修复了任务管理器接受外部故障码重复上报的问题

src/pTaskManagement/TaskManger.cpp

@@ -13,7 +13,7 @@
 
 using namespace std;
 
-#define DEBUG
+// #define DEBUG
 
 
 //---------------------------------------------------------
@@ -138,7 +138,8 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail)
       if(fault_level != 0)
       {
         state = FAULT;
-        faultNumber = 1111;
+        if(!j["FaultMsgs"].isMember("uMission_status_fault"))
+          faultNumber = 1111;
       }
     }
   
@@ -243,6 +244,16 @@ bool TaskManger::Iterate()
           st =30;
           faultMsg = "TaskFileError : " + intToString(readTask);
         }
+        readTask = readSafetyRules();
+        if( readTask != 0 )
+        {
+          state = FAULT;
+          faultNumber = 14 + readTask;
+          st = 30;
+          faultMsg = "safetyFileError : " + intToString(readTask);
+        }
+        //发送安全规则设置
+        setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
         st = 0;
         break;
       }
@@ -346,7 +357,7 @@ bool TaskManger::Iterate()
     {
       case 40: //配置安全规则
       {
-        readSafetyRules("a");
+        readSafetyRules();
         setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
         // setMaxDepth(maxDepth);
         setMaxDepth("2");
@@ -429,13 +440,19 @@ bool TaskManger::OnStartUp()
       if(param == "PLANCONFIGPATH")
       {
         planConfigPath = value;
-        RepList["CueenPath"] = planConfigPath;
+        //RepList["CueenPath"] = planConfigPath;
-      }                           
+      } 
+      if(param == "SAFETYRULESPATH")
+      {
+        safetyRulesPath = value;
+        //RepList["RulesPath"] = safetyRulesPath;
+      }                          
     }
   } 
   if(planConfigPath == "")
     reportConfigWarning("NO TASK FILE PATH");
-  // readTaskFile("a");
+  if(planConfigPath == "")
+    reportConfigWarning("NO TASK SAFETY RULES CONFIG");
   RegisterVariables();	
   return(true);
 }
@@ -614,7 +631,7 @@ void TaskManger::RegisterVariables()
  */
 int  TaskManger::readTaskFile(string taskName)
 {
-  int faultNubmer = 0;
+  int fault = 0;
   if(!nodeList.empty())
     nodeList.clear();
   ifstream ifs;
@@ -631,7 +648,7 @@ int  TaskManger::readTaskFile(string taskName)
   if (!inputJsonValue.isMember(taskName))
   {
     RepList["Task in File"] = "False";
-    return faultNubmer=1;
+    return fault=1;
   }
   else
   {
@@ -639,13 +656,13 @@ int  TaskManger::readTaskFile(string taskName)
     string node="";
     currentTask = inputJsonValue[taskName];
     if(currentTask["taskName"].asString() != taskName)
-      return faultNubmer=2;
+      return fault=2;
     
     double currentTask_maxTime = currentTask["duration"].asDouble();
     double repeat = currentTask["repeat"].asDouble();
     
     if(!currentTask["points"].isArray())
-      return faultNubmer=3;
+      return fault=3;
 
     Json::Value currentTask_Points = currentTask["points"]; 
     int ps_cnt = currentTask_Points.size();
@@ -663,7 +680,7 @@ int  TaskManger::readTaskFile(string taskName)
       else if(node_type == "track")
         node_type = "@2";
       else
-        return faultNubmer=4;
+        return fault=4;
       node = node_type;
       node += ",";
       node += node_x;
@@ -688,13 +705,43 @@ int  TaskManger::readTaskFile(string taskName)
   cout << "--------------------------------" << endl;
   return 0;
 }
-
+//maxTime, maxDepth, minAltitude, safePolygon
-int TaskManger::readSafetyRules(string fileName)
+int TaskManger::readSafetyRules()
 {
-  maxDepth = "30";
+  ifstream ifs;
-  maxTime  = "1000";
+  ifs.open(planConfigPath, ios::in);
-  safePolygon = "pts={-80,-00:-30,-175:150,-100:95,25}";
+  Json::Reader reader;
+  Json::Value inputJsonValue;
+  reader.parse(ifs, inputJsonValue);
+  ifs.close();
+  if(!inputJsonValue.isMember("maxTime")
+  || !inputJsonValue.isMember("maxDepth")
+  || !inputJsonValue.isMember("minAltitude")
+  || !inputJsonValue.isMember("points"))
+  return 1;
+  if(!inputJsonValue["points"].isArray())
+    return 2;
+  double time = inputJsonValue["maxTime"].asDouble() * 60;
+  double depth = inputJsonValue["maxDepth"].asDouble();
+  double altitude = inputJsonValue["minAltitude"].asDouble();
+  maxTime = doubleToString(time);
+  maxDepth = doubleToString(depth);
+  minAltitude = doubleToString(altitude);
+
+  safePolygon = "";
+  Json::Value points = inputJsonValue["points"]; 
+  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 ;
+    else
+      safePolygon = safePolygon + ":" + x + "," + y ;
+  }
   return 0;
+
 }
 
 int TaskManger::readWayConfig(string filename)
@@ -966,6 +1013,7 @@ bool TaskManger::buildReport()
   }
   m_msgs << "=========================================================" << endl;
   RepList["Current Node"] = current_node;
+  RepList["Fault Number"] = faultNumber;
   RepList["remaining number of nodes"] = (int)nodeList.size()+1;
   string rep = Json::writeString(RepJsBuilder, RepList);
   m_msgs << rep << endl;
@@ -992,7 +1040,7 @@ inline void TaskManger::InitConfig()
   // Notify(MSG_START,"false");
   Notify(MSG_RUN,"false");
   //
-  readSafetyRules("q");
+  readSafetyRules();
   setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
   readWayConfig("a");
   setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
@@ -1005,7 +1053,10 @@ void TaskManger::postReportToSSM()
   msg["state"] = state;
   msg["taskName"] = taskName;
   msg["destName"] = getNodeName(current_node);
-  msg["errorCode"] = faultNumber;
+  if(faultNumber == 1111)
+    msg["errorCode"] = 0;
+  else
+    msg["errorCode"] = faultNumber;
   // msg["progess"] = 
   // msg["eta"] = 
   RepList["toSSM"] = msg;

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: 2023-11-23 15:29:09
+ * @LastEditTime: 2023-11-28 15:38:44
  * @FilePath: /moos-ivp-pi/src/pTaskManagement/TaskManger.h
  * @Description: 
  * 
@@ -65,7 +65,7 @@ class TaskManger : public AppCastingMOOSApp
   TaskType getTaskTpye(const string node);
 
   int readTaskFile(string taskName);
-  int readSafetyRules(string fileName);
+  int readSafetyRules();
   int readWayConfig(string fileName);
   void postReportToSSM();
   
@@ -141,6 +141,7 @@ private:
 //任务文件参数
 //TODO:动态配置任务文件等参数
   string planConfigPath;
+  string safetyRulesPath;
   vector<string> taskList;
   int taskCount;
   string taskName;

src/pTaskManagement/pTaskManger.moos

@@ -7,6 +7,7 @@ ProcessConfig = pTaskManger
 {
    AppTick   = 10
    CommsTick = 10
-   planConfigPath  = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
+   planConfigPath  = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json
+   planConfigPath  = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json
 }