20200722, 联调通信

proto.sh

@@ -1,4 +1,9 @@
 protoc -I=./message message_base.proto --cpp_out=./message
 protoc -I=./message measure_message.proto --cpp_out=./message
 protoc -I=./message hardware_message.proto --cpp_out=./message
-#protoc -I=./ setting.proto --cpp_out=./
+protoc -I=./locate locate_parameter.proto --cpp_out=./locate
+protoc -I=./laser laser_parameter.proto --cpp_out=./laser
+protoc -I=./laser laser_message.proto --cpp_out=./laser
+protoc -I=./communication communication.proto --cpp_out=./communication
+
+

system/system_executor.cpp

@@ -205,7 +205,9 @@ void System_executor::execute_for_measure(int command_id, int terminal_id)
 	std::mutex cloud_lock;
 	std::vector<int> select_laser_id_vector;
 	select_laser_id_vector.push_back(0);
-
+	select_laser_id_vector.push_back(1);
+	select_laser_id_vector.push_back(2);
+	select_laser_id_vector.push_back(3);
 	//第二步, 按照时间生成中间文件的保存路径
 	time_t nowTime;
 	nowTime = time(NULL);
@@ -267,7 +269,7 @@ void System_executor::execute_for_measure(int command_id, int terminal_id)
 	{
 
 		locate_manager_task.task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(15000),
-									   true,t_save_path,&cloud_lock,&point_cloud_map,true	);
+									   true,t_save_path,&cloud_lock,&point_cloud_map, false	);
 		t_error = Task_command_manager::get_instance_references().execute_task(&locate_manager_task);
 
 		//第六步, 等待任务单完成