assistedDrive/entry/src/main/cpp/sdk/assistdrive/AutomaticServiceDefines.h

/**
 * AutomaticServiceDefines.h
 *
 * @brief: 自动驾驶服务相关定义
 * @author: zhanke
 * @history: 2024-08-01, create file
 */

#ifndef AUTOMATICSERVICEDEFINES_H
#define AUTOMATICSERVICEDEFINES_H

#include <string>
#include <unordered_map>
#include <vector>

#include "json.hpp"

// 定义常量 pi = 3.14...
#ifdef M_PI
#undef M_PI
#endif
#define M_PI double(3.14159265358979323846)

namespace automatic_service
{
static constexpr auto DCRK = "20100"; // 倒车入库
static constexpr auto PDQB = "20300"; // 坡道起步
static constexpr auto CFTC = "20400"; // 侧方停车
static constexpr auto QXXS = "20600"; // 曲线行驶
static constexpr auto ZJZW = "20700"; // 直角转弯

// 项目索引对应语音文件项目分类编号
static std::unordered_map<std::string, int> itemIndex2SoundMap = {
    {DCRK, 2}, {PDQB, 1}, {CFTC, 4}, {QXXS, 3}, {ZJZW, 0}};

}; // namespace automatic_service

namespace data
{
// 场地模型经纬度坐标基准点定义
struct BasePoint
{
    std::string basegpsn;
    std::string basegpse;
    std::string basegpsnO;
    std::string basegpseO;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(BasePoint, basegpsn, basegpse, basegpsnO, basegpseO)

// 场地模型经纬度坐标点定义
struct ModelPoint
{
    std::string Index;
    double GPSN;
    double GPSE;
    double High;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ModelPoint, Index, GPSN, GPSE, High)

// 场地模型定义
struct FieldModel
{
    std::string ModelName;
    std::string Index;
    std::vector<ModelPoint> Points;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(FieldModel, ModelName, Index, Points)

// 场地模型列表
struct FieldModelList
{
    std::vector<FieldModel> model;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(FieldModelList, model)

// 教学点信息定义
struct TeachPointInfo
{
    int point_index = 0;
    std::string teachName;
    double velocity_max = 0.0;
    double velocity_std = 0.0;
    double steering_std = 0.0;
    double lamp_std = 0.0;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachPointInfo, point_index, teachName, velocity_max,
                                   velocity_std, steering_std, lamp_std)

// 项目教学点定义
struct TeachItem
{
    std::string item_code;
    std::vector<TeachPointInfo> teach_point;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachItem, item_code, teach_point)

struct TeachItemList
{
    std::vector<TeachItem> item;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachItemList, item)

//  教学点参数定义
struct TeachPointParam
{
    std::string libIndex; // 库位编号（可能存在一个项目有多个可选库位的情况）
    double distance1;     // 辅助教学模式判断距离（单位：微米）
    double distance2;     // 语音教学模式判断距离（暂时用不到）
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachPointParam, libIndex, distance1, distance2)

struct TeachPointParamInfo
{
    std::string name; // 教学点编号
    std::vector<TeachPointParam> params;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachPointParamInfo, name, params)

struct TeachPoint
{
    std::string itemCode; // 项目代码
    std::vector<TeachPointParamInfo> teachPoint;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachPoint, itemCode, teachPoint)

struct TeachPointList
{
    std::vector<TeachPoint> item;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TeachPointList, item);

// 车模定义
struct CarModel
{
    double Angle;
    double BasePointHigh;
    double BasePointN;
    double BasePointE;
    std::vector<ModelPoint> Points;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(CarModel, Angle, BasePointHigh, BasePointN, BasePointE, Points)

struct CarModelList
{
    std::vector<CarModel> Model;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(CarModelList, Model)

struct CrsProperty
{
    std::string name;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(CrsProperty, name)

struct Crs
{
    std::string type;
    CrsProperty properties;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Crs, type, properties)

struct FeatureProperty
{
    int id;
    std::string name;
    int type;
    std::string describe;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(FeatureProperty, id, name, type, describe)

struct Geometry
{
    std::string type;
    std::vector<std::vector<double>> coordinates; // 坐标
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Geometry, type, coordinates)

struct Feature
{
    std::string type;
    FeatureProperty properties;
    Geometry geometry;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Feature, type, properties, geometry)

// 路径列表/库位列表定义
struct Track
{
    // 根据id获取类型
    int getTypeById(int id)
    {
        for (Feature ft : features)
        {
            if (id == ft.properties.id)
            {
                return ft.properties.type;
            }
        }
        return 1; // 默认1: 倒库模式
    }

    // 根据id获取Feature
    Feature getFeaturesById(int id)
    {
        Feature result;
        for (Feature ft : features)
        {
            if (id == ft.properties.id)
            {
                result = ft;
            }
        }
        return result;
    }

    std::string type;
    std::string name;
    Crs crs;
    std::vector<Feature> features;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Track, type, name, crs, features)
} // namespace data

#endif // AUTOMATICSERVICEDEFINES_H