定义地图为static对象

events/JfxEvents.cpp

@@ -14,7 +14,7 @@ lon  现实1mi大概是lon的0.0000038337=3.8e-6
 const double lat_dt = 5e-6;
 const double lon_dt = 5e-6;
 
-
+jf::MapInterface JfxEvents::m_OfflineMap;
 JfxEvents::JfxEvents()
 {
 }
@@ -55,8 +55,9 @@ void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_c
     //m_OfflineMap.reset(new jf::MapInterface(dir, m_cfg.map_cfg));
     dir = map_path + map_dir;
     SDK_LOG(SDK_INFO, "dir = %s, cfg = %s", dir.c_str(), map_cfg.c_str());
-    m_OfflineMap.reset(new jf::MapInterface());
-    m_OfflineMap->Init(dir,map_cfg);
+    //m_OfflineMap.reset(new jf::MapInterface());
+    //m_OfflineMap->Init(dir,map_cfg);
+    m_OfflineMap.Init(dir,map_cfg);
     m_Queue.set_max_num_items(1);
     m_sendQueue.set_max_num_items(10);
 
@@ -217,7 +218,8 @@ int JfxEvents::CalculateMap(ObjInfoAll& objAll, TrkObj& sendObj)
     std::vector<long> vctlOutNxtRoadId;
 
     //ROS_INFO("begin call jfxmap");
-    bool result = m_OfflineMap->GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
+    //bool result = m_OfflineMap->GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
+    bool result = m_OfflineMap.GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
         nLaneCnt, nOutLaneNum, nOutLaneType,
         nOutLeftEdgeCrossType, nOutRightEdgeCrossType,
         nOutSpeedLimit, dOutLaneAngle, ptOutFoot);

events/JfxEvents.h

@@ -238,7 +238,8 @@ public:
 
     int m_frameNum = 0;
     uint64_t m_curTime = 0;//记录当前帧的时间
-    std::unique_ptr<jf::MapInterface> m_OfflineMap;
+    //std::unique_ptr<jf::MapInterface> m_OfflineMap;
+    static jf::MapInterface m_OfflineMap;
 
     std::mutex m_sendMtx;
 	SendEventProcessCallback m_sendCb = nullptr;