增加了任务管理程序路径参数配置文件及功能

setting/WayConfigParam.json

@@ -0,0 +1,9 @@
+{
+    "lead" : 8,
+    "lead_damper" : 1,
+    "lead_to_start" : false,
+    "capture_line" : true,
+    "capture_radius" : 5,
+    "slip_radius" : 15,
+    "efficiency_measure" :"all"
+}

src/pTaskManagement/TaskManger.cpp

@@ -359,13 +359,13 @@ bool TaskManger::Iterate()
         readSafetyRules();
         setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
         // setMaxDepth(maxDepth);
-        setMaxDepth("2");
+        setMaxDepth(maxDepth);
         st = 49;
         break;
       }
       case 41: //路径参数配置
       {
-        readWayConfig("a");
+        readWayConfig();
         setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
         st = 49;
         //setWayConfig();
@@ -444,14 +444,21 @@ bool TaskManger::OnStartUp()
       if(param == "SAFETYRULESPATH")
       {
         safetyRulesPath = value;
-        RepList["RulesPath"] = safetyRulesPath;
-      }                          
+        //RepList["RulesPath"] = safetyRulesPath;
+      }
+      if(param == "WAYCONFIGPARAMPATH")
+      {
+        wayParamPath = value;
+        RepList["WayConfigPath"] = wayParamPath;
+      }
     }
   } 
   if(planConfigPath == "")
     reportConfigWarning("NO TASK FILE PATH");
   if(planConfigPath == "")
     reportConfigWarning("NO TASK SAFETY RULES CONFIG");
+  if(wayParamPath == "")
+    reportConfigWarning("NO WAY PARAM CONFIG");
   RegisterVariables();	
   return(true);
 }
@@ -748,15 +755,32 @@ int TaskManger::readSafetyRules()
 
 }
 
-int TaskManger::readWayConfig(string filename)
+int TaskManger::readWayConfig()
 {
-  lead = "8";
-  lead_damper = "1";
-  lead_to_start = "false";
-  capture_line = "true";
-  capture_radius = "5";
-  slip_radius = "15";
-  efficiency_measure = "all";
+  ifstream ifs;
+  ifs.open(wayParamPath, ios::in);
+  Json::Reader reader;
+  Json::Value inputJsonValue;
+  reader.parse(ifs, inputJsonValue);
+  ifs.close();
+  if(!inputJsonValue.isMember("lead")
+  || !inputJsonValue.isMember("lead_damper")
+  || !inputJsonValue.isMember("lead_to_start")
+  || !inputJsonValue.isMember("capture_line")
+  || !inputJsonValue.isMember("capture_radius")
+  || !inputJsonValue.isMember("efficiency_measure")
+  || !inputJsonValue.isMember("slip_radius"))
+  return 1;
+  if(!inputJsonValue["points"].isArray())
+  return 2;
+  lead = doubleToString(inputJsonValue["lead"].asDouble());
+  lead_damper = doubleToString(inputJsonValue["lead_damper"].asDouble());
+  lead_to_start = boolToString(inputJsonValue["lead_to_start"].asBool());
+  capture_line = boolToString(inputJsonValue["capture_line"].asBool());
+  capture_radius = doubleToString(inputJsonValue["capture_radius"].asDouble());
+  slip_radius = doubleToString(inputJsonValue["slip_radius"].asDouble());
+  efficiency_measure = inputJsonValue["efficiency_measure"].asString();
+  return true;
 }
 
 /**
@@ -1046,7 +1070,7 @@ inline void TaskManger::InitConfig()
   //
   readSafetyRules();
   setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
-  readWayConfig("a");
+  readWayConfig();
   setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
 }
 

src/pTaskManagement/TaskManger.h

@@ -2,7 +2,7 @@
  * @Author: 1553836110 1553836110@qq.com
  * @Date: 2023-09-28 15:45:17
  * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-28 15:38:44
+ * @LastEditTime: 2023-11-29 10:08:55
  * @FilePath: /moos-ivp-pi/src/pTaskManagement/TaskManger.h
  * @Description: 
  * 
@@ -66,7 +66,7 @@ class TaskManger : public AppCastingMOOSApp
 
   int readTaskFile(string taskName);
   int readSafetyRules();
-  int readWayConfig(string fileName);
+  int readWayConfig();
   void postReportToSSM();
   
   inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
@@ -142,6 +142,7 @@ private:
 //TODO:动态配置任务文件等参数
   string planConfigPath;
   string safetyRulesPath;
+  string wayParamPath;
   vector<string> taskList;
   int taskCount;
   string taskName;

src/pTaskManagement/pTaskManger.moos

@@ -8,6 +8,7 @@ ProcessConfig = pTaskManger
    AppTick   = 10
    CommsTick = 10
    planConfigPath  = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json
-   planConfigPath  = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json
+   safetyRulesPath  = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json
+   wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json
 }