change rustdecsiondemo, add gpsimu msg, not complete.

src/RUST/rustdecisiondemo/src/main.rs

@@ -2,6 +2,7 @@ mod modulecommrust;
 
 mod proto;
 use proto::mapdata::Tracemap;
+use proto::gpsimu::Gpsimu;
 use protobuf::Message;
 extern  crate protobuf;
 
@@ -9,16 +10,31 @@ use std::os::raw::{c_char, c_uint};
 use std::thread;  
 use std::time::Duration;  
 
+use std::sync::Mutex;  
 use lazy_static::lazy_static;  
 
   
-struct  adcdes{
-    xtr:Tracemap
+struct  Adcdes{
+    xtr:Tracemap,
+    bxtrupdate : bool,
+    xgpsimu: Gpsimu,
+    bgpsimuupdate: bool
+}
+
+impl Adcdes{
+    fn GetDecision(&mut self) -> f32{
+        println!("in decision xtr Size: {} update {}", self.xtr.point.len(),self.bxtrupdate);  
+        self.bgpsimuupdate = false;
+        
+        
+        1.0
+    }
 }
 
 lazy_static! {  
 
-    static ref DES:adcdes = adcdes{xtr:Tracemap::new()};
+    static ref DES:Mutex<Adcdes> = Mutex::new(Adcdes {xtr:Tracemap::new(),bxtrupdate : false,
+                xgpsimu:Gpsimu::new(),bgpsimuupdate:false});
 
 }  
 
@@ -47,13 +63,17 @@ extern "C" fn tracemap_callback(strdata: *const c_char, nsize: c_uint, index: c_
     println!("Callback received:  (size: {}, index: {})", nsize, index);  
     let n_size: usize = nsize as usize;  
     let bytes = c_str_to_bytes(strdata, n_size); 
-  //  let xtracemap  = proto::mapdata::Tracemap::parse_from_bytes(&bytes).unwrap();
     match proto::mapdata::Tracemap::parse_from_bytes(&bytes) {  
 
         Ok(xtracemap) => {  
-            let xdes = adcdes{xtr:xtracemap};
-            println!("receive new map Size: {}", xdes.xtr.point.len());  
-        
+            let mut a = DES.lock().unwrap(); 
+            println!("before xtr Size: {} update {}", a.xtr.point.len(),a.bxtrupdate);  
+            println!("receive new map Size: {}", xtracemap.point.len());  
+            
+            a.xtr = xtracemap;
+            a.bxtrupdate = true;
+            println!("after xtr Size: {}", a.xtr.point.len());  
+            
 
         },  
 
@@ -64,14 +84,26 @@ extern "C" fn tracemap_callback(strdata: *const c_char, nsize: c_uint, index: c_
         },  
 
     } 
-    
-    
-    
-
-    
-    
+       
 } 
 
+extern "C" fn gpsimu_callback(strdata: *const c_char, nsize: c_uint, index: c_uint) {  
+    let n_size: usize = nsize as usize;  
+    let bytes = c_str_to_bytes(strdata, n_size); 
+    match proto::gpsimu::Gpsimu::parse_from_bytes(&bytes) {  
+
+        Ok(xgpsimu) => {  
+            let mut a = DES.lock().unwrap();             
+            a.xgpsimu = xgpsimu;
+            a.bgpsimuupdate = true;
+        },  
+        Err(e) => {  
+            eprintln!("Error parsing gpsimu protobuf: {:?}", e);  
+        },  
+
+    } 
+}
+
 fn main() {
     println!("Hello, world!");
 
@@ -84,13 +116,18 @@ fn main() {
     let _pa = unsafe { modulecommrust::RegisterSendRUST(c_commname.as_ptr(), nsize, npaccount) };
 
     let strmapmsgname = "newtracemap";
-    let c_strmapmsgname = std::ffi::CString::new(strmapmsgname).unwrap();
-    
+    let c_strmapmsgname = std::ffi::CString::new(strmapmsgname).unwrap();   
     let _pamap = unsafe { modulecommrust::RegisterRecvRUST(c_strmapmsgname.as_ptr(), tracemap_callback) };
 
+    let strgpsmsgname: &str = "hcp2_gpsimu";
+    let c_strgpsmsgname = std::ffi::CString::new(strgpsmsgname).unwrap();   
+    let _pagps = unsafe { modulecommrust::RegisterRecvRUST(c_strgpsmsgname.as_ptr(), gpsimu_callback) };
+
     loop {
         
-        thread::sleep(Duration::from_millis(10));
+        thread::sleep(Duration::from_millis(1000));
+        let mut a = DES.lock().unwrap(); 
+        a.GetDecision();
     }
 
  //   unsafe { modulecommrust::UnregisterRUST(_pa) };