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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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9
setting/WayConfigParam.json Normal file
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@@ -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"
}

48
src/pTaskManagement/TaskManger.cpp
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@@ -359,13 +359,13 @@ bool TaskManger::Iterate()
readSafetyRules(); readSafetyRules();
setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
// setMaxDepth(maxDepth); // setMaxDepth(maxDepth);
setMaxDepth("2"); setMaxDepth(maxDepth);
st = 49; st = 49;
break; break;
} }
case 41: //路径参数配置 case 41: //路径参数配置
{ {
readWayConfig("a"); readWayConfig();
setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
st = 49; st = 49;
//setWayConfig(); //setWayConfig();
@@ -444,7 +444,12 @@ bool TaskManger::OnStartUp()
if(param == "SAFETYRULESPATH") if(param == "SAFETYRULESPATH")
{ {
safetyRulesPath = value; safetyRulesPath = value;
RepList["RulesPath"] = safetyRulesPath; //RepList["RulesPath"] = safetyRulesPath;
}
if(param == "WAYCONFIGPARAMPATH")
{
wayParamPath = value;
RepList["WayConfigPath"] = wayParamPath;
} }
} }
} }
@@ -452,6 +457,8 @@ bool TaskManger::OnStartUp()
reportConfigWarning("NO TASK FILE PATH"); reportConfigWarning("NO TASK FILE PATH");
if(planConfigPath == "") if(planConfigPath == "")
reportConfigWarning("NO TASK SAFETY RULES CONFIG"); reportConfigWarning("NO TASK SAFETY RULES CONFIG");
if(wayParamPath == "")
reportConfigWarning("NO WAY PARAM CONFIG");
RegisterVariables(); RegisterVariables();
return(true); return(true);
} }
@@ -748,15 +755,32 @@ int TaskManger::readSafetyRules()
} }
int TaskManger::readWayConfig(string filename) int TaskManger::readWayConfig()
{ {
lead = "8"; ifstream ifs;
lead_damper = "1"; ifs.open(wayParamPath, ios::in);
lead_to_start = "false"; Json::Reader reader;
capture_line = "true"; Json::Value inputJsonValue;
capture_radius = "5"; reader.parse(ifs, inputJsonValue);
slip_radius = "15"; ifs.close();
efficiency_measure = "all"; 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(); readSafetyRules();
setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
readWayConfig("a"); readWayConfig();
setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
} }

5
src/pTaskManagement/TaskManger.h
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@@ -2,7 +2,7 @@
* @Author: 1553836110 1553836110@qq.com * @Author: 1553836110 1553836110@qq.com
* @Date: 2023-09-28 15:45:17 * @Date: 2023-09-28 15:45:17
* @LastEditors: zhaojingkui 1553836110@qq.com * @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 * @FilePath: /moos-ivp-pi/src/pTaskManagement/TaskManger.h
* @Description: * @Description:
* *
@@ -66,7 +66,7 @@ class TaskManger : public AppCastingMOOSApp
int readTaskFile(string taskName); int readTaskFile(string taskName);
int readSafetyRules(); int readSafetyRules();
int readWayConfig(string fileName); int readWayConfig();
void postReportToSSM(); void postReportToSSM();
inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);} 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 //TODO:动态配置任务文件等参数
string planConfigPath; string planConfigPath;
string safetyRulesPath; string safetyRulesPath;
string wayParamPath;
vector<string> taskList; vector<string> taskList;
int taskCount; int taskCount;
string taskName; string taskName;

3
src/pTaskManagement/pTaskManger.moos
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@@ -8,6 +8,7 @@ ProcessConfig = pTaskManger
AppTick = 10 AppTick = 10
CommsTick = 10 CommsTick = 10
planConfigPath = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json 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
} }