初始化地图防到最前面

EventsRos.cpp

@@ -41,7 +41,14 @@ int EventsRos::loadConfig(ros::NodeHandle& nh)
         nh.param<std::string>("unittest_yaml", config_yaml, "");
         m_config = YAML::LoadFile(config_yaml);
     }
-
+    //map init
+    SDK_LOG(SDK_INFO, "EventsRos::loadConfig-InitMap");
+    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);
+    SDK_LOG(SDK_INFO, "EventsRos::loadConfig-InitMap end");
+    //map init end
     EventsConfig& config = m_jfx_events.m_cfg;
     m_devNo = m_config["devNo"].as<std::string>();
     //nh.param<std::string>("devNo", m_devNo, "none");
@@ -305,8 +312,8 @@ int EventsRos::Start()
         }
 #endif
         });
-
-    m_jfx_events.Init();
+    //stop !!!
+    //m_jfx_events.Init();
 
 	return 0;
 }

events/JfxEvents.cpp

@@ -48,11 +48,14 @@ void JfxEvents::SetEventsCallback(SendEventProcessCallback cb)
     std::lock_guard<std::mutex> lock(m_sendMtx);
     m_sendCb = cb;
 }
-void JfxEvents::Init()
+void JfxEvents::Init(std::string map_path, std::string map_dir,std::string map_cfg)
 {
     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));
+    //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(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();
+	void Init(std::string map_path, std::string map_dir,std::string map_cfg);
 
 	void PushEventInfos(TrkObjsPtr& inputs);
 
@@ -273,4 +273,4 @@ public:
 
     //无路口车道，记录总的数量
     TrafficJam m_totelTrafficJam;
-};
+};
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