From edc694498e7ca9a0475bbf5576729aedfc88d3f0 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期一, 13 一月 2020 14:04:50 +0800
Subject: [PATCH] s
---
lib/src/main/cpp/master/comm_if.h | 19 ++++++
lib/src/main/cpp/master/comm_if.cpp | 95 +++++++++++++++++++++++++++++++
Documents/模拟驾考APP内部通讯.docx | 0
lib/src/main/cpp/rtk_module/rtk.cpp | 39 ++++++++-----
lib/src/main/cpp/rtk_platform/platform.cpp | 4
5 files changed, 140 insertions(+), 17 deletions(-)
diff --git "a/Documents/\346\250\241\346\213\237\351\251\276\350\200\203APP\345\206\205\351\203\250\351\200\232\350\256\257.docx" "b/Documents/\346\250\241\346\213\237\351\251\276\350\200\203APP\345\206\205\351\203\250\351\200\232\350\256\257.docx"
index 9b9dd8b..63a4ab7 100644
--- "a/Documents/\346\250\241\346\213\237\351\251\276\350\200\203APP\345\206\205\351\203\250\351\200\232\350\256\257.docx"
+++ "b/Documents/\346\250\241\346\213\237\351\251\276\350\200\203APP\345\206\205\351\203\250\351\200\232\350\256\257.docx"
Binary files differ
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index ee203d4..360227d 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -11,6 +11,7 @@
#include "../rtk_platform/platform.h"
#include "../utils/xconvert.h"
#include "../driver_test.h"
+#include "../defs.h"
#include <string>
#include <iostream>
@@ -33,9 +34,14 @@
#define ID_MS_SENSOR_CFG 0x8008
#define ID_MS_START_EXAM 0x8009
#define ID_SM_EXAM_STATUS 0x0009
+#define ID_MS_IND_ONOFF 0x800A
#define ID_SM_GPS_BRIEF 0x000A
#define ID_SM_RTK_BRIEF 0x000B
#define ID_SM_EXAM_BRIEF 0x000C
+#define ID_SM_ENTER_MAP 0x000D
+#define ID_SM_CAR 0x000E
+
+static int OnOff = 0;
void MA_NdkStart(void)
{
@@ -136,6 +142,9 @@
void MA_SendGpsBrief(const struct gpsBrief *brief)
{
+ if (!(OnOff & BV(0)))
+ return;
+
StringBuffer sb;
Writer<StringBuffer> writer(sb);
@@ -163,6 +172,9 @@
void MA_SendRtkBrief(const struct rtkBrief *brief)
{
+ if (!(OnOff & BV(1)))
+ return;
+
char a[2] = {brief->coord_x_dir, 0};
char b[2] = {brief->coord_y_dir, 0};
@@ -197,6 +209,76 @@
void MA_SendExamWrong(vector<int>&err)
{
+}
+
+void MA_SendCarPosition(const struct carBrief *brief)
+{
+ if (!(OnOff & BV(2))) return;
+
+ StringBuffer sb;
+ Writer<StringBuffer> writer(sb);
+
+ writer.StartObject();
+
+ writer.Key("utc");
+ writer.String(brief->utc);
+ writer.Key("qf");
+ writer.Int(brief->qf);
+ writer.Key("map_id");
+ writer.Int(brief->map_id);
+ writer.Key("move");
+ writer.Int(brief->move);
+ writer.Key("speed");
+ writer.Double(brief->speed);
+ writer.Key("heading");
+ writer.Double(brief->heading);
+
+ writer.Key("main_ant");
+ writer.StartArray();
+ writer.Double(brief->main_ant[0]);
+ writer.Double(brief->main_ant[1]);
+ writer.EndArray();
+
+ writer.Key("axial");
+ writer.StartArray();
+ writer.Int(brief->axial[0]);
+ writer.Int(brief->axial[1]);
+ writer.EndArray();
+
+ writer.Key("left_front_tire");
+ writer.StartArray();
+ writer.Int(brief->left_front_tire[0]);
+ writer.Int(brief->left_front_tire[1]);
+ writer.EndArray();
+
+ writer.Key("right_front_tire");
+ writer.StartArray();
+ writer.Int(brief->right_front_tire[0]);
+ writer.Int(brief->right_front_tire[1]);
+ writer.EndArray();
+
+ writer.Key("left_rear_tire");
+ writer.StartArray();
+ writer.Int(brief->left_rear_tire[0]);
+ writer.Int(brief->left_rear_tire[1]);
+ writer.EndArray();
+
+ writer.Key("right_rear_tire");
+ writer.StartArray();
+ writer.Int(brief->right_rear_tire[0]);
+ writer.Int(brief->right_rear_tire[1]);
+ 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]);
+ }
+ writer.EndArray();
+ writer.EndObject();
+
+ SendMsgToMainProc(ID_SM_CAR, sb.GetString());
}
void MA_MainProcMsgEntry(int cmd, const char *value)
@@ -461,6 +543,19 @@
}
break;
}
+ case ID_MS_IND_ONOFF: {
+ Document doc;
+ doc.Parse(value);
+ if (!doc.HasParseError()) {
+ if (doc.HasMember("on_off")) {
+ Value& s = doc["on_off"];
+ do {
+ OnOff = s.GetInt();
+ } while (OnOff != s.GetInt());
+ }
+ }
+ break;
+ }
default:break;
}
}
diff --git a/lib/src/main/cpp/master/comm_if.h b/lib/src/main/cpp/master/comm_if.h
index 33c6f32..ab839e6 100644
--- a/lib/src/main/cpp/master/comm_if.h
+++ b/lib/src/main/cpp/master/comm_if.h
@@ -29,6 +29,23 @@
double roll;
};
+struct carBrief {
+ char utc[32];
+ int qf;
+ int map_id;
+ int move;
+ double speed;
+ double heading;
+ double main_ant[2];
+ int axial[2];
+ int left_front_tire[2];
+ int right_front_tire[2];
+ int left_rear_tire[2];
+ int right_rear_tire[2];
+ double *point;
+ int pointNum;
+};
+
void MA_MainProcMsgEntry(int cmd, const char *value);
void MA_NdkStart(void);
@@ -42,5 +59,7 @@
void MA_SendExamStatus(int start, int errorCode);
void MA_SendGpsBrief(const struct gpsBrief *brief);
void MA_SendRtkBrief(const struct rtkBrief *brief);
+void MA_SendCarPosition(const struct carBrief *brief);
+
#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 8515bb4..08adcc0 100644
--- a/lib/src/main/cpp/rtk_module/rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/rtk.cpp
@@ -37,8 +37,6 @@
static gpsStatus_t gpsStatus;
-static int tra_hh, tra_mm, tra_ss, tra_dss;
-
static rtk_info CurrRTKInfo;
static void CheckPjkParam(void);
@@ -52,7 +50,8 @@
DEBUG("ConfigRTKModule");
memset(&CurrRTKInfo, 0, sizeof(CurrRTKInfo));
- tra_hh = tra_mm = tra_ss = tra_dss = 0;
+ CurrRTKInfo.hh = -1;
+
memset(&gpsStatus, 0, sizeof(gpsStatus));
gpsStatus.hh = -1;
@@ -338,10 +337,10 @@
void handlePJK(const struct nmea *s) {
DEBUG("handlePJK num = %d", s->nmea_num);
- CurrRTKInfo.hh = str2int(s->nmea_value[0].data, 2);
- CurrRTKInfo.mm = str2int(s->nmea_value[0].data + 2, 2);
- CurrRTKInfo.ss = str2int(s->nmea_value[0].data + 4, 2);
- CurrRTKInfo.dss = str2int(s->nmea_value[0].data + 7, 2);
+ int hh = str2int(s->nmea_value[0].data, 2);
+ int mm = str2int(s->nmea_value[0].data + 2, 2);
+ int ss = str2int(s->nmea_value[0].data + 4, 2);
+ int dss = str2int(s->nmea_value[0].data + 7, 2);
CurrRTKInfo.MM = str2int(s->nmea_value[1].data, 2);
CurrRTKInfo.DD = str2int(s->nmea_value[1].data + 2, 2);
@@ -373,36 +372,46 @@
// yy -= 0.02 * (by2 - by1) / (bx2 - bx1);
// }
- if (CurrRTKInfo.hh == tra_hh && CurrRTKInfo.mm == tra_mm && CurrRTKInfo.ss == tra_ss && CurrRTKInfo.dss == tra_dss) {
+ if (CurrRTKInfo.hh == hh && CurrRTKInfo.mm == mm && CurrRTKInfo.ss == ss && CurrRTKInfo.dss == dss) {
PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&CurrRTKInfo, sizeof(CurrRTKInfo));
- UpdateRTKInfo(&CurrRTKInfo);
+// UpdateRTKInfo(&CurrRTKInfo);
// up_num++;
/*if ((up_num % 5) == 0)*/ {
// NewMgrEvent(DRIVER_UPDATE_EVT);
}
}
+ CurrRTKInfo.hh = hh;
+ CurrRTKInfo.mm = mm;
+ CurrRTKInfo.ss = ss;
+ CurrRTKInfo.dss = dss;
}
void handleGPTRA(const struct nmea *s) {
DEBUG("handleGPTRA num = %d", s->nmea_num);
- tra_hh = str2int(s->nmea_value[0].data, 2);
- tra_mm = str2int(s->nmea_value[0].data + 2, 2);
- tra_ss = str2int(s->nmea_value[0].data + 4, 2);
- tra_dss = str2int(s->nmea_value[0].data + 7, 2);
+ int hh = str2int(s->nmea_value[0].data, 2);
+ int mm = str2int(s->nmea_value[0].data + 2, 2);
+ int ss = str2int(s->nmea_value[0].data + 4, 2);
+ int dss = str2int(s->nmea_value[0].data + 7, 2);
str2float(&CurrRTKInfo.heading, s->nmea_value[1].data, s->nmea_value[1].length);
+ str2float(&CurrRTKInfo.pitch, s->nmea_value[2].data, s->nmea_value[2].length);
+ str2float(&CurrRTKInfo.roll, s->nmea_value[3].data, s->nmea_value[3].length);
// CurrRTKInfo.heading = 60;
- if (CurrRTKInfo.hh == tra_hh && CurrRTKInfo.mm == tra_mm && CurrRTKInfo.ss == tra_ss && CurrRTKInfo.dss == tra_dss) {
+ if (CurrRTKInfo.hh == hh && CurrRTKInfo.mm == mm && CurrRTKInfo.ss == ss && CurrRTKInfo.dss == dss) {
PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&CurrRTKInfo, sizeof(CurrRTKInfo));
- UpdateRTKInfo(&CurrRTKInfo);
+// UpdateRTKInfo(&CurrRTKInfo);
// up_num++;
/*if ((up_num % 5) == 0)*/ {
// NewMgrEvent(DRIVER_UPDATE_EVT);
}
}
+ CurrRTKInfo.hh = hh;
+ CurrRTKInfo.mm = mm;
+ CurrRTKInfo.ss = ss;
+ CurrRTKInfo.dss = dss;
}
static void CheckPjkParam(void)
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index 9658a15..6869143 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -279,7 +279,6 @@
MA_RtkPlatformLogin(data[0]);
}
if (events & GPS_UPDATE_EVT) {
- DEBUG("GPS_UPDATE_EVT");
const gpsStatus_t *gps = (gpsStatus_t *)data;
struct gpsBrief brief;
@@ -295,7 +294,6 @@
RequestRtkDownload(gps, 1);
}
if (events & RTK_UPDATE_EVT) {
- DEBUG("RTK_UPDATE_EVT");
const rtk_info *rtk = (rtk_info *)data;
struct rtkBrief brief;
@@ -465,6 +463,8 @@
void ReceivedRtk(const uint8_t *data, int length)
{
+ DEBUG("ReceivedRtk length %d", length);
+
AppTimer_delete(RequestRtkNoResp);
// 姹囨姤缁欏崟鐗囨満
if (length > 0) {
--
Gitblit v1.8.0