modularization/src/driver/driver_ultrasonic_dauxi_KS136A/main.cpp

#include <QCoreApplication>

#include <iostream>
#include <thread>

#include "modulecomm.h"
#include "ivversion.h"
#include "ivbacktrace.h"
#include "ivfault.h"
#include "ivlog.h"
#include "ivexit.h"

#include "canmsg.pb.h"

#ifndef NUM_OF_SENSOR_MAX
#define NUM_OF_SENSOR_MAX 12
#endif

#include "decode_cfg.h"
#include "iv_msgunit.h"
#include "can_producer_consumer.h"
#include "canrecv_consumer.h"
#include "cansend_consumer.h"
#include "cansend_producer.h"

QCoreApplication * gApp;

iv::Ivfault *gfault = nullptr;
iv::Ivlog *givlog = nullptr;

setupConfig_t setupConfig;

iv::msgunit shmCANRecv;
iv::msgunit shmCANSend;
iv::msgunit shmSonar;

CAN_Producer_Consumer CANRecv(4096);
CAN_Producer_Consumer CANSend(4096);

CANSend_Producer* can_send_producer;
CANSend_Consumer* can_send_consumer;
CANRecv_Consumer* can_recv_consumer;

uint64_t gTime_ms = QDateTime::currentMSecsSinceEpoch();

void ListenCANMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    if(nSize<1)
    {
        std::cout<<"radar ListenCANMsg data empty."<<std::endl;
        return;
    }
    iv::can::canmsg xmsg;
    if(!xmsg.ParseFromArray(strdata,nSize))
    {
        givlog->error("radar Listencanmsg fail");
        gfault->SetFaultState(1, 0, "radar Listencanmsg error");
        std::cout<<"radar ListenCANMsg parse fail."<<std::endl;
        return;
    }

    CANRecv.Produce_Elements_From_CANMsg(xmsg);
}

void ExitFunc()
{
    gApp->quit();
    std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

void signal_handler(int sig)
{
    if(sig == SIGINT)
    {
        ExitFunc();
    }
}

int main(int argc, char *argv[])
{
    RegisterIVBackTrace();
    showversion("driver_ultrasonic_dauxi_KS136A");
    QCoreApplication a(argc, argv);

    gApp = &a;

    givlog = new iv::Ivlog("driver_ultrasonic_dauxi_KS136A");
    gfault = new iv::Ivfault("driver_ultrasonic_dauxi_KS136A");

    signal(SIGINT,signal_handler);

    QString strpath = QCoreApplication::applicationDirPath();
    if(argc < 2)
        strpath = strpath + "/driver_ultrasonic_dauxi_KS136A.xml";
    else
        strpath = argv[1];

    DecodeSonarCfgFromXML(setupConfig,strpath.toStdString());

    strncpy(shmCANSend.mstrmsgname,setupConfig.strMemCANSend.data(),255);
    shmCANSend.mnBufferSize = 100000;
    shmCANSend.mnBufferCount = 3;
    shmCANSend.mpa = iv::modulecomm::RegisterSend(shmCANSend.mstrmsgname,shmCANSend.mnBufferSize,shmCANSend.mnBufferCount);

    strncpy(shmSonar.mstrmsgname,setupConfig.strMemSonar.data(),255);
    shmSonar.mnBufferSize = 100000;
    shmSonar.mnBufferCount = 1;
    shmSonar.mpa = iv::modulecomm::RegisterSend(shmSonar.mstrmsgname,shmSonar.mnBufferSize,shmSonar.mnBufferCount);

    strncpy(shmCANRecv.mstrmsgname,setupConfig.strMemCANRecv.data(),255);
    shmCANRecv.mnBufferSize = 100000;
    shmCANRecv.mnBufferCount = 3;
    shmCANRecv.mpa = iv::modulecomm::RegisterRecv(shmCANRecv.mstrmsgname,ListenCANMsg);

    std::this_thread::sleep_for(std::chrono::milliseconds(1000));

    can_send_consumer = new CANSend_Consumer(&CANSend);
    can_send_consumer->start();
    can_send_producer = new CANSend_Producer(&CANSend);
    can_recv_consumer = new CANRecv_Consumer(&CANRecv);
    qRegisterMetaType<uint8_t>("uint8_t");
    QObject::connect(can_send_producer,&CANSend_Producer::Enable_DecodeResult,can_recv_consumer,&CANRecv_Consumer::Enable_DecodeResult_Slot);
    QObject::connect(can_recv_consumer,&CANRecv_Consumer::Enable_Ask,can_send_producer,&CANSend_Producer::Enable_Ask_Slot);
    can_send_producer->start();
    can_recv_consumer->start();

    int rtn = a.exec();

    can_send_producer->terminate(); //function "terminate" can not be used in other position. it is dangerous.
    can_send_consumer->terminate(); //function "terminate" can not be used in other position. it is dangerous.
    can_recv_consumer->terminate(); //function "terminate" can not be used in other position. it is dangerous.

    if(gfault != nullptr)delete gfault;
    if(givlog != nullptr)delete givlog;
    if(shmCANRecv.mpa != nullptr)iv::modulecomm::Unregister(shmCANRecv.mpa);
    if(shmCANSend.mpa != nullptr)iv::modulecomm::Unregister(shmCANSend.mpa);
    if(shmSonar.mpa != nullptr)iv::modulecomm::Unregister(shmSonar.mpa);

    return rtn;
}