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2023-11-24 17:09:26 +08:00
commit a6919ec672
158 changed files with 30851 additions and 0 deletions
--- a/src/pEmulator/Emulator.hpp
+++ b/src/pEmulator/Emulator.hpp
@@ -0,0 +1,97 @@
+/*
+ * @Author: zjk 1553836110@qq.com
+ * @Date: 2023-10-12 15:57:27
+ * @LastEditors: zjk 1553836110@qq.com
+ * @LastEditTime: 2023-11-10 08:34:14
+ * @FilePath: /moos-ivp-pi/src/pEmulator/Emulator.hpp
+ * @Description: 
+ * 
+ * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
+ */
+#ifndef __EMULATOR_H
+#define __EMULATOR_H
+#define UNIX
+#include"MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include"MOOS/libMOOS/Comms/MulticastNode.h"
+#include <iostream>
+#include<vector>
+#include "VarDataPair.h"
+#include "MBUtils.h"
+#include "AngleUtils.h"
+#include <list>
+#include"MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include "NodeRecord.h"
+#include "MOOS/libMOOS/Utils/MOOSThread.h"
+#include "_150server.hpp"
+
+using namespace std;
+typedef struct uuv
+{
+  double u;
+  double v;
+  double w;
+  double p;
+  double q;
+  double r;
+  double x;
+  double y;
+  double z;
+  double roll;
+  double pitch;
+  double yaw;
+  double thrust;
+  double rudder;
+  double elevator;
+  double lon;
+  double lat;
+  double alt;
+};
+
+class Emulator : public AppCastingMOOSApp
+{
+  public:
+  Emulator(){};
+  ~Emulator(){delete receiveBuf;delete sendBuf;};
+  bool OnNewMail(MOOSMSG_LIST &NewMail);
+  bool Iterate();
+  bool OnConnectToServer();
+  bool OnStartUp();
+  void registerVariables();
+  bool buildReport();
+  void postNodeRecordUpdate(std::string, const NodeRecord&);
+  bool receiveUdpDate();
+  void set150Info();
+  bool _150Connect();
+
+  private:
+  long int local_port = 8080;
+  long int matalb_port = 8085;
+  string matlab_host = "127.0.0.1";
+  XPCUdpSocket* udp;
+  unsigned int receiveDateSize = 15;
+  unsigned int sendDataSize = 6;
+  unsigned int receiveBufSize;
+  unsigned int sendBufSize;
+  char *receiveBuf;
+  double *sendBuf;
+  NodeRecord record;
+  string prefix="NAV";
+  bool geoOk = false;
+  
+  
+  //UUV init state
+  double start_x = 0;
+  double start_y = 0;
+  double start_z = 0;
+  double start_heading = 0;
+  uuv remus100;
+  string isConnect = "";
+  //
+  CMOOSThread receiveThread;
+  CMOOSThread _150ServerThread;
+  CMOOSThread _150ConnectThread;
+  //150 Server
+  _150server p_150server_1;
+};
+
+#endif