提交地图获取信息传递出去。

EventsRos.cpp

@@ -364,6 +364,11 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
         msg.is_turn = iter.is_turn == 0 ? false : true;
         msg.acc_x = iter.acc_x;
         msg.acc_y = iter.acc_y;
+        msg.nodeId = iter.nodeId;
+        msg.linkName = iter.linkName;
+        msg.upstreamNodeId = iter.upstreamNodeId;
+        msg.sectionId = iter.sectionId;
+        msg.laneId = iter._laneId;
         for(auto _its : iter.points)
         {
             jfx_common_msgs::Point64 loc = {};

events/JfxEvents.cpp

@@ -65,6 +65,7 @@ void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_c
         // std::string csv = map_path + cross_csv;
         SDK_LOG(SDK_INFO, "dir = %s, cfg = %s,csv = %s", dir.c_str(), map_cfg.c_str(),cross_csv.c_str());
         m_OfflineMap.Init(dir,map_cfg,cross_csv);
+        m_isMapCsv = 1;
 #endif
     }
     //m_OfflineMap.reset(new jf::MapInterface());
@@ -228,12 +229,29 @@ int JfxEvents::CalculateMap(ObjInfoAll& objAll, TrkObj& sendObj)
     std::vector<long> vctlOutPreRoadId; 
     std::vector<long> vctlOutNxtRoadId;
 
+#ifdef _USING_NEW_JFXMAP_        
+    jf::RoadInfo roadInfo = {};
+    int64_t lCrossId = 17;
+#endif
     //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,
-        nLaneCnt, nOutLaneNum, nOutLaneType,
-        nOutLeftEdgeCrossType, nOutRightEdgeCrossType,
-        nOutSpeedLimit, dOutLaneAngle, ptOutFoot);
+    bool result = false;
+    if(m_isMapCsv == 0)
+    {
+        result = m_OfflineMap.GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
+            nLaneCnt, nOutLaneNum, nOutLaneType,
+            nOutLeftEdgeCrossType, nOutRightEdgeCrossType,
+            nOutSpeedLimit, dOutLaneAngle, ptOutFoot);        
+    }
+    else
+    {
+#ifdef _USING_NEW_JFXMAP_        
+        result = m_OfflineMap.GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
+            nLaneCnt, nOutLaneNum, nOutLaneType,
+            nOutLeftEdgeCrossType, nOutRightEdgeCrossType,
+            nOutSpeedLimit, dOutLaneAngle, ptOutFoot,roadInfo,lCrossId);        
+#endif
+    }
     ObjInfoAll& obj = objAll;
     if (result)
     {
@@ -291,6 +309,13 @@ int JfxEvents::CalculateMap(ObjInfoAll& objAll, TrkObj& sendObj)
         sendObj.laneAngle = dOutLaneAngle;//车道方向
         sendObj.footLon = ptOutFoot.dLon;//垂足lon
         sendObj.footLat = ptOutFoot.dLat;//垂足lat
+#ifdef _USING_NEW_JFXMAP_ 
+        sendObj.nodeId = roadInfo.lNodeId;
+        sendObj.linkName = roadInfo.strCrossName;
+        sendObj.upstreamNodeId = roadInfo.lUpstreamNodeId;
+        sendObj.sectionId = roadInfo.nSectionId;
+        sendObj._laneId = roadInfo.nLaneId;
+#endif        
         obj.obj = sendObj;//更新存储的信息
 
         //记录地图信息

events/JfxEvents.h

@@ -241,6 +241,8 @@ public:
     //std::unique_ptr<jf::MapInterface> m_OfflineMap;
     static jf::MapInterface m_OfflineMap;
 
+    int m_isMapCsv = 0;//是否使用csv文件，0不使用，1使用
+
     std::mutex m_sendMtx;
 	SendEventProcessCallback m_sendCb = nullptr;
 

msg/EventInfo.h

@@ -92,6 +92,11 @@ typedef struct _TrkObj {
     double footLat = 0.0f;//垂足lat
     double acc_x = 0.0f;//x轴加速度
     double acc_y = 0.0f;//y轴加速度
+    uint32_t nodeId = 0;    // 所在交叉路口id
+    std::string linkName;    // 所在路段，路段名称
+    uint32_t upstreamNodeId = 0; //所在路段的上游节点id
+    uint32_t sectionId = 0;   // 所在的分段路段
+    uint32_t _laneId = 0;      // 所在的车道    
     std::vector<Point64> points;//8个顶点的经纬高
     std::vector<eventInfo> eventList; // 由于一辆车同时可能有多个违章，所以需要加入事件类型列表，参考TrackResultType类型
 } TrkObj;
@@ -136,6 +141,11 @@ AJSON(TrkObj,
     footLat,
     acc_x,
     acc_y,
+    nodeId,
+    linkName,
+    upstreamNodeId,
+    sectionId,
+    _laneId,
     points,
     eventList
 )