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- #include <QCoreApplication>
- #include "ivversion.h"
- #include <yaml-cpp/yaml.h>
- #include "vehicle_upload.h"
- #include "vehicle_control.h"
- #include "vehicle_patrol.h"
- #include "modulecomm.h"
- #include <QFile>
- #include <QString>
- #include <QStringList>
- #include <QMetaType>
- namespace iv {
- struct msgunit
- {
- char mstrmsgname[256];
- int mnBufferSize = 10000;
- int mnBufferCount = 1;
- void * mpa;
- std::shared_ptr<char> mpstrmsgdata;
- int mndatasize = 0;
- bool mbRefresh = false;
- bool mbImportant = false;
- int mnkeeptime = 100;
- };
- }
- uint8_t gShift_Status = 3; //3 p 4 r 5 n 6 d
- uint8_t gCtrlMode_Status = 0; //0 auto 1 remote 2 stop 3 platform
- std::string gstrserverip = "111.33.136.150";//"123.57.212.138";
- std::string gstruploadPort = "10591";//"9000";
- std::string gstrpatrolPort = "10592";//"9000";
- std::string gstrcontrolPort = "20591";//"9000";
- std::string gstruploadInterval = "500";
- std::string gstrpatrolInterval = "1000";
- std::string gstrcontrolInterval = "100";
- std::string gstruploadMapInterval = "1000";
- std::string gstrid = "1234567890123456789H";
- std::string gstrplateNumber = "津A123456";
- iv::msgunit shmPicFront;
- iv::msgunit shmPicRear;
- iv::msgunit shmPicLeft;
- iv::msgunit shmPicRight;
- iv::msgunit shmRemoteCtrl;
- iv::msgunit shmChassis;
- iv::msgunit shmGPSIMU;
- iv::msgunit shmPlatformFeedback;
- void dec_yaml(const char * stryamlpath)
- {
- YAML::Node config;
- try
- {
- config = YAML::LoadFile(stryamlpath);
- }
- catch(YAML::BadFile &e)
- {
- std::cout<<e.what()<<std::endl;
- qDebug("yaml file load fail.");
- return;
- }
- catch(YAML::ParserException &e)
- {
- std::cout<<e.what()<<std::endl;
- qDebug("yaml file is malformed.");
- return;
- }
- if(config["server"])
- {
- gstrserverip = config["server"].as<std::string>();
- }
- if(config["uploadPort"])
- {
- gstruploadPort = config["uploadPort"].as<std::string>();
- }
- if(config["patrolPort"])
- {
- gstrpatrolPort = config["patrolPort"].as<std::string>();
- }
- if(config["controlPort"])
- {
- gstrcontrolPort = config["controlPort"].as<std::string>();
- }
- if(config["uploadInterval"])
- {
- gstruploadInterval = config["uploadInterval"].as<std::string>();
- }
- if(config["patrolInterval"])
- {
- gstrpatrolInterval = config["patrolInterval"].as<std::string>();
- }
- if(config["controlinterval"])
- {
- gstrcontrolInterval = config["controlinterval"].as<std::string>();
- }
- if(config["uploadmapinterval"])
- {
- gstruploadMapInterval = config["uploadmapinterval"].as<std::string>();
- }
- if(config["id"])
- {
- gstrid = config["id"].as<std::string>();
- }
- if(config["plateNumber"])
- {
- gstrplateNumber = config["plateNumber"].as<std::string>();
- }
- std::string strmsgname;
- if(config["pic_front"])
- {
- if(config["pic_front"]["msgname"]&&config["pic_front"]["buffersize"]&&config["pic_front"]["buffercount"])
- {
- strmsgname = config["pic_front"]["msgname"].as<std::string>();
- strncpy(shmPicFront.mstrmsgname,strmsgname.data(),255);
- shmPicFront.mnBufferSize = config["pic_front"]["buffersize"].as<int>();
- shmPicFront.mnBufferCount = config["pic_front"]["buffercount"].as<int>();
- // std::cout << shmPicFront.mstrmsgname << shmPicFront.mnBufferSize << shmPicFront.mnBufferCount << std::endl;
- }
- }
- if(config["pic_rear"])
- {
- if(config["pic_rear"]["msgname"]&&config["pic_rear"]["buffersize"]&&config["pic_rear"]["buffercount"])
- {
- strmsgname = config["pic_rear"]["msgname"].as<std::string>();
- strncpy(shmPicRear.mstrmsgname,strmsgname.data(),255);
- shmPicRear.mnBufferSize = config["pic_rear"]["buffersize"].as<int>();
- shmPicRear.mnBufferCount = config["pic_rear"]["buffercount"].as<int>();
- // std::cout << shmPicRear.mstrmsgname << shmPicRear.mnBufferSize << shmPicRear.mnBufferCount << std::endl;
- }
- }
- if(config["pic_left"])
- {
- if(config["pic_left"]["msgname"]&&config["pic_left"]["buffersize"]&&config["pic_left"]["buffercount"])
- {
- strmsgname = config["pic_left"]["msgname"].as<std::string>();
- strncpy(shmPicLeft.mstrmsgname,strmsgname.data(),255);
- shmPicLeft.mnBufferSize = config["pic_left"]["buffersize"].as<int>();
- shmPicLeft.mnBufferCount = config["pic_left"]["buffercount"].as<int>();
- // std::cout << shmPicLeft.mstrmsgname << shmPicLeft.mnBufferSize << shmPicLeft.mnBufferCount << std::endl;
- }
- }
- if(config["pic_right"])
- {
- if(config["pic_right"]["msgname"]&&config["pic_right"]["buffersize"]&&config["pic_right"]["buffercount"])
- {
- strmsgname = config["pic_right"]["msgname"].as<std::string>();
- strncpy(shmPicRight.mstrmsgname,strmsgname.data(),255);
- shmPicRight.mnBufferSize = config["pic_right"]["buffersize"].as<int>();
- shmPicRight.mnBufferCount = config["pic_right"]["buffercount"].as<int>();
- // std::cout << shmPicRight.mstrmsgname << shmPicRight.mnBufferSize << shmPicRight.mnBufferCount << std::endl;
- }
- }
- if(config["remote_ctrl"])
- {
- if(config["remote_ctrl"]["msgname"]&&config["remote_ctrl"]["buffersize"]&&config["remote_ctrl"]["buffercount"])
- {
- strmsgname = config["remote_ctrl"]["msgname"].as<std::string>();
- strncpy(shmRemoteCtrl.mstrmsgname,strmsgname.data(),255);
- shmRemoteCtrl.mnBufferSize = config["remote_ctrl"]["buffersize"].as<int>();
- shmRemoteCtrl.mnBufferCount = config["remote_ctrl"]["buffercount"].as<int>();
- // std::cout << shmRemoteCtrl.mstrmsgname << shmRemoteCtrl.mnBufferSize << shmRemoteCtrl.mnBufferCount << std::endl;
- }
- }
- if(config["chassis"])
- {
- if(config["chassis"]["msgname"]&&config["chassis"]["buffersize"]&&config["chassis"]["buffercount"])
- {
- strmsgname = config["chassis"]["msgname"].as<std::string>();
- strncpy(shmChassis.mstrmsgname,strmsgname.data(),255);
- shmChassis.mnBufferSize = config["chassis"]["buffersize"].as<int>();
- shmChassis.mnBufferCount = config["chassis"]["buffercount"].as<int>();
- // std::cout << shmChassis.mstrmsgname << shmChassis.mnBufferSize << shmChassis.mnBufferCount << std::endl;
- }
- }
- if(config["platform_feedback"])
- {
- if(config["platform_feedback"]["msgname"]&&config["platform_feedback"]["buffersize"]&&config["platform_feedback"]["buffercount"])
- {
- strmsgname = config["platform_feedback"]["msgname"].as<std::string>();
- strncpy(shmPlatformFeedback.mstrmsgname,strmsgname.data(),255);
- shmPlatformFeedback.mnBufferSize = config["platform_feedback"]["buffersize"].as<int>();
- shmPlatformFeedback.mnBufferCount = config["platform_feedback"]["buffercount"].as<int>();
- // std::cout << shmPlatformFeedback.mstrmsgname << shmPlatformFeedback.mnBufferSize << shmPlatformFeedback.mnBufferCount << std::endl;
- }
- }
- if(config["GPS_IMU"])
- {
- if(config["GPS_IMU"]["msgname"]&&config["GPS_IMU"]["buffersize"]&&config["GPS_IMU"]["buffercount"])
- {
- strmsgname = config["GPS_IMU"]["msgname"].as<std::string>();
- strncpy(shmGPSIMU.mstrmsgname,strmsgname.data(),255);
- shmGPSIMU.mnBufferSize = config["GPS_IMU"]["buffersize"].as<int>();
- shmGPSIMU.mnBufferCount = config["GPS_IMU"]["buffercount"].as<int>();
- // std::cout << shmGPSIMU.mstrmsgname << shmGPSIMU.mnBufferSize << shmGPSIMU.mnBufferCount << std::endl;
- }
- }
- return;
- }
- int main(int argc, char *argv[])
- {
- showversion("driver_cloud_grpc_client_BS");
- QCoreApplication a(argc, argv);
- char stryamlpath[256];
- if(argc<2)
- {
- snprintf(stryamlpath,255,"driver_cloud_grpc_client_BS.yaml");
- }
- else
- {
- strncpy(stryamlpath,argv[1],255);
- }
- dec_yaml(stryamlpath);
- std::string control_str = gstrserverip+":";
- control_str = control_str + gstrcontrolPort ;
- std::string patrol_str = gstrserverip+":";
- patrol_str = patrol_str + gstrpatrolPort;
- std::string upload_str = gstrserverip+":";
- upload_str = upload_str + gstruploadPort ;
- // std::cout<<upload_str<<std::endl;
- DataExchangeClient *vehicleuploaddata = new DataExchangeClient(grpc::CreateChannel(upload_str, grpc::InsecureChannelCredentials()));
- vehicleuploaddata->start();
- // std::cout<<control_str<<std::endl;
- // VehicleChangeCtrlModeClient *vehiclechangectrlmode = new VehicleChangeCtrlModeClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
- // VehicleControlClient *vehiclecontrol = new VehicleControlClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
- // qRegisterMetaType<org::jeecg::defsControl::grpc::CtrlMode>("org::jeecg::defsControl::grpc::CtrlMode"); ///< to solve the problem of signal and slot being in different threads
- // QObject::connect(vehiclechangectrlmode,&VehicleChangeCtrlModeClient::ctrlMode_Changed,vehiclecontrol,&VehicleControlClient::ctrlMode_Changed_Slot);
- // vehiclechangectrlmode->start();
- // vehiclecontrol->start();
- // VehicleUploadMapClient *vehicleuploadmap = new VehicleUploadMapClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
- // QObject::connect(vehicleuploadmap,&VehicleUploadMapClient::patrolPOI_Recieved,vehicleuploaddata,&DataExchangeClient::patrolPOI_Recieved_Slot);
- // QObject::connect(vehicleuploaddata,&DataExchangeClient::uploadPath_Finished,vehicleuploadmap,&VehicleUploadMapClient::uploadPath_Finished_Slot);
- // vehicleuploadmap->start();
- // std::cout<<patrol_str<<std::endl;
- // VehiclePatrolExceptionClient vehiclepatrol(grpc::CreateChannel(patrol_str, grpc::InsecureChannelCredentials()));
- // vehiclepatrol.start();
- return a.exec();
- }
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