change driver_map_xodrload. add xodrraw.

src/driver/driver_map_xodrload/main.cpp

@@ -76,6 +76,9 @@ static void * gpasimple;
 static void * gpav2x;
 static void * gpanewtrace;
 static void * gpamapglobal;
+static void * gpaxodrrawreq;
+static void * gpaxodrrawrep;
+
 
 iv::Ivfault *gfault = nullptr;
 iv::Ivlog *givlog = nullptr;
@@ -99,7 +102,16 @@ struct simpletrace
     double ins_heading_angle = 0;	//航向角
 };
 
+struct xodrrawdata
+{
+    std::shared_ptr<char> mpstr_ptr;
+    int ndatasize;
+};
+
 }
+
+iv::xodrrawdata gxodrraw;
+
 /**
  *
  *
@@ -108,8 +120,25 @@ struct simpletrace
  * */
 bool LoadXODR(std::string strpath)
 {
+    QFile xFile;
+    xFile.setFileName(strpath.data());
+    if(xFile.open(QIODevice::ReadOnly))
+    {
+        QByteArray ba = xFile.readAll();
+        if(ba.size() > 0)
+        {
+            iv::xodrrawdata xraw;
+            xraw.ndatasize = ba.size();
+            xraw.mpstr_ptr = std::shared_ptr<char>(new char[xraw.ndatasize]);
+            memcpy(xraw.mpstr_ptr.get(),ba.data(),xraw.ndatasize);
+            gxodrraw = xraw;
+        }
+        xFile.close();
+    }
+
     OpenDriveXmlParser xp(&mxodr);
     xp.ReadFile(strpath);
+
     std::cout<<"road cout is "<<mxodr.GetRoadCount()<<std::endl;
     if(mxodr.GetRoadCount() < 1)
     {
@@ -1340,6 +1369,9 @@ void ListenV2X(const char * strdata,const unsigned int nSize,const unsigned int
 void ListenSrc(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
 
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     if(nSize<sizeof(xodrobj))
     {
         givlog->warn("ListenSrc small");
@@ -1354,6 +1386,25 @@ void ListenSrc(const char * strdata,const unsigned int nSize,const unsigned int
 
 }
 
+
+static void ShareXODRRaw()
+{
+    if(gxodrraw.ndatasize > 0)
+    {
+        iv::modulecomm::ModuleSendMsg(gpaxodrrawrep,gxodrraw.mpstr_ptr.get(),gxodrraw.ndatasize);
+    }
+}
+
+void ListenXODRRawReq(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    (void)strdata;
+    (void)nSize;
+    ShareXODRRaw();
+}
+
 void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
 
@@ -1432,6 +1483,7 @@ int main(int argc, char *argv[])
     showversion("driver_map_xodrload");
     QCoreApplication a(argc, argv);
     gApp = &a;
+    gxodrraw.ndatasize = 0;
 
     RegisterIVBackTrace();
 
@@ -1554,6 +1606,9 @@ int main(int argc, char *argv[])
     gpagps = iv::modulecomm::RegisterRecv(strgpsmsg.data(),UpdateGPSIMU);
     gpav2x = iv::modulecomm::RegisterRecv(strv2xmsg.data(),ListenV2X);
 
+    gpaxodrrawreq = iv::modulecomm::RegisterRecv("xodrrawreq",ListenXODRRawReq);
+    gpaxodrrawrep = iv::modulecomm::RegisterSend("xodrrawrep",30000000,1);
+
 
 
 
@@ -1598,6 +1653,8 @@ int main(int argc, char *argv[])
 
     signal(SIGINT,signal_handler);
 
+    ShareXODRRaw();
+
     int nrc = a.exec();
 
     std::cout<<"driver_map_xodr app exit. code :"<<nrc<<std::endl;