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增加了任务管理程序路径参数配置文件及功能

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This commit is contained in:
zhaojingkui
2023-11-29 10:23:07 +08:00
parent a9ba0ac868
commit c85bcf5ad5
4 changed files with 51 additions and 16 deletions
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50
src/pTaskManagement/TaskManger.cpp
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@@ -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);
}