modularization/src/driver/driver_cloud_grpc_client_BS/fsm_unit.h

#ifndef FSMUNIT_H
#define FSMUNIT_H

#include <QObject>
#include <QTimer>
#include <QDateTime>
#include <QMutex>

#include <iostream>
#include <yaml-cpp/yaml.h>

#include "modulecomm.h"
#include "FSMSkipCMD.pb.h"
#include "brainstate.pb.h"

#ifndef IV_MSGUNIT
#define IV_MSGUNIT

namespace iv {
struct msgunit
{
    char mstrmsgname[256];
    int mnBufferSize = 10000;
    int mnBufferCount = 1;
    void * mpa = nullptr;
    std::shared_ptr<char> mpstrmsgdata;
    int mndatasize = 0;
    bool mbRefresh = false;
    bool mbImportant = false;
    int mnkeeptime = 100;
};
}

#endif

#ifndef GLOBAL_GPS_POINT
#define GLOBAL_GPS_POINT
struct gGPSPoint
{
    double latitude = 0.0;
    double longitude = 0.0;
    double height = 0.0;
};
#endif

#ifndef IV_XODROBJ
#define IV_XODROBJ

class xodrobj
{
public:
    double flatsrc;
    double flonsrc;
    double fhgdsrc;
    double flat;
    double flon;
    int lane;
};

#endif

class FSMUnit : public QObject
{
    Q_OBJECT

public:
    FSMUnit(void);

    ~FSMUnit(void);

    void dec_yaml(const char * stryamlpath);

    void ListenGPSIMUMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void ListenBrainStateMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

private:
    unsigned int skipCMDSendInterval = 100;
    gGPSPoint waitingStation;
    gGPSPoint maintainStation;

    iv::msgunit shmGPSIMU;
    iv::msgunit shmFSMSkipCMD;
    iv::msgunit shmBrainState;
    iv::msgunit shmXodrRequest;

    QMutex mutex_GPSIMU;
    gGPSPoint currentPosition;
    double currentSpeed;

    gGPSPoint currentDestination;
    QTimer arriveCheckLoopTimer;

    QTimer skipCMDSendTimer;
    uint32_t FSMState = 0;
    iv::brain::MissionCMD missionCMD = iv::brain::MissionCMD::MISSION_RESERVED; // 任务开始 完成 取消
    iv::brain::WorkCMD workCMD = iv::brain::WorkCMD::WORK_RESERVED; // 开工 停工
    iv::brain::RemoteCtrlCMD remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED; // 人工接管进入 退出
    bool waitingStationArrived = false; // 到达等待站点
    bool maintainStationArrived = false; // 到达维护站点

signals:
    void refreshFSMStatus(void);
    void useStatusChanged(int status);
    void setAllowPlan(bool isAllow);
    void sendPathPlanRequest(double latitude,double longitude);

public slots:
    void navagationSwitchChanged_Slot(bool status);
    void useStatusCMDChanged_Slot(bool status);
    void remoteCtrlModeChanged_Slot(bool status);
    void setFSMDestination_Slot(double latitude,double longitude);
    void setMissionFinished_Slot(void);

private slots:
    void skipCMDSend_Timeout(void);
    void refreshFSMStatus_Slot(void);
    void arriveCheckLoop_Timeout(void);
    void sendPathPlanRequest_Slot(double latitude,double longitude);
};

#endif // FSMUNIT_H