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This commit is contained in:
lixiao 2024-09-05 10:35:03 +08:00
parent 2d82810d61
commit 28545e9651
57 changed files with 2892 additions and 435 deletions
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10
entry/src/main/cpp/CMakeLists.txt
View File

@ -326,17 +326,14 @@ set(JUDGE_INCLUDE
${CMAKE_SOURCE_DIR}/sdk/judge/sub2
${CMAKE_SOURCE_DIR}/sdk/judge/sub3
${CMAKE_SOURCE_DIR}/sdk/assistdrive
${CMAKE_SOURCE_DIR}/sdk/assistdrive/navigate
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/libTrack
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/pathTrack
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/pathTrack/purp
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/pathTrack/pursuitMethod
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/teachTrack
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/trackInfo
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/trackMode
${CMAKE_SOURCE_DIR}/sdk/assistdrive/util
${CMAKE_SOURCE_DIR}/sdk/assistdrive/wirecontrol
${CMAKE_SOURCE_DIR}/sdk/assistdrive/field
${CMAKE_SOURCE_DIR}/sdk/assistdrive/item
)
#设置全局包含的源文件
@ -387,8 +384,7 @@ file(GLOB_RECURSE JUDGE_SOURCE
${CMAKE_SOURCE_DIR}/sdk/assistdrive/*.*
${CMAKE_SOURCE_DIR}/sdk/assistdrive/track/*.*
${CMAKE_SOURCE_DIR}/sdk/assistdrive/util/*.*
${CMAKE_SOURCE_DIR}/sdk/assistdrive/wirecontrol/*.*
${CMAKE_SOURCE_DIR}/sdk/assistdrive/field/*.*
${CMAKE_SOURCE_DIR}/sdk/assistdrive/item/*.*
)
#设置编译的包含的目标工程

4
entry/src/main/cpp/sdk/api/include/JudgeSdk.h
View File

@ -57,10 +57,10 @@ typedef void(JUDGE_SDK_CALLBACK* autoServerControlCallback)(const char* data, in
/**
* 说明: 辅助驾驶教学语音回调函数原型
* 参数: itemIndex: 项目编号; soundIndex: 语音编号
* 参数: data: 项目语音数据; length: 数据长度
* 返回值: 无
*/
typedef void(JUDGE_SDK_CALLBACK* autoServerSoundCallback)(int itemIndex, int soundIndex);
typedef void(JUDGE_SDK_CALLBACK* autoServerSoundCallback)(const char* data, int length);
/**
* 说明: 辅助驾驶日志回调函数原型

205
entry/src/main/cpp/sdk/api/js/JSApiBridge.cpp
View File

@ -20,7 +20,7 @@ JSApiBridge::~JSApiBridge()
JS_JUDGE_FUN_IMPL(examJudgeVersion)
{
logdebug("call js_examJudgeVersion");
const char* version = ExamService::examJudgeVersion();
const char *version = ExamService::examJudgeVersion();
return createString(env, std::string(nullptr != version ? version : ""));
}
@ -49,19 +49,18 @@ JS_JUDGE_FUN_IMPL(examJudgeSetLogCallback)
// }
bool ok = m_methodLog.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextLog* ctx) -> bool {
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextLog *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 3;
napi_value args[3] = {nullptr};
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok == napi_create_int32(nenv, ctx->level, &args[0])
&& napi_ok
== napi_create_string_utf8(nenv, ctx->log.c_str(), ctx->log.length(),
&args[1])
&& napi_ok == napi_create_int32(nenv, ctx->log.length(), &args[2])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_int32(nenv, ctx->level, &args[0]) &&
napi_ok == napi_create_string_utf8(nenv, ctx->log.c_str(), ctx->log.length(),
&args[1]) &&
napi_ok == napi_create_int32(nenv, ctx->log.length(), &args[2]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -90,7 +89,7 @@ JS_JUDGE_FUN_IMPL(examJudgeErrorInfo)
return createErrorCode(env, errorNapiArgType);
}
const char* errinfo = ExamService::examJudgeErrorInfo(errCode);
const char *errinfo = ExamService::examJudgeErrorInfo(errCode);
return createString(env, std::string(nullptr != errinfo ? errinfo : ""));
}
@ -195,18 +194,17 @@ JS_JUDGE_FUN_IMPL(examJudgeSetRealExamCallback)
// }
bool ok = m_methodReal.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextReal* ctx) -> bool {
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextReal *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0])
&& napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -237,18 +235,17 @@ JS_JUDGE_FUN_IMPL(examJudgeSetPerformCallback)
// }
bool ok = m_methodPerform.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextPerform* ctx) -> bool {
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextPerform *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0])
&& napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -318,8 +315,8 @@ JS_JUDGE_FUN_IMPL(examJudgeSoundEnd)
int itemno = 0;
std::string code = "";
int type = 0;
if (!getInt(env, args[0], itemno) || !getString(env, args[1], code)
|| !getInt(env, args[2], type))
if (!getInt(env, args[0], itemno) || !getString(env, args[1], code) ||
!getInt(env, args[2], type))
{
return createErrorCode(env, errorNapiArgType);
}
@ -331,7 +328,7 @@ JS_JUDGE_FUN_IMPL(examJudgeSoundEnd)
JS_JUDGE_FUN_IMPL(examJudgeTrackFile)
{
logdebug("call js_examJudgeTrackFile");
const char* filename = ExamService::examJudgeTrackFile();
const char *filename = ExamService::examJudgeTrackFile();
return createString(env, std::string(nullptr != filename ? filename : ""));
}
@ -402,7 +399,7 @@ JS_JUDGE_FUN_IMPL(examJudgeMapImage)
{
logdebug("call js_examJudgeMapImage");
// GraphicImage img;
const char* data = ExamService::examJudgeMapImage();
const char *data = ExamService::examJudgeMapImage();
int size = ExamService::examJudgeMapSize();
return createArrayBuffer(env, data, size, sizeof(char), napi_uint8_clamped_array);
}
@ -426,22 +423,21 @@ JS_JUDGE_FUN_IMPL(examJudgeMapImageSetCallback)
// }
bool ok = m_methodMap.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap* ctx) -> bool {
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
// napi_get_undefined(ctx->env, &result);
// 调用napi
napi_value buf = nullptr;
void* under = nullptr;
void *under = nullptr;
napi_create_arraybuffer(nenv, ctx->size * sizeof(char), &under, &buf);
memcpy(under, ctx->buf, ctx->size * sizeof(char));
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0])
&& napi_ok == napi_create_int32(nenv, ctx->size, &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->size, &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -651,8 +647,8 @@ JS_JUDGE_FUN_IMPL(autoServiceTrack)
double y = 0.0;
double yaw = 0.0;
double v = 0.0;
if (!getDouble(env, args[0], x) || !getDouble(env, args[1], y) || !getDouble(env, args[2], yaw)
|| !getDouble(env, args[3], v))
if (!getDouble(env, args[0], x) || !getDouble(env, args[1], y) ||
!getDouble(env, args[2], yaw) || !getDouble(env, args[3], v))
{
return createErrorCode(env, errorNapiArgType);
}
@ -697,20 +693,19 @@ JS_JUDGE_FUN_IMPL(registerMapImageCallback)
napi_value ref = args[0];
bool ok = m_methodMap.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap* ctx) -> bool {
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
napi_value buf = nullptr;
void* under = nullptr;
void *under = nullptr;
napi_create_arraybuffer(nenv, ctx->size * sizeof(char), &under, &buf);
memcpy(under, ctx->buf, ctx->size * sizeof(char));
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0])
&& napi_ok == napi_create_int32(nenv, ctx->size, &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->size, &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -735,21 +730,18 @@ JS_JUDGE_FUN_IMPL(registerAutoServiceControlCallback)
napi_value ref = args[0];
bool ok = m_methodMap.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap* ctx) -> bool {
bool ok = m_autoServiceControl.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextString *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
napi_value buf = nullptr;
void* under = nullptr;
napi_create_arraybuffer(nenv, ctx->size * sizeof(char), &under, &buf);
memcpy(under, ctx->buf, ctx->size * sizeof(char));
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0])
&& napi_ok == napi_create_int32(nenv, ctx->size, &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -774,21 +766,18 @@ JS_JUDGE_FUN_IMPL(registerAutoServiceSoundCallback)
napi_value ref = args[0];
bool ok = m_methodMap.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap* ctx) -> bool {
bool ok = m_autoServiceSound.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextString *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
napi_value buf = nullptr;
void* under = nullptr;
napi_create_arraybuffer(nenv, ctx->size * sizeof(char), &under, &buf);
memcpy(under, ctx->buf, ctx->size * sizeof(char));
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0])
&& napi_ok == napi_create_int32(nenv, ctx->size, &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -813,21 +802,18 @@ JS_JUDGE_FUN_IMPL(registerAutoServiceLogCallback)
napi_value ref = args[0];
bool ok = m_methodMap.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextMap* ctx) -> bool {
bool ok = m_autoServiceLog.setup(
env, ref, [](napi_env nenv, napi_ref nref, JSAsyncContextString *ctx) -> bool {
napi_value func = nullptr, result = nullptr;
size_t argc = 2;
napi_value args[2] = {nullptr};
napi_value buf = nullptr;
void* under = nullptr;
napi_create_arraybuffer(nenv, ctx->size * sizeof(char), &under, &buf);
memcpy(under, ctx->buf, ctx->size * sizeof(char));
return napi_ok == napi_get_reference_value(nenv, nref, &func)
&& napi_ok
== napi_create_typedarray(nenv, napi_uint8_clamped_array, ctx->size, buf,
0, &args[0])
&& napi_ok == napi_create_int32(nenv, ctx->size, &args[1])
&& napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
// napi_get_undefined(ctx->env, &result);
// 调用napi
return napi_ok == napi_get_reference_value(nenv, nref, &func) &&
napi_ok == napi_create_string_utf8(nenv, ctx->data.c_str(), ctx->data.length(),
&args[0]) &&
napi_ok == napi_create_int32(nenv, ctx->data.length(), &args[1]) &&
napi_ok == napi_call_function(nenv, nullptr, func, argc, args, &result);
});
if (!ok)
@ -835,32 +821,32 @@ JS_JUDGE_FUN_IMPL(registerAutoServiceLogCallback)
return createErrorCode(env, errorNapiSetCallback);
}
int code = AutomaticService::registerAutoServiceLogCallback(nullptr);
int code = AutomaticService::registerAutoServiceControlCallback(nullptr);
return createErrorCode(env, code);
}
void JSApiBridge::examJudgeCallbackLogToCaller(int level, const char* info, int len)
void JSApiBridge::examJudgeCallbackLogToCaller(int level, const char *info, int len)
{
if (level < LOG_LV_CLOSE || level > LOG_LV_ALL || nullptr == info || len <= 0)
return;
m_methodLog.submit(level, std::string(info, len));
}
void JSApiBridge::examJudgeCallbackRealExamToCaller(const char* data, int len)
void JSApiBridge::examJudgeCallbackRealExamToCaller(const char *data, int len)
{
if (nullptr == data || len <= 0)
return;
m_methodReal.submit(std::string(data, len));
}
void JSApiBridge::examJudgeCallbackPerformToCaller(const char* data, int len)
void JSApiBridge::examJudgeCallbackPerformToCaller(const char *data, int len)
{
if (nullptr == data || len <= 0)
return;
m_methodPerform.submit(std::string(data, len));
}
void JSApiBridge::examJudgeCallbackMapImageToCaller(const char* data, int len)
void JSApiBridge::examJudgeCallbackMapImageToCaller(const char *data, int len)
{
if (nullptr == data || len <= 0)
return;
@ -868,7 +854,30 @@ void JSApiBridge::examJudgeCallbackMapImageToCaller(const char* data, int len)
m_methodMap.submit(data, len);
}
bool JSApiBridge::getArg(napi_env env, napi_callback_info cbinfo, size_t& count, napi_value* values)
void JSApiBridge::autoServiceCallbackControlToCaller(const char *data, int length)
{
if (nullptr == data || length <= 0)
return;
m_autoServiceControl.submit(std::string(data, length));
}
void JSApiBridge::autoServiceCallbackSoundToCaller(const char *data, int length)
{
if (nullptr == data || length <= 0)
{
return;
}
m_autoServiceSound.submit(std::string(data, length));
}
void JSApiBridge::autoServiceCallbackLogToCaller(const char *data, int length)
{
if (nullptr == data || length <= 0)
return;
m_autoServiceLog.submit(std::string(data, length));
}
bool JSApiBridge::getArg(napi_env env, napi_callback_info cbinfo, size_t &count, napi_value *values)
{
size_t argc = count;
napi_status status = napi_get_cb_info(env, cbinfo, &argc, values, nullptr, nullptr);
@ -886,7 +895,7 @@ bool JSApiBridge::getArg(napi_env env, napi_callback_info cbinfo, size_t& count,
return true;
}
bool JSApiBridge::getString(napi_env env, napi_value nva, std::string& value)
bool JSApiBridge::getString(napi_env env, napi_value nva, std::string &value)
{
napi_valuetype type;
napi_status status = napi_typeof(env, nva, &type);
@ -919,7 +928,7 @@ bool JSApiBridge::getString(napi_env env, napi_value nva, std::string& value)
return true;
}
bool JSApiBridge::getInt(napi_env env, napi_value nva, int& value)
bool JSApiBridge::getInt(napi_env env, napi_value nva, int &value)
{
napi_valuetype type;
napi_status status = napi_typeof(env, nva, &type);
@ -944,7 +953,7 @@ bool JSApiBridge::getInt(napi_env env, napi_value nva, int& value)
return true;
}
bool JSApiBridge::getInt64(napi_env env, napi_value nva, int64& value)
bool JSApiBridge::getInt64(napi_env env, napi_value nva, int64 &value)
{
napi_valuetype type;
napi_status status = napi_typeof(env, nva, &type);
@ -969,7 +978,7 @@ bool JSApiBridge::getInt64(napi_env env, napi_value nva, int64& value)
return true;
}
bool JSApiBridge::getDouble(napi_env env, napi_value nva, double& value)
bool JSApiBridge::getDouble(napi_env env, napi_value nva, double &value)
{
napi_valuetype type;
napi_status status = napi_typeof(env, nva, &type);
@ -994,7 +1003,7 @@ bool JSApiBridge::getDouble(napi_env env, napi_value nva, double& value)
return true;
}
bool JSApiBridge::getBool(napi_env env, napi_value nva, bool& value)
bool JSApiBridge::getBool(napi_env env, napi_value nva, bool &value)
{
napi_valuetype type;
napi_status status = napi_typeof(env, nva, &type);
@ -1019,7 +1028,7 @@ bool JSApiBridge::getBool(napi_env env, napi_value nva, bool& value)
return true;
}
bool JSApiBridge::getRef(napi_env env, napi_value nva, napi_ref& value)
bool JSApiBridge::getRef(napi_env env, napi_value nva, napi_ref &value)
{
napi_valuetype type = napi_undefined;
napi_status status = napi_typeof(env, nva, &type);
@ -1044,7 +1053,7 @@ bool JSApiBridge::getRef(napi_env env, napi_value nva, napi_ref& value)
return true;
}
napi_value JSApiBridge::createErrorCode(napi_env env, int code, const char* desc, const char* file,
napi_value JSApiBridge::createErrorCode(napi_env env, int code, const char *desc, const char *file,
int line)
{
if (codeSuccess != code)
@ -1077,7 +1086,7 @@ napi_value JSApiBridge::createInt64(napi_env env, int64 value)
return result;
}
napi_value JSApiBridge::createString(napi_env env, const std::string& value)
napi_value JSApiBridge::createString(napi_env env, const std::string &value)
{
napi_value result = nullptr;
napi_status status = napi_create_string_utf8(env, value.c_str(), value.length(), &result);
@ -1088,13 +1097,13 @@ napi_value JSApiBridge::createString(napi_env env, const std::string& value)
return result;
}
napi_value JSApiBridge::createArrayBuffer(napi_env env, const void* data, size_t size, size_t chunk,
napi_value JSApiBridge::createArrayBuffer(napi_env env, const void *data, size_t size, size_t chunk,
napi_typedarray_type type)
{
const size_t offset = 0; // 偏移字节数
size_t bytes = size * chunk; // 数据字节数
napi_value buf = nullptr;
void* under = nullptr;
void *under = nullptr;
napi_status status = napi_create_arraybuffer(env, bytes, &under, &buf);
if (napi_ok != status)
{

61
entry/src/main/cpp/sdk/api/js/JSApiBridge.h
View File

@ -56,38 +56,49 @@ public:
JS_JUDGE_FUN_DECL(registerAutoServiceSoundCallback);
JS_JUDGE_FUN_DECL(registerAutoServiceLogCallback);
virtual void examJudgeCallbackLogToCaller(int level, const char* info, int len) override;
virtual void examJudgeCallbackRealExamToCaller(const char* data, int len) override;
virtual void examJudgeCallbackPerformToCaller(const char* data, int len) override;
virtual void examJudgeCallbackMapImageToCaller(const char* data, int len) override;
virtual void examJudgeCallbackLogToCaller(int level, const char *info, int len) override;
virtual void examJudgeCallbackRealExamToCaller(const char *data, int len) override;
virtual void examJudgeCallbackPerformToCaller(const char *data, int len) override;
virtual void examJudgeCallbackMapImageToCaller(const char *data, int len) override;
virtual void autoServiceCallbackControlToCaller(const char *data, int length) override;
virtual void autoServiceCallbackSoundToCaller(const char *data, int length) override;
virtual void autoServiceCallbackLogToCaller(const char *data, int length) override;
private:
//uv_work_t* m_work = nullptr;
JSAsyncMethod<JSAsyncContextLog> m_methodLog;
JSAsyncMethod<JSAsyncContextReal> m_methodReal;
JSAsyncMethod<JSAsyncContextPerform> m_methodPerform;
JSAsyncMethod<JSAsyncContextMap> m_methodMap;
// uv_work_t* m_work = nullptr;
JSAsyncMethod<JSAsyncContextLog> m_methodLog;
JSAsyncMethod<JSAsyncContextReal> m_methodReal;
JSAsyncMethod<JSAsyncContextPerform> m_methodPerform;
JSAsyncMethod<JSAsyncContextMap> m_methodMap;
JSAsyncMethod<JSAsyncContextString> m_autoServiceControl;
JSAsyncMethod<JSAsyncContextString> m_autoServiceSound;
JSAsyncMethod<JSAsyncContextString> m_autoServiceLog;
public:
bool getArg (napi_env env, napi_callback_info cbinfo, size_t& count, napi_value* values);
bool getInt (napi_env env, napi_value nva, int& value);
bool getInt64 (napi_env env, napi_value nva, int64& value);
bool getDouble(napi_env env, napi_value nva, double& value);
bool getString(napi_env env, napi_value nva, std::string& value);
bool getBool (napi_env env, napi_value nva, bool& value);
bool getRef (napi_env env, napi_value nva, napi_ref& value);
bool getArg(napi_env env, napi_callback_info cbinfo, size_t &count, napi_value *values);
bool getInt(napi_env env, napi_value nva, int &value);
bool getInt64(napi_env env, napi_value nva, int64 &value);
bool getDouble(napi_env env, napi_value nva, double &value);
bool getString(napi_env env, napi_value nva, std::string &value);
bool getBool(napi_env env, napi_value nva, bool &value);
bool getRef(napi_env env, napi_value nva, napi_ref &value);
napi_value createErrorCode(napi_env env, int code, const char* desc = "", const char* file = __FILE__, int line = __LINE__);
napi_value createInt (napi_env env, int value);
napi_value createInt64 (napi_env env, int64 value);
napi_value createString (napi_env env, const std::string& value);
//size元素数量 chunk每个元素字节大小
napi_value createArrayBuffer(napi_env env, const void* data, size_t size, size_t chunk=sizeof(char), napi_typedarray_type type = napi_uint8_clamped_array);
napi_value createErrorCode(napi_env env, int code, const char *desc = "",
const char *file = __FILE__, int line = __LINE__);
napi_value createInt(napi_env env, int value);
napi_value createInt64(napi_env env, int64 value);
napi_value createString(napi_env env, const std::string &value);
// size元素数量 chunk每个元素字节大小
napi_value createArrayBuffer(napi_env env, const void *data, size_t size,
size_t chunk = sizeof(char),
napi_typedarray_type type = napi_uint8_clamped_array);
//获取napi版本号
// 获取napi版本号
std::string getNapiVersion(napi_env env);
};
#endif // JUDGE_OS_OHOS
#endif // JUDGE_OS_OHOS
#endif // JSAPIBRIDGE_H

122
entry/src/main/cpp/sdk/assistdrive/AutomaticService.cpp
View File

@ -9,20 +9,24 @@
#include "AutomaticServiceDataManager.h"
#include "AutomaticServiceLogManager.h"
#include "GraphicTools.h"
#include "HFactory.h"
using namespace automatic_service;
constexpr auto kDefaultRealRange = 50; // 绘图实际边长（单位：米）
AutomaticService::AutomaticService() { pGraphicTool_ = __NEW__(GraphicImage); }
AutomaticService::AutomaticService()
{
pGraphicTool_ = __NEW__(GraphicImage);
}
int AutomaticService::autoServiceInit()
{
fieldModelPtrList_.emplace_back(new FieldModelDcrk());
fieldModelPtrList_.emplace_back(new FieldModelZjzw());
fieldModelPtrList_.emplace_back(new FieldModelCftc());
fieldModelPtrList_.emplace_back(new FieldModelPdqb());
fieldModelPtrList_.emplace_back(new FieldModelQxxs());
fieldModelPtrList_.emplace_back(new ItemModelDcrk());
fieldModelPtrList_.emplace_back(new ItemModelZjzw());
fieldModelPtrList_.emplace_back(new ItemModelCftc());
fieldModelPtrList_.emplace_back(new ItemModelPdqb());
fieldModelPtrList_.emplace_back(new ItemModelQxxs());
if (!pTrackInfo_)
{
@ -49,8 +53,12 @@ int AutomaticService::autoServiceSetBasePoint(const char *data, int length)
{
std::string errorInfo = e.what();
AutomaticServiceLogManager::GetInstance()->log(errorInfo);
FactoryAutomaticApi->autoServiceCallbackLogToCaller(errorInfo.c_str(),
errorInfo.size());
}
std::string logText = "[AutomaticService] setBasePoint finish.";
FactoryAutomaticApi->autoServiceCallbackLogToCaller(logText.c_str(), logText.size());
return 0;
}
@ -61,8 +69,8 @@ int AutomaticService::autoServiceSetFieldModel(const char *data, int length)
std::wstring_convert<std::codecvt_utf8<wchar_t>> convert;
std::wstring str = convert.from_bytes(data);
nlohmann::json fieldModelListJson = nlohmann::json::parse(str);
AutomaticServiceDataManager::GetInstance()->fieldModelList() =
fieldModelListJson.get<FieldModelList>();
AutomaticServiceDataManager::GetInstance()->itemModelList() =
fieldModelListJson.get<ItemModelList>();
}
catch (std::exception &e)
{
@ -72,7 +80,7 @@ int AutomaticService::autoServiceSetFieldModel(const char *data, int length)
for (size_t i = 0; i < fieldModelPtrList_.size(); i++)
{
FieldModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
ItemModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
pCurrModel->initModelPoint();
}
@ -116,7 +124,7 @@ int AutomaticService::autoServiceSetTeachPointParam(const char *data, int length
for (size_t i = 0; i < fieldModelPtrList_.size(); i++)
{
FieldModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
ItemModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
pCurrModel->initTeachPoint();
}
@ -148,7 +156,6 @@ int AutomaticService::autoServiceSetLineInfo(const char *data, int length)
std::wstring_convert<std::codecvt_utf8<wchar_t>> convert;
std::wstring str = convert.from_bytes(temp.c_str());
nlohmann::json lineInfoJson = nlohmann::json::parse(str);
auto temp1 = lineInfoJson.get<Track>();
AutomaticServiceDataManager::GetInstance()->lineInfo() = lineInfoJson.get<Track>();
}
catch (std::exception &e)
@ -168,7 +175,6 @@ int AutomaticService::autoServiceSetLibInfo(const char *data, int length)
std::wstring_convert<std::codecvt_utf8<wchar_t>> convert;
std::wstring str = convert.from_bytes(temp.c_str());
nlohmann::json libInfiJson = nlohmann::json::parse(str);
auto temp1 = libInfiJson.get<Track>();
AutomaticServiceDataManager::GetInstance()->libInfo() = libInfiJson.get<Track>();
}
catch (std::exception &e)
@ -197,6 +203,7 @@ int AutomaticService::autoServiceSelectLineAndLib(int lineIndex, int libIndex)
int AutomaticService::autoServiceTrack(double x, double y, double yaw, double v)
{
// FIXME: 实际使用时，前置机传入经纬度坐标，需要结合基准点计算出相对坐标
double tempX = 0.0;
double tempY = 0.0;
auto basePoint = AutomaticServiceDataManager::GetInstance()->basePoint();
@ -228,13 +235,13 @@ int AutomaticService::autoServiceTrack(double x, double y, double yaw, double v)
AutoPoint topLeft(x - currCarPosInImage.x / unit_, y - currCarPosInImage.y / unit_);
AutoPoint bottomRight(x + currCarPosInImage.x / unit_, y + currCarPosInImage.y / unit_);
mapRect_ = AutoRect(topLeft, bottomRight);
std::string logText = "[AutomaticService] topLeft = (" + std::to_string(topLeft.x) + ", " +
std::to_string(topLeft.y) + "); bottomRight = (" +
std::to_string(bottomRight.x) + ", " + std::to_string(bottomRight.y) +
")";
std::string logText = "[AutomaticService] topLeft = (" + std::to_string(topLeft.x) + ", "
+ std::to_string(topLeft.y) + "); bottomRight = ("
+ std::to_string(bottomRight.x) + ", " + std::to_string(bottomRight.y)
+ ")";
AutomaticServiceLogManager::GetInstance()->log(logText);
drawFieldModel(x, y); // 绘制场地模型
drawItemModel(x, y); // 绘制场地模型
// drawCarModel(yaw); // 绘制车模
drawSelectedLine(x, y); // 绘制路径
drawSelectedLib(x, y); // 绘制库位
@ -250,36 +257,36 @@ int AutomaticService::autoServiceTrack(double x, double y, double yaw, double v)
int currTeachPointIndex = -1;
for (size_t i = 0; i < fieldModelPtrList_.size(); i++)
{
FieldModelAbstractClass *pCurrProject = fieldModelPtrList_[i];
ItemModelAbstractClass *pCurrProject = fieldModelPtrList_[i];
auto itemStatus = pCurrProject->updateItemStatus(x, y);
if (itemStatus == Enter)
{
currItem = pCurrProject->getModelName();
currItem = pCurrProject->getItemName();
currTeachPointIndex = pCurrProject->calculateTeachPoint(x, y);
break;
}
}
AutomaticServiceLogManager::GetInstance()->log("[AutomaticService] currItem = " + currItem);
AutomaticServiceLogManager::GetInstance()->log("[AutomaticService] currTeachPointIndex = " +
std::to_string(currTeachPointIndex));
AutomaticServiceLogManager::GetInstance()->log("[AutomaticService] currTeachPointIndex = "
+ std::to_string(currTeachPointIndex));
if (soundCallback_ && !currItem.empty() && currTeachPointIndex >= 0)
{
soundCallback_(itemIndex2SoundMap[currItem], currTeachPointIndex);
}
// FIXME_zhanke: 封装项目语音回调结构体，并转为json作为回调数据
// if (soundCallback_ && !currItem.empty() && currTeachPointIndex >= 0)
// {
// soundCallback_(itemIndex2SoundMap[currItem], currTeachPointIndex);
// }
// 初始化写入教学配置信息
pTrackInfo_->init(x, y, yaw, v, currItem, currTeachPointIndex);
// 开始跟踪算法计算
pTrackModeManager_->init(*pTrackInfo_);
std::string order = pTrackModeManager_->run(*pTrackInfo_);
ControlParam controlParam = pTrackModeManager_->run(*pTrackInfo_);
nlohmann::json orderJson = controlParam;
std::string order = orderJson.dump();
if (controlCallback_)
{
controlCallback_(order.c_str(), order.size());
}
autoServiceCallbackControlToCaller(order.c_str(), order.size());
return 0;
}
@ -298,7 +305,10 @@ int AutomaticService::autoServiceSetImageSize(int width, int height)
return 0;
}
TrackInfo AutomaticService::getTrack() { return *pTrackInfo_; }
TrackInfo AutomaticService::getTrack()
{
return *pTrackInfo_;
}
int AutomaticService::registerMapImageCallback(examJudgeCallbackMapImage callback)
{
@ -313,45 +323,65 @@ int AutomaticService::registerMapImageCallback(examJudgeCallbackMapImage callbac
int AutomaticService::registerAutoServiceControlCallback(autoServerControlCallback callback)
{
if (!callback)
if (callback)
{
return -1;
controlCallback_ = callback;
}
controlCallback_ = callback;
return 0;
}
int AutomaticService::registerAutoServiceSoundCallback(autoServerSoundCallback callback)
{
if (!callback)
if (callback)
{
return -1;
soundCallback_ = callback;
}
soundCallback_ = callback;
return 0;
}
int AutomaticService::registerAutoServiceLogCallback(autoServerLogCallback callback)
{
if (!callback)
if (callback)
{
return -1;
logCallback_ = callback;
}
AutomaticServiceLogManager::GetInstance()->setCallback(callback);
AutomaticServiceLogManager::GetInstance()->log("registerAutoServiceLogCallback success");
return 0;
}
void AutomaticService::drawFieldModel(int x, int y)
void AutomaticService::autoServiceCallbackControlToCaller(const char *data, int length)
{
if (controlCallback_)
{
controlCallback_(data, length);
}
}
void AutomaticService::autoServiceCallbackSoundToCaller(const char *data, int length)
{
if (soundCallback_)
{
soundCallback_(data, length);
}
}
void AutomaticService::autoServiceCallbackLogToCaller(const char *data, int length)
{
if (logCallback_)
{
logCallback_(data, length);
}
}
void AutomaticService::drawItemModel(int x, int y)
{
Pointi currCarPosInImage(imageWidth_ / 2, imageHeight_ / 2); // 绘图画布中心点（单位：像素）
Pointi padding(currCarPosInImage.x - x * unit_, currCarPosInImage.y - y * unit_);
for (size_t i = 0; i < fieldModelPtrList_.size(); i++)
{
FieldModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
ItemModelAbstractClass *pCurrModel = fieldModelPtrList_[i];
if (pCurrModel->isModelInMapArea(mapRect_))
{
// 在框定的视野范围，才绘制模型
@ -411,7 +441,7 @@ void AutomaticService::drawSelectedLine(int x, int y)
AutomaticServiceDataManager::GetInstance()->lineInfo().getFeaturesById(selectedLineIndex_);
auto points = selectedLine.geometry.coordinates;
std::vector<Pointi> pointList;
FieldModelAbstractClass::transferPoint2ImagePixel(points, padding, unit_, pointList);
ItemModelAbstractClass::transferPoint2ImagePixel(points, padding, unit_, pointList);
pGraphicTool_->drawPoint(pointList[0], RGB_GREEN, 2);
for (size_t i = 0; i < pointList.size() - 1; i++)
{
@ -428,7 +458,7 @@ void AutomaticService::drawSelectedLib(int x, int y)
AutomaticServiceDataManager::GetInstance()->libInfo().getFeaturesById(selectedLibIndex_);
auto points = selectedLib.geometry.coordinates;
std::vector<Pointi> pointList;
FieldModelAbstractClass::transferPoint2ImagePixel(points, padding, unit_, pointList);
ItemModelAbstractClass::transferPoint2ImagePixel(points, padding, unit_, pointList);
pGraphicTool_->drawPoint(pointList[0], RGB_GREEN, 2);
for (size_t i = 0; i < pointList.size() - 1; i++)
{
@ -442,7 +472,7 @@ void AutomaticService::drawCarHistoryPos(int x, int y)
Pointi currCarPosInImage(imageWidth_ / 2, imageHeight_ / 2); // 绘图画布中心点（单位：像素）
Pointi padding(currCarPosInImage.x - x * unit_, currCarPosInImage.y - y * unit_);
std::vector<Pointi> pixelList;
FieldModelAbstractClass::transferPoint2ImagePixel(historyPosList_, padding, unit_, pixelList);
ItemModelAbstractClass::transferPoint2ImagePixel(historyPosList_, padding, unit_, pixelList);
pGraphicTool_->drawPoint(pixelList[0], RGB_BLACK, 2);
for (size_t i = 1; i < pixelList.size(); i++)
{

22
entry/src/main/cpp/sdk/assistdrive/AutomaticService.h
View File

@ -10,12 +10,12 @@
#define AUTOMATIC_SERVICE_H_
#include "AutomaticServiceDefines.h"
#include "FieldModelCftc.h"
#include "FieldModelDcrk.h"
#include "FieldModelPdqb.h"
#include "FieldModelQxxs.h"
#include "FieldModelZjzw.h"
#include "IAutomaticService.h"
#include "ItemModelCftc.h"
#include "ItemModelDcrk.h"
#include "ItemModelPdqb.h"
#include "ItemModelQxxs.h"
#include "ItemModelZjzw.h"
#include "TrackInfo.h"
#include "TrackModeManager.h"
@ -38,15 +38,20 @@ public:
virtual int autoServiceSelectLineAndLib(int lineIndex, int libIndex) override;
virtual int autoServiceTrack(double x, double y, double yaw, double v) override;
virtual int autoServiceSetImageSize(int width, int height) override;
virtual int registerMapImageCallback(examJudgeCallbackMapImage callback) override;
virtual int registerAutoServiceControlCallback(autoServerControlCallback callback) override;
virtual int registerAutoServiceSoundCallback(autoServerSoundCallback callback) override;
virtual int registerAutoServiceLogCallback(autoServerLogCallback callback) override;
virtual void autoServiceCallbackControlToCaller(const char *data, int length) override;
virtual void autoServiceCallbackSoundToCaller(const char *data, int length) override;
virtual void autoServiceCallbackLogToCaller(const char *data, int length) override;
TrackInfo getTrack();
private:
void drawFieldModel(int x, int y);
void drawItemModel(int x, int y);
void drawCarModel(double yaw);
void drawSelectedLine(int x, int y);
void drawSelectedLib(int x, int y);
@ -67,9 +72,10 @@ private:
examJudgeCallbackMapImage mapImageCallback_ = nullptr;
autoServerControlCallback controlCallback_ = nullptr;
autoServerSoundCallback soundCallback_ = nullptr;
autoServerLogCallback logCallback_ = nullptr;
std::vector<FieldModelAbstractClass *> fieldModelPtrList_; // 场地模型指针列表
std::vector<std::vector<double>> historyPosList_; // 车辆历史位置
std::vector<ItemModelAbstractClass *> fieldModelPtrList_; // 场地模型指针列表
std::vector<std::vector<double>> historyPosList_; // 车辆历史位置
};
#endif // !AUTOMATIC_SERVICE_H_

4
entry/src/main/cpp/sdk/assistdrive/AutomaticServiceDataManager.cpp
View File

@ -7,9 +7,9 @@ BasePoint& AutomaticServiceDataManager::basePoint()
return basePoint_;
}
FieldModelList& AutomaticServiceDataManager::fieldModelList()
ItemModelList& AutomaticServiceDataManager::itemModelList()
{
return fieldModelList_;
return itemModelList_;
}
TeachItemList& AutomaticServiceDataManager::teachPointInfo()

9
entry/src/main/cpp/sdk/assistdrive/AutomaticServiceDataManager.h
View File

@ -10,14 +10,13 @@
#define AUTOMATICSERVICEDATAMANAGER_H
#include "AutomaticServiceDefines.h"
#include "FieldModelAbstractClass.h"
#include "GraphicDefines.h"
#include "HSingleton.h"
#include "ItemModelAbstractClass.h"
using data::BasePoint;
using data::CarModelList;
using data::FieldModel;
using data::FieldModelList;
using data::ItemModelList;
using data::TeachItemList;
using data::TeachPointList;
using data::Track;
@ -29,7 +28,7 @@ class AutomaticServiceDataManager
public:
BasePoint& basePoint();
FieldModelList& fieldModelList();
ItemModelList& itemModelList();
TeachItemList& teachPointInfo();
TeachPointList& teachPointParam();
CarModelList& carModel();
@ -45,7 +44,7 @@ public:
private:
BasePoint basePoint_; // 全场基准点
FieldModelList fieldModelList_; // 场地模型
ItemModelList itemModelList_; // 项目模型
TeachItemList teachPointInfo_; // 教学点信息
TeachPointList teachPointParam_; // 教学点参数
CarModelList carModel_; // 车辆模型

18
entry/src/main/cpp/sdk/assistdrive/AutomaticServiceDefines.h
View File

@ -37,7 +37,7 @@ static std::unordered_map<std::string, int> itemIndex2SoundMap = {
namespace data
{
// 场地模型经纬度坐标基准点定义
// 模型经纬度坐标基准点定义
struct BasePoint
{
std::string basegpsn;
@ -47,7 +47,7 @@ struct BasePoint
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(BasePoint, basegpsn, basegpse, basegpsnO, basegpseO)
// 场地模型经纬度坐标点定义
// 模型经纬度坐标点定义
struct ModelPoint
{
std::string Index;
@ -57,21 +57,21 @@ struct ModelPoint
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ModelPoint, Index, GPSN, GPSE, High)
// 场地模型定义
struct FieldModel
// 项目模型定义
struct ItemModel
{
std::string ModelName;
std::string Index;
std::vector<ModelPoint> Points;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(FieldModel, ModelName, Index, Points)
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ItemModel, ModelName, Index, Points)
// 场地模型列表
struct FieldModelList
// 项目模型列表
struct ItemModelList
{
std::vector<FieldModel> model;
std::vector<ItemModel> model;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(FieldModelList, model)
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ItemModelList, model)
// 教学点信息定义
struct TeachPointInfo

4
entry/src/main/cpp/sdk/assistdrive/IAutomaticService.h
View File

@ -24,6 +24,10 @@ public:
virtual int registerAutoServiceControlCallback(autoServerControlCallback callback) = 0;
virtual int registerAutoServiceSoundCallback(autoServerSoundCallback callback) = 0;
virtual int registerAutoServiceLogCallback(autoServerLogCallback callback) = 0;
virtual void autoServiceCallbackControlToCaller(const char *data, int length) = 0;
virtual void autoServiceCallbackSoundToCaller(const char *data, int length) = 0;
virtual void autoServiceCallbackLogToCaller(const char *data, int length) = 0;
};
#endif // IAUTOMATICSERVICE_H

277
entry/src/main/cpp/sdk/assistdrive/data/aiconfig.json Normal file
View File

@ -0,0 +1,277 @@
{
"item": [
{
"item_code": "20100",
"teach_point": [
{
"point_index": 1,
"teachName": "进项目-江西蓝天",
"velocity_max": 5.7,
"velocity_std": 3,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 2,
"teachName": "停车-江西蓝天",
"velocity_max": 7.4,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 3,
"teachName": "右入库第一把右打满-江西蓝天",
"velocity_max": 4.1,
"velocity_std": 0.8,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 4,
"teachName": "右入库第二把回正-江西蓝天",
"velocity_max": 3.1,
"velocity_std": 0.8,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 5,
"teachName": "右入库第三把右打满-江西蓝天",
"velocity_max": 2.3,
"velocity_std": 0.8,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 6,
"teachName": "右入库调整库边距-江西蓝天",
"velocity_max": 2.6,
"velocity_std": 0.8,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 7,
"teachName": "右入库停车-江西蓝天",
"velocity_max": 3.8,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 8,
"teachName": "左出库-江西蓝天",
"velocity_max": 4.5,
"velocity_std": 0.7,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 9,
"teachName": "回正方向-江西蓝天",
"velocity_max": 4.3,
"velocity_std": 1.5,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 10,
"teachName": "左出库停车-江西蓝天",
"velocity_max": 4.9,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 11,
"teachName": "左入库第一把左打满-江西蓝天",
"velocity_max": 3.5,
"velocity_std": 0.8,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 12,
"teachName": "左入库第二把回正-江西蓝天",
"velocity_max": 3.1,
"velocity_std": 0.8,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 13,
"teachName": "左入库第三把左打满-江西蓝天",
"velocity_max": 4.1,
"velocity_std": 0.8,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 14,
"teachName": "左入库调整库边距-江西蓝天",
"velocity_max": 3.3,
"velocity_std": 0.9,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 15,
"teachName": "左入库停车-江西蓝天",
"velocity_max": 3.5,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 16,
"teachName": "右出库-江西蓝天",
"velocity_max": 4,
"velocity_std": 1.3,
"steering_std": 540,
"lamp_std": 0
}
]
},
{
"item_code": "20700",
"teach_point": [
{
"point_index": 1,
"teachName": "进项目-江西蓝天-新",
"velocity_max": 7.9,
"velocity_std": 2.2,
"steering_std": 0,
"lamp_std": 1
},
{
"point_index": 2,
"teachName": "左转-江西蓝天",
"velocity_max": 7.1,
"velocity_std": 1.7,
"steering_std": 540,
"lamp_std": 1
}
]
},
{
"item_code": "20400",
"teach_point": [
{
"point_index": 1,
"teachName": "进项目-江西蓝天",
"velocity_max": 8.2,
"velocity_std": 3.3,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 2,
"teachName": "停车-江西蓝天",
"velocity_max": 7.6,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 3,
"teachName": "入库第一把右打一圈-江西蓝天",
"velocity_max": 5.3,
"velocity_std": 1.2,
"steering_std": 360,
"lamp_std": 0
},
{
"point_index": 4,
"teachName": "入库第二把回正方向-江西蓝天",
"velocity_max": 3.4,
"velocity_std": 1.1,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 5,
"teachName": "入库第三把左打满-江西蓝天",
"velocity_max": 4.8,
"velocity_std": 1.2,
"steering_std": 540,
"lamp_std": 0
},
{
"point_index": 6,
"teachName": "入库停车-江西蓝天",
"velocity_max": 3.7,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 8,
"teachName": "出库第二把右打满-江西蓝天",
"velocity_max": 5.7,
"velocity_std": 1.6,
"steering_std": 540,
"lamp_std": -1
}
]
},
{
"item_code": "20300",
"teach_point": [
{
"point_index": 1,
"teachName": "进项目-江西蓝天",
"velocity_max": 8,
"velocity_std": 4,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 2,
"teachName": "定点停车-江西蓝天",
"velocity_max": 6,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
}
]
},
{
"item_code": "20600",
"teach_point": [
{
"point_index": 1,
"teachName": "进项目-蓝天",
"velocity_max": 3.8,
"velocity_std": 1.8,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 2,
"teachName": "左打一圈-江西蓝天",
"velocity_max": 7.1,
"velocity_std": 2.5,
"steering_std": 360,
"lamp_std": 0
},
{
"point_index": 3,
"teachName": "回正方向-江西蓝天",
"velocity_max": 6.3,
"velocity_std": 2,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index": 4,
"teachName": "右打一圈-江西蓝天",
"velocity_max": 7.4,
"velocity_std": 2.4,
"steering_std": 360,
"lamp_std": 0
}
]
}
]
}

6
entry/src/main/cpp/sdk/assistdrive/data/basepoint.json Normal file
View File

@ -0,0 +1,6 @@
{
"basegpsn": "31.92780567",
"basegpse": "118.86541574",
"basegpsnO": "31.92780567",
"basegpseO": "118.86541574"
}

204
entry/src/main/cpp/sdk/assistdrive/data/car.json Normal file
View File

@ -0,0 +1,204 @@
{
"Model": [
{
"Angle": 90,
"BasePointHigh": 26.2752,
"Points": [
{
"Index": "1",
"High": 26.2752,
"GPSN": 31.717204409,
"GPSE": 117.253089451
},
{
"Index": "2",
"High": 26.2752,
"GPSN": 31.717203877,
"GPSE": 117.253084862
},
{
"Index": "3",
"High": 26.2752,
"GPSN": 31.717202326,
"GPSE": 117.25308195
},
{
"Index": "4",
"High": 26.2752,
"GPSN": 31.717200053,
"GPSE": 117.253080811
},
{
"Index": "5",
"High": 26.2752,
"GPSN": 31.717197005,
"GPSE": 117.253080452
},
{
"Index": "6",
"High": 26.2752,
"GPSN": 31.717192775,
"GPSE": 117.253080452
},
{
"Index": "7",
"High": 26.2752,
"GPSN": 31.717191657,
"GPSE": 117.253080452
},
{
"Index": "8",
"High": 26.2752,
"GPSN": 31.717190476,
"GPSE": 117.253080452
},
{
"Index": "9",
"High": 26.2752,
"GPSN": 31.717172384,
"GPSE": 117.253080452
},
{
"Index": "10",
"High": 26.2752,
"GPSN": 31.71716599,
"GPSE": 117.253081739
},
{
"Index": "11",
"High": 26.2752,
"GPSN": 31.717164691,
"GPSE": 117.25308272
},
{
"Index": "12",
"High": 26.2752,
"GPSN": 31.717164096,
"GPSE": 117.253084619
},
{
"Index": "13",
"High": 26.2752,
"GPSN": 31.717163735,
"GPSE": 117.253089451
},
{
"Index": "14",
"High": 26.2752,
"GPSN": 31.717164096,
"GPSE": 117.253094284
},
{
"Index": "15",
"High": 26.2752,
"GPSN": 31.717164691,
"GPSE": 117.253096183
},
{
"Index": "16",
"High": 26.2752,
"GPSN": 31.71716599,
"GPSE": 117.253097164
},
{
"Index": "17",
"High": 26.2752,
"GPSN": 31.717172384,
"GPSE": 117.253098451
},
{
"Index": "18",
"High": 26.2752,
"GPSN": 31.717190476,
"GPSE": 117.253098451
},
{
"Index": "19",
"High": 26.2752,
"GPSN": 31.717191657,
"GPSE": 117.253098451
},
{
"Index": "20",
"High": 26.2752,
"GPSN": 31.717192775,
"GPSE": 117.253098451
},
{
"Index": "21",
"High": 26.2752,
"GPSN": 31.717197005,
"GPSE": 117.253098451
},
{
"Index": "22",
"High": 26.2752,
"GPSN": 31.717200053,
"GPSE": 117.253098092
},
{
"Index": "23",
"High": 26.2752,
"GPSN": 31.717202326,
"GPSE": 117.253096953
},
{
"Index": "24",
"High": 26.2752,
"GPSN": 31.717203877,
"GPSE": 117.253094041
},
{
"Index": "25",
"High": 26.2752,
"GPSN": 31.717195761,
"GPSE": 117.2530808
},
{
"Index": "26",
"High": 26.2752,
"GPSN": 31.717197564,
"GPSE": 117.2530808
},
{
"Index": "27",
"High": 26.2752,
"GPSN": 31.717172285,
"GPSE": 117.253080589
},
{
"Index": "28",
"High": 26.2752,
"GPSN": 31.717174089,
"GPSE": 117.253080589
},
{
"Index": "29",
"High": 26.2752,
"GPSN": 31.717195761,
"GPSE": 117.253098103
},
{
"Index": "30",
"High": 26.2752,
"GPSN": 31.717197564,
"GPSE": 117.253098103
},
{
"Index": "31",
"High": 26.2752,
"GPSN": 31.717172285,
"GPSE": 117.253098314
},
{
"Index": "32",
"High": 26.2752,
"GPSN": 31.717174089,
"GPSE": 117.253098314
}
],
"BasePointN": 31.717181863,
"BasePointE": 117.25308444
}
]
}

1360
entry/src/main/cpp/sdk/assistdrive/data/collect.json Normal file
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File diff suppressed because it is too large Load Diff

99
entry/src/main/cpp/sdk/assistdrive/data/collectParams.json Normal file
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@ -0,0 +1,99 @@
{
"item": [
{
"itemCode": "20100",
"teachPoint": [
{
"name": "1",
"params": [
{
"libIndex": "1",
"distance1": 2000,
"distance2": 400
}
]
},
{
"name": "2",
"params": [
{
"libIndex": "1",
"distance1": 18005,
"distance2": 400
}
]
},
{
"name": "10",
"params": [
{
"libIndex": "1",
"distance1": 18002,
"distance2": 0
}
]
},
{
"name": "11",
"params": [
{
"libIndex": "1",
"distance1": 15546,
"distance2": 0
},
{
"libIndex": "23",
"distance1": 500,
"distance2": 1500
},
{
"libIndex": "24",
"distance1": 500,
"distance2": 1500
}
]
}
]
},
{
"itemCode": "20400",
"teachPoint": [
{
"name": "3",
"params": [
{
"libIndex": "45",
"distance1": 600,
"distance2": 1000
}
]
}
]
},
{
"itemCode": "20700",
"teachPoint": [
{
"name": "1",
"params": [
{
"libIndex": "",
"distance1": 2000,
"distance2": 2000
}
]
},
{
"name": "2",
"params": [
{
"libIndex": "",
"distance1": 2000,
"distance2": 2000
}
]
}
]
}
]
}

50
entry/src/main/cpp/sdk/assistdrive/data/destLib.json Normal file
View File

@ -0,0 +1,50 @@
{
"type": "FeatureCollection",
"name": "2",
"crs": {
"type": "name",
"properties": {
"name": "urn:ogc:def:crs:OGC:1.3:CRS84"
}
},
"features": [
{
"type": "Feature",
"properties": {
"id": 6,
"name": "停车库位6",
"type": 1,
"describe": "停车库位6"
},
"geometry": {
"type": "MultiPolygon",
"coordinates": [
[
[
[
-52.87,
3.109
],
[
-57.281,
-0.124
],
[
-58.704,
1.762
],
[
-54.3,
4.986
],
[
-52.87,
3.109
]
]
]
]
}
}
]
}

216
entry/src/main/cpp/sdk/assistdrive/data/naviPath.json Normal file
View File

@ -0,0 +1,216 @@
{
"type": "FeatureCollection",
"name": "naviPath",
"crs": {
"type": "name",
"properties": {
"name": "urn:ogc:def:crs:OGC:1.3:CRS84"
}
},
"features": [
{
"type": "Feature",
"properties": {
"id": 1,
"name": "倒库演示",
"type": 1,
"describe": "倒库演示"
},
"geometry": {
"type": "MultiLineString",
"coordinates": [
[
[
-19.795226214395715,
6.600886245100837
],
[
5.341078932663112,
9.797209774512604
],
[
15.407760917957223,
11.00451675980673
],
[
26.51672231501605,
12.272623377453787
],
[
39.788413491486637,
13.905527789218493
]
]
]
}
},
{
"type": "Feature",
"properties": {
"id": 2,
"name": "导航到洗车点",
"type": 2,
"describe": "导航到洗车点"
},
"geometry": {
"type": "MultiLineString",
"coordinates": [
[
[
-1.166855954699315,
0.945972004169775
],
[
-2.353999575511834,
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],
[
-0.60275224835574,
12.867924962117007
],
[
3.20284290488731,
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],
[
6.739015392414039,
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],
[
11.352878542806055,
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],
[
16.758170773739774,
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],
[
22.163463004673481,
10.880932802459132
],
[
28.907449105885135,
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],
[
32.95720854993364,
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],
[
36.316572413084003,
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],
[
37.67210519996928,
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],
[
37.394263075949283,
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],
[
35.440948749505949,
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],
[
28.638026440168815,
26.67583658007857
],
[
26.954134779441802,
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],
[
25.337598785143868,
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],
[
26.145866782292856,
59.747468796757097
],
[
28.114,
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],
[
29.783072769463203,
80.358302724055733
]
]
]
}
},
{
"type": "Feature",
"properties": {
"id": 3,
"name": "公司巡游",
"type": 2,
"describe": "公司巡游"
},
"geometry": {
"type": "MultiLineString",
"coordinates": [
[
[
-1.166855954699315,
0.945972004169775
],
[
-1.941446118633742,
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],
[
-2.615002782924549,
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],
[
-5.747041271876792,
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],
[
-11.438595085134098,
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],
[
-13.728687743722837,
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],
[
-17.137413714395755,
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],
[
-27.490722537925166,
4.029930362747869
],
[
-42.951200479101644,
2.535996539218456
],
[
-75.29660489086632,
-0.573470372546254
],
[
-106.113332832042772,
-2.727514490193284
],
[
-139.362046067336934,
-5.159499784310952
],
[
-187.167928420278002,
-8.668507137252178
],
[
-241.505428420278008,
-15.617036549016859
]
]
]
}
}
]
}

45
entry/src/main/cpp/sdk/assistdrive/field/FieldModelAbstractClass.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelAbstractClass.cpp
View File

@ -1,17 +1,17 @@
#include "FieldModelAbstractClass.h"
#include "ItemModelAbstractClass.h"
#include "AutomaticServiceDataManager.h"
#include "GraphicTools.h"
void FieldModelAbstractClass::initModelPoint()
void ItemModelAbstractClass::initModelPoint()
{
auto fieldModelList = AutomaticServiceDataManager::GetInstance()->fieldModelList();
for (size_t i = 0; i < fieldModelList.model.size(); i++)
auto itemModelList = AutomaticServiceDataManager::GetInstance()->itemModelList();
for (size_t i = 0; i < itemModelList.model.size(); i++)
{
if (fieldModelList.model[i].ModelName == modelName_)
if (itemModelList.model[i].ModelName == itemName_)
{
auto basePoint = AutomaticServiceDataManager::GetInstance()->basePoint();
auto originPointList = fieldModelList.model[i].Points;
auto originPointList = itemModelList.model[i].Points;
pointList_.clear();
leftPointList_.clear();
rightPointList_.clear();
@ -41,14 +41,14 @@ void FieldModelAbstractClass::initModelPoint()
}
}
void FieldModelAbstractClass::initTeachPoint()
void ItemModelAbstractClass::initTeachPoint()
{
// 初始化教学点信息
std::unordered_map<int, int> indexMap; // teach point index, index in teachPointList_
auto teachPointInfoList = AutomaticServiceDataManager::GetInstance()->teachPointInfo();
for (size_t i = 0; i < teachPointInfoList.item.size(); i++)
{
if (teachPointInfoList.item[i].item_code == modelName_)
if (teachPointInfoList.item[i].item_code == itemName_)
{
for (size_t j = 0; j < teachPointInfoList.item[i].teach_point.size(); j++)
{
@ -65,7 +65,7 @@ void FieldModelAbstractClass::initTeachPoint()
auto teachPointParamList = AutomaticServiceDataManager::GetInstance()->teachPointParam();
for (size_t i = 0; i < teachPointParamList.item.size(); i++)
{
if (teachPointParamList.item[i].itemCode == modelName_)
if (teachPointParamList.item[i].itemCode == itemName_)
{
for (size_t j = 0; j < teachPointParamList.item[i].teachPoint.size(); j++)
{
@ -83,7 +83,7 @@ void FieldModelAbstractClass::initTeachPoint()
initTeachPointLines();
}
bool FieldModelAbstractClass::isModelInMapArea(AutoRect mapArea)
bool ItemModelAbstractClass::isModelInMapArea(AutoRect mapArea)
{
// 遍历所有点，只要有点在就绘制
for (size_t i = 0; i < pointList_.size(); i++)
@ -97,7 +97,7 @@ bool FieldModelAbstractClass::isModelInMapArea(AutoRect mapArea)
return false;
}
ItemStatus FieldModelAbstractClass::updateItemStatus(double x, double y)
ItemStatus ItemModelAbstractClass::updateItemStatus(double x, double y)
{
switch (status_)
{
@ -141,7 +141,7 @@ ItemStatus FieldModelAbstractClass::updateItemStatus(double x, double y)
return status_;
}
int FieldModelAbstractClass::calculateTeachPoint(double x, double y)
int ItemModelAbstractClass::calculateTeachPoint(double x, double y)
{
for (size_t i = 0; i < teachPointList_.size(); i++)
{
@ -165,19 +165,14 @@ int FieldModelAbstractClass::calculateTeachPoint(double x, double y)
return -1;
}
std::string FieldModelAbstractClass::getModelName()
std::string ItemModelAbstractClass::getItemName()
{
return modelName_;
return itemName_;
}
std::vector<AutoPoint> &FieldModelAbstractClass::getModelPointList()
{
return pointList_;
}
void FieldModelAbstractClass::transferPoint2ImagePixel(const std::vector<AutoPoint> &inPointList,
const Pointi &padding, double unit,
std::vector<Pointi> &outPointList)
void ItemModelAbstractClass::transferPoint2ImagePixel(const std::vector<AutoPoint> &inPointList,
const Pointi &padding, double unit,
std::vector<Pointi> &outPointList)
{
for (size_t i = 0; i < inPointList.size(); i++)
{
@ -186,7 +181,7 @@ void FieldModelAbstractClass::transferPoint2ImagePixel(const std::vector<AutoPoi
}
}
void FieldModelAbstractClass::transferPoint2ImagePixel(
void ItemModelAbstractClass::transferPoint2ImagePixel(
const std::vector<std::vector<double>> &inPointList, const Pointi &padding, double unit,
std::vector<Pointi> &outPointList)
{
@ -197,8 +192,8 @@ void FieldModelAbstractClass::transferPoint2ImagePixel(
}
}
Pointi FieldModelAbstractClass::transferPoint2ImagePixel(const AutoPoint &inPoint,
const Pointi &padding, double unit)
Pointi ItemModelAbstractClass::transferPoint2ImagePixel(const AutoPoint &inPoint,
const Pointi &padding, double unit)
{
Pointi outPoint(inPoint.x * unit + padding.x, inPoint.y * unit + padding.x);
return outPoint;

22
entry/src/main/cpp/sdk/assistdrive/field/FieldModelAbstractClass.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelAbstractClass.h
View File

@ -1,13 +1,13 @@
/**
* FieldModelAbstractClass.h
* ItemModelAbstractClass.h
*
* @brief: 场地模型抽象类
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELABSTRACTCLASS_H
#define FIELDMODELABSTRACTCLASS_H
#ifndef ITEMMODELABSTRACTCLASS_H
#define ITEMMODELABSTRACTCLASS_H
#include "AutomaticServiceDefines.h"
#include "GraphicDefines.h"
@ -20,7 +20,8 @@ using graphic::AutoLine;
using graphic::AutoPoint;
using graphic::AutoRect;
enum ItemStatus {
enum ItemStatus
{
NotEnter = 0, // 未进入项目
Enter, // 在项目中
Leave // 出项目
@ -28,18 +29,18 @@ enum ItemStatus {
struct TeachPoint
{
bool isPass = false; // 是否触发教学点标志
bool isPass = false; // 教学点已触发
AutoLine line; // 教学点标志线
TeachPointInfo info; // 教学点信息（外部json文件输入）
std::vector<TeachPointParam> params; // 教学点参数（外部json文件输入）
};
class FieldModelAbstractClass
class ItemModelAbstractClass
{
public:
void initModelPoint(); // 初始化模型点，将经纬度转为相对基准点坐标
virtual void initTeachPoint(); // 初始化教学点
virtual void initTeachPointLines() = 0;
virtual void initTeachPointLines() = 0; // 初始化教学点依赖的模型线
virtual bool isModelInMapArea(AutoRect mapArea); // 判断项目是否在绘图范围内
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding, double unit) = 0;
@ -47,8 +48,7 @@ public:
virtual ItemStatus updateItemStatus(double x, double y);
virtual int calculateTeachPoint(double x, double y);
std::string getModelName();
std::vector<AutoPoint>& getModelPointList();
std::string getItemName();
// 相对坐标点转绘图像素点
static void transferPoint2ImagePixel(const std::vector<AutoPoint>& inPointList,
@ -62,7 +62,7 @@ public:
protected:
ItemStatus status_ = NotEnter;
std::string modelName_; // 模型名称
std::string itemName_; // 名称
std::vector<TeachPoint> teachPointList_; // 教学点列表（本质是两点连线和到线的距离）
std::vector<AutoPoint> pointList_; // 普通点
@ -73,4 +73,4 @@ protected:
AutoLine outLine_; // 出项目判断线
};
#endif // FIELDMODELABSTRACTCLASS_H
#endif // ITEMMODELABSTRACTCLASS_H

10
entry/src/main/cpp/sdk/assistdrive/field/FieldModelCftc.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelCftc.cpp
View File

@ -1,13 +1,13 @@
#include "FieldModelCftc.h"
#include "ItemModelCftc.h"
#include "GraphicTools.h"
FieldModelCftc::FieldModelCftc()
ItemModelCftc::ItemModelCftc()
{
modelName_ = automatic_service::CFTC;
itemName_ = automatic_service::CFTC;
}
void FieldModelCftc::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
void ItemModelCftc::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
{
std::vector<Pointi> pixelList;
transferPoint2ImagePixel(pointList_, padding, unit, pixelList);
@ -20,7 +20,7 @@ void FieldModelCftc::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &pad
pGraphicTool->drawLine(pixelList[5], pixelList[6]);
}
void FieldModelCftc::initTeachPointLines()
void ItemModelCftc::initTeachPointLines()
{
// FIXME: 判断规则后续修改
// 车辆当前位置距离模型线3米，判断进入项目

14
entry/src/main/cpp/sdk/assistdrive/field/FieldModelCftc.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelCftc.h
View File

@ -1,24 +1,24 @@
/**
* FieldModelCftc.h
* ItemModelCftc.h
*
* @brief: 侧方停车场地模型
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELCFTC_H
#define FIELDMODELCFTC_H
#ifndef ITEMMODELCFTC_H
#define ITEMMODELCFTC_H
#include "FieldModelAbstractClass.h"
#include "ItemModelAbstractClass.h"
class FieldModelCftc : public FieldModelAbstractClass
class ItemModelCftc : public ItemModelAbstractClass
{
public:
explicit FieldModelCftc();
explicit ItemModelCftc();
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding,
double unit) override;
virtual void initTeachPointLines() override;
};
#endif // FIELDMODELCFTC_H
#endif // ITEMMODELCFTC_H

10
entry/src/main/cpp/sdk/assistdrive/field/FieldModelDcrk.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelDcrk.cpp
View File

@ -1,4 +1,4 @@
#include "FieldModelDcrk.h"
#include "ItemModelDcrk.h"
#include "AutomaticServiceDataManager.h"
#include "GpsMath.h"
@ -6,12 +6,12 @@
using namespace graphic;
FieldModelDcrk::FieldModelDcrk()
ItemModelDcrk::ItemModelDcrk()
{
modelName_ = automatic_service::DCRK;
itemName_ = automatic_service::DCRK;
}
void FieldModelDcrk::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding, double unit)
void ItemModelDcrk::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding, double unit)
{
std::vector<Pointi> pixelList;
transferPoint2ImagePixel(pointList_, padding, unit, pixelList);
@ -25,7 +25,7 @@ void FieldModelDcrk::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& pad
pGraphicTool->drawDashedLine(pixelList[0], pixelList[1]);
}
void FieldModelDcrk::initTeachPointLines()
void ItemModelDcrk::initTeachPointLines()
{
/**
* 倒车入库一共16个教学点

14
entry/src/main/cpp/sdk/assistdrive/field/FieldModelDcrk.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelDcrk.h
View File

@ -1,27 +1,27 @@
/**
* FieldModelDcrk.h
* ItemModelDcrk.h
*
* @brief: 倒车入库场地模型
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELDCRK_H
#define FIELDMODELDCRK_H
#ifndef ITEMMODELDCRK_H
#define ITEMMODELDCRK_H
#include "FieldModelAbstractClass.h"
#include "GraphicDefines.h"
#include "ItemModelAbstractClass.h"
using graphic::AutoPoint;
class FieldModelDcrk : public FieldModelAbstractClass
class ItemModelDcrk : public ItemModelAbstractClass
{
public:
explicit FieldModelDcrk();
explicit ItemModelDcrk();
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding,
double unit) override;
virtual void initTeachPointLines() override;
};
#endif // FIELDMODELDCRK_H
#endif // ITEMMODELDCRK_H

8
entry/src/main/cpp/sdk/assistdrive/field/FieldModelPdqb.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelPdqb.cpp
View File

@ -1,11 +1,11 @@
#include "FieldModelPdqb.h"
#include "ItemModelPdqb.h"
FieldModelPdqb::FieldModelPdqb()
ItemModelPdqb::ItemModelPdqb()
{
modelName_ = automatic_service::PDQB;
itemName_ = automatic_service::PDQB;
}
void FieldModelPdqb::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
void ItemModelPdqb::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
{
std::vector<Pointi> pixelList;
transferPoint2ImagePixel(pointList_, padding, unit, pixelList);

14
entry/src/main/cpp/sdk/assistdrive/field/FieldModelPdqb.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelPdqb.h
View File

@ -1,20 +1,20 @@
/**
* FieldModelPdqb.h
* ItemModelPdqb.h
*
* @brief: 坡道起步场地模型
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELPDQB_H
#define FIELDMODELPDQB_H
#ifndef ITEMMODELPDQB_H
#define ITEMMODELPDQB_H
#include "FieldModelAbstractClass.h"
#include "ItemModelAbstractClass.h"
class FieldModelPdqb : public FieldModelAbstractClass
class ItemModelPdqb : public ItemModelAbstractClass
{
public:
explicit FieldModelPdqb();
explicit ItemModelPdqb();
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding,
double unit) override;
@ -22,4 +22,4 @@ public:
virtual void initTeachPointLines() override {}
};
#endif // FIELDMODELPDQB_H
#endif // ITEMMODELPDQB_H

12
entry/src/main/cpp/sdk/assistdrive/field/FieldModelQxxs.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelQxxs.cpp
View File

@ -1,14 +1,14 @@
#include "FieldModelQxxs.h"
#include "ItemModelQxxs.h"
#include "GraphicTools.h"
#include "AutomaticServiceDataManager.h"
#include "GraphicTools.h"
FieldModelQxxs::FieldModelQxxs()
ItemModelQxxs::ItemModelQxxs()
{
modelName_ = automatic_service::QXXS;
itemName_ = automatic_service::QXXS;
}
void FieldModelQxxs::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
void ItemModelQxxs::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &padding, double unit)
{
std::vector<Pointi> leftPixelList;
std::vector<Pointi> rightPixelList;
@ -25,7 +25,7 @@ void FieldModelQxxs::drawModel(IGraphicAbstract *pGraphicTool, const Pointi &pad
}
}
bool FieldModelQxxs::isModelInMapArea(AutoRect mapArea)
bool ItemModelQxxs::isModelInMapArea(AutoRect mapArea)
{
for (size_t i = 0; i < leftPointList_.size(); i++)
{

14
entry/src/main/cpp/sdk/assistdrive/field/FieldModelQxxs.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelQxxs.h
View File

@ -1,20 +1,20 @@
/**
* FieldModelQxxs.h
* ItemModelQxxs.h
*
* @brief: 曲线行驶场地模型
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELQXXS_H
#define FIELDMODELQXXS_H
#ifndef ITEMMODELQXXS_H
#define ITEMMODELQXXS_H
#include "FieldModelAbstractClass.h"
#include "ItemModelAbstractClass.h"
class FieldModelQxxs : public FieldModelAbstractClass
class ItemModelQxxs : public ItemModelAbstractClass
{
public:
explicit FieldModelQxxs();
explicit ItemModelQxxs();
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding,
double unit) override;
@ -22,4 +22,4 @@ public:
virtual bool isModelInMapArea(AutoRect mapArea) override;
};
#endif // FIELDMODELQXXS_H
#endif // ITEMMODELQXXS_H

10
entry/src/main/cpp/sdk/assistdrive/field/FieldModelZjzw.cpp → entry/src/main/cpp/sdk/assistdrive/item/ItemModelZjzw.cpp
View File

@ -1,13 +1,13 @@
#include "FieldModelZjzw.h"
#include "ItemModelZjzw.h"
#include "GraphicTools.h"
FieldModelZjzw::FieldModelZjzw()
ItemModelZjzw::ItemModelZjzw()
{
modelName_ = automatic_service::ZJZW;
itemName_ = automatic_service::ZJZW;
}
void FieldModelZjzw::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding, double unit)
void ItemModelZjzw::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding, double unit)
{
std::vector<Pointi> pixelList;
transferPoint2ImagePixel(pointList_, padding, unit, pixelList);
@ -18,7 +18,7 @@ void FieldModelZjzw::drawModel(IGraphicAbstract* pGraphicTool, const Pointi& pad
pGraphicTool->drawLine(pixelList[4], pixelList[5]);
}
void FieldModelZjzw::initTeachPointLines()
void ItemModelZjzw::initTeachPointLines()
{
// 初始化进项目和出项目标志线
inLine_ = AutoLine(pointList_[0], pointList_[1]);

14
entry/src/main/cpp/sdk/assistdrive/field/FieldModelZjzw.h → entry/src/main/cpp/sdk/assistdrive/item/ItemModelZjzw.h
View File

@ -1,24 +1,24 @@
/**
* FieldModelZjzw.h
* ItemModelZjzw.h
*
* @brief: 直角转弯场地模型
* @author: zhanke
* @history: 2024-08-01, create file
*/
#ifndef FIELDMODELZJZW_H
#define FIELDMODELZJZW_H
#ifndef ITEMMODELZJZW_H
#define ITEMMODELZJZW_H
#include "FieldModelAbstractClass.h"
#include "ItemModelAbstractClass.h"
class FieldModelZjzw : public FieldModelAbstractClass
class ItemModelZjzw : public ItemModelAbstractClass
{
public:
explicit FieldModelZjzw();
explicit ItemModelZjzw();
virtual void drawModel(IGraphicAbstract* pGraphicTool, const Pointi& padding,
double unit) override;
virtual void initTeachPointLines() override;
};
#endif // FIELDMODELZJZW_H
#endif // ITEMMODELZJZW_H

24
entry/src/main/cpp/sdk/assistdrive/track/TrackModeDefines.h
View File

@ -11,6 +11,8 @@
#include <vector>
#include "json.hpp"
namespace track_mode
{
static constexpr auto MODE_TEACH = "teach";
@ -30,4 +32,26 @@ static constexpr auto LATERAL_LIB = 4; // 侧方入库
} // namespace track_mode
// 车辆控制参数
struct ControlParam
{
ControlParam() = default;
ControlParam(double fxp)
{
this->fxp = fxp;
this->move = -1000;
}
ControlParam(double fxp, int move)
{
this->fxp = fxp;
this->move = move;
}
double fxp = 0.0; // 方向盘
int move = -1000; // 行进模式代码
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ControlParam, fxp, move)
#endif // TRACKMODEDEFINES_H

5
entry/src/main/cpp/sdk/assistdrive/track/TrackModeManager.cpp
View File

@ -21,9 +21,10 @@ void TrackModeManager::init(TrackInfo &trackInfo)
}
}
std::string TrackModeManager::run(TrackInfo &trackInfo)
ControlParam TrackModeManager::run(TrackInfo &trackInfo)
{
std::string trackOrder;
ControlParam trackOrder;
// 计算车辆当前位置
calculateCarLocate(trackInfo);
// 判断当前触发模式

3
entry/src/main/cpp/sdk/assistdrive/track/TrackModeManager.h
View File

@ -11,6 +11,7 @@
#include "TrackInfo.h"
#include "TrackModeAbstractClass.h"
#include "TrackModeDefines.h"
class TrackModeManager
{
@ -21,7 +22,7 @@ public:
void init(TrackInfo &trackInfo);
// 运行
std::string run(TrackInfo &trackInfo);
ControlParam run(TrackInfo &trackInfo);
// 结束
void end() {}

4
entry/src/main/cpp/sdk/assistdrive/track/libTrack/LibModeAbstractClass.h
View File

@ -21,7 +21,7 @@ public:
virtual bool isTrigger(double x, double y, double yaw) = 0;
virtual void doCalculate(double x, double y, double yaw) = 0;
virtual void out() = 0;
virtual std::string doRun(double x, double y, double yaw) = 0;
virtual ControlParam doRun(double x, double y, double yaw) = 0;
bool getIsModeTrigger() { return isModeTrigger_; }
void setModeTrigger(bool modeTrigger) { this->isModeTrigger_ = modeTrigger; }
@ -51,7 +51,7 @@ protected:
* 自动驾驶输出内容(格式: "方向盘;车辆状态")
* 方向盘（-540 ~ +540）、扭矩（前进1、停车0、后退-1）、EHB液压（刹车10）
*/
std::string order_ = "";
ControlParam order_;
AutoPointList pointList_; // 原始点
std::vector<double> sensors_ = std::vector<double>(10); // 计算结果的传感值

2
entry/src/main/cpp/sdk/assistdrive/track/libTrack/LibModeLateral.h
View File

@ -20,7 +20,7 @@ public:
virtual void out() override {}
virtual std::string doRun(double x, double y, double yaw) override { return ""; }
virtual ControlParam doRun(double x, double y, double yaw) override { return ControlParam(); }
};
#endif // LIBMODELATERAL_H

5
entry/src/main/cpp/sdk/assistdrive/track/libTrack/LibModeReverse.cpp
View File

@ -56,7 +56,7 @@ void LibModeReverse::out()
state_ = 1;
}
std::string LibModeReverse::doRun(double x, double y, double yaw)
ControlParam LibModeReverse::doRun(double x, double y, double yaw)
{
if (1 == state_)
{ // 开始后倒右打满方向盘
@ -94,7 +94,8 @@ std::string LibModeReverse::doRun(double x, double y, double yaw)
}
}
order_ = std::to_string(fxpOrder_) + ";" + std::to_string(moveOrder_);
order_.fxp = fxpOrder_;
order_.move = moveOrder_;
return order_;
}

2
entry/src/main/cpp/sdk/assistdrive/track/libTrack/LibModeReverse.h
View File

@ -29,7 +29,7 @@ public:
virtual void out() override;
virtual std::string doRun(double x, double y, double yaw) override;
virtual ControlParam doRun(double x, double y, double yaw) override;
private:
/**

27
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/PathTrackAbstractClass.h Normal file
View File

@ -0,0 +1,27 @@
/**
* PathTrackAbstractClass.h
*
* @brief: 轨迹跟踪抽象类
* @author: zhanke
* @history: 2024-08-01, move from java project
* 2024-09-04, change name from PathMethod to PathTrackAbstractClass
*/
#ifndef PATHTRACKABSTRACTCLASS_H
#define PATHTRACKABSTRACTCLASS_H
#include "GraphicDefines.h"
#include "State.h"
#include "TrackModeDefines.h"
using graphic::AutoPoint;
class PathTrackAbstractClass
{
public:
virtual void init(State initState, std::vector<AutoPoint> pointList) = 0;
virtual ControlParam step(State currState) = 0;
virtual std::string getMethodName() = 0;
};
#endif // PATHTRACKABSTRACTCLASS_H

31
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/PathTrackDefines.h Normal file
View File

@ -0,0 +1,31 @@
/**
* PathTrackDefines.h
*
* @brief: 轨迹跟踪相关定义
* @author: zhanke
* @history: 2024-09-04, create file
*/
#ifndef PATHTRACKDEFINES_H
#define PATHTRACKDEFINES_H
namespace path_track
{
constexpr auto kMethodPursuit = "PURSUIT";
constexpr auto kMethodLQR = "LQR";
namespace pursuit_method
{
// NOTE_zhanke: 不清楚以下参数的具体作用
constexpr auto k = 0.1; // look forward gain
constexpr auto Lfc = 6.5; // [m] look-ahead distance
constexpr auto Kp = 1.0; // speed proportional gain
constexpr auto dt = 0.1; // [s] time tick
constexpr auto WB = 2.42; // [m] wheel base of vehicle
// 哪吒V型车转向比（哪吒底盘人员提供，与速度关系不大，与方向盘关系大，一般为抛物线关系，已获取到文档）
constexpr auto STEERING_RATIO = 16;
}; // namespace pursuit_method
}; // namespace path_track
#endif // PATHTRACKDEFINES_H

26
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/PathTrackMethodLQR.h Normal file
View File

@ -0,0 +1,26 @@
/**
* PathTrackMethodLQR.h
*
* @brief: LQR轨迹跟踪算法（暂未实现）
* @author: zhanke
* @history: 2024-08-01, move from java project
* 2024-09-04, change name from PathMethodLqr to PathTrackMethodLQR
*/
#ifndef PATHTRACKMETHODLQR_H
#define PATHTRACKMETHODLQR_H
#include "PathTrackAbstractClass.h"
#include "PathTrackDefines.h"
using graphic::AutoPoint;
class PathTrackMethodLQR : public PathTrackAbstractClass
{
public:
virtual void init(State initState, std::vector<AutoPoint> pointList) override {}
virtual ControlParam step(State currState) override { return ControlParam(); }
virtual std::string getMethodName() override { return path_track::kMethodLQR; }
};
#endif // PATHTRACKMETHODLQR_H

18
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/PathTrackMethodPursuit.cpp Normal file
View File

@ -0,0 +1,18 @@
#include "PathTrackMethodPursuit.h"
void PathTrackMethodPursuit::init(State initState, std::vector<AutoPoint> pointList)
{
pathTracking_.init(initState.x, initState.y, initState.yaw, initState.v, pointList);
}
ControlParam PathTrackMethodPursuit::step(State currState)
{
std::vector<AutoPoint> temp;
pathTracking_.initPt();
return pathTracking_.step(temp, currState);
}
std::string PathTrackMethodPursuit::getMethodName()
{
return path_track::kMethodPursuit;
}

30
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/PathTrackMethodPursuit.h Normal file
View File

@ -0,0 +1,30 @@
/**
* PathTrackMethodPursuit.h
*
* @brief: 简单追踪方法
* @author: zhanke
* @history: 2024-08-01, move from java project
* 2024-09-04, change name from PathMethodPurp to PathTrackMethodPursuit
*/
#ifndef PATHTRACKMETHODPURSUIT_H
#define PATHTRACKMETHODPURSUIT_H
#include "PathTrackAbstractClass.h"
#include "PathTrackDefines.h"
#include "PathTracking.h"
using graphic::AutoPoint;
class PathTrackMethodPursuit : public PathTrackAbstractClass
{
public:
virtual void init(State initState, std::vector<AutoPoint> pointList) override;
virtual ControlParam step(State currState) override;
virtual std::string getMethodName() override;
private:
PathTracking pathTracking_;
};
#endif // PATHTRACKMETHODPURSUIT_H

17
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/CtrlParam.h
View File

@ -1,17 +0,0 @@
#ifndef CTRLPARAM_H
#define CTRLPARAM_H
class CtrlParam
{
public:
static constexpr auto k = 0.1; // look forward gain
static constexpr auto Lfc = 6.5; // [m] look-ahead distance
static constexpr auto Kp = 1.0; // speed proportional gain
static constexpr auto dt = 0.1; // [s] time tick
static constexpr auto WB = 2.42; // [m] wheel base of vehicle
// 哪吒V型车转向比（哪吒底盘人员提供，与速度关系不大，与方向盘关系大，一般为抛物线关系，已获取到文档）
static const int STEERING_RATIO = 16;
};
#endif // CTRLPARAM_H

34
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/PathTracking.cpp → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/PathTracking.cpp
View File

@ -23,35 +23,38 @@ void PathTracking::initPt()
}
}
double PathTracking::step(std::vector<AutoPoint> points, State current_state)
ControlParam PathTracking::step(std::vector<AutoPoint> points, State current_state)
{
if (lastIndex_ >= target_ind_)
{
double di = pure_pursuit_steer_control(current_state, target_course_, target_ind_);
ControlParam di = pure_pursuit_steer_control(current_state, target_course_, target_ind_);
points.emplace_back(AutoPoint(current_state.x, current_state.y, current_state.yaw));
return di;
}
return 360;
return ControlParam(360);
}
double PathTracking::proportional_control(double target, double current)
{
double a = CtrlParam::Kp * (target - current);
double a = path_track::pursuit_method::Kp * (target - current);
return a;
}
double PathTracking::pure_pursuit_steer_control(State state, TargetCourse trajectory, int pind)
ControlParam PathTracking::pure_pursuit_steer_control(State state, TargetCourse trajectory,
int pind)
{
std::string logText = "[PathTracking] carCurState_ = (" + std::to_string(state.x) + ", "
+ std::to_string(state.y) + ", " + std::to_string(state.yaw) + ", "
+ std::to_string(state.v) + ")";
std::string logText = "[PathTracking] carCurState_ = (" + std::to_string(state.x) + ", " +
std::to_string(state.y) + ", " + std::to_string(state.yaw) + ", " +
std::to_string(state.v) + ")";
AutomaticServiceLogManager::GetInstance()->log(logText);
Target target = trajectory.search_target_index(state);
int ind = target.ind;
double Lf = target.Lf;
ind = std::max(pind, ind);
logText = "[PathTracking] ind = " + std::to_string(ind);
AutomaticServiceLogManager::GetInstance()->log(logText);
double tx, ty;
if (ind < (int)trajectory.cx().size())
@ -66,18 +69,27 @@ double PathTracking::pure_pursuit_steer_control(State state, TargetCourse trajec
ind = trajectory.cx().size() - 1;
}
double dx = tx - state.rear_x;
double dy = ty - state.rear_y;
if (ind == (int)trajectory.cx().size() - 1 && dx * dx + dy * dy <= 4)
{
// 到达最后一个导航点，停车
return ControlParam(0.0, 0);
}
target_ind_ = ind;
target_l_ = Lf;
// 车辆偏转角度 = 目标方向角度 - 当前航向角
double alpha = atan2(ty - state.rear_y, tx - state.rear_x) - state.yaw;
// 通过车辆偏转角度计算轮胎偏转角度
double delta = atan2(2.0 * CtrlParam::WB * sin(alpha) / Lf, 1.0);
double delta = atan2(2.0 * path_track::pursuit_method::WB * sin(alpha) / Lf, 1.0);
logText =
"[PathTracking] alpha = " + std::to_string(alpha) + ", delta = " + std::to_string(delta);
AutomaticServiceLogManager::GetInstance()->log(logText);
return alpha;
// return delta;
return ControlParam(delta);
// FIXME: [zhanke] 虚拟数据调试返回车辆偏转角度，实际返回方向盘转动角度
// return ControlParam(alpha);
}

4
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/PathTracking.h → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/PathTracking.h
View File

@ -15,7 +15,7 @@ public:
void initPt();
double step(std::vector<AutoPoint> points, State current_state);
ControlParam step(std::vector<AutoPoint> points, State current_state);
States getStates() { return states_; }
int getTarget_ind() { return target_ind_; }
@ -23,7 +23,7 @@ public:
private:
double proportional_control(double target, double current);
double pure_pursuit_steer_control(State state, TargetCourse trajectory, int pind);
ControlParam pure_pursuit_steer_control(State state, TargetCourse trajectory, int pind);
bool tag_ = false;
int lastIndex_;

0
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/State.h → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/State.h
View File

0
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/States.h → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/States.h
View File

4
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/TargetCourse.cpp → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/TargetCourse.cpp
View File

@ -1,5 +1,7 @@
#include "TargetCourse.h"
#include "PathTrackDefines.h"
Target::Target(int ind, double Lf)
{
this->ind = ind;
@ -61,7 +63,7 @@ Target TargetCourse::search_target_index(State state)
}
}
double Lf = CtrlParam::Lfc; // 左右控制，前后速度恒定不考虑
double Lf = path_track::pursuit_method::Lfc; // 左右控制，前后速度恒定不考虑
while (Lf > state.calc_distance(cx_[ind], cy_[ind]))
{
if (ind >= (int)cx_.size() - 1)

2
entry/src/main/cpp/sdk/assistdrive/track/pathTrack/purp/TargetCourse.h → entry/src/main/cpp/sdk/assistdrive/track/pathTrack/pursuitMethod/TargetCourse.h
View File

@ -5,7 +5,7 @@
#include <climits>
#include <vector>
#include "CtrlParam.h"
#include "PathTrackDefines.h"
#include "HFactory.h"
#include "State.h"

125
entry/src/main/cpp/sdk/assistdrive/track/teachTrack/CacuTeach.h
View File

@ -6,12 +6,13 @@
#include <string>
#include "AutomaticServiceLogManager.h"
#include "TrackModeDefines.h"
class CacuTeach
{
public:
/* 输入教学点，输出角度和前进状态 */
std::string getCarFxpAndStates(int teachPoint, std::string curItem, std::string lastItem)
ControlParam getCarFxpAndStates(int teachPoint, std::string curItem, std::string lastItem)
{
bool result = true;
@ -270,7 +271,9 @@ public:
// }
else if (teachPoint == 1)
{
fxp_ = 540;
// FIXME: 模拟场景中直接输出车辆偏转角度
// fxp_ = 540;
fxp_ = 90;
state_ = 10;
trigerPt_ = 2;
timeGap_ = FXP_WAIT_TIME;
@ -391,87 +394,87 @@ public:
{
switch (trigerPt_)
{
case 1:
case 7:
case 8:
case 9:
case 15:
case 16:
case 17:
state_ = 1;
result = true;
break;
case 2:
case 3:
case 4:
case 5:
case 6:
case 10:
case 11:
case 12:
case 13:
case 14:
state_ = -1;
result = true;
break;
case 1:
case 7:
case 8:
case 9:
case 15:
case 16:
case 17:
state_ = 1;
result = true;
break;
case 2:
case 3:
case 4:
case 5:
case 6:
case 10:
case 11:
case 12:
case 13:
case 14:
state_ = -1;
result = true;
break;
}
}
else if ("20400" == curItem)
{
switch (trigerPt_)
{
case 1:
case 6:
case 7:
case 8:
case 9:
state_ = 1;
result = true;
break;
case 2:
case 3:
case 4:
case 5:
state_ = -1;
result = true;
break;
case 1:
case 6:
case 7:
case 8:
case 9:
state_ = 1;
result = true;
break;
case 2:
case 3:
case 4:
case 5:
state_ = -1;
result = true;
break;
}
}
else if ("20700" == curItem)
{
switch (trigerPt_)
{
case 1:
case 2:
case 3:
state_ = 1;
result = true;
break;
case 1:
case 2:
case 3:
state_ = 1;
result = true;
break;
}
}
else if ("20300" == curItem)
{
switch (trigerPt_)
{
case 1:
case 2:
state_ = 1;
result = true;
break;
case 1:
case 2:
state_ = 1;
result = true;
break;
}
}
else if ("20600" == curItem)
{
switch (trigerPt_)
{
case 1:
case 2:
case 3:
case 4:
case 5:
state_ = 1;
result = true;
break;
case 1:
case 2:
case 3:
case 4:
case 5:
state_ = 1;
result = true;
break;
}
}
tag1_ = false;
@ -480,11 +483,11 @@ public:
if (result)
{
return std::to_string(fxp_) + ";" + std::to_string(state_);
return ControlParam(fxp_, state_);
}
else
{
return std::to_string(fxp_) + ";" + "-1000";
return ControlParam(fxp_);
}
}

3
entry/src/main/cpp/sdk/assistdrive/track/trackMode/TrackModeAbstractClass.h
View File

@ -11,12 +11,13 @@
#define TRACKMODEABSTRACTCLASS_H
#include "TrackInfo.h"
#include "TrackModeDefines.h"
class TrackModeAbstractClass
{
public:
virtual void doInit(TrackInfo trackInfo) = 0;
virtual std::string doRun(TrackInfo trackInfo) = 0;
virtual ControlParam doRun(TrackInfo trackInfo) = 0;
virtual void doEnd() = 0;
virtual bool isTrigger(TrackInfo trackInfo) = 0;

2
entry/src/main/cpp/sdk/assistdrive/track/trackMode/TrackModeLib.h
View File

@ -22,7 +22,7 @@ public:
}
}
virtual std::string doRun(TrackInfo trackInfo) override
virtual ControlParam doRun(TrackInfo trackInfo) override
{
return pCurrLibMode_->doRun(trackInfo.getCarCurState().x, trackInfo.getCarCurState().y,
trackInfo.getCarCurState().yaw);

42
entry/src/main/cpp/sdk/assistdrive/track/trackMode/TrackModePath.h
View File

@ -1,9 +1,16 @@
#ifndef TRACK_MODE_PATH_H_
#define TRACK_MODE_PATH_H_
/**
* TrackModePath.h
*
* @brief: 路径跟踪模式
* @author: zhanke
* @history: 2024-08-01, move from java project
*/
#include "PathMethod.h"
#include "PathMethodLqr.h"
#include "PathMethodPurp.h"
#ifndef TRACKMODEPATH_H
#define TRACKMODEPATH_H
#include "PathTrackMethodLQR.h"
#include "PathTrackMethodPursuit.h"
#include "TrackModeAbstractClass.h"
class TrackModePath : public TrackModeAbstractClass
@ -11,14 +18,14 @@ class TrackModePath : public TrackModeAbstractClass
public:
TrackModePath()
{
pathMethodPtrList_.emplace_back(new PathMethodPurp());
pathMethodPtrList_.emplace_back(new PathMethodLqr());
pathMethodPtrList_.emplace_back(new PathTrackMethodLQR());
pathMethodPtrList_.emplace_back(new PathTrackMethodPursuit());
for (PathMethod *pm : pathMethodPtrList_)
for (PathTrackAbstractClass *pMethod : pathMethodPtrList_)
{
if (CUR_PATH_CACULATE == pm->getName())
if (currMethod == pMethod->getMethodName())
{
pCurrPathMethod_ = pm;
pCurrPathMethod_ = pMethod;
}
}
}
@ -28,11 +35,11 @@ public:
pCurrPathMethod_->init(trackInfo.getCarInitState(), trackInfo.getSelectedPath());
}
virtual std::string doRun(TrackInfo trackInfo) override
virtual ControlParam doRun(TrackInfo trackInfo) override
{
double temp = pCurrPathMethod_->step(trackInfo.getCarCurState());
ControlParam temp = pCurrPathMethod_->step(trackInfo.getCarCurState());
return std::to_string(temp) + ";-1000";
return ControlParam(temp);
}
virtual void doEnd() override {}
@ -44,10 +51,9 @@ public:
virtual std::string getTrackModeName() override { return track_mode::MODE_PATH; }
private:
static constexpr auto CUR_PATH_CACULATE = PathMethod::PURE_PERSUIT; // <20><>ǰѡ<C7B0><D1A1>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD>㷨
PathMethod *pCurrPathMethod_;
std::vector<PathMethod *> pathMethodPtrList_;
std::string currMethod = path_track::kMethodPursuit; // 当前选用的循迹方法名称
PathTrackAbstractClass *pCurrPathMethod_ = nullptr;
std::vector<PathTrackAbstractClass *> pathMethodPtrList_;
};
#endif // !TRACK_MODE_PATH_H_
#endif // TRACKMODEPATH_H

2
entry/src/main/cpp/sdk/assistdrive/track/trackMode/TrackModeTeach.cpp
View File

@ -2,7 +2,7 @@
#include "TrackModeDefines.h"
std::string TrackModeTeach::doRun(TrackInfo trackInfo)
ControlParam TrackModeTeach::doRun(TrackInfo trackInfo)
{
return cacuTeach_.getCarFxpAndStates(trackInfo.getCurTeachPoint(), trackInfo.getCurItem(), "");
}

2
entry/src/main/cpp/sdk/assistdrive/track/trackMode/TrackModeTeach.h
View File

@ -8,7 +8,7 @@ class TrackModeTeach : public TrackModeAbstractClass
{
public:
virtual void doInit(TrackInfo trackInfo) override {}
virtual std::string doRun(TrackInfo trackInfo) override;
virtual ControlParam doRun(TrackInfo trackInfo) override;
virtual void doEnd() override {}
virtual bool isTrigger(TrackInfo trackInfo) override;

9
entry/src/main/cpp/sdk/exam/ExamService.h
View File

@ -8,8 +8,8 @@
#ifndef EXAMSERVICE_H
#define EXAMSERVICE_H
#include "IExamService.h"
#include "IExamCar.h"
#include "IExamService.h"
class JUDGE_API ExamService : public IExamService
{
@ -38,7 +38,7 @@ public:
virtual const char* examJudgeMapImage() override;
virtual int examJudgeMapImageSetCallback(examJudgeCallbackMapImage callback) override;
//暂时未导出给APP端使用
// 暂时未导出给APP端使用
virtual int examJudgeMapWidth() override;
virtual int examJudgeMapHeight() override;
virtual int examJudgeMapSize() override;
@ -51,15 +51,16 @@ public:
virtual IExamCar* getExamCar() const override;
virtual const std::string& getInitData() const override;
virtual const TInitInfo* getInitInfo() const override;
private:
std::string m_initData;
TInitInfo* m_initInfo = nullptr;
IExamCar* m_car = nullptr;
examJudgeCallbackLog m_cbLog = nullptr;
examJudgeCallbackRealExam m_cbRealExam = nullptr;
examJudgeCallbackPerform m_cbPerform = nullptr;
examJudgeCallbackPerform m_cbPerform = nullptr;
examJudgeCallbackMapImage m_cbMapImage = nullptr;
bool m_init = false; //for-surface-test
bool m_init = false; // for-surface-test
};
#endif // EXAMSERVICE_H

14
entry/src/main/ets/pages/Index.ets
View File

@ -91,21 +91,21 @@ struct Index {
})
await nativeSDKInit()
await nativeLogCallback((message: string, len: number) => {
LogHelper.I("NativeSDK", message)
LogHelper.I("NativeSDK Callback", message)
})
await setImageSize(500, 300)
await setConfigFile(this.basePoint, this.fieldModel, this.teachPoint, this.teachPointParams, this.carModel, this.line, this.lib)
this.outWireControl = new OutWireControl()
await this.outWireControl.init("192.168.7.181", 30021)
await this.initPlatformUDP()
await this.initAudioPlayer()
await this.initBackMachineUDP()
// await this.initPlatformUDP()
// await this.initAudioPlayer()
// await this.initBackMachineUDP()
} catch (err) {
promptAction.showToast({
message: JSON.stringify(err),
message: JSON.stringify(err?.message || err),
duration: 3000
})
LogHelper.E("View ", JSON.stringify(err))
LogHelper.E("View", JSON.stringify(err?.message || err))
}
}
@ -165,7 +165,7 @@ struct Index {
// 初始化后置机UDP
async initBackMachineUDP() {
this.backupUdpClient = new BackMachineUdpClient("", 0, "", 0)
this.backupUdpClient = new BackMachineUdpClient("0.0.0.0", 8991, "", 0)
try {
await this.backupUdpClient.bindUdp()
this.backupUdpClient.onMessage((arr) => {

32
entry/src/main/ets/utils/wireControl/WireControl.ets
View File

@ -145,7 +145,7 @@ export class WireControl {
this.apaPort = port;
this.socket = socket.constructUDPSocketInstance()
this.socket.setExtraOptions({ reuseAddress: true });
return this.socket.bind({ address: "192.168.7.170", port: 31021 }).then(() => {
return this.socket.bind({ address: "0.0.0.0", port: 31021 }).then(() => {
this.isInit = true;
})
}
@ -159,8 +159,36 @@ export class WireControl {
if (this.apaWorking) return;
this.apaWorking = true;
setInterval(() => {
if (this.apaWorking) {
this.sendAutomaticMsg()
}
}, 20)
sleep(3000).then(() => {
this.initStatus = 1;
this.APA_EPSAngleValueReq = 0;
this.APA_WorkSts_CH = 0x2;
return sleep(2000)
}).then(() => {
this.APA_WorkSts_CH = 0x3;
this.APA3_TorqReq = 1;
this.APA4_ApaBrkMod = 1;
this.APA4_ApaMod = 1;
this.APA4_APASwFd = 1;
return sleep(60)
}).then(() => {
this.APA_WorkSts_CH = 0x4;
this.APA4_ApaBrkMod = 2;
this.APA4_ApaStopReq = 1;
this.APA4_ApaEpbReq = 1;
this.APA4_ApaTarDecel = 0xc8;
return sleep(2000)
}).then(() => {
this.APA4_ApaMaxSpd = 0x80;
this.APA4_ApaTarDecel = 0;
this.initStatus = 3;
return sleep(2000)
});
this.mApaListener.onApaStart();
}
public apaStop() {