add data_path param, controller save cloud with msg received, region detect result print selection, plc elecfence communication.

cloud_scan3.txt

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cloud_scan4.txt

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cloud_scan5.txt

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src/findwheel/CMakeLists.txt

@@ -163,7 +163,7 @@ add_executable(${PROJECT_NAME}_node
     src/tools/globalmsg.pb.cc
     src/tools/s7_plc.cpp
     src/PlcData.cpp)
-target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} snap7 libnnxx.a libnanomsg.so ${OpenCV_LIBS})
+target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} snap7 libnnxx.a libnanomsg.so ${OpenCV_LIBS} libglog.a libgflags.a)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

src/findwheel/data/2019-12-22_21:02:33.txt

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src/findwheel/data/2019-12-22_21:02:42.txt

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src/findwheel/scripts/EleFence.proto

@@ -34,4 +34,5 @@ message globalParam
 {
     repeated lidarParam lidar_params=1;
     repeated Region regions=2;
+    optional string data_path=3 [default=""];
 }

src/findwheel/scripts/setting.prototxt

@@ -1,3 +1,4 @@
+data_path:"/home/youchen/Documents/measure/MainStructure/elecfence_ws/src/findwheel/data"
 
 lidar_params
 {

src/findwheel/src/FenceController.cpp

@@ -9,14 +9,35 @@ bool FenceController::ReadProtoParam(std::string path)
     if (fd == -1) return false;
     FileInputStream* input = new FileInputStream(fd);
     bool success = google::protobuf::TextFormat::Parse(input, &m_global_param);
+    // std::cout<<m_global_param.data_path()<<std::endl;
     delete input;
     close(fd);
     return success;
 }
 
+void FenceController::save_cloud_txt(std::string txt, pcl::PointCloud<pcl::PointXYZ>::Ptr pCloud)
+{
+    std::ofstream os;
+    os.open(txt, std::ios::out);
+    for (int i = 0; i < pCloud->points.size(); i++)
+    {
+        pcl::PointXYZ point = pCloud->points[i];
+        char buf[255];
+        memset(buf, 0, 255);
+        sprintf(buf, "%f %f %f\n", point.x, point.y, point.z);
+        os.write(buf, strlen(buf));
+    }
+    os.close();
+}
+
 FenceController::FenceController(std::string path):
 m_initialized(0)
 {
+    // char buf[100];
+    // getcwd(buf, sizeof(buf));
+    //printf("%s\n",buf);
+    //FLAGS_log_dir = buf;
+    // google::InitGoogleLogging("path");
     p_merged_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
     m_initialized = ReadProtoParam(path);
     const int lidar_size = m_global_param.lidar_params_size();
@@ -88,6 +109,7 @@ FenceController::~FenceController()
     }
     std::cout<<"exit 03"<<std::endl;
     PlcData::Release();
+    // google::ShutdownGoogleLogging();
 }
 void FenceController::GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out){
     m_cloud_mutex.lock();
@@ -154,7 +176,7 @@ void FenceController::wheelMsgHandlingThread(FenceController* fc){
             struct tm *tc = localtime(&tt);
             char buf[255] = {0};
             memset(buf, 0, 255);
-            sprintf(buf, "%d-%02d-%02d %02d:%02d:%02d ", tc->tm_year + 1900,
+            sprintf(buf, "%d-%02d-%02d_%02d:%02d:%02d", tc->tm_year + 1900,
                     tc->tm_mon + 1, tc->tm_mday, tc->tm_hour, tc->tm_min, tc->tm_sec);
             result.set_time(buf);
             result.set_correctness(false);
@@ -189,6 +211,15 @@ void FenceController::wheelMsgHandlingThread(FenceController* fc){
                                 fc->p_region_workers[i]->get_wheel_result(total_cloud, x, y, c, wheelbase, width))
                             {
                                 result.set_correctness(true);
+                                // save cloud txt
+                                if (fc->m_global_param.data_path() != "")
+                                {
+                                    char cloud_txt_filename[255];
+                                    memset(cloud_txt_filename, 0, 255);
+                                    sprintf(cloud_txt_filename, "%s//%s.txt", fc->m_global_param.data_path().c_str(), result.time().c_str());
+                                    fc->save_cloud_txt(cloud_txt_filename, total_cloud);
+                                    std::cout << " save cloud   " << cloud_txt_filename << std::endl;
+                                }
                             }
                             else
                             {

src/findwheel/src/FenceController.h

@@ -1,6 +1,9 @@
 //
 // Created by zx on 2019/12/6.
 //
+#ifndef FENCECONTROLLER_H
+#define FENCECONTROLLER_H
+
 #include <iostream>
 #include <string>
 #include <fstream>
@@ -19,6 +22,8 @@ using google::protobuf::io::ZeroCopyOutputStream;
 using google::protobuf::io::CodedOutputStream;
 using google::protobuf::Message;
 
+#include "glog/logging.h"
+
 #include <ros/ros.h>
 #include "tools/EleFence.pb.h"
 #include "tools/globalmsg.pb.h"
@@ -43,9 +48,6 @@ using google::protobuf::Message;
 
 #include "tools/threadSafeQueue.h"
 
-#ifndef FENCECONTROLLER_H
-#define FENCECONTROLLER_H
-
 #define CONNECTSTRING "tcp://127.0.0.1:9000"
 
 typedef struct MSGTASK
@@ -68,6 +70,7 @@ public:
 
 private:
     bool ReadProtoParam(std::string path);
+    void save_cloud_txt(std::string txt, pcl::PointCloud<pcl::PointXYZ>::Ptr pCloud);
 
 public:
     bool                                    m_initialized;
@@ -79,9 +82,9 @@ public:
     std::mutex                              m_mutex_wheel_handling;
     // retry count
     const int                               m_retry_count = 3;
-private:
     // 全局系统配置
     EleFence::globalParam                   m_global_param;
+private:
 
     // 雷达与区域句柄
     std::vector<Lidar*>                     p_lidars;

src/findwheel/src/PlcData.cpp

@@ -46,14 +46,22 @@ void PlcData::plcThread(PlcData* p){
     if(p->p_plc == 0) return;
     while(!p->m_cond_exit.WaitFor(1)){
         // 显示雷达结果
-        /*std::cout<<"result: [";
+        std::cout<<"result: [";
         for (int i = 0; i < MAX_REGIONS; ++i) {
             std::cout<<p->m_data[i]<<" ";
         }
-        std::cout<<"]"<<std::endl;*/
+        std::cout<<"]"<<std::endl;
         // 写plc
         if(p->p_plc->getConnection()){
-            p->p_plc->WriteShorts(ELE_FENCE_DB_NUM, ELE_FENCE_START_ADDR, MAX_REGIONS, p->m_data);
+
+            short temp = 0;
+            for (int i = 0; i < ELE_FENCE_COUNT; ++i) {
+                temp= *(p->m_data+i);
+//                temp =HTON(temp);
+                //printf("%d ---->%d\n",*(p->m_data+i), temp);
+                p->p_plc->WriteShorts(ELE_FENCE_DB_NUM, ELE_FENCE_START_ADDR+i*ELE_FENCE_OFFSET, 1, &temp);
+                usleep(50*1000);
+            }
         }else{
             p->p_plc->disconnect();
             if(p->m_ip_str != ""){

src/findwheel/src/PlcData.h

@@ -14,8 +14,12 @@
 #include "tools/define.h"
 
 #define MAX_REGIONS 15
-#define ELE_FENCE_START_ADDR 0
-#define ELE_FENCE_DB_NUM 48
+#define ELE_FENCE_START_ADDR 4
+#define ELE_FENCE_DB_NUM  95
+#define ELE_FENCE_OFFSET 7
+#define ELE_FENCE_COUNT 6
+
+#define HTON(T) ((T)<<8)|((T)>>8)
 
 class PlcData
 {
@@ -30,7 +34,6 @@ private:
     std::thread*                                    p_send_thread;
     S7PLC*                                          p_plc;
     const int                                       m_send_interval_milli = 200;
-    
 
     PlcData(std::string ip);
 

src/findwheel/src/region_detect.cpp

@@ -60,7 +60,7 @@ double distance(cv::Point2f p1, cv::Point2f p2)
 {
     return sqrt(pow(p1.x - p2.x, 2.0) + pow(p1.y - p2.y, 2.0));
 }
-bool Region_detector::isRect(std::vector<cv::Point2f>& points)
+bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
 {
     if (points.size() == 4)
     {
@@ -73,6 +73,7 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points)
         double l2 = L[2];
         int max_index = 0;
         cv::Point2f ps = points[0], pt = points[1];
+        // 顶点
         cv::Point2f pc = points[2];
         for (int i = 1; i < 3; ++i) {
             if (L[i] > max_l) {
@@ -85,32 +86,48 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points)
                 pc = points[(i + 2) % 3];
             }
         }
+        // 顶角大小
         double cosa = (l1 * l1 + l2 * l2 - max_l * max_l) / (2.0 * l1 * l2);
-        if (fabs(cosa) >= 0.15 || std::min(l1,l2)>2.0 || std::max(l1,l2)>3.3) {
-            std::cout << " angle cos >0.13 =" << cosa << "  i=" << max_index;
-            std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+        // 顶角过小，矩形过宽，过长
+        if (fabs(cosa) >= 0.15 || std::min(l1, l2) > 2.0 || std::max(l1, l2) > 3.3)
+        {
+            if (print)
+            {
+                std::cout << " angle cos >0.13 =" << cosa << "  i=" << max_index;
+                std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+            }
             return false;
         }
 
         float width=std::min(l1,l2);
         float length=std::max(l1,l2);
-        if(width<1.400 || width >2.000 || length >3.300 ||length < 2.200)
+        // 车宽应位于[1.4, 2.0]，车长应位于[2.2, 3.0]
+        if(width<1.400 || width >2.000 || length >3.000 ||length < 2.200)
         {
-            std::cout<<"\t width<1400 || width >2100 || length >3300 ||length < 2100 "
-                      <<"  length:"<<length<<"  width:"<<width;
+            if(print)
+            {
+                std::cout << "\t width<1400 || width >2100 || length >3300 ||length < 2100 "
+                          << "  length:" << length << "  width:" << width;
+            }
             return false;
         }
 
         double d = distance(pc, points[3]);
         cv::Point2f center1 = (ps + pt) * 0.5;
         cv::Point2f center2 = (pc + points[3]) * 0.5;
+        // 对角线形变超过0.15倍，或中心点距离偏差0.15m
         if (fabs(d - max_l) > max_l * 0.15 || distance(center1, center2) > 0.150) {
-            std::cout << "d:" << d << " maxl:" << max_l << "  center1:" << center1 << "  center2:" << center2
-                    << "  center distance=" << distance(center1, center2);;
+            if(print)
+            {
+                std::cout << "d:" << d << " maxl:" << max_l << "  center1:" << center1 << "  center2:" << center2
+                          << "  center distance=" << distance(center1, center2);
+            }
             return false;
         }
-        std::cout << " rectangle verify OK  cos angle=" << cosa << "  length off=" << fabs(d - max_l)
-                  << "  center distance=" << distance(center1, center2);
+        if(print){
+            std::cout << " rectangle verify OK  cos angle=" << cosa << "  length off=" << fabs(d - max_l)
+                      << "  center distance=" << distance(center1, center2);
+        }
         return true;
     }
     else if(points.size()==3)
@@ -137,29 +154,39 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points)
             }
         }
         double cosa = (l1 * l1 + l2 * l2 - max_l * max_l) / (2.0 * l1 * l2);
-        if (fabs(cosa) >= 0.15) {
-            std::cout << "3 wheels angle cos >0.12 =" << cosa << "  i=" << max_index;
-            std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+        if (fabs(cosa) >= 0.15)
+        {
+            if (print)
+            {
+                std::cout << "3 wheels angle cos >0.12 =" << cosa << "  i=" << max_index;
+                std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+            }
             return false;
         }
 
         double l=std::max(l1,l2);
         double w=std::min(l1,l2);
-        if(l>2.100 && l<3.300 && w>1.400 && w<2.100)
+        if(l>2.100 && l<3.000 && w>1.400 && w<2.100)
         {
             //生成第四个点
             cv::Point2f vec1=ps-pc;
             cv::Point2f vec2=pt-pc;
             cv::Point2f point4=(vec1+vec2)+pc;
             points.push_back(point4);
-            std::cout << "3 wheels rectangle verify OK  cos angle=" << cosa << "  L=" << l
-                      << "  w=" << w;
+            if(print)
+            {
+                std::cout << "3 wheels rectangle verify OK  cos angle=" << cosa << "  L=" << l
+                          << "  w=" << w;
+            }
             return true;
         }
         else
         {
-            std::cout<< "3 wheels rectangle verify Failed  cos angle=" << cosa << "  L=" << l
-                      << "  w=" << w;
+            if (print)
+            {
+                std::cout << "3 wheels rectangle verify Failed  cos angle=" << cosa << "  L=" << l
+                          << "  w=" << w;
+            }
             return false;
         }
 
@@ -167,7 +194,7 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points)
 
 }
 
-bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<cv::Point2f>& corner_points) {
+bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<cv::Point2f>& corner_points, bool print) {
     if (cloud_in->size() == 0) return false;
     /////聚类
     pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
@@ -203,7 +230,9 @@ bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, s
         j++;
     }
 
-    std::cout << " cluster class:" << clusters.size() << std::endl;
+    if(print){
+        std::cout << " cluster class:" << clusters.size() << std::endl;
+    }
 
     // std::vector<cv::Point2f> cvPoints;
     corner_points.clear();
@@ -239,7 +268,7 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in)
     return result;
 }
 
-bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, double &x, double &y, double &c, double &wheelbase, double &width)
+bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, double &x, double &y, double &c, double &wheelbase, double &width)
 {
     bool result = false;
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
@@ -249,7 +278,13 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, doubl
     if (cloud_filtered->size() <= 0)
         return false;
     std::vector<cv::Point2f> corner_points;
-    result = clustering(cloud_filtered, corner_points);
+    result = clustering(cloud_filtered, corner_points, true);
+    // add four corner points into input cloud
+    for (size_t i = 0; i < corner_points.size(); i++)
+    {
+        cloud_in->points.push_back(pcl::PointXYZ(corner_points[i].x, corner_points[i].y, 0.0));
+    }
+    
     if(result)
     {
         // convert all points after preprocessing into 2d
@@ -258,11 +293,11 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, doubl
         for (int j = 0; j < cloud_filtered->size(); ++j) {
             all_points.push_back(cv::Point2f(cloud_filtered->points[j].x, cloud_filtered->points[j].y));
         }
-         std::cout<<"--------detector find center------"<<std::endl;
         cv::RotatedRect wheel_box = cv::minAreaRect(all_points);
         x=wheel_box.center.x;
         y=wheel_box.center.y;
-         std::cout<<"--------detector find rect -----"<<std::endl;
+        std::cout<<"-------- detector find center ["<<x<<", "<<y<<"] ------"<<std::endl;
+        std::cout<<"--------detector find rect -----"<<std::endl;
         cv::Point2f vec;
         cv::Point2f vertice[4];
         wheel_box.points(vertice);
@@ -283,9 +318,11 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, doubl
         // calculate wheelbase according to corner points
         double dist0=0, dist1=0, dist2=0;
         wheelbase = std::max(wheel_box.size.width, wheel_box.size.height);
+        std::cout<<"--------detector find border: ["<<wheel_box.size.width<<", "<<wheel_box.size.height<<"] -----"<<std::endl;
         cv::RotatedRect wheel_center_box = cv::minAreaRect(corner_points);
         wheelbase = std::max(wheel_center_box.size.width, wheel_center_box.size.height);
-
+        std::cout<<"--------detector find center border: ["<<wheel_box.size.width<<", "<<wheel_box.size.height<<"] -----"<<std::endl;
+        
         width = std::min(wheel_box.size.width, wheel_box.size.height);
         std::cout<<"--------detector find all------"<<std::endl;
     }

src/findwheel/src/region_detect.h

@@ -50,12 +50,12 @@ public:
     ~Region_detector();
     // given region id (start from 0) and cloud, find four wheels
     bool detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in);
-    bool detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, double &x, double &y, double &c, double &wheelbase, double &width);
+    bool detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, double &x, double &y, double &c, double &wheelbase, double &width);
 
 private:
     bool preprocess(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out);
-    bool clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<cv::Point2f>& corner_points);
-    bool isRect(std::vector<cv::Point2f>& points);
+    bool clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<cv::Point2f>& corner_points, bool print=false);
+    bool isRect(std::vector<cv::Point2f>& points, bool print=false);
 
 public:
     EleFence::Region m_region_param;

src/findwheel/src/tools/EleFence.pb.cc

@@ -188,14 +188,16 @@ const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUT
   ~0u,  // no _weak_field_map_
   GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, lidar_params_),
   GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, regions_),
+  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, data_path_),
   ~0u,
   ~0u,
+  0,
 };
 static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
   { 0, 9, sizeof(::EleFence::Region)},
   { 13, 24, sizeof(::EleFence::Transform2d)},
   { 30, 42, sizeof(::EleFence::lidarParam)},
-  { 49, 56, sizeof(::EleFence::globalParam)},
+  { 49, 57, sizeof(::EleFence::globalParam)},
 };
 
 static ::google::protobuf::Message const * const file_default_instances[] = {
@@ -236,12 +238,13 @@ void AddDescriptorsImpl() {
       "nsform\030\002 \001(\0132\025.EleFence.Transform2d\022\025\n\nd"
       "ist_limit\030\003 \001(\002:\0018\022\020\n\004minx\030\004 \001(\002:\002-6\022\022\n\004"
       "maxx\030\005 \001(\002:\004-0.2\022\022\n\004miny\030\006 \001(\002:\004-3.5\022\021\n\004"
-      "maxy\030\007 \001(\002:\0033.5\"\\\n\013globalParam\022*\n\014lidar_"
+      "maxy\030\007 \001(\002:\0033.5\"q\n\013globalParam\022*\n\014lidar_"
       "params\030\001 \003(\0132\024.EleFence.lidarParam\022!\n\007re"
-      "gions\030\002 \003(\0132\020.EleFence.Region"
+      "gions\030\002 \003(\0132\020.EleFence.Region\022\023\n\tdata_pa"
+      "th\030\003 \001(\t:\000"
   };
   ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
-      descriptor, 469);
+      descriptor, 490);
   ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
     "EleFence.proto", &protobuf_RegisterTypes);
 }
@@ -1581,6 +1584,7 @@ void globalParam::InitAsDefaultInstance() {
 #if !defined(_MSC_VER) || _MSC_VER >= 1900
 const int globalParam::kLidarParamsFieldNumber;
 const int globalParam::kRegionsFieldNumber;
+const int globalParam::kDataPathFieldNumber;
 #endif  // !defined(_MSC_VER) || _MSC_VER >= 1900
 
 globalParam::globalParam()
@@ -1599,11 +1603,16 @@ globalParam::globalParam(const globalParam& from)
       lidar_params_(from.lidar_params_),
       regions_(from.regions_) {
   _internal_metadata_.MergeFrom(from._internal_metadata_);
+  data_path_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  if (from.has_data_path()) {
+    data_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.data_path_);
+  }
   // @@protoc_insertion_point(copy_constructor:EleFence.globalParam)
 }
 
 void globalParam::SharedCtor() {
   _cached_size_ = 0;
+  data_path_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 
 globalParam::~globalParam() {
@@ -1612,6 +1621,7 @@ globalParam::~globalParam() {
 }
 
 void globalParam::SharedDtor() {
+  data_path_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 
 void globalParam::SetCachedSize(int size) const {
@@ -1645,6 +1655,11 @@ void globalParam::Clear() {
 
   lidar_params_.Clear();
   regions_.Clear();
+  cached_has_bits = _has_bits_[0];
+  if (cached_has_bits & 0x00000001u) {
+    GOOGLE_DCHECK(!data_path_.IsDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()));
+    (*data_path_.UnsafeRawStringPointer())->clear();
+  }
   _has_bits_.Clear();
   _internal_metadata_.Clear();
 }
@@ -1681,6 +1696,22 @@ bool globalParam::MergePartialFromCodedStream(
         break;
       }
 
+      // optional string data_path = 3 [default = ""];
+      case 3: {
+        if (static_cast< ::google::protobuf::uint8>(tag) ==
+            static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
+                input, this->mutable_data_path()));
+          ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+            this->data_path().data(), static_cast<int>(this->data_path().length()),
+            ::google::protobuf::internal::WireFormat::PARSE,
+            "EleFence.globalParam.data_path");
+        } else {
+          goto handle_unusual;
+        }
+        break;
+      }
+
       default: {
       handle_unusual:
         if (tag == 0) {
@@ -1721,6 +1752,17 @@ void globalParam::SerializeWithCachedSizes(
       2, this->regions(static_cast<int>(i)), output);
   }
 
+  cached_has_bits = _has_bits_[0];
+  // optional string data_path = 3 [default = ""];
+  if (cached_has_bits & 0x00000001u) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+      this->data_path().data(), static_cast<int>(this->data_path().length()),
+      ::google::protobuf::internal::WireFormat::SERIALIZE,
+      "EleFence.globalParam.data_path");
+    ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased(
+      3, this->data_path(), output);
+  }
+
   if (_internal_metadata_.have_unknown_fields()) {
     ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
         _internal_metadata_.unknown_fields(), output);
@@ -1751,6 +1793,18 @@ void globalParam::SerializeWithCachedSizes(
         2, this->regions(static_cast<int>(i)), deterministic, target);
   }
 
+  cached_has_bits = _has_bits_[0];
+  // optional string data_path = 3 [default = ""];
+  if (cached_has_bits & 0x00000001u) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+      this->data_path().data(), static_cast<int>(this->data_path().length()),
+      ::google::protobuf::internal::WireFormat::SERIALIZE,
+      "EleFence.globalParam.data_path");
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
+        3, this->data_path(), target);
+  }
+
   if (_internal_metadata_.have_unknown_fields()) {
     target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields(), target);
@@ -1790,6 +1844,13 @@ size_t globalParam::ByteSizeLong() const {
     }
   }
 
+  // optional string data_path = 3 [default = ""];
+  if (has_data_path()) {
+    total_size += 1 +
+      ::google::protobuf::internal::WireFormatLite::StringSize(
+        this->data_path());
+  }
+
   int cached_size = ::google::protobuf::internal::ToCachedSize(total_size);
   GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
   _cached_size_ = cached_size;
@@ -1821,6 +1882,10 @@ void globalParam::MergeFrom(const globalParam& from) {
 
   lidar_params_.MergeFrom(from.lidar_params_);
   regions_.MergeFrom(from.regions_);
+  if (from.has_data_path()) {
+    set_has_data_path();
+    data_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.data_path_);
+  }
 }
 
 void globalParam::CopyFrom(const ::google::protobuf::Message& from) {
@@ -1850,6 +1915,7 @@ void globalParam::InternalSwap(globalParam* other) {
   using std::swap;
   lidar_params_.InternalSwap(&other->lidar_params_);
   regions_.InternalSwap(&other->regions_);
+  data_path_.Swap(&other->data_path_);
   swap(_has_bits_[0], other->_has_bits_[0]);
   _internal_metadata_.Swap(&other->_internal_metadata_);
   swap(_cached_size_, other->_cached_size_);

src/findwheel/src/tools/EleFence.pb.h

@@ -671,14 +671,32 @@ class globalParam : public ::google::protobuf::Message /* @@protoc_insertion_poi
   const ::google::protobuf::RepeatedPtrField< ::EleFence::Region >&
       regions() const;
 
+  // optional string data_path = 3 [default = ""];
+  bool has_data_path() const;
+  void clear_data_path();
+  static const int kDataPathFieldNumber = 3;
+  const ::std::string& data_path() const;
+  void set_data_path(const ::std::string& value);
+  #if LANG_CXX11
+  void set_data_path(::std::string&& value);
+  #endif
+  void set_data_path(const char* value);
+  void set_data_path(const char* value, size_t size);
+  ::std::string* mutable_data_path();
+  ::std::string* release_data_path();
+  void set_allocated_data_path(::std::string* data_path);
+
   // @@protoc_insertion_point(class_scope:EleFence.globalParam)
  private:
+  void set_has_data_path();
+  void clear_has_data_path();
 
   ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
   ::google::protobuf::internal::HasBits<1> _has_bits_;
   mutable int _cached_size_;
   ::google::protobuf::RepeatedPtrField< ::EleFence::lidarParam > lidar_params_;
   ::google::protobuf::RepeatedPtrField< ::EleFence::Region > regions_;
+  ::google::protobuf::internal::ArenaStringPtr data_path_;
   friend struct ::protobuf_EleFence_2eproto::TableStruct;
   friend void ::protobuf_EleFence_2eproto::InitDefaultsglobalParamImpl();
 };
@@ -1242,6 +1260,69 @@ globalParam::regions() const {
   return regions_;
 }
 
+// optional string data_path = 3 [default = ""];
+inline bool globalParam::has_data_path() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void globalParam::set_has_data_path() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void globalParam::clear_has_data_path() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void globalParam::clear_data_path() {
+  data_path_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  clear_has_data_path();
+}
+inline const ::std::string& globalParam::data_path() const {
+  // @@protoc_insertion_point(field_get:EleFence.globalParam.data_path)
+  return data_path_.GetNoArena();
+}
+inline void globalParam::set_data_path(const ::std::string& value) {
+  set_has_data_path();
+  data_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
+  // @@protoc_insertion_point(field_set:EleFence.globalParam.data_path)
+}
+#if LANG_CXX11
+inline void globalParam::set_data_path(::std::string&& value) {
+  set_has_data_path();
+  data_path_.SetNoArena(
+    &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value));
+  // @@protoc_insertion_point(field_set_rvalue:EleFence.globalParam.data_path)
+}
+#endif
+inline void globalParam::set_data_path(const char* value) {
+  GOOGLE_DCHECK(value != NULL);
+  set_has_data_path();
+  data_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
+  // @@protoc_insertion_point(field_set_char:EleFence.globalParam.data_path)
+}
+inline void globalParam::set_data_path(const char* value, size_t size) {
+  set_has_data_path();
+  data_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(),
+      ::std::string(reinterpret_cast<const char*>(value), size));
+  // @@protoc_insertion_point(field_set_pointer:EleFence.globalParam.data_path)
+}
+inline ::std::string* globalParam::mutable_data_path() {
+  set_has_data_path();
+  // @@protoc_insertion_point(field_mutable:EleFence.globalParam.data_path)
+  return data_path_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+}
+inline ::std::string* globalParam::release_data_path() {
+  // @@protoc_insertion_point(field_release:EleFence.globalParam.data_path)
+  clear_has_data_path();
+  return data_path_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+}
+inline void globalParam::set_allocated_data_path(::std::string* data_path) {
+  if (data_path != NULL) {
+    set_has_data_path();
+  } else {
+    clear_has_data_path();
+  }
+  data_path_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), data_path);
+  // @@protoc_insertion_point(field_set_allocated:EleFence.globalParam.data_path)
+}
+
 #ifdef __GNUC__
   #pragma GCC diagnostic pop
 #endif  // __GNUC__