clamp_safety/test.hpp

#pragma TEST_H_
#include <time.h>
#include <iostream>
#include <fstream>
#include <byteswap.h>
#include <pcl/point_cloud.h>
#include "plc/snap7_communication_base.h"
#include "lidar/wanji_716N_device.h"
#include "detect/clamp_safety_detect.h"
#include "clamp_parameter.pb.h"

#define plcc

typedef struct Clamp {
    Wanji_716N_lidar_device lidar;
    clamp_safety_detect  detector;
    Safety_status safety_statu;
    std::mutex mutex;
} Clamp;

#define DEFAULT_WHEEL_AXIS 406
#define WARNING_ALG_VALUE 30


class Test {
private:
    const std::string filePath = "../record/";
    const std::string fileName = "big_water_measure.txt";
    const std::string lidarPath = "../record/big_water_measure/";
    struct Deviation {
        float   alg_x;
        float   real_x;
        int     id;

        Deviation() {
            alg_x = 0;
            real_x = 0;
            id  = 0;
            // now_real_x = 0;
        }
        void info() {
            // printf("point %.3f(%.3f), %.3f (%.3f).\n", old_line_x, old_real_x, now_line_x, now_real_x);
        }
    };

public:
    Test(Clamp* clamp);
    ~Test() {};

    int initPlc(clamp_safety::clamp_parameter &parameter) {
#ifdef plc
        // plc相关
        Snap7_communication_base snap7_client;
        std::string plc_ip = parameter.plc_parameter().ip_address();
        Error_manager code = snap7_client.communication_init(plc_ip);
        if(code != SUCCESS)
        {
            LOG(ERROR) << code;
            return -1;
        }
#endif
        return 0;
    }
    void setWriteSnap(int ip, int index);
    void setReadSnap(int ip, int index);
    void thread_fun(bool new_thread = false) {
        if (new_thread) {
            m_test_thread = new std::thread(&Test::commnuition, this);
        }
        else {
            commnuition();
        }
    }

private:
    void exportTxtFile();
    void commnuition();
    void update_clould();
    bool GetAlg(float &x);
	bool snap7_read(float &data);
	bool snap7_read(int16_t &data);
	bool snap7_write(float &data);
	bool snap7_write(int16_t &data);
    float SWAP_float(float x);

private:
    Clamp                       *m_clamp;
    std::thread                 *m_test_thread;
    Snap7_communication_base    *m_plc;
    Snap7_buf                   m_snap_wite;
    Snap7_buf                   m_snap_read;
    pcl::PointCloud<pcl::PointXYZ>::Ptr m_cloud;
    struct Deviation m_record_data;
};