From a9ba0ac868d56254aedebaa462074b8531d1f41f Mon Sep 17 00:00:00 2001
From: zhaojingkui <1553836110@qq.com>
Date: Wed, 29 Nov 2023 09:33:17 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=AE=89=E5=85=A8?=
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---
 launch/alpha.bhv                   |  8 ++++----
 setting/SafetyRules.json           | 24 ++++++++++++++++++++++++
 src/pTaskManagement/TaskManger.cpp | 22 +++++++++++++---------
 3 files changed, 41 insertions(+), 13 deletions(-)
 create mode 100644 setting/SafetyRules.json

diff --git a/launch/alpha.bhv b/launch/alpha.bhv
index 7a727f1..e0164ef 100644
--- a/launch/alpha.bhv
+++ b/launch/alpha.bhv
@@ -12,7 +12,6 @@ set MODE = T1{
   TaskNum = t1
 }
 
-
 //----------路径点任务----------------------------
 Behavior = BHV_Waypoint
 {
@@ -155,19 +154,20 @@ Behavior = BHV_MaxDepth
    // ---------------------------
    name         = op_region                 // example
    pwt          = 300                       // default
-   condition = MODE==TN
+   condition = MODE==ACTIVE
    updates      = OPREGION_UPDATES          // example
 
    // Parameters specific to this behavior
    // ------------------------------------
-                  max_time = 20              // default (seconds)
-                 max_depth = 25              // default (meters)
+                  max_time = 0.1              // default (seconds)
+                 max_depth = 2              // default (meters)
               min_altitude = 0              // default (meters)
                  reset_var = OPREGION_RESET // example
         trigger_entry_time = 1              // default (seconds)
          trigger_exit_time = 0.5            // default (seconds) 
 
                    polygon = pts={-80,-00:-30,-175:150,-100:95,25}
+                   //polygon = -160,90:275,90:275,-360:-160,-360
 
     breached_altitude_flag = TaskFault = AltitudeOut
        breached_depth_flag = TaskFault = DepthOut
diff --git a/setting/SafetyRules.json b/setting/SafetyRules.json
new file mode 100644
index 0000000..f2505b5
--- /dev/null
+++ b/setting/SafetyRules.json
@@ -0,0 +1,24 @@
+{
+    "maxTime" : 100,
+    "maxDepth" : 100,
+    "minAltitude" : 1,
+    "points" : 
+    [
+        {
+            "east" : 90,
+            "north" : -160
+        },
+        {
+            "east" : 90,
+            "north" : 275
+        },
+        {
+            "east" : -360,
+            "north" : 275
+        },
+        {
+            "east" : -360,
+            "north" : -160
+        }
+    ]
+}
\ No newline at end of file
diff --git a/src/pTaskManagement/TaskManger.cpp b/src/pTaskManagement/TaskManger.cpp
index 58e9bec..e8f01b9 100644
--- a/src/pTaskManagement/TaskManger.cpp
+++ b/src/pTaskManagement/TaskManger.cpp
@@ -142,7 +142,6 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail)
           faultNumber = 1111;
       }
     }
-  
   }
   return(true);
 }
@@ -445,7 +444,7 @@ bool TaskManger::OnStartUp()
       if(param == "SAFETYRULESPATH")
       {
         safetyRulesPath = value;
-        //RepList["RulesPath"] = safetyRulesPath;
+        RepList["RulesPath"] = safetyRulesPath;
       }                          
     }
   } 
@@ -709,7 +708,7 @@ int  TaskManger::readTaskFile(string taskName)
 int TaskManger::readSafetyRules()
 {
   ifstream ifs;
-  ifs.open(planConfigPath, ios::in);
+  ifs.open(safetyRulesPath, ios::in);
   Json::Reader reader;
   Json::Value inputJsonValue;
   reader.parse(ifs, inputJsonValue);
@@ -728,18 +727,23 @@ int TaskManger::readSafetyRules()
   maxDepth = doubleToString(depth);
   minAltitude = doubleToString(altitude);
 
-  safePolygon = "";
+  string pts = "";
   Json::Value points = inputJsonValue["points"]; 
+  //"pts={-80,-00:-30,-175:150,-100:95,25}"
   int ps_cnt = points.size();
   for(int i=0; i<ps_cnt; i++)
   {
-    string x = points["north"].asString();
-    string y = points["east"].asString();
-    if(safePolygon=="")
-      safePolygon = x + "," + y ;
+    string x = intToString(points[i]["north"].asInt());
+    string y = intToString(points[i]["east"].asInt());
+    if(pts=="")
+      pts = x + "," + y ;
     else
-      safePolygon = safePolygon + ":" + x + "," + y ;
+      pts = pts + ":" + x + "," + y ;
   }
+  safePolygon = pts;
+  // safePolygon="pts={-80,-00:-30,-175:150,-100:9,2}";s
+  RepList["safePolygon"] = safePolygon;
+  RepList["maxTime"] = maxTime;
   return 0;
 
 }