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@@ -2,13 +2,14 @@
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* @Description: vlp16驱动测试
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* @Author: yct
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* @Date: 2021-07-26 14:11:26
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- * @LastEditTime: 2021-07-30 16:25:35
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+ * @LastEditTime: 2021-08-01 15:51:10
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* @LastEditors: yct
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*/
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#include <iostream>
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#include <fstream>
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+// velodyne driver seperation test
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#include "../velodyne_lidar/velodyne_driver/input.h"
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#include "../velodyne_lidar/velodyne_driver/rawdata.h"
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bool velo_driver_test()
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@@ -64,7 +65,7 @@ bool velo_driver_test()
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return true;
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}
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-// 初始化velodyne设备并获取点云
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+// velodyne driver combination test
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#include "../velodyne_lidar/velodyne_driver/velodyne_lidar_device.h"
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void device_test()
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{
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@@ -108,6 +109,7 @@ void device_test()
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t_device.uninit();
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}
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+// ground region class function test
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#include "../velodyne_lidar/ground_region.h"
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#include "../tool/measure_filter.h"
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#include "../tool/point_tool.h"
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@@ -189,11 +191,132 @@ void region_detect()
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}
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}
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+// velodyne manager test
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+#include "../velodyne_lidar/velodyne_manager.h"
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+void velo_manager_test()
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+{
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+ Velodyne_manager_task t_velodyne_manager_task;
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+ Common_data::Car_wheel_information t_car_information_by_velodyne;
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+ t_velodyne_manager_task.task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(3000),
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+ 0, std::chrono::system_clock::now());
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+
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+ Error_manager ec = Velodyne_manager::get_instance_references().velodyne_manager_init(0);
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+ std::cout << "veodyne_manager = " << Velodyne_manager::get_instance_references().check_status().to_string() << std::endl;
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+ if(ec != SUCCESS)
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+ {
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+ std::cout << "manager init failed: " << ec.to_string() << std::endl;
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+ return;
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+ }
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+ usleep(1000 * 500);
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+
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+ Velodyne_manager::get_instance_references().execute_task(&t_velodyne_manager_task);
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+ ec = Velodyne_manager::get_instance_references().execute_task(&t_velodyne_manager_task);
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+ std::cout << "manager execute base check result: " << ec.to_string() << std::endl;
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+
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+ // 等待处理完成，来自于system_executor
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+ while (t_velodyne_manager_task.is_task_end() == false)
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+ {
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+ if (t_velodyne_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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+ Velodyne_manager::get_instance_pointer()->cancel_task(&t_velodyne_manager_task);
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+ ec.error_manager_reset(Error_code::VELODYNE_MANAGER_TASK_OVER_TIME, Error_level::MINOR_ERROR,
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+ " t_velodyne_manager_task is_over_time ");
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+ t_velodyne_manager_task.set_task_error_manager(ec);
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+ }
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+ else
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+ {
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+ //继续等待
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+ std::this_thread::sleep_for(std::chrono::microseconds(1));
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+ std::this_thread::yield();
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+ }
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+ }
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+
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+ //提取任务单 的错误码
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+ ec = t_velodyne_manager_task.get_task_error_manager();
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+ if (ec == Error_code::SUCCESS)
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+ {
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+ t_car_information_by_velodyne = t_velodyne_manager_task.get_car_wheel_information();
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+ }
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+ else
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+ {
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+ LOG(INFO) << " velodyne_manager_task error :::::::" << t_velodyne_manager_task.get_task_error_manager().to_string();
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+ }
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+
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+ std::cout << "--------------------------"<< std::endl;
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+ Velodyne_manager::get_instance_references().Velodyne_manager_uninit();
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+}
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+
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+// 测试通信功能
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+#include "../system/system_communication.h"
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+#include "../system/system_executor.h"
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+void message_test()
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+{
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+ nnxx::socket socket{nnxx::SP, nnxx::BUS};
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+ // socket.bind("tcp://127.0.0.1:7000");
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+ socket.connect("tcp://192.168.2.113:30010");
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+ int n = 0;
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+ message::Base_msg base_msg;
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+
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+ message::Ground_detect_request_msg t_ground_detect_request;
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+ message::Base_info t_base_info;
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+ t_base_info.set_msg_type(message::Message_type::eGround_detect_request_msg);
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+ t_base_info.set_timeout_ms(4000);
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+ t_base_info.set_sender(message::Communicator::eEmpty);
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+ t_base_info.set_receiver(message::Communicator::eGround_measurer);
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+ t_ground_detect_request.mutable_base_info()->CopyFrom(t_base_info);
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+ t_ground_detect_request.set_command_key("key for test only");
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+ t_ground_detect_request.set_terminal_id(0);
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+
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+ usleep(1000 * 1000);
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+ std::cout << "try to send" << std::endl;
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+ socket.send(t_ground_detect_request.SerializeAsString());
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+ usleep(1000 * 100);
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+
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+ while (true)
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+ {
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+
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+ // for (size_t i = 0; i < 10; i++)
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+ // {
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+ // 接收消息
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+ std::string t_receive_string = socket.recv<std::string>(1);
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+ if (t_receive_string.length() > 0)
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+ {
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+ bool result = base_msg.ParseFromString(t_receive_string);
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+ // 接收并打印车位状态信息
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+ std::cout << "====check result====================" << result << "============================" << std::endl;
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+ std::cout << "cycle " << n << std::endl;
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+ if (base_msg.base_info().msg_type() == message::Message_type::eGround_detect_response_msg)
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+ {
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+ message::Ground_detect_response_msg t_ground_detect_response;
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+ std::cout << "----------------- check result -----------------" << std::endl;
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+ t_ground_detect_response.ParseFromString(t_receive_string);
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+ std::cout << "result: "<<t_ground_detect_response.DebugString()<< std::endl;
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+ // std::cout << sift_response.DebugString() << std::endl;
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+ // continue;
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+ }else if(base_msg.base_info().msg_type() == message::Message_type::eGround_status_msg)
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+ {
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+ message::Ground_status_msg t_status_msg;
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+ std::cout << "----------------- heartbeat -----------------" << std::endl;
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+ t_status_msg.ParseFromString(t_receive_string);
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+ std::cout << "heartbeat: "<<t_status_msg.DebugString()<< std::endl;
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+ }
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+ }
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+ // }
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+
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+ // std::this_thread::yield();
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+ n++;
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+ usleep(1000 * 1);
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+ }
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+}
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+
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int main()
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{
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// velo_driver_test();
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// device_test();
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- region_detect();
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+ // region_detect();
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+ // velo_manager_test();
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+ message_test();
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return 0;
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}
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