Cockpit-cpp/ZjQt/EgoDLL/EgoClient.cpp

#define WIN32_LEAN_AND_MEAN
#include <windows.h>
#include <json/json.h>
#include <fstream>
#include "api.h"
/*#include "../common/types.h"*/
#include "PCANBasic.h"
#include "include/EgoInterface.h"
#include "EgoWindow.h"

#include "../common/iobuffer.h"
#include "../common/sensor_socket.h"
#include "../common/peer_connection.h"
#include "car_sim.h"
#include "null_sim.h"
#include "control_sensor.h"
#include "radar_sim.h"
#include "out_sim.h"
#include "lidar_sim.h"
 
#include "EgoClient.h"
CEgoClient::CEgoClient(IEgoNotify* n) :_notify(n) 
{
	_carpeer = -1;
}
void CEgoClient::Start(std::array<IRender*, RenderPosition::ALL>& ar)
{
	_connected = false;
	Json::Value root;
 
	Json::Reader jsonReader;
	std::ifstream ifile("Config.json");
	std::string ip;
	std::string motion_ip;
	int32_t motion_port;
	std::string host;
	int32_t Tcphost_port;
	int32_t Tcpremote_port;
	//int32_t can_port = 0, host_port = 0;
	//std::string can_ip;
 
	 
	if (jsonReader.parse(ifile, root))
	{
		_accountText = root["account"].asString();
		_passText = root["password"].asString();
		_name = root["name"].asString();
		//_autoclose = root["auto_close"].asBool();
		ip = root["server"].asString();
		host = root["host_in"].asString();
		motion_ip = root["motion_ip"].asString();
		motion_port = root["motion_port"].asInt();
		Tcphost_port = root["Tcphost_port"].asInt();
		Tcpremote_port = root["Tcpremote_port"].asInt();
		//can_port = root["can_port"].asInt();
		//host_port = root["host_port"].asInt();
		//can_ip = root["can_ip"].asString();
		 
	}

	_client = std::make_unique<SocketClient>(this);
	//_client->Start(ip.c_str());
	_client->Start(ip.c_str(), Tcpremote_port, Tcphost_port);
	for (int i = 0; i < RenderPosition::ALL; i++)
	{
		auto p = std::make_unique<CEgoWindow>(this,ar[i], (RenderPosition)i);
		p->Start();
		_WindowArray.push_back(std::move(p));
	}

	//CManipulationSensor* sensor = new CManipulationSensor(_WindowArray[RenderPosition::FRONT_BACK].get());
	_can = std::make_unique<CControlSensor>(_WindowArray[RenderPosition::FRONT].get());
	_can->Start();
	_carsim = std::make_unique<CCarSim>(this);
	_carsim->Start();
	_outsim = std::make_unique<COutSim>(this, motion_ip.c_str(), motion_port);
	_outsim->Start();
	_radarsim = std::make_unique<CRadarSim>(this);
	_radarsim->Start();
 
//	_lidarsim = std::make_unique<CLidarSim>(this);
//	_lidarsim->Start();
	OnRadarData(0, 0, 0, 0, 0, 0, 0, 0);
	OnImuData(0.0, 0.0);
	
	 
}
int32_t CEgoClient::GetSteerAngle()
{
	return _steer_angle;
}
void CEgoClient::SetReady(bool b)
{
	for (auto i = 0; i < RenderPosition::ALL; i++)
		_WindowArray[i]->SetReady(b);
}
void CEgoClient::Login(std::string& account, std::string& pass)
{
	_account = account;
	_pass = pass;
	if(_connected)
		_client->WriteSign(_account.c_str(), _pass.c_str());

}

//传递所有车辆信息到Ego类中
void CEgoClient::OnRobot(const RemoNet::Robot& robot)
{
	auto  users = std::make_unique<UserCamera>();
	users->uid = robot.rid();
	users->name = robot.name();
	users->type = static_cast<EgoType>(robot.type());
	users->state = static_cast<UserState>(robot.state());
	users->carType=static_cast<CarType>(robot.cartype());
	
	//调用Ego.h中的OnRobot
	_notify->OnRobot(users);

	_userInfo.push_back(std::move(users));

}

void CEgoClient::OnNotifyState(int32_t rid, UserState state)
{
	for (auto& node : _userInfo)
	{
		if (node->uid == rid)
		{
			node->state = state;
			_notify->OnNotifyState(rid, state);
			break;
		}

	}
}
void CEgoClient::OnConnected(bool bRet)
{
	if (bRet)
	{
		_connected = true;
		if (!_account.empty())
			_client->WriteSign(_account.c_str(),_pass.c_str());
		_updateThread.start(_client.get());
	}
	else
	{
		if (_connected)
		{
			_updateThread.stop();
		}
		_connected = false;
		if (_carpeer != -1)
		{
			for (int32_t i = RenderPosition::FRONT; i < RenderPosition::ALL; i++)
			{
				_WindowArray[i]->SetReady(false);
				_WindowArray[i]->OnNotifyLeave();
			}
			_carpeer = -1;
		}
		
		_userInfo.clear();
	}
}
void CEgoClient::OnVideoRep(bool ok,int32_t index, int32_t peer)
{
	if (ok == false)
	{
		_carpeer = -1;
		_notify->OnNotifyVideoFail(peer);
		return;
	}
	if (peer != _carpeer) return;


	for (auto& node : _userInfo)
	{
		if (node->uid == peer)
		{ 
		/*	if (index == RenderPosition::FRONT)
				_notify->OpenFullView(node->viewurl.c_str());
				*/
			_WindowArray[index]->PostMessage(WM_NOTIFY_REP, (int64_t)peer);
			 
			 
		}
	}
}
void CEgoClient::OnVideoOffer(int32_t index, const char* type, const char* sdp)
{
	CIOBuffer* pBuffer = CIOBuffer::Alloc(__FILE__,__LINE__);
	OfferDesc* desc = (OfferDesc*)pBuffer->Buffer;
	strcpy_s(desc->type, type);
	strcpy_s(desc->sdp, sdp);
	_WindowArray[index]->PostMessage(WM_NOTIFY_OFFER, (int64_t)pBuffer);
}
void CEgoClient::OnVideoAnswer(int32_t index, const char* type, const char* sdp)
{
	CIOBuffer* pBuffer = CIOBuffer::Alloc(__FILE__, __LINE__);
	AnswerDesc* p = (AnswerDesc*)(pBuffer->Buffer);
	strcpy_s(p->type, type);
	strcpy_s(p->sdp, sdp);
	_WindowArray[index]->PostMessage(WM_NOTIFY_ANSWER, (int64_t)pBuffer);
//	_WindowArray[index]->DelayDataChannel();
	index++;
	 
	if (index < RenderPosition::ALL)
	{

		_WindowArray[index]->PostMessage(WM_ASK_VIDEOREQ);// DelayNextVideoReq();
	}
	else

	{
		_WindowArray[RenderPosition::FRONT]->PostMessage(WM_ASK_PING);// DelayStartPing();
	}
	 
	
}
void CEgoClient::OnVideoCandidate(int32_t index, const char* candidate, int32_t sdp_mline_index, const char* sdp_mid)
{
	CIOBuffer* pBuffer = CIOBuffer::Alloc(__FILE__, __LINE__);
	CandidateDesc* desc = (CandidateDesc*)(pBuffer->Buffer);
	strcpy_s(desc->candidate, candidate);
	strcpy_s(desc->sdp_mid, sdp_mid);
	desc->sdp_mline_index = sdp_mline_index;
	_WindowArray[index]->PostMessage(WM_NOTIFY_CANDIDATE, (int64_t)pBuffer);
}
void CEgoClient::OnVideoLeave(int32_t peer, EgoType type)
{
	if (type == EgoType::Car)
	{  

		_WindowArray[ChannelType::CHANNEL_CAR]->SetControlState(ControlState::Check);
		for (int32_t i = RenderPosition::FRONT; i < RenderPosition::ALL; i++)
		{
			_WindowArray[i]->SetReady(false);
			_WindowArray[i]->OnNotifyLeave();
		}
		_carpeer = -1;
		_notify->OnNotifyLeave(peer);
	}
}
void CEgoClient::OnNotifyKick()
{
	_notify->OnNotifyKickOff();
}
void CEgoClient::OnNDTPos(Position* pos)
{
	_notify->OnNDTPos(pos);
}
void CEgoClient::OnMessageFrameNotify(ChannelType type, int16_t cmd, int16_t length, const void* data)
{
	 
	switch (type)
	{
	case ChannelType::CHANNEL_CAR:
	{
		_carsim->OnPeerMessage(cmd, length, data);

	}
	break;
	case ChannelType::CHANNEL_IMU:
		_outsim->OnPeerMessage(cmd, length, data);
		break;
	case ChannelType::CHANNEL_RADAR:
		_radarsim->OnPeerMessage(cmd, length, data);
		break;
 
	//case ChannelType::CHANNEL_LIDAR:
	 
//		_lidarsim->OnPeerMessage(cmd, length, data);
//		break;
 

	}
	 
}
 
void CEgoClient::OnSigin(int32_t uid,bool bRet,std::string user_uuid)
{
	_uid = uid;
	_notify->OnSigin(bRet);
	if (bRet)
	{
		_client->WriteRobotReq();
	}
	CControlSensor::setSCSignUuid(user_uuid);
}
void CEgoClient::OnFeedPage(FeedData& data)
{
	_steer_angle = data.steer_angle;
	_can->SetEngineRPM(data.engine_rpm);
	_notify->OnNotifyFeed(data);
}
void CEgoClient::OnNotifyDel(int32_t peer, EgoType type)
{
	for (auto it = _userInfo.begin(); it != _userInfo.end(); ++it)
	{
		if ((*it)->uid == peer)
		{
			_userInfo.erase(it);
			break;
		}
	}
	_notify->OnNotifyDel(peer);
}

//车辆连接成功后发送摄像头视频请求
void CEgoClient::OnCarConnect(int32_t peer)
{
	CControlSensor::setCarID(peer);
	mrsWebrtcCreateFactory(false);
	for (int i = 0; i < RenderPosition::ALL; i++)
	{
		_WindowArray[i]->SetPeer(peer);
	}
	for (auto& node : _userInfo)
	{
		if (node->uid == peer)
		{
			_WindowArray[RenderPosition::FRONT]->OnAskVideoReq();
			_carpeer = peer;
			break;
		}
	}
}
void CEgoClient::OnCarLeave()
{
	/*
	RemoNet::SensorStop Req;
	CIOBuffer Buffer;
	MessageHead Head;
	Head.Command = RemoNet::CC_SensorStop;
	Head.Length = Req.ByteSizeLong();
	Head.Serialize(Buffer.Buffer);
	auto ptr = Buffer.Buffer + MessageHead::Size();
	Req.SerializeToArray(ptr, Head.Length);
	Buffer.Length = Head.Length + MessageHead::Size();
	_WindowArray[ChannelType::CHANNEL_CAR]->StopPing();
	_WindowArray[ChannelType::CHANNEL_CAR]->SendData(&Buffer);
	*/
//	_notify->CloseFullView();
	_WindowArray[ChannelType::CHANNEL_CAR]->SetControlState(ControlState::Check);
	_WindowArray[ChannelType::CHANNEL_CAR]->StopPing();
	_client->WriteVideoLeave(EgoType::Car, _carpeer);

	for (int32_t i = 0; i < RenderPosition::ALL; i++)
	{
		_WindowArray[i]->OnNotifyLeave();
	}
	_carpeer = -1;
}
void CEgoClient::OnStopAck()
{
	_client->WriteVideoLeave(EgoType::Car, _carpeer);

	for (int32_t i = 0; i < RenderPosition::ALL; i++)
	{
		_WindowArray[i]->SetReady(false);
		_WindowArray[i]->OnNotifyLeave();// PostMessage(WM_NOTIFY_LEAVE);
	}
	_carpeer = -1;
}
void CEgoClient::OnRadarData(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4, int32_t r5, int32_t r6, int32_t r7)
{
	_notify->OnNotifyRadar(r0, r1, r2, r3, r4, r5,r6,r7);
}
void CEgoClient::OnImuData(float x, float y)
{
	printf("================IMU==================");
	printf("%s %d == %f,%f", __FUNCTION__, __LINE__, x, y);
	_notify->OnNotifyImu(x, y);
}
void CEgoClient::SendCanDate(TPCANMsg* CANMsg)
{
	_can->SendCANMessage(CANMsg);
}
void CEgoClient::OnEncodeData(int32_t left, int32_t right)
{
	_notify->OnNotifyEncode(left, right);
}
void CEgoClient::ReqCarList()
{
	_client->WriteRobotReq();
}
 
void CEgoClient::OnPingValue(int32_t value,double temp)
{
	_notify->OnNotifyPing(value,temp);
}
/*
void CEgoClient::OnLidarData(bool isLeft, bool isDense, int32_t seq, PointXYZI* data, int32_t length)
{
	_notify->OnLidarData(isLeft, isDense, seq, data, length);
}
*/
void CEgoClient::OnMoveBegin(int32_t rid, WorkArea area, int32_t no)
{
	RemoNet::CSMoveBegin Req;
	Req.set_peer(rid);
	Req.set_area(area);
	Req.set_no(no);
	MessageHead Head;
	CIOBuffer pBuffer;
	Head.Command = RemoNet::CS_MoveBegin;
	Head.Length = Req.ByteSizeLong();
	Head.Serialize(pBuffer.Buffer);
	auto ptr = pBuffer.Buffer + MessageHead::Size();
	Req.SerializeToArray(ptr, Head.Length);
	pBuffer.Length = MessageHead::Size() + Head.Length;

	_client->Write(&pBuffer);
}
/*
void CEgoClient::SwitchDriver(int32_t id)
{
	RemoNet::SwitchDriver Req;
	Req.set_peer(id);
	MessageHead Head;
	CIOBuffer pBuffer;
	Head.Command = RemoNet::CS_SwitchDriver;
	Head.Length = Req.ByteSizeLong();
	Head.Serialize(pBuffer.Buffer);
	auto ptr = pBuffer.Buffer + MessageHead::Size();
	Req.SerializeToArray(ptr, Head.Length);
	pBuffer.Length = MessageHead::Size() + Head.Length;

	_client->Write(&pBuffer);
}
*/

/*void CEgoClient::ChangeState(UserState state)
{
	RemoNet::CSState Req;
	Req.set_state((RemoNet::UserState)state);
	Req.set_uid(_uid);
	MessageHead Head;
	CIOBuffer pBuffer;
	Head.Command = RemoNet::CS_State;
	Head.Length = Req.ByteSizeLong();
	Head.Serialize(pBuffer.Buffer);
	auto ptr = pBuffer.Buffer + MessageHead::Size();
	Req.SerializeToArray(ptr, Head.Length);
	pBuffer.Length = MessageHead::Size() + Head.Length;

	_client->Write(&pBuffer);
}*/
void CEgoClient::ChangeState(int carID,UserState state)
{
	RemoNet::CSState Req;
	Req.set_state((RemoNet::UserState)state);
	Req.set_uid(carID);
	MessageHead Head;
	CIOBuffer pBuffer;
	Head.Command = RemoNet::CS_State;
	Head.Length = Req.ByteSizeLong();
	Head.Serialize(pBuffer.Buffer);
	auto ptr = pBuffer.Buffer + MessageHead::Size();
	Req.SerializeToArray(ptr, Head.Length);
	pBuffer.Length = MessageHead::Size() + Head.Length;

	_client->Write(&pBuffer);
}

void CEgoClient::OnMoveEnd(int32_t rid, WorkArea area, int32_t no)
{
	_notify->OnNotifyMoveEnd(rid, area, no);
}
void CEgoClient::OnNotifyMoveRet(MoveDesc desc)
{
	_notify->OnNotifyMoveRet(desc);
}
ControlStatus CEgoClient::CheckStatus()
{
	return _can->CheckStatus();
}
/*
void CEgoClient::OnEmergency(bool enable, bool motor, bool gear, bool turnl, bool turnR)
{
	_notify->OnEmergency(enable, motor, gear, turnl, turnR);
}
void CEgoClient::OnAccel(int16_t accel , bool onoff)
{
	_notify->OnAccel(accel, onoff);
}
void CEgoClient::OnSteer(uint64_t steer)
{
	_notify->OnSteer(steer);
}
void CEgoClient::OnArm(int16_t flip, int16_t armL, int16_t armR, bool onoff)
{
	_notify->OnArm(flip, armL, armR, onoff);
}
*/
SocketClient* CEgoClient::GetSocketClient()
{
	return _client.get();
}
std::string CEgoClient::GetAccount()
{
	return _accountText;
}
std::string CEgoClient::GetPassword()
{
	return _passText;
}
std::string CEgoClient::GetName()
{
	return _name;
}
/*
bool CEgoClient::IsAutoClose()
{
	return _autoclose;
}

void CEgoClient::SetCurrentPage(PageProp prop)
{
	_currentpage = prop;
}
PageProp CEgoClient::GetCurrentPage()
{
	return _currentpage;
}
*/


//add-wfg 
void CEgoClient::OnCautionLight(bool cautionLight)
{
	_notify->OnCautionLight(cautionLight);
}
void CEgoClient::OnLightL(bool lightL)
{
	_notify->OnLightL(lightL);
}

void CEgoClient::OnLightR(bool lightR)
{
	_notify->OnLightR(lightR);
}

void CEgoClient::OnGearF(bool gearF)
{
	_notify->OnGearF(gearF);
}
void CEgoClient::OnGearR(bool gearR)
{
	_notify->OnGearR(gearR);
}
void CEgoClient::OnCarPark(bool carPark)
{
	_notify->OnCarPark(carPark);
}

void CEgoClient::OnBuzzerPlay(bool buzzerPlay)
{
	_notify->OnBuzzerPlay(buzzerPlay);
}
void CEgoClient::OnLightFront(bool lightFront)
{
	_notify->OnLightFront(lightFront);
}
void CEgoClient::OnLightWork(bool lightWork)
{
	_notify->OnLightWork(lightWork);
}
void CEgoClient::OnEmergency(bool emergency)
{
	_notify->OnEmergency(emergency);
}

void CEgoClient::OnMqttData(cannet_frame* frames)
{
	_notify->OnMqttData(frames);
}