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增加了安全规则设置,在seting文件夹中添加了安全规则配置文件

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zhaojingkui
2023-11-29 09:33:17 +08:00
parent f5c34bd4b9
commit a9ba0ac868
3 changed files with 41 additions and 13 deletions
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8
launch/alpha.bhv
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@@ -12,7 +12,6 @@ set MODE = T1{
TaskNum = t1 TaskNum = t1
} }
//----------路径点任务---------------------------- //----------路径点任务----------------------------
Behavior = BHV_Waypoint Behavior = BHV_Waypoint
{ {
@@ -155,19 +154,20 @@ Behavior = BHV_MaxDepth
// --------------------------- // ---------------------------
name = op_region // example name = op_region // example
pwt = 300 // default pwt = 300 // default
condition = MODE==TN condition = MODE==ACTIVE
updates = OPREGION_UPDATES // example updates = OPREGION_UPDATES // example
// Parameters specific to this behavior // Parameters specific to this behavior
// ------------------------------------ // ------------------------------------
max_time = 20 // default (seconds) max_time = 0.1 // default (seconds)
max_depth = 25 // default (meters) max_depth = 2 // default (meters)
min_altitude = 0 // default (meters) min_altitude = 0 // default (meters)
reset_var = OPREGION_RESET // example reset_var = OPREGION_RESET // example
trigger_entry_time = 1 // default (seconds) trigger_entry_time = 1 // default (seconds)
trigger_exit_time = 0.5 // default (seconds) trigger_exit_time = 0.5 // default (seconds)
polygon = pts={-80,-00:-30,-175:150,-100:95,25} 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_altitude_flag = TaskFault = AltitudeOut
breached_depth_flag = TaskFault = DepthOut breached_depth_flag = TaskFault = DepthOut

24
setting/SafetyRules.json Normal file
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@@ -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
}
]
}

22
src/pTaskManagement/TaskManger.cpp
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@@ -142,7 +142,6 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail)
faultNumber = 1111; faultNumber = 1111;
} }
} }
} }
return(true); return(true);
} }
@@ -445,7 +444,7 @@ bool TaskManger::OnStartUp()
if(param == "SAFETYRULESPATH") if(param == "SAFETYRULESPATH")
{ {
safetyRulesPath = value; safetyRulesPath = value;
//RepList["RulesPath"] = safetyRulesPath; RepList["RulesPath"] = safetyRulesPath;
} }
} }
} }
@@ -709,7 +708,7 @@ int TaskManger::readTaskFile(string taskName)
int TaskManger::readSafetyRules() int TaskManger::readSafetyRules()
{ {
ifstream ifs; ifstream ifs;
ifs.open(planConfigPath, ios::in); ifs.open(safetyRulesPath, ios::in);
Json::Reader reader; Json::Reader reader;
Json::Value inputJsonValue; Json::Value inputJsonValue;
reader.parse(ifs, inputJsonValue); reader.parse(ifs, inputJsonValue);
@@ -728,18 +727,23 @@ int TaskManger::readSafetyRules()
maxDepth = doubleToString(depth); maxDepth = doubleToString(depth);
minAltitude = doubleToString(altitude); minAltitude = doubleToString(altitude);
safePolygon = ""; string pts = "";
Json::Value points = inputJsonValue["points"]; Json::Value points = inputJsonValue["points"];
//"pts={-80,-00:-30,-175:150,-100:95,25}"
int ps_cnt = points.size(); int ps_cnt = points.size();
for(int i=0; i<ps_cnt; i++) for(int i=0; i<ps_cnt; i++)
{ {
string x = points["north"].asString(); string x = intToString(points[i]["north"].asInt());
string y = points["east"].asString(); string y = intToString(points[i]["east"].asInt());
if(safePolygon=="") if(pts=="")
safePolygon = x + "," + y ; pts = x + "," + y ;
else 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; return 0;
} }