提交更新

CMakeLists.txt

@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 3.0.2)
 
 project(third_map)
 
+set(USING_EXE OFF)
+
 SET(CMAKE_BUILD_TYPE "Debug")
 #SET(CMAKE_BUILD_TYPE "Release")
 
@@ -15,6 +17,7 @@ include_directories(
     ${PROJECT_SOURCE_DIR}/src/SDK/include/
 )
 
+add_definitions(-D_DEBUG_API_)
 
 add_library(odrManager SHARED IMPORTED)
 set_target_properties(odrManager PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/src/SDK/lib/libOdrManager.so)
@@ -25,10 +28,12 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME} odrManager)
 
-#add_executable(test_map
-#    main.cpp
-#)
+if(USING_EXE)
+add_executable(test_map
+    main.cpp
+)
 
-#target_link_libraries(test_map
-#    ${PROJECT_NAME}
-#    )
+target_link_libraries(test_map
+    ${PROJECT_NAME}
+    )
\ No newline at end of file
+endif()
\ No newline at end of file

src/MapInterface.cpp

@@ -36,35 +36,65 @@ namespace jf {
     {
         if (g_load == 0)
             return false;
-
+#ifdef _DEBUG_API_
         std::vector<OdrInfo> odr = g_map.GetOdrInfoByXY(ptInLoc.dLon, ptInLoc.dLat);
         printf("odr size = %d\n", odr.size());
         for (auto iter : odr)
         {
             printf("roadID = %s,sectionID = %s,laneID = %s, _s = %f. _t = %f \n", iter._roadID, iter._sectionID, iter._laneID, iter._s, iter._t);
         }
+#else
+        std::vector<OdrInfo> odr = g_map.GetOdrInfo(ptInLoc.dLon, ptInLoc.dLat);
+#endif
         if (odr.size() == 0)
+        {
+            printf("not in map lon = %.8f, lat = %.8f\n", ptInLoc.dLon, ptInLoc.dLat);
             return false;
-        std::string roadId = odr[0]._roadID;
-        std::string sectionId = odr[0]._sectionID;
-        std::string laneId = odr[0]._laneID;
+        }
+        std::string roadId;
+#ifdef _DEBUG_API_
+        double angle = g_map.GetHdgByXY(3926.381879, 11180.870534, dCarAngle, roadId);
+        std::cout << "GetHdgByXY comValue = " << dCarAngle << ",return = " << angle << ",roadId = " << roadId << std::endl;
+#else
+        double angle = g_map.GetHdg(ptInLoc.dLon, ptInLoc.dLat, dCarAngle, roadId);
+#endif
+        dOutLaneAngle = angle;
+
+        std::string sectionId;
+        std::string laneId;
+        for (auto its : odr)
+        {
+            std::string id = its._roadID;
+            if (id == roadId)
+            {
+                sectionId = its._sectionID;
+                laneId = its._laneID;
+                break;
+            }
+        }
+
         lOutRaodId = std::stol(roadId);
         int _sectionId = std::stol(sectionId);
         int _laneId = std::stol(laneId);
+#ifdef _DEBUG_API_
         std::cout << "lOutRaodId = " << lOutRaodId << ",_sectionId = " << _sectionId << ", _laneId = " << _laneId << std::endl;
-
+#endif
         char** preRoadId = nullptr;
         int preSize = 0;
         bool retPre = g_map.GetPreRoadID(roadId.c_str(), preRoadId, preSize);
         if (retPre)
         {
+#ifdef _DEBUG_API_
             std::cout << "vctlOutPreRoadId size = " << preSize << std::endl;
+#endif
             for (int i = 0; i < preSize; i++)
             {
                 std::string prdId = preRoadId[i];
                 long preIdx = std::stol(prdId);
                 vctlOutPreRoadId.push_back(preIdx);
+#ifdef _DEBUG_API_
                 std::cout << "vctlOutPreRoadId i = " << i << ", roadId = " << preIdx << std::endl;
+#endif
             }
         }
         char** nextRoadId = nullptr;
@@ -72,13 +102,17 @@ namespace jf {
         bool retNext = g_map.GetSucRoadID(roadId.c_str(), nextRoadId, nextSize);
         if (retNext)
         {
+#ifdef _DEBUG_API_
             std::cout << "vctlOutNxtRoadId size = " << nextSize << std::endl;
+#endif
             for (int i = 0; i < nextSize; i++)
             {
                 std::string nextId = nextRoadId[i];
                 long nextIdx = std::stol(nextId);
                 vctlOutNxtRoadId.push_back(nextIdx);
+#ifdef _DEBUG_API_
                 std::cout << "vctlOutNxtRoadId i = " << i << ", roadId = " << nextIdx << std::endl;
+#endif
             }
         }
         char** allLaneIds = nullptr;
@@ -86,17 +120,21 @@ namespace jf {
         bool retALane = g_map.GetAllDrivingLaneIDS(roadId.c_str(), sectionId.c_str(), allLaneIds, allLaneSize);
         if (retALane)
         {
+#ifdef _DEBUG_API_
             std::cout << "GetAllDrivingLaneIDS size = " << allLaneSize << std::endl;
             for (int i = 0; i < allLaneSize; i++)
             {
                 std::cout << "GetAllDrivingLaneIDS i = " << i << ", laneId = " << allLaneIds[i] << std::endl;
             }
+#endif
         }
         nOutLaneCnt = allLaneSize;
         nOutLaneNum = abs(_laneId);
 
         std::string typeString = g_map.GetLaneTypeString(roadId.c_str(), sectionId.c_str(), laneId.c_str());
+#ifdef _DEBUG_API_
         std::cout << "GetLaneTypeString  type = " << typeString << std::endl;
+#endif
         // "Driving" "Biking" "Shoulder" "SideWalk" "Parking" "Restricted" "Border" "none"
 
         if ("Driving" == typeString)
@@ -131,10 +169,14 @@ namespace jf {
         {
             nOutLaneType = LaneType::Ohters;
         }
+#ifdef _DEBUG_API_
         std::cout << "nOutLaneType = " << static_cast<int>(nOutLaneType) << std::endl;
+#endif
 
         bool isJunction = g_map.bJunctionRoad(roadId.c_str());
+#ifdef _DEBUG_API_
         std::cout << "bJunctionRoad = " << isJunction << std::endl;
+#endif
         if (isJunction)
         {
             nOutLaneType = LaneType::JunctionLane;
@@ -142,7 +184,6 @@ namespace jf {
         NearestRoadMark mark = g_map.GetNeartestLaneRoadMarkByXY(ptInLoc.dLon, ptInLoc.dLat);
         if (mark._leftRoadMark)
         {
-            std::cout << "_leftRoadMark _type = " << mark._leftRoadMark->_type << std::endl;
             if (mark._leftRoadMark->_type == ODR_ROAD_MARK_TYPE_SOLID || mark._leftRoadMark->_type == ODR_ROAD_MARK_TYPE_SOLID_SOLID)
                 nOutLeftEdgeCrossType = EdgeCrossType::Unable;
             else if (mark._leftRoadMark->_type == ODR_ROAD_MARK_TYPE_BROKEN)
@@ -153,11 +194,13 @@ namespace jf {
                 nOutLeftEdgeCrossType = EdgeCrossType::RightAble;
             else
                 nOutLeftEdgeCrossType = EdgeCrossType::NotInvestigated;
+#ifdef _DEBUG_API_
+            std::cout << "_leftRoadMark _type = " << mark._leftRoadMark->_type << std::endl;
             std::cout << "nOutLeftEdgeCrossType = " << static_cast<int>(nOutLeftEdgeCrossType) << std::endl;
+#endif
         }
         if (mark._rightRoadMark)
         {
-            std::cout << "_rightRoadMark _type = " << mark._rightRoadMark->_type << std::endl;
             if (mark._rightRoadMark->_type == ODR_ROAD_MARK_TYPE_SOLID || mark._leftRoadMark->_type == ODR_ROAD_MARK_TYPE_SOLID_SOLID)
                 nOutRightEdgeCrossType = EdgeCrossType::Unable;
             else if (mark._rightRoadMark->_type == ODR_ROAD_MARK_TYPE_BROKEN)
@@ -168,13 +211,13 @@ namespace jf {
                 nOutRightEdgeCrossType = EdgeCrossType::RightAble;
             else
                 nOutRightEdgeCrossType = EdgeCrossType::NotInvestigated;
+#ifdef _DEBUG_API_
+            std::cout << "_rightRoadMark _type = " << mark._rightRoadMark->_type << std::endl;
             std::cout << "nOutRightEdgeCrossType = " << static_cast<int>(nOutRightEdgeCrossType) << std::endl;
+#endif
         }
 
         nOutSpeedLimit = 0;
-        double angle = g_map.GetHdgByXY(3926.381879, 11180.870534, dCarAngle);
-        std::cout << "GetHdgByXY comValue = " << dCarAngle << ",return = " << angle << std::endl;
-        dOutLaneAngle = angle;
         // angle = g_map.GetHdgByXY(ptInLoc.dLon,ptInLoc.dLat,90.0);
         // std::cout << "GetHdgByXY comValue = " << 90 << ",return = " << angle << std::endl;
         // angle = g_map.GetHdgByXY(ptInLoc.dLon,ptInLoc.dLat,180.0);