puai_dispatch/tool/common_data.h

//
// Created by huli on 2020/9/8.
//

#ifndef NNXX_TESTS_COMMON_DATA_H
#define NNXX_TESTS_COMMON_DATA_H

#include <string>
#include "../message/message_base.pb.h"

class Common_data
{
public:
	//万集雷达扫描周期66ms, (频率15hz), 一般设置大一些
#define WANJI_716_SCAN_CYCLE_MS 		70

//车位表
#define PARKSPACE_ID_BASE							0
#define PASSAGEWAY_ID_BASE							1100

//唯一码的默认长度 32byte
#define COMMAND_KEY_DEFAULT_LENGTH					32




	//整车的测量信息
	struct Car_measure_information
	{
		float center_x = 0;				//整车的中心点x值, 四轮的中心
		float center_y = 0;				//整车的中心点y值, 四轮的中心
		float car_angle = 0;			//整车的车身旋转角,
		float car_length = 0;			//整车的长度, 用于规避碰撞
		float car_width = 0;			//整车的宽度, 用于规避碰撞
		float car_height = 0;			//整车的高度, 用于规避碰撞
		float car_wheel_base = 0;			//整车的轮距, 前后轮的距离, 用于机器人或agv的抓车
		float car_wheel_width = 0;			//整车的轮距, 左右轮的距离, 用于机器人或agv的抓车
		float car_front_theta = 0;			//整车的前轮的旋转角

		bool correctness = false;			//整车的校准标记位

	};

	//四轮的测量信息
	struct Car_wheel_information
	{
		float center_x = 0;				//整车的中心点x值, 四轮的中心
		float center_y = 0;				//整车的中心点y值, 四轮的中心
		float car_angle = 0;			//整车的车身旋转角,

		float car_wheel_base = 0;			//整车的轮距, 前后轮的距离, 用于机器人或agv的抓车
		float car_wheel_width = 0;			//整车的轮距, 左右轮的距离, 用于机器人或agv的抓车
		float car_front_theta = 0;			//整车的前轮的旋转角

		bool correctness = false;			//整车的校准标记位

	};

	struct Car_information
	{
		std::string                license;              //车辆凭证号
		float                      car_length=0;           //车长
		float                      car_width=0;            //车宽
		float                      car_height=0;           //车高
		float                      car_wheel_base = 0;	    //整车的轮距; 前后轮的距离; 用于机器人或agv的抓车
		float                      car_wheel_width = 0;	//整车的轮距; 左右轮的距离; 用于机器人或agv的抓车
	};


//车位状态枚举
	enum Parkspace_status
	{
		PARKSPACE_STATUS_UNKNOW		= 0,
		PARKSPACE_EMPTY     		= 1,         //空闲，可分配
		PARKSPACE_OCCUPIED    		= 2,         //被占用，不可分配
		PARKSPACE_RESERVED  		= 3,         //被预约，预约车辆可分配, 暂时不用
		PARKSPACE_LOCKED 			= 4,         //临时锁定，不可分配
		PARKSPACE_ERROR 			= 5,         //车位机械结构或硬件故障
	};

	enum Direction
	{
		DIRECTION_UNKNOW = 0,
		DIRECTION_FORWARD = 1,
		DIRECTION_BACKWARD = 2,
	};

//车位分配路线（根据中跑车的路线来定）
	enum Parkspace_path
	{
		UNKNOW_PATH = 0,
		OPTIMAL_PATH = 1,
		LEFT_PATH = 2,
		RIGHT_PATH = 3,
		TEMPORARY_CACHE_PATH = 4,

	};
//车位类型
	enum Parkspace_type
	{
		UNKNOW_PARKSPACE_TYPE = 0,
		MIN_PARKINGSPACE = 1,//小车位
		MID_PARKINGSPACE = 2,//中车位
		BIG_PARKINGSPACE = 3,//大车位
	};

	//单个车位基本信息与状态信息,车位信息以及车位上的车辆信息
	struct Parkspace_information
	{
		int              	parkingspace_index_id=0;         //车位编号
		Parkspace_type     	parkingspace_type=UNKNOW_PARKSPACE_TYPE;               //车位类型

		int              	parkingspace_unit_id=0;            //区块编号
		int              	parkingspace_floor_id=0;                //楼层
		int              	parkingspace_room_id=0;                //同层编号
		Direction    		parkingspace_direction=DIRECTION_UNKNOW;            //前后

		float              	parkingspace_width=0;                //车位宽
		float              	parkingspace_height=0;               //车位高
		Parkspace_status   	parkingspace_status=PARKSPACE_EMPTY;     //车位当前状态

		Car_information    	car_information;              //当前车位存入车辆的凭证号
		std::string        	car_entry_time;          //入场时间
		std::string        	car_leave_time;          //离场时间

		Parkspace_path     	parkspace_path = UNKNOW_PATH;            // 车位分配路线
		float              	path_estimate_time = 0;        //车位分配路线 time(s)
		Parkspace_status   	parkspace_status_target=PARKSPACE_EMPTY;     //车位目标状态
	};

	static void copy_data(Car_measure_information& car_measure_information_out, const message::Locate_information& locate_information_in);
	static void copy_data(message::Locate_information& locate_information_out, const Car_measure_information& car_measure_information_in);
	static void copy_data(Car_information& car_information_out, const message::Car_info& car_info_in);
	static void copy_data(message::Car_info& car_info_out, const Car_information& car_information_in);
	static void copy_data(Parkspace_information& parkspace_information_out, const message::Parkspace_info& parkspace_info_in);
	static void copy_data(message::Parkspace_info& parkspace_info_out, const Parkspace_information& parkspace_information_in);


	static void transform_data(Car_information& car_information_out, const Car_measure_information& car_measure_information_in);
	static void transform_data(Car_measure_information& car_measure_information_out, const Car_information& car_informatio_in);
	static void transform_data(Car_wheel_information& car_wheel_information_out, const Car_measure_information& car_measure_information_in);
	static void transform_data(Car_measure_information& car_measure_information_out, const Car_wheel_information& car_wheel_information_in);

	static void scaling(Car_measure_information& car_measure_information, float rate);
	static void scaling(Car_information& car_information, float rate);
	static void scaling(Parkspace_information& parkspace_information, float rate);


	static bool approximate_rate(float a, float b, float rate);
	static bool approximate_difference(float a, float b, float difference);

};


#endif //NNXX_TESTS_COMMON_DATA_H