itr2 = s.Begin(); itr2 != s.End(); ++itr2) {
+ DEBUG("棰樼洰process %d", itr2->GetInt());
content[n].process.push_back(itr2->GetInt());
}
}
if (itr->HasMember("solution")) {
- const Value& s = doc["solution"];
+ const Value& s = (*itr)["solution"];
for(Value::ConstValueIterator itr2 = s.Begin(); itr2 != s.End(); ++itr2) {
+ DEBUG("棰樼洰solution %d", itr2->GetInt());
content[n].solution.push_back(itr2->GetInt());
}
}
diff --git a/lib/src/main/cpp/mcu/mcu_if.cpp b/lib/src/main/cpp/mcu/mcu_if.cpp
index b5924d6..10b9b7d 100644
--- a/lib/src/main/cpp/mcu/mcu_if.cpp
+++ b/lib/src/main/cpp/mcu/mcu_if.cpp
@@ -148,7 +148,11 @@
if (RxBufLen > 0) {
// DEBUG("RECV LEN %d", RxBufLen);
- ParseMcu(RxBuf, RxBufLen);
+ if (Virtual2IsConnected()) {
+
+ } else {
+ ParseMcu(RxBuf, RxBufLen);
+ }
RxBufLen = 0;
}
}
diff --git a/lib/src/main/cpp/rtk_module/virtual_rtk.cpp b/lib/src/main/cpp/rtk_module/virtual_rtk.cpp
index b0e62e5..04e7a08 100644
--- a/lib/src/main/cpp/rtk_module/virtual_rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/virtual_rtk.cpp
@@ -12,6 +12,7 @@
#include "../common/apptimer.h"
#include "../defs.h"
#include "parse_gps.h"
+#include "../mcu/mcu_if.h"
#define DEBUG(fmt, args...) LOGD("<virtual_device> <%s>: " fmt, __func__, ##args)
@@ -22,12 +23,18 @@
int port;
} VAddr;
+static CTcpPort *ctp = NULL, *ctp2 = NULL;
static bool virtRtkIsValid = false;
static int connectCnt = 0;
+static void TcpEventCallback(int stat, void *p, void *context);
+static void TcpDataCallback(void *buffer, int length, void *p, void *context);
+
+static bool virtRtkIsValid2 = false;
+static int connectCnt2 = 0;
+static void TcpEventCallback2(int stat, void *p, void *context);
+static void TcpDataCallback2(void *buffer, int length, void *p, void *context);
static void ConnectLater(union sigval sig);
-static void ConnectV(void);
-static void *VDataListenThread(void *p);
void InitVirtualDevice(const char *domain_name, int port)
{
@@ -36,7 +43,23 @@
strcpy(VAddr.domain_name, domain_name);
VAddr.port = port;
- ConnectV();
+ if (ctp == NULL) {
+ ctp = new CTcpPort();
+
+ ctp->set_event_callback(TcpEventCallback, NULL);
+ ctp->set_data_callback(TcpDataCallback, NULL);
+
+ ctp->OpenTcpPort(domain_name, port);
+ }
+
+ if (ctp2 == NULL) {
+ ctp2 = new CTcpPort();
+
+ ctp2->set_event_callback(TcpEventCallback2, NULL);
+ ctp2->set_data_callback(TcpDataCallback2, NULL);
+
+ ctp2->OpenTcpPort(domain_name, port + 1);
+ }
}
bool VirtualIsConnected(void)
@@ -50,21 +73,111 @@
return temp;
}
+bool Virtual2IsConnected(void)
+{
+ bool temp;
+
+ do {
+ temp = virtRtkIsValid2;
+ } while (temp != virtRtkIsValid2);
+
+ return temp;
+}
+
static void ConnectLater(union sigval sig) {
AppTimer_delete(ConnectLater);
- ConnectV();
+ if (sig.sival_int == 1) {
+ if (ctp != NULL) {
+ ctp->OpenTcpPort(VAddr.domain_name, VAddr.port);
+ }
+ } else {
+ if (ctp2 != NULL) {
+ ctp2->OpenTcpPort(VAddr.domain_name, VAddr.port + 1);
+ }
+ }
}
-static void ConnectV(void)
+static void TcpEventCallback(int stat, void *p, void *context)
{
- pthread_t pid;
- pthread_attr_t attr;
- pthread_attr_init(&attr);
- pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
- pthread_create(&pid, &attr, VDataListenThread, &VAddr);
+ CTcpPort *pTcpPort = (CTcpPort *)p;
+
+ if (stat == 0) {
+ DEBUG("铏氭嫙骞冲彴杩炴帴鎴愬姛 %s: %d", pTcpPort->m_sIp.c_str(), pTcpPort->m_nPort);
+ virtRtkIsValid = true;
+ connectCnt = 0;
+ PlayTTS("妯℃嫙鍣ㄨ繛鎺�", NULL);
+ } else {
+ DEBUG("铏氭嫙骞冲彴杩炴帴澶辫触");
+ virtRtkIsValid = false;
+ connectCnt++;
+
+ if (connectCnt < 3) {
+ AppTimer_add(ConnectLater, D_SEC(3), 1);
+ }
+ PlayTTS("妯℃嫙鍣ㄦ柇寮�", NULL);
+ }
}
+static void TcpDataCallback(void *buffer, int length, void *p, void *context)
+{
+ static uint8_t RxBuf[PARSE_BUFF_SIZE];
+ static int RxBufLen = 0;
+
+ if (length > 0) {
+ memcpy(RxBuf + RxBufLen, buffer, length);
+ RxBufLen += length;
+
+ const uint8_t *ptr = parseGPS(RxBuf, RxBuf + RxBufLen);
+
+ if(ptr != RxBuf) {
+ memcpy(RxBuf, ptr, RxBufLen - (ptr - RxBuf));
+ RxBufLen -= ptr - RxBuf;
+ } else if(RxBufLen == PARSE_BUFF_SIZE) { //濉弧浜嗭紝涓旀病鏈変竴涓猏r锛岄兘鎶涘純
+ DEBUG("Parse GPS error");
+ RxBufLen = 0;
+ }
+ }
+}
+
+static void TcpEventCallback2(int stat, void *p, void *context)
+{
+ CTcpPort *pTcpPort = (CTcpPort *)p;
+
+ if (stat == 0) {
+ DEBUG("鐏厜铏氭嫙骞冲彴杩炴帴鎴愬姛 %s: %d", pTcpPort->m_sIp.c_str(), pTcpPort->m_nPort);
+ virtRtkIsValid2 = true;
+ connectCnt2 = 0;
+ PlayTTS("鐏厜妯℃嫙鍣ㄨ繛鎺�", NULL);
+ } else {
+ DEBUG("鐏厜铏氭嫙骞冲彴杩炴帴澶辫触");
+ virtRtkIsValid2 = false;
+ connectCnt2++;
+
+ if (connectCnt2 < 3) {
+ AppTimer_add(ConnectLater, D_SEC(3), 2);
+ }
+ PlayTTS("鐏厜妯℃嫙鍣ㄦ柇寮�", NULL);
+ }
+}
+
+static void TcpDataCallback2(void *buffer, int length, void *p, void *context)
+{
+ static uint8_t RxBuf[PARSE_BUFF_SIZE];
+ static int RxBufLen = 0;
+
+ if (length > 0) {
+ memcpy(RxBuf + RxBufLen, buffer, length);
+ RxBufLen += length;
+
+ if (RxBufLen > 0) {
+ ParseMcu(RxBuf, RxBufLen);
+ RxBufLen = 0;
+ }
+ }
+}
+
+/*
static void *VDataListenThread(void *p) {
struct vSocket *vs = (struct vSocket *)p;
@@ -139,3 +252,4 @@
pthread_exit(NULL);
}
+*/
\ No newline at end of file
diff --git a/lib/src/main/cpp/rtk_module/virtual_rtk.h b/lib/src/main/cpp/rtk_module/virtual_rtk.h
index b26d441..eca02e1 100644
--- a/lib/src/main/cpp/rtk_module/virtual_rtk.h
+++ b/lib/src/main/cpp/rtk_module/virtual_rtk.h
@@ -7,5 +7,6 @@
void InitVirtualDevice(const char *domain_name, int port);
bool VirtualIsConnected(void);
+bool Virtual2IsConnected(void);
#endif //MYAPPLICATION2_VIRTUAL_RTK_H
diff --git a/lib/src/main/cpp/rtk_platform/parse_net.cpp b/lib/src/main/cpp/rtk_platform/parse_net.cpp
index a82a7db..afe75aa 100644
--- a/lib/src/main/cpp/rtk_platform/parse_net.cpp
+++ b/lib/src/main/cpp/rtk_platform/parse_net.cpp
@@ -21,7 +21,7 @@
#define DEBUG(fmt, args...) LOGD("<parse_net> <%s>: " fmt, __func__, ##args)
-#define ENABLE_DEBUG_PROTOCOL
+#define xENABLE_DEBUG_PROTOCOL
using namespace std;
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index 1f28070..33efdc8 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -25,6 +25,7 @@
#include "../test_items2/stop_car.h"
#include "../test_items2/operate_gear.h"
#include "../test_items2/drive_straight.h"
+#include "../rtk_module/virtual_rtk.h"
#define PARSE_BUFF_SIZE 4096
@@ -79,13 +80,12 @@
static bool mAyDevice = false;
-struct platformSocket exceptSocket, currSocket;
+struct platformSocket exceptSocket;
static sem_t sem_status_changed;
static bool requestPlatformSendRtk = false;
-static int platform_tcp_fd = 0;
+static CTcpPort *ctp = NULL;
-static pthread_mutex_t platform_tx_mutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t events_mutex = PTHREAD_MUTEX_INITIALIZER;
static struct gpsBrief gbf;
@@ -101,10 +101,12 @@
static void ReqRtkPlatformConfigTimeout(union sigval sig);
+static void TcpEventCallback(int stat, void *p, void *context);
+static void TcpDataCallback(void *buffer, int length, void *p, void *context);
+
static void ConnectPlatform(const char *domain_name, int port);
static void ConnectPlatformLater(union sigval sig);
-static void *PlatformDataListenThread(void *p);
static void *StatusListenThread(void *p);
static void PlatformChangeEntry(uint32_t events, const uint8_t *data, int length);
@@ -194,14 +196,10 @@
memset(&rbf, 0, sizeof(rbf));
memset(&defaultMcuRom, 0, sizeof(defaultMcuRom));
- pthread_mutex_init(&platform_tx_mutex, NULL);
pthread_mutex_init(&events_mutex, NULL);
eventQueue = NULL;
- platform_tcp_fd = -1;
-
- memset(&currSocket, 0, sizeof(currSocket));
memset(&platformStatus, 0, sizeof(platformStatus));
sem_init(&sem_status_changed, 0, 0);
@@ -247,14 +245,16 @@
platformStatus.registed = 0;
}
- pthread_mutex_lock(&platform_tx_mutex);
- if (platform_tcp_fd > 0 && (exceptSocket.port != currSocket.port || strcmp(currSocket.domain_name, exceptSocket.domain_name))) {
- DisconnectTCP(platform_tcp_fd);
- platform_tcp_fd = -1;
- } else if (platform_tcp_fd <= 0) {
- ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
- }
- pthread_mutex_unlock(&platform_tx_mutex);
+ ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
+
+// pthread_mutex_lock(&platform_tx_mutex);
+// if (platform_tcp_fd > 0 && (exceptSocket.port != currSocket.port || strcmp(currSocket.domain_name, exceptSocket.domain_name))) {
+// DisconnectTCP(platform_tcp_fd);
+// platform_tcp_fd = -1;
+// } else if (platform_tcp_fd <= 0) {
+// ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
+// }
+// pthread_mutex_unlock(&platform_tx_mutex);
}
void PlatformStatusChanged(uint32_t event, const uint8_t *data, int length)
@@ -270,17 +270,43 @@
return;
DEBUG("杩炴帴RTK骞冲彴 %s: %d", domain_name, port);
- // TODO
- struct platformSocketInfo *ptr = (struct platformSocketInfo *)malloc(sizeof(struct platformSocketInfo));
- strcpy(ptr->domain_name, domain_name);
- ptr->port = port;
+ if (ctp == NULL) {
+ ctp = new CTcpPort();
- pthread_t platform_pid;
- pthread_attr_t attr;
- pthread_attr_init(&attr);
- pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
- pthread_create(&platform_pid, &attr, PlatformDataListenThread, ptr);
+ ctp->set_event_callback(TcpEventCallback, NULL);
+ ctp->set_data_callback(TcpDataCallback, NULL);
+ }
+
+ if (!ctp->IsOpen()) {
+ ctp->OpenTcpPort(domain_name, port);
+ } else if ((ctp->m_nPort != port || strcmp(ctp->m_sIp.c_str(), domain_name))) {
+ ctp->CloseTcpPort();
+ }
+}
+
+static void TcpEventCallback(int stat, void *p, void *context)
+{
+ CTcpPort *pTcpPort = (CTcpPort *)p;
+ uint8_t buffer[256];
+
+ strcpy((char *)buffer, pTcpPort->m_sIp.c_str());
+
+ buffer[pTcpPort->m_sIp.length() + 1] = HI_UINT16(pTcpPort->m_nPort);
+ buffer[pTcpPort->m_sIp.length() + 2] = LO_UINT16(pTcpPort->m_nPort);
+
+ if (stat == 0) {
+ PlatformStatusChanged(PLATFORM_CONNECT_EVT, buffer, pTcpPort->m_sIp.length() + 3);
+ } else {
+ PlatformStatusChanged(PLATFORM_DISCONNECT_EVT, buffer, pTcpPort->m_sIp.length() + 3);
+ }
+}
+
+static void TcpDataCallback(void *buffer, int length, void *p, void *context)
+{
+ if (length > 0) {
+ Parse(DATA_ACCESS_PLATFORM, (uint8_t *)buffer, length);
+ }
}
static void ConnectPlatformLater(union sigval sig) {
@@ -306,8 +332,8 @@
{
switch (events) {
case PLATFORM_CONNECT_EVT: {
- DEBUG("骞冲彴杩炴帴鎴愬姛 %s:%d", currSocket.domain_name, currSocket.port);
- MA_RtkPlatformConnect(1, currSocket.domain_name, currSocket.port);
+ DEBUG("骞冲彴杩炴帴鎴愬姛 %s:%d", data, BUILD_UINT16(data[strlen((char *)data) + 2], data[strlen((char *)data) + 1]));
+ MA_RtkPlatformConnect(1, (char *)data, BUILD_UINT16(data[strlen((char *)data) + 2], data[strlen((char *)data) + 1]));
platformStatus.connected = 1;
if (!platformStatus.registed || platformStatus.platformKeyLength == 0) {
@@ -321,8 +347,8 @@
}
case PLATFORM_DISCONNECT_EVT: {
- DEBUG("骞冲彴鏂紑 %s:%d", currSocket.domain_name, currSocket.port);
- MA_RtkPlatformConnect(0, currSocket.domain_name, currSocket.port);
+ DEBUG("骞冲彴鏂紑 %s:%d", data, BUILD_UINT16(data[strlen((char *)data) + 2], data[strlen((char *)data) + 1]));
+ MA_RtkPlatformConnect(0, (char *)data, BUILD_UINT16(data[strlen((char *)data) + 2], data[strlen((char *)data) + 1]));
AppTimer_delete(ConnectPlatformLater);
AppTimer_add(ConnectPlatformLater, D_SEC(2));
@@ -660,7 +686,11 @@
break;
}
case BLUETOOTH_DATA_EVT: {
- ParseMcu(data, length);
+ if (Virtual2IsConnected()) {
+
+ } else {
+ ParseMcu(data, length);
+ }
break;
}
case SENSOR_CHANGE_EVT: {
@@ -672,76 +702,13 @@
}
}
-static void *PlatformDataListenThread(void *p) {
- struct platformSocket *ptr = (struct platformSocket *)p;
-
- uint8_t RxBuf[PARSE_BUFF_SIZE];
-
- int fds_ret;
- struct timeval tv;
- fd_set rdfds;
- fd_set exfds;
-
- int fd = -1;
- int RxBufLen = 0;
-
- fd = ConnectTCP(ptr->domain_name, ptr->port);
-
- pthread_mutex_lock(&platform_tx_mutex);
- platform_tcp_fd = fd;
-
- currSocket = *ptr;
-
- pthread_mutex_unlock(&platform_tx_mutex);
-
- if (fd > 0) {
- PlatformStatusChanged(PLATFORM_CONNECT_EVT, NULL, 0);
- }
-
- while (fd > 0) {
- tv.tv_sec = 5;
- tv.tv_usec = 0;
- FD_ZERO(&rdfds); //clean
- FD_SET(fd, &rdfds); //set
-
- fds_ret = select(fd + 1, &rdfds, NULL, NULL, &tv);
-
- if (fds_ret < 0) {
- break;
- } else if(fds_ret == 0) {
- //Occur failure(such as line disconnect)
- } else if(FD_ISSET(fd, &rdfds)) {
- RxBufLen = ReadTCP(fd, RxBuf, sizeof(RxBuf));
-
- if (RxBufLen < 0) {
- break;
- } else if (RxBufLen > 0) {
- Parse(DATA_ACCESS_PLATFORM, RxBuf, RxBufLen);
- }
- }
- }
-
- pthread_mutex_lock(&platform_tx_mutex);
- if (platform_tcp_fd > 0) {
- DisconnectTCP(platform_tcp_fd);
- platform_tcp_fd = -1;
- }
- pthread_mutex_unlock(&platform_tx_mutex);
- free(ptr);
-
- PlatformStatusChanged(PLATFORM_DISCONNECT_EVT, NULL, 0);
- pthread_exit(NULL);
-}
-
int WritePlatform(const uint8_t * buf, uint32_t len)
{
int ret = -1;
- pthread_mutex_lock(&platform_tx_mutex);
- if (platform_tcp_fd > 0) {
- ret = WriteTCP(platform_tcp_fd, buf, len);
+ if (ctp != NULL && ctp->IsOpen()) {
+ ret = ctp->WriteTCP(buf, len);
}
- pthread_mutex_unlock(&platform_tx_mutex);
return ret;
}
diff --git a/lib/src/main/cpp/test_common/car_sensor.cpp b/lib/src/main/cpp/test_common/car_sensor.cpp
index 8caa027..1a1a20b 100644
--- a/lib/src/main/cpp/test_common/car_sensor.cpp
+++ b/lib/src/main/cpp/test_common/car_sensor.cpp
@@ -16,7 +16,6 @@
static uint16_t gpioStore;
static int left_turn_signal, right_turn_signal;
-static int flashMainBeamCnt;
enum {
SENSOR_SEATBELT,
@@ -67,7 +66,7 @@
static void ChangeLRLight(int light);
static void ConfirmTurnSigalLater(union sigval sig);
static void flashBeamLightClose(union sigval sig);
-static void confirmFlashBeamLightLater(union sigval sig);
+
static void SensorChanged(int id, int value);
void CarSensorInit(void)
@@ -83,7 +82,6 @@
memset(&Sensor, 0, sizeof(Sensor));
left_turn_signal = right_turn_signal = 0;
- flashMainBeamCnt = 0;
pthread_mutex_init(&sonser_mutex, NULL);
pthread_mutex_init(&status_rw_mutex, NULL);
@@ -272,15 +270,9 @@
WriteCarStatus(FLASH_BEAM_LAMP, OFF_LIGHT);
}
-static void confirmFlashBeamLightLater(union sigval sig)
-{
- AppTimer_delete(confirmFlashBeamLightLater);
- flashMainBeamCnt = 0;
-}
-
static void SensorChanged(int id, int value)
{
-// DEBUG("鐘舵�佹敼鍙� %d = %d", id, value);
+ DEBUG("鐘舵�佹敼鍙� %d = %d", id, value);
switch (id) {
case SENSOR_LEFT_TURN_SIGNAL: {
left_turn_signal = value;
@@ -335,21 +327,24 @@
break;
}
case SENSOR_MAIN_BEAM_LIGHT: {
+ static uint32_t t1 = 0;
+
if (value == 0) {
WriteCarStatus(MAIN_BEAM_LAMP, OFF_LIGHT);
} else {
WriteCarStatus(MAIN_BEAM_LAMP, MAIN_BEAM_LIGHT);
}
- if (++flashMainBeamCnt > 3) { // 浜�-鐏�-浜�-鐏�
- WriteCarStatus(FLASH_BEAM_LAMP, FLASH_BEAM_LIGHT);
-
+ if (value != 0) {
+ t1 = AppTimer_GetTickCount();
+ } else if (AppTimer_GetTickCount() - t1 < D_SEC(3)) {
+ // 3绉掑唴瀹屾垚浜伃锛岄棯鐏�
+ if (ReadCarStatus(FLASH_BEAM_LAMP) != FLASH_BEAM_LIGHT) {
+ WriteCarStatus(FLASH_BEAM_LAMP, FLASH_BEAM_LIGHT);
+ }
AppTimer_delete(flashBeamLightClose);
AppTimer_add(flashBeamLightClose, D_SEC(2));
}
-
- AppTimer_delete(confirmFlashBeamLightLater);
- AppTimer_add(confirmFlashBeamLightLater, D_SEC(3));
break;
}
case SENSOR_SEATBELT: {
diff --git a/lib/src/main/cpp/test_items2/dummy_light.cpp b/lib/src/main/cpp/test_items2/dummy_light.cpp
index 144b545..3f68f1f 100644
--- a/lib/src/main/cpp/test_items2/dummy_light.cpp
+++ b/lib/src/main/cpp/test_items2/dummy_light.cpp
@@ -77,6 +77,7 @@
AppTimer_delete(CheckSolution);
}
+// 璁板綍涓棿杩囩▼
void handleLigthExam(uint16_t id, int value)
{
if (testing) {
@@ -90,10 +91,9 @@
}
}
+// 妫�鏌ユ渶缁堢姸鎬�
static void CheckSolution(union sigval sig)
{
- int question = sig.sival_int;
-
AppTimer_delete(CheckSolution);
if (content[question].process.size() > 0) {
@@ -112,7 +112,7 @@
}
for (int i = 0; i < content[question].solution.size(); ++i) {
- if (ReadCarStatus((content[question].solution[i]>>8)&0xFF) != content[question].solution[i] & 0xFF) {
+ if (ReadCarStatus((content[question].solution[i]>>8)&0xFF) != (content[question].solution[i] & 0xFF)) {
AddExamFault(content[question].wrongCode, &currRtkTime);
break;
}
@@ -126,6 +126,7 @@
static void ExamDummyLight(void)
{
if (testing && question < contentNum) {
+ DEBUG("鐏厜棰樼洰锛� %s", content[question].tts.c_str());
PlayTTS(content[question].tts, DummyLightTTSDone);
} else {
testing = false;
--
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