modularization/src/decition/testfanyaapi/fanyaapi.cpp

#include "fanyaapi.h"
#include <QMutex>

QMutex gMutexDecison;
qint64 gTimeDecision = 0;
double gdecision[3];




void ListenDecision(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    if(nSize < 3*sizeof(double))return;
    gMutexDecison.lock();
    memcpy(gdecision,strdata,3*sizeof(double));
    gTimeDecision = QDateTime::currentMSecsSinceEpoch();
    gMutexDecison.unlock();
}

fanyaapi::fanyaapi()
{
    mpa = iv::modulecomm::RegisterRecv("mpcdecision",ListenDecision);
    mpb = iv::modulecomm::RegisterSend("GPS",1000,1);
    mpc = iv::modulecomm::RegisterSend("MAP",10000000,1);
    mpd = iv::modulecomm::RegisterSend("desiredspeed",1000,1);

}

int  fanyaapi::GetDecision(double &speed, double &decison, double &wheel)
{
    qint64 now = QDateTime::currentMSecsSinceEpoch();
    if((now - gTimeDecision)> 3000)
    {
        return -1;
    }
    gMutexDecison.lock();
    speed = gdecision[0];
    decison = gdecision[1];
    wheel = gdecision[2];
    gMutexDecison.unlock();
    return 0;
}

void fanyaapi::SetGPS(GPS_INS xgps)
{
    iv::modulecomm::ModuleSendMsg(mpb,(char *)&xgps,sizeof(GPS_INS));
}

void fanyaapi::SetMAP(std::vector<MAP_DATA> xvectorMAP)
{
    iv::modulecomm::ModuleSendMsg(mpc,(char *)xvectorMAP.data(),xvectorMAP.size() *sizeof(MAP_DATA));
}

void fanyaapi::SetDesiredspeed(double fspeed)
{
    iv::modulecomm::ModuleSendMsg(mpd,(char *)&fspeed,sizeof(fspeed));
}