迁移pi上的master分支

2023-11-20 09:51:04 +08:00
parent 0388d6de89
commit 036fbdbc9f
99 changed files with 16668 additions and 0 deletions
--- a/src/pTaskManger/TaskManger.h
+++ b/src/pTaskManger/TaskManger.h
@@ -0,0 +1,150 @@
+/*
+ * @Author: 1553836110 1553836110@qq.com
+ * @Date: 2023-09-28 15:45:17
+ * @LastEditors: zjk 1553836110@qq.com
+ * @LastEditTime: 2023-11-08 14:53:05
+ * @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h
+ * @Description: 
+ * 
+ * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
+ */
+/************************************************************/
+/*    NAME: zjk                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: TaskManger.h                                          */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef TaskManger_HEADER
+#define TaskManger_HEADER
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include <queue>
+#include <list>
+#include "json/json.h"
+#include "VarDataPair.h"
+
+using namespace std;
+enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE};
+enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3,  CONFIG=5};
+// class TaskManger : public CMOOSApp
+class TaskManger : public AppCastingMOOSApp
+{
+ public:
+  TaskManger();
+  virtual ~TaskManger();
+
+  bool OnNewMail(MOOSMSG_LIST &NewMail);
+  bool Iterate();
+  bool OnConnectToServer();
+  bool OnStartUp();
+  void RegisterVariables();
+  bool buildReport();
+  void postFaultNumber(int n);
+
+  bool setSpeed(double speed);
+  bool setMaxDepth(string depth);
+  bool setWpt(std::string wpt, string speed, string depth);
+  bool setWayPol(string polygon, string speed, string depth);
+  bool setTaskTimer(string timerCount);
+  bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon);
+  bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius);
+  
+  bool sendNode(const string current_node, list<string> &nodeList);
+
+  bool getWord(const string str, int ct, string &word);
+  string getSpeed(const string node);
+  string getDepth(const string node);
+  string getWayPoint(const string node);
+  string getWayPolygon(const list<string> nodeList);
+  string getNodeName(const string node);
+  string getNode(list<string> &nodelist);
+  string getTimeCount();
+  string getMaxDepth();
+  TaskType getTaskTpye(const string node);
+
+  int readTaskFile(string taskName);
+  int readSafetyRules(string fileName);
+  int readWayConfig(string fileName);
+  void postReportToSSM();
+  
+  inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
+  inline void taskStart();
+  inline void taskFinish();
+  void FaultFlagClear();
+  inline void InitConfig();
+
+  const string UPDATE_WPT = "WPT_UPDATE";
+  const string UPDATE_SPD = "SPEED_UPDATE";
+  const string UPDATE_DEP = "DEPTH_UPDATE";
+  const string UPDATE_TIMER = "TIMER_UPDATES";
+  const string UPDATE_MAXDEP = "MAXDEEP_UPDATES";
+  const string UPDATE_OPREGION = "OPREGION_UPDATES";
+  const string UPDATE_RESETFAULT = "OPREGION_RESET";
+
+  const string MSG_WPTFLAG = "CurrentPointComplete";
+  const string MSG_ENDFLAG = "END_WayPoint";
+  const string MSG_START = "START";
+  const string MSG_SENDSAFTRULES = "SendSaftRules";
+  const string MSG_FALUT = "TaskFault";
+  const string MSG_RUN = "RUN";
+  const string MSG_CLEARFAULT = "ClearFalut";
+
+  const string MSG_IN_SSM = "uMission_action_cmd";
+  const string MSG_TO_SSM = "uMission_task_fb";
+  const string MSG_TO_FH = "uMission_fault_fb";
+  const string MSG_IN_FH = "uDrive_fault_fb";
+  const string MSG_IN_MAN = "uManual_enable_cmd";  //TODO: 增加手操状态
+
+protected:
+// 任务参数
+  string node_wpt;
+  string node_depth;
+  string node_speed;
+// 安全规则
+  string maxDepth;
+  string maxTime;
+  string safePolygon;
+  string minAltitude="0";
+// 路径参数
+  string lead;
+  string lead_damper;
+  string lead_to_start;
+  string capture_line;
+  string capture_radius;
+  string slip_radius;
+  string efficiency_measure;
+
+  string faultMsg;
+
+  TaskType nodeType;
+  list<string> nodeList;
+
+private:
+  bool current_node_complete = false;
+  bool current_pol_complete = false;
+  bool start=false;
+  bool time_out=false;
+  int st=10;
+  int faultNumber = 0;
+  int readTask = 0;
+  string msg;
+  string current_node;
+  Status state = UNRUN;
+
+  Json::Value RepList;
+  Json::StreamWriterBuilder RepJsBuilder;
+
+
+//任务文件参数
+//TODO:动态配置任务文件等参数
+  string planConfigPath;
+  vector<string> taskList;
+  int taskCount;
+  string taskName;
+//发送节点信息
+  Json::Value node_rpt;   
+};
+
+#endif