修改地图加载时传入csv文件，没有就用原来的接口。

EventsRos.cpp

@@ -46,7 +46,10 @@ int EventsRos::loadConfig(ros::NodeHandle& nh)
     string map_path = m_root_dir;
     string map_dir = m_config["pro_dir"].as<std::string>();
     string map_cfg = m_config["map_cfg"].as<std::string>();
-    m_jfx_events.Init(map_path,map_dir,map_cfg);
+    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);
     SDK_LOG(SDK_INFO, "EventsRos::loadConfig-InitMap end");
     //map init end
     EventsConfig& config = m_jfx_events.m_cfg;

events/JfxEvents.cpp

@@ -48,16 +48,25 @@ 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)
+void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv)
 {
     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());
     //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());
+    if(cross_csv.empty())
+    {
+        SDK_LOG(SDK_INFO, "dir = %s, cfg = %s", dir.c_str(), map_cfg.c_str());
+        m_OfflineMap.Init(dir,map_cfg);
+    }
+    else
+    {
+        // 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_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);
 

events/JfxEvents.h

@@ -198,7 +198,7 @@ public:
 	JfxEvents();
 	~JfxEvents();
 
-	void Init(std::string map_path, std::string map_dir,std::string map_cfg);
+	void Init(std::string map_path, std::string map_dir,std::string map_cfg,std::string cross_csv);
 
 	void PushEventInfos(TrkObjsPtr& inputs);