merge bug fixed. parkspace allocation message changes.

CMakeLists.txt

@@ -3,7 +3,7 @@ project(nnxx_tests)
 cmake_minimum_required(VERSION 3.5)
 
 set (CMAKE_CXX_STANDARD 11)
-
+set(PCL_DIR "/home/youchen/pcl-1.8/share/pcl-1.8")
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(nanomsg REQUIRED nanomsg)
 FIND_PACKAGE(Protobuf REQUIRED)
@@ -14,16 +14,16 @@ FIND_PACKAGE(PCL REQUIRED)
 
 include_directories(
         /usr/local/include
+        ${PCL_INCLUDE_DIRS}
+        ${OpenCV_INCLUDE_DIRS}
         ${PROTOBUF_INCLUDE_DIRS}
-        ./message
-        ./communication
-        ./error_code
-        ./tool
-        ./system
-#        ${PCL_INCLUDE_DIRS}
-#        ${OpenCV_INCLUDE_DIRS}
-#        ./laser
-#        ./locate
+        laser
+        Locate
+        communication
+        message
+        error_code
+        tool
+	system
 )
 link_directories("/usr/local/lib")
 
@@ -67,10 +67,18 @@ target_link_libraries(terminal
         /usr/local/apr/lib/libapr-1.a
         nnxx
         nanomsg
+
         ${PROTOBUF_LIBRARIES}
         ${OpenCV_LIBS}
         ${GLOG_LIBRARIES}
         ${PCL_LIBRARIES}
+        ${PROTOBUF_LIBRARIES}
+
+        libtensorflow_cc.so
+        #tf_3dcnn_api.so
+        pointSIFT_API.so
+
+        -lpthread
         )
 
 

communication/communication_socket_base.h

@@ -81,7 +81,7 @@ public://get or set member variable
 protected:
 	//mp_receive_data_thread 接受线程执行函数，
 	//receive_data_thread 内部线程负责接受消息
-	static void receive_data_thread(Communication_socket_base* communicator);
+	void receive_data_thread();
 
 	//检查消息是否可以被解析, 需要子类重载
 	virtual Error_manager check_msg(Communication_message* p_msg);
@@ -101,7 +101,7 @@ protected:
 
 	//mp_send_data_thread 发送线程执行函数，
 	//send_data_thread 内部线程负责发送消息
-	static void send_data_thread(Communication_socket_base* communicator);
+	void send_data_thread();
 
 	//mp_encapsulate_data_thread 封装线程执行函数，
 	//encapsulate_data_thread 内部线程负责封装消息

main.cpp

@@ -4,7 +4,7 @@
 
 #include <iostream>
 #include "./error_code/error_code.h"
-#include "LogFiles.h"
+#include "./laser/LogFiles.h"
 #include <glog/logging.h>
 
 #include "./laser/laser_manager.h"

message/parkspace_allocation_message.proto

@@ -2,54 +2,108 @@ syntax = "proto2";
 package message;
 import "message_base.proto";
 
-//车位分配模块请求消息
+// 请求
+// 1.分配车位
+// 2.查询车辆位置
+// 3.解锁车位
+
+message Car_info
+{
+    optional float                      car_length=1;           //车长
+    required float                      car_width=2;            //车宽
+    required float                      car_height=3;           //车高
+    required string                     license=4;              //车辆凭证号
+}
+
+//车位状态枚举
+enum Parkspace_status
+{
+    eParkspace_empty            = 0;         //空闲，可分配
+    eParkspace_occupied         = 1;         //被占用，不可分配
+    eParkspace_reserverd        = 2;         //被预约，预约车辆可分配
+    eParkspace_error            = 3;         //车位机械结构或硬件故障   
+}
+
+enum Direction
+{
+    eForward = 1;
+    eBackward = 2;
+}
+
+//单个车位基本信息与状态信息
+message Parkspace_info
+{
+    required int32              parkspace_id=1;         //车位编号
+    required int32              index=2;                //同层编号
+    required Direction          direction=3;            //前后
+    required int32              floor=4;                //楼层
+    optional float              length=5;               //车位长
+    required float              width=6;                //车位宽
+    required float              height=7;               //车位高
+    required Parkspace_status   parkspace_status=8;     //车位当前状态
+    optional Car_info           car_info=9;              //当前车位存入车辆的凭证号
+    optional string             entry_time=10;          //入场时间
+    optional string             leave_time=11;          //离场时间
+}
+
+//1.分配车位请求
 message Parkspace_allocation_request_msg
 {
     required Base_info                  base_info=1;            //消息类型
     required int32                      command_id=2;           //指令唯一标识符id
-    required int32                      car_length=3;           //车长
-    required int32                      car_width=4;            //车宽
-    required int32                      car_height=5;           //车高
+    required Car_info                   car_info=3;
+    required int32                      terminal_id=4;          //终端id，优化车位分配用
 }
 
-//车位分配模块反馈消息
+//分配车位反馈
 message Parkspace_allocation_response_msg
 {
     required Base_info                  base_info=1;            //消息类型
     required int32                      command_id=2;           //指令唯一标识符id
     required Error_manager              error_manager=3;        //分配成功与否标志
-    required int32                      allocated_space_id=4;   //分配车位id
+    required Parkspace_info             allocated_space_info=4; //分配车位信息
 }
 
-//车位分配模块状态消息
-message Parkspace_allocation_status_msg
+//2.查询车辆位置请求
+message Parkspace_search_request_msg
 {
     required Base_info                  base_info=1;            //消息类型
-    required Error_manager              error_manager=2;
-    repeated Parkspace_info             parkspace_info=3;       //车位状态
+    required int32                      command_id=2;           //指令唯一标识符id
+    required Car_info                   car_info=3;              //车辆凭证或号牌
 }
 
-//车位状态枚举
-enum Parkspace_status
+//查询车辆位置反馈
+message Parkspace_search_response_msg
 {
-    eParkspace_empty            = 0;         //空闲，可分配
-    eParkspace_occupied         = 1;         //被占用，不可分配
-    eParkspace_reserverd        = 2;         //被预约，预约车辆可分配
-    eParkspace_error            = 3;         //车位机械结构或硬件故障   
+    required Base_info                  base_info=1;            //消息类型
+    required int32                      command_id=2;           //指令唯一标识符id
+    required Error_manager              error_manager=3;        //分配成功与否标志
+    optional Parkspace_info             car_position=4;         //待查询车辆存放位置
 }
 
-//单个车位基本信息与状态信息
-message Parkspace_info
+//3.解锁车位请求
+message Parkspace_release_request_msg
 {
-    required int32              parkspace_id=1;         //车位编号
-    required int32              x_coordinate=2;         //x坐标
-    required int32              y_coordinate=3;         //y坐标
-    required int32              z_coordinate=4;         //z坐标
-    required int32              length=5;               //车位长
-    required int32              width=6;                //车位宽
-    required int32              height=7;               //车位高
-    required Parkspace_status   parkspace_status=8;     //车位当前状态
-    optional int32              license=9;              //当前车位存入车辆的凭证号
-    optional string             entry_time=10;          //入场时间
-    optional string             leave_time=11;          //离场时间
+    required Base_info                  base_info=1;            //消息类型
+    required int32                      command_id=2;           //指令唯一标识符id
+    required Parkspace_info             release_space_info=3;   //待释放车位信息
+    required Car_info                   car_info=4;              //待释放车辆凭证号
 }
+
+//查询车辆位置反馈
+message Parkspace_release_response_msg
+{
+    required Base_info                  base_info=1;            //消息类型
+    required int32                      command_id=2;           //指令唯一标识符id
+    required Error_manager              error_manager=3;        //分配成功与否标志
+}
+
+// 车位心跳状态信息
+message Parkspace_allocation_status_msg
+{
+    required Base_info                  base_info=1;            //消息类型
+    required Error_manager              error_manager=2;
+    repeated Parkspace_info             parkspace_info=3;       //车位状态
+}
+
+