main.cpp 9.9 KB

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  1. #include <QCoreApplication>
  2. #include "ivversion.h"
  3. #include <yaml-cpp/yaml.h>
  4. #include "vehicle_upload.h"
  5. #include "vehicle_control.h"
  6. #include "vehicle_patrol.h"
  7. #include "modulecomm.h"
  8. #include <QFile>
  9. #include <QString>
  10. #include <QStringList>
  11. #include <QMetaType>
  12. namespace iv {
  13. struct msgunit
  14. {
  15. char mstrmsgname[256];
  16. int mnBufferSize = 10000;
  17. int mnBufferCount = 1;
  18. void * mpa;
  19. std::shared_ptr<char> mpstrmsgdata;
  20. int mndatasize = 0;
  21. bool mbRefresh = false;
  22. bool mbImportant = false;
  23. int mnkeeptime = 100;
  24. };
  25. }
  26. uint8_t gShift_Status = 3; //3 p 4 r 5 n 6 d
  27. uint8_t gCtrlMode_Status = 0; //0 auto 1 remote 2 stop 3 platform
  28. std::string gstrserverip = "111.33.136.150";//"123.57.212.138";
  29. std::string gstruploadPort = "10591";//"9000";
  30. std::string gstrpatrolPort = "10592";//"9000";
  31. std::string gstrcontrolPort = "20591";//"9000";
  32. std::string gstruploadInterval = "500";
  33. std::string gstrpatrolInterval = "1000";
  34. std::string gstrcontrolInterval = "100";
  35. std::string gstruploadMapInterval = "1000";
  36. std::string gstrid = "1234567890123456789H";
  37. std::string gstrplateNumber = "津A123456";
  38. iv::msgunit shmPicFront;
  39. iv::msgunit shmPicRear;
  40. iv::msgunit shmPicLeft;
  41. iv::msgunit shmPicRight;
  42. iv::msgunit shmRemoteCtrl;
  43. iv::msgunit shmChassis;
  44. iv::msgunit shmGPSIMU;
  45. iv::msgunit shmPlatformFeedback;
  46. void dec_yaml(const char * stryamlpath)
  47. {
  48. YAML::Node config;
  49. try
  50. {
  51. config = YAML::LoadFile(stryamlpath);
  52. }
  53. catch(YAML::BadFile &e)
  54. {
  55. std::cout<<e.what()<<std::endl;
  56. qDebug("yaml file load fail.");
  57. return;
  58. }
  59. catch(YAML::ParserException &e)
  60. {
  61. std::cout<<e.what()<<std::endl;
  62. qDebug("yaml file is malformed.");
  63. return;
  64. }
  65. if(config["server"])
  66. {
  67. gstrserverip = config["server"].as<std::string>();
  68. }
  69. if(config["uploadPort"])
  70. {
  71. gstruploadPort = config["uploadPort"].as<std::string>();
  72. }
  73. if(config["patrolPort"])
  74. {
  75. gstrpatrolPort = config["patrolPort"].as<std::string>();
  76. }
  77. if(config["controlPort"])
  78. {
  79. gstrcontrolPort = config["controlPort"].as<std::string>();
  80. }
  81. if(config["uploadInterval"])
  82. {
  83. gstruploadInterval = config["uploadInterval"].as<std::string>();
  84. }
  85. if(config["patrolInterval"])
  86. {
  87. gstrpatrolInterval = config["patrolInterval"].as<std::string>();
  88. }
  89. if(config["controlinterval"])
  90. {
  91. gstrcontrolInterval = config["controlinterval"].as<std::string>();
  92. }
  93. if(config["uploadmapinterval"])
  94. {
  95. gstruploadMapInterval = config["uploadmapinterval"].as<std::string>();
  96. }
  97. if(config["id"])
  98. {
  99. gstrid = config["id"].as<std::string>();
  100. }
  101. if(config["plateNumber"])
  102. {
  103. gstrplateNumber = config["plateNumber"].as<std::string>();
  104. }
  105. std::string strmsgname;
  106. if(config["pic_front"])
  107. {
  108. if(config["pic_front"]["msgname"]&&config["pic_front"]["buffersize"]&&config["pic_front"]["buffercount"])
  109. {
  110. strmsgname = config["pic_front"]["msgname"].as<std::string>();
  111. strncpy(shmPicFront.mstrmsgname,strmsgname.data(),255);
  112. shmPicFront.mnBufferSize = config["pic_front"]["buffersize"].as<int>();
  113. shmPicFront.mnBufferCount = config["pic_front"]["buffercount"].as<int>();
  114. // std::cout << shmPicFront.mstrmsgname << shmPicFront.mnBufferSize << shmPicFront.mnBufferCount << std::endl;
  115. }
  116. }
  117. if(config["pic_rear"])
  118. {
  119. if(config["pic_rear"]["msgname"]&&config["pic_rear"]["buffersize"]&&config["pic_rear"]["buffercount"])
  120. {
  121. strmsgname = config["pic_rear"]["msgname"].as<std::string>();
  122. strncpy(shmPicRear.mstrmsgname,strmsgname.data(),255);
  123. shmPicRear.mnBufferSize = config["pic_rear"]["buffersize"].as<int>();
  124. shmPicRear.mnBufferCount = config["pic_rear"]["buffercount"].as<int>();
  125. // std::cout << shmPicRear.mstrmsgname << shmPicRear.mnBufferSize << shmPicRear.mnBufferCount << std::endl;
  126. }
  127. }
  128. if(config["pic_left"])
  129. {
  130. if(config["pic_left"]["msgname"]&&config["pic_left"]["buffersize"]&&config["pic_left"]["buffercount"])
  131. {
  132. strmsgname = config["pic_left"]["msgname"].as<std::string>();
  133. strncpy(shmPicLeft.mstrmsgname,strmsgname.data(),255);
  134. shmPicLeft.mnBufferSize = config["pic_left"]["buffersize"].as<int>();
  135. shmPicLeft.mnBufferCount = config["pic_left"]["buffercount"].as<int>();
  136. // std::cout << shmPicLeft.mstrmsgname << shmPicLeft.mnBufferSize << shmPicLeft.mnBufferCount << std::endl;
  137. }
  138. }
  139. if(config["pic_right"])
  140. {
  141. if(config["pic_right"]["msgname"]&&config["pic_right"]["buffersize"]&&config["pic_right"]["buffercount"])
  142. {
  143. strmsgname = config["pic_right"]["msgname"].as<std::string>();
  144. strncpy(shmPicRight.mstrmsgname,strmsgname.data(),255);
  145. shmPicRight.mnBufferSize = config["pic_right"]["buffersize"].as<int>();
  146. shmPicRight.mnBufferCount = config["pic_right"]["buffercount"].as<int>();
  147. // std::cout << shmPicRight.mstrmsgname << shmPicRight.mnBufferSize << shmPicRight.mnBufferCount << std::endl;
  148. }
  149. }
  150. if(config["remote_ctrl"])
  151. {
  152. if(config["remote_ctrl"]["msgname"]&&config["remote_ctrl"]["buffersize"]&&config["remote_ctrl"]["buffercount"])
  153. {
  154. strmsgname = config["remote_ctrl"]["msgname"].as<std::string>();
  155. strncpy(shmRemoteCtrl.mstrmsgname,strmsgname.data(),255);
  156. shmRemoteCtrl.mnBufferSize = config["remote_ctrl"]["buffersize"].as<int>();
  157. shmRemoteCtrl.mnBufferCount = config["remote_ctrl"]["buffercount"].as<int>();
  158. // std::cout << shmRemoteCtrl.mstrmsgname << shmRemoteCtrl.mnBufferSize << shmRemoteCtrl.mnBufferCount << std::endl;
  159. }
  160. }
  161. if(config["chassis"])
  162. {
  163. if(config["chassis"]["msgname"]&&config["chassis"]["buffersize"]&&config["chassis"]["buffercount"])
  164. {
  165. strmsgname = config["chassis"]["msgname"].as<std::string>();
  166. strncpy(shmChassis.mstrmsgname,strmsgname.data(),255);
  167. shmChassis.mnBufferSize = config["chassis"]["buffersize"].as<int>();
  168. shmChassis.mnBufferCount = config["chassis"]["buffercount"].as<int>();
  169. // std::cout << shmChassis.mstrmsgname << shmChassis.mnBufferSize << shmChassis.mnBufferCount << std::endl;
  170. }
  171. }
  172. if(config["platform_feedback"])
  173. {
  174. if(config["platform_feedback"]["msgname"]&&config["platform_feedback"]["buffersize"]&&config["platform_feedback"]["buffercount"])
  175. {
  176. strmsgname = config["platform_feedback"]["msgname"].as<std::string>();
  177. strncpy(shmPlatformFeedback.mstrmsgname,strmsgname.data(),255);
  178. shmPlatformFeedback.mnBufferSize = config["platform_feedback"]["buffersize"].as<int>();
  179. shmPlatformFeedback.mnBufferCount = config["platform_feedback"]["buffercount"].as<int>();
  180. // std::cout << shmPlatformFeedback.mstrmsgname << shmPlatformFeedback.mnBufferSize << shmPlatformFeedback.mnBufferCount << std::endl;
  181. }
  182. }
  183. if(config["GPS_IMU"])
  184. {
  185. if(config["GPS_IMU"]["msgname"]&&config["GPS_IMU"]["buffersize"]&&config["GPS_IMU"]["buffercount"])
  186. {
  187. strmsgname = config["GPS_IMU"]["msgname"].as<std::string>();
  188. strncpy(shmGPSIMU.mstrmsgname,strmsgname.data(),255);
  189. shmGPSIMU.mnBufferSize = config["GPS_IMU"]["buffersize"].as<int>();
  190. shmGPSIMU.mnBufferCount = config["GPS_IMU"]["buffercount"].as<int>();
  191. // std::cout << shmGPSIMU.mstrmsgname << shmGPSIMU.mnBufferSize << shmGPSIMU.mnBufferCount << std::endl;
  192. }
  193. }
  194. return;
  195. }
  196. int main(int argc, char *argv[])
  197. {
  198. showversion("driver_cloud_grpc_client_BS");
  199. QCoreApplication a(argc, argv);
  200. char stryamlpath[256];
  201. if(argc<2)
  202. {
  203. snprintf(stryamlpath,255,"driver_cloud_grpc_client_BS.yaml");
  204. }
  205. else
  206. {
  207. strncpy(stryamlpath,argv[1],255);
  208. }
  209. dec_yaml(stryamlpath);
  210. std::string control_str = gstrserverip+":";
  211. control_str = control_str + gstrcontrolPort ;
  212. std::string patrol_str = gstrserverip+":";
  213. patrol_str = patrol_str + gstrpatrolPort;
  214. std::string upload_str = gstrserverip+":";
  215. upload_str = upload_str + gstruploadPort ;
  216. // std::cout<<upload_str<<std::endl;
  217. DataExchangeClient *vehicleuploaddata = new DataExchangeClient(grpc::CreateChannel(upload_str, grpc::InsecureChannelCredentials()));
  218. vehicleuploaddata->start();
  219. // std::cout<<control_str<<std::endl;
  220. // VehicleChangeCtrlModeClient *vehiclechangectrlmode = new VehicleChangeCtrlModeClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
  221. // VehicleControlClient *vehiclecontrol = new VehicleControlClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
  222. // qRegisterMetaType<org::jeecg::defsControl::grpc::CtrlMode>("org::jeecg::defsControl::grpc::CtrlMode"); ///< to solve the problem of signal and slot being in different threads
  223. // QObject::connect(vehiclechangectrlmode,&VehicleChangeCtrlModeClient::ctrlMode_Changed,vehiclecontrol,&VehicleControlClient::ctrlMode_Changed_Slot);
  224. // vehiclechangectrlmode->start();
  225. // vehiclecontrol->start();
  226. // VehicleUploadMapClient *vehicleuploadmap = new VehicleUploadMapClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
  227. // QObject::connect(vehicleuploadmap,&VehicleUploadMapClient::patrolPOI_Recieved,vehicleuploaddata,&DataExchangeClient::patrolPOI_Recieved_Slot);
  228. // QObject::connect(vehicleuploaddata,&DataExchangeClient::uploadPath_Finished,vehicleuploadmap,&VehicleUploadMapClient::uploadPath_Finished_Slot);
  229. // vehicleuploadmap->start();
  230. // std::cout<<patrol_str<<std::endl;
  231. // VehiclePatrolExceptionClient vehiclepatrol(grpc::CreateChannel(patrol_str, grpc::InsecureChannelCredentials()));
  232. // vehiclepatrol.start();
  233. return a.exec();
  234. }