添加配置文件里加入路口编号的配置。

EventsRos.cpp

@@ -49,7 +49,10 @@ int EventsRos::loadConfig(ros::NodeHandle& nh)
     string cross_csv;
     if(m_config["road_cross_csv"])
         cross_csv = m_config["road_cross_csv"].as<std::string>();
-    m_jfx_events.Init(map_path,map_dir,map_cfg,cross_csv);
+    int cross_id = 17;
+    if(m_config["road_cross_index"])
+        cross_id = m_config["road_cross_index"].as<int32_t>();
+    m_jfx_events.Init(map_path,map_dir,map_cfg,cross_csv,cross_id);
     SDK_LOG(SDK_INFO, "EventsRos::loadConfig-InitMap end");
     //map init end
     EventsConfig& config = m_jfx_events.m_cfg;

events/JfxEvents.cpp

@@ -48,7 +48,7 @@ void JfxEvents::SetEventsCallback(SendEventProcessCallback cb)
     std::lock_guard<std::mutex> lock(m_sendMtx);
     m_sendCb = cb;
 }
-void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv)
+void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv,int cross_id)
 {
     std::string dir = m_cfg.pro_path + m_cfg.pro_dir;
     SDK_LOG(SDK_INFO, "m_cfg.pro_dir = %s, m_cfg.map_cfg- = %s", dir.c_str(), m_cfg.map_cfg.c_str());
@@ -66,6 +66,7 @@ void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_c
         SDK_LOG(SDK_INFO, "dir = %s, cfg = %s,csv = %s", dir.c_str(), map_cfg.c_str(),csv.c_str());
         m_OfflineMap.Init(dir,map_cfg,csv);
         m_isMapCsv = 1;
+        m_cross_id = cross_id;
 #endif
     }
     //m_OfflineMap.reset(new jf::MapInterface());
@@ -232,7 +233,7 @@ int JfxEvents::CalculateMap(ObjInfoAll& objAll, TrkObj& sendObj)
 
 #ifdef _USING_NEW_JFXMAP_        
     jf::RoadInfo roadInfo = {};
-    int64_t lCrossId = 17;
+    int64_t lCrossId = m_cross_id;
 #endif
     //ROS_INFO("begin call jfxmap");
     //bool result = m_OfflineMap->GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,

events/JfxEvents.h

@@ -198,7 +198,7 @@ public:
 	JfxEvents();
 	~JfxEvents();
 
-	void Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv);
+	void Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv,int cross_id);
 
 	void PushEventInfos(TrkObjsPtr& inputs);
 
@@ -276,4 +276,6 @@ public:
 
     //无路口车道，记录总的数量
     TrafficJam m_totelTrafficJam;
+
+    int m_cross_id = 0;//路口id
 };