添加融合新配置

incl/fusionConfig.h

@@ -18,7 +18,15 @@ public:
     {
         try {
             YAML::Node conf = YAML::LoadFile(yamlFile);
+            mStart = conf["GlobalConfig"]["start"].as<bool>();
             mMecID = conf["GlobalConfig"]["mec_id"].as<string>();
+            string receiveMsgMode = conf["GlobalConfig"]["receive_msg"].as<string>();
+            if (receiveMsgMode == "ros")
+                mReceiveMsgMode = enRMModeRos;
+            else if (receiveMsgMode == "udp")
+                mReceiveMsgMode = enRMModeUdp;
+            else if (receiveMsgMode == "all")
+                mReceiveMsgMode = enRMModeAll;
             mClusterThreadNum = conf["FusionConfig"]["thread"].as<int>();
             mCrossCenterX = conf["FusionConfig"]["center_lon"].as<double>();
             mCrossCenterY = conf["FusionConfig"]["center_lat"].as<double>();
@@ -117,6 +125,7 @@ public:
     }
 
 public:
+    bool mStart = true;
     bool mBAppExit = false;
     bool mBLogInData = true;
     bool mBFusionStdout = false;
@@ -133,6 +142,7 @@ public:
     int mDropFrameStep = 50;
     bool mIfDynamicChangeDropFrameStep = true;
 
+    ENReceiveMsgMode mReceiveMsgMode = enRMModeAll;
     ENTrafficSensMode mFirstOutMode = enTSModeVideo;
     string mCreateFusionObjMode = "rv";
 

incl/fusionDef.h

@@ -2,6 +2,12 @@
 
 #include <stdint.h>
 
+typedef enum _tagENReceiveMsgMode {
+    enRMModeRos = 0,
+    enRMModeUdp = 1,
+    enRMModeAll = 2
+} ENReceiveMsgMode;
+
 typedef enum _tagENTrafficSensMode {
     enTSModeUnknown = 0,
     enTSModeVideo = 1,