76 lines
2.9 KiB
C++
76 lines
2.9 KiB
C++
/**
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* AutomaticService.h
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*
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* @brief: 自动驾驶服务接口
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* @author: zhanke
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* @history: 2024-08-01, move from java project
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*/
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#ifndef AUTOMATIC_SERVICE_H_
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#define AUTOMATIC_SERVICE_H_
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#include "AutomaticServiceDefines.h"
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#include "FieldModelCftc.h"
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#include "FieldModelDcrk.h"
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#include "FieldModelPdqb.h"
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#include "FieldModelQxxs.h"
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#include "FieldModelZjzw.h"
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#include "IAutomaticService.h"
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#include "TrackInfo.h"
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#include "TrackModeManager.h"
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using graphic::AutoRect;
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class AutomaticService : public IAutomaticService
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{
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public:
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explicit AutomaticService();
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virtual ~AutomaticService() = default;
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virtual int autoServiceInit() override;
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virtual int autoServiceSetBasePoint(const char *data, int length) override;
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virtual int autoServiceSetFieldModel(const char *data, int length) override;
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virtual int autoServiceSetTeachPointInfo(const char *data, int length) override;
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virtual int autoServiceSetTeachPointParam(const char *data, int length) override;
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virtual int autoServiceSetCarModel(const char *data, int length) override;
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virtual int autoServiceSetLineInfo(const char *data, int length) override;
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virtual int autoServiceSetLibInfo(const char *data, int length) override;
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virtual int autoServiceSelectLineAndLib(int lineIndex, int libIndex) override;
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virtual int autoServiceTrack(double x, double y, double yaw, double v) override;
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virtual int autoServiceSetImageSize(int width, int height) override;
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virtual int registerMapImageCallback(examJudgeCallbackMapImage callback) override;
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virtual int registerAutoServiceControlCallback(autoServerControlCallback callback) override;
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virtual int registerAutoServiceSoundCallback(autoServerSoundCallback callback) override;
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virtual int registerAutoServiceLogCallback(autoServerLogCallback callback) override;
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TrackInfo getTrack();
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private:
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void drawFieldModel(int x, int y);
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void drawCarModel(double yaw);
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void drawSelectedLine(int x, int y);
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void drawSelectedLib(int x, int y);
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void drawCarHistoryPos(int x, int y);
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TrackInfo *pTrackInfo_ = nullptr; // 外部跟踪输入信息
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TrackModeManager *pTrackModeManager_ = nullptr; // 跟踪循迹模块
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IGraphicAbstract *pGraphicTool_ = nullptr; // 绘图工具
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AutoRect mapRect_; // 绘图范围（单位：米）
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double unit_ = 0.0; // 绘图单位长度（单位：像素/米）
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int imageWidth_ = 0; // 绘图宽度（单位：像素）
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int imageHeight_ = 0; // 绘图高度（单位：像素）
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int selectedLineIndex_ = 0;
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int selectedLibIndex_ = 0;
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examJudgeCallbackMapImage mapImageCallback_ = nullptr;
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autoServerControlCallback controlCallback_ = nullptr;
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autoServerSoundCallback soundCallback_ = nullptr;
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std::vector<FieldModelAbstractClass *> fieldModelPtrList_; // 场地模型指针列表
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std::vector<std::vector<double>> historyPosList_; // 车辆历史位置
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};
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#endif // !AUTOMATIC_SERVICE_H_
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