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@@ -3,10 +3,22 @@
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//
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#include <iostream>
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+#include "./error_code/error_code.h"
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+#include "LogFiles.h"
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#include <glog/logging.h>
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+#include "./laser/laser_manager.h"
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+#include "./laser/Laser.h"
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+#include "./laser/LivoxLaser.h"
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+
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+#include "./locate/locate_manager.h"
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+
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#include "./communication/communication_socket_base.h"
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+#include "./tool/ThreadPool.h"
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+
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+#define LIVOX_NUMBER 2
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+
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int main(int argc,char* argv[])
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{
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Communication_socket_base csb;
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@@ -21,5 +33,206 @@ int main(int argc,char* argv[])
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std::cin >> ch ;
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return 0;
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- int a;
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+ ThreadPool pool(4);
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+ std::vector< std::future<int> > results;
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+
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+ for(int i = 0; i < 8; ++i) {
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+ results.emplace_back(
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+ pool.enqueue([i] {
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+ std::cout << "hello " << i << std::endl;
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+ std::this_thread::sleep_for(std::chrono::seconds(1));
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+ std::cout << "world " << i << std::endl;
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+ return i*i;
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+ })
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+ );
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+ }
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+
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+ for(auto && result: results)
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+ std::cout << result.get() << ' ';
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+ std::cout << std::endl;
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+ return 0;
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+
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+
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+
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+ LOG(INFO) << " --- main start --- " ;
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+
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+
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+ Error_manager t_error;
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+ Error_manager t_result ;
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+
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+
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+
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+ std::cout << "huli 101 main start!" << std::endl;
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+
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+ std::cout << "1111111111111111111111" << std::endl;
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+ Laser_manager::get_instance_pointer()->laser_manager_init();
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+ Locate_manager::get_instance_pointer()->Locate_manager_init();
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+
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+ Point_sift_segmentation* mp_point_sift;
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+ int point_size = 8192;
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+ int cls_num = 3;
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+ double freq = 20.0;
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+ std::string graph = "../model_param/seg_model_404500.ckpt.meta";
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+ std::string cpkt = "../model_param/seg_model_404500.ckpt";
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+ pcl::PointXYZ minp(-10000,-10000,-10000);
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+ pcl::PointXYZ maxp(10000,10000,10000);
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+
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+
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+
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+
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+ while(1)
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+ {
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+
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+
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+
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+
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+ std::cout << "huli 401 connect_laser Error_code::SUCCESS" << std::endl;
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+
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+ std::cout << " press to start" << std::endl;
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+ char ch ;
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+// = getchar();
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+
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+ std::this_thread::sleep_for(std::chrono::seconds(2));
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+ std::cin >> ch ;
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+
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+ if ( ch == 'b' )
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+ {
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+ std::cout << " end scan ------------" << std::endl;
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+ break;
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+ }
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+ std::cout << " start scan ------------" << std::endl;
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+
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+ int n = 1;
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+ while(n)
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+ {
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+ n--;
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+
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+ std::map<int,pcl::PointCloud<pcl::PointXYZ>::Ptr> point_cloud_map;
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+ std::mutex cloud_lock;
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+ std::vector<int> select_laser_id_vector;
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+ select_laser_id_vector.push_back(0);
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+
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+
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+ time_t nowTime;
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+ nowTime = time(NULL);
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+ struct tm* sysTime = localtime(&nowTime);
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+ char t_save_path[256] = { 0 };
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+ sprintf(t_save_path, "../data/%04d%02d%02d_%02d%02d%02d",
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+ sysTime->tm_year + 1900, sysTime->tm_mon + 1, sysTime->tm_mday, sysTime->tm_hour, sysTime->tm_min, sysTime->tm_sec);
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+
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+ Laser_manager_task * laser_manager_task = new Laser_manager_task;
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+ laser_manager_task->task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(15000),
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+ true,t_save_path,&cloud_lock,&point_cloud_map,false,
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+ 1000,false,select_laser_id_vector );
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+
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+
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+
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+ t_error = Task_command_manager::get_instance_references().execute_task(laser_manager_task);
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+// tp_laser_manager->execute_task(laser_manager_task);
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+
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+ if ( t_error != Error_code::SUCCESS )
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+ {
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+ std::cout << "huli Laser_manager:::::" << t_error.to_string() << std::endl;
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+ }
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+ else
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+ {
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+ while ( laser_manager_task->is_task_end() == false)
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+ {
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+ if ( laser_manager_task->is_over_time() )
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+ {
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+ //超时处理。取消任务。
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+ Laser_manager::get_instance_pointer()->cancel_task();
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+ laser_manager_task->set_task_statu(TASK_DEAD);
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+ t_error.error_manager_reset(Error_code::LASER_MANAGER_TASK_OVER_TIME, Error_level::MINOR_ERROR,
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+ " laser_manager_task is_over_time ");
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+ laser_manager_task->set_task_error_manager(t_error);
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+ }
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+ else
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+ {
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+ std::this_thread::yield();
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+ }
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+
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+ }
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+ std::cout << "huli task_error::::" << laser_manager_task->get_task_error_manager().to_string() << std::endl;
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+
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+ }
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+ delete(laser_manager_task);
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+
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+
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+ std::cout << "huli laser result---------------------" << t_error.to_string() << std::endl;
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+ std::cout << "huli zczxczxczx---------------------" << t_error.to_string() << std::endl;
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+ std::cout << "huli zczxczxczx---------------------" << t_error.to_string() << std::endl;
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+ std::cout << "huli zczxczxczx---------------------" << t_error.to_string() << std::endl;
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+
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+
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+
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+/*
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+ pcl::PointCloud<pcl::PointXYZ>::Ptr scan_cloud ;
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+ scan_cloud = point_cloud_map[0];
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+
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+ //locate
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+ pcl::getMinMax3D(*scan_cloud,minp,maxp);
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+ std::cout << "huli 112" << std::endl;
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+ mp_point_sift = new Point_sift_segmentation(point_size,cls_num,freq,minp,maxp);
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+ std::cout << t_error.to_string() << std::endl;
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+
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+ t_error = mp_point_sift->init(graph,cpkt);
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+ std::cout << t_error.to_string() << std::endl;
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+
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+ std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> segmentation_clouds;
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+ t_error = mp_point_sift->segmentation(scan_cloud, segmentation_clouds, true, "../data/locate_data");
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+ std::cout << t_error.to_string() << std::endl;
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+ */
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+
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+ Locate_manager_task * locate_manager_task = new Locate_manager_task;
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+ locate_manager_task->task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(15000),
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+ true,t_save_path,&cloud_lock,&point_cloud_map,true
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+ );
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+ t_error = Task_command_manager::get_instance_references().execute_task(locate_manager_task);
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+
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+ if ( t_error != Error_code::SUCCESS )
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+ {
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+ std::cout << "huli Locate_manager:::::" << t_error.to_string() << std::endl;
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+ }
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+ else
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+ {
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+ while ( locate_manager_task->is_task_end() == false)
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+ {
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+ if ( locate_manager_task->is_over_time() )
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+ {
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+ //超时处理。取消任务。
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+ Locate_manager::get_instance_pointer()->cancel_task();
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+ locate_manager_task->set_task_statu(TASK_DEAD);
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+ t_error.error_manager_reset(Error_code::LOCATE_MANAGER_TASK_OVER_TIME, Error_level::MINOR_ERROR,
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+ " locate_manager_task is_over_time ");
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+ locate_manager_task->set_task_error_manager(t_error);
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+ }
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+ else
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+ {
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+ std::this_thread::yield();
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+ }
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+
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+ }
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+
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+ std::cout << "huli task_error:::::" << locate_manager_task->get_task_error_manager().to_string() << std::endl;
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+
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+ }
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+ delete(locate_manager_task);
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+ std::cout << "huli locate result:::::" << t_error.to_string() << std::endl;
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+
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+ }
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+
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+ cout << "huli: 601 :" << t_error.to_string() << endl;
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+ std::this_thread::sleep_for(std::chrono::seconds(2));
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+
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+ }
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+
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+ Laser_manager::get_instance_pointer()->laser_manager_uninit();
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+ Locate_manager::get_instance_pointer()->Locate_manager_uninit();
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+
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+ cout << "huli 1234 main end" << endl;
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+ std::this_thread::sleep_for(std::chrono::seconds(3));
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+
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+
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+ return 0;
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}
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