Changed directory structure and renamed applications

- autopilot -> drone_controller - rtsp_ai_player -> ai_controller - added top level qmake project file - updated documentation - moved small demo applications from tmp/ to misc/
2026-04-22 08:26:33 +00:00 · 2024-10-19 14:44:34 +02:00
parent 54b7dc41ca
commit 45c19baa45
94 changed files with 149 additions and 204 deletions
@@ -0,0 +1,145 @@
+#include <filesystem>
+#include <iostream>
+#include <string>
+
+#include "../3rd/rapidjson/include/rapidjson/document.h"
+#include "../3rd/rapidjson/include/rapidjson/error/en.h"
+#include "../3rd/rapidjson/include/rapidjson/filereadstream.h"
+
+#include "az_mission.h"
+
+using namespace rapidjson;
+using namespace std;
+
+AzMission::AzMission(string filename)
+    : mFilename(filename)
+    , mOperationalHeight(INVALID_HEIGHT)
+    , mReturnPoint(AzCoordinate(INVALID_LATITUDE, INVALID_LONGITUDE))
+{
+    if (filesystem::exists(mFilename) == false) {
+        cerr << "JSON file " << mFilename << " doesn't exists." << endl;
+        exit(1);
+    }
+
+    parse();
+}
+
+void AzMission::parse(void)
+{
+    FILE *fp = fopen(mFilename.c_str(), "r");
+    char readBuffer[65536];
+    FileReadStream is(fp, readBuffer, sizeof(readBuffer));
+
+    Document document;
+    document.ParseStream(is);
+    fclose(fp);
+
+    if (document.HasParseError()) {
+        cerr << "JSON parse error: " << GetParseError_En(document.GetParseError()) << endl;
+        exit(1);
+    }
+
+    // Parse operational height
+    int operational_height = document["operational_height"].GetInt();
+    if (operational_height > 0) {
+        mOperationalHeight = operational_height;
+    }
+
+    // Parse geofences
+    const Value &geofences = document["geofences"];
+    const Value &polygons  = geofences["polygons"];
+    for (SizeType i = 0; i < polygons.Size(); i++) {
+        AzGeofence geofence;
+        const Value &polygon = polygons[i];
+        const Value &points  = polygon["points"];
+        for (SizeType j = 0; j < points.Size(); j++) {
+            AzCoordinate coord(points[j][0].GetDouble(), points[j][1].GetDouble());
+            geofence.coordinates.push_back(coord);
+        }
+        string fence_type = polygon["fence_type"].GetString();
+        if (fence_type == "INCLUSION") {
+            geofence.type = AZ_GEOFENCE_TYPE_INCLUSION;
+        }
+        else if (fence_type == "INCLUSION") {
+            geofence.type = AZ_GEOFENCE_TYPE_EXCLUSION;
+        }
+
+        mGeofences.push_back(geofence);
+    }
+
+    // Parse action points
+    const Value &action_points = document["action_points"];
+    for (SizeType i = 0; i < action_points.Size(); i++) {
+        double lat = action_points[i]["point"][0].GetDouble();
+        double lon = action_points[i]["point"][1].GetDouble();
+        AzCoordinate point(lat, lon);
+
+        int height = action_points[i]["height"].GetInt();
+
+        string action_enum                  = action_points[i]["action_enum"].GetString();
+        AzActionPointType action_point_type = AZ_ACTION_POINT_TYPE_NONE;
+        if (action_enum == "waypoint") {
+            action_point_type = AZ_ACTION_POINT_TYPE_WAYPOINT;
+        }
+        else if (action_enum == "search") {
+            action_point_type = AZ_ACTION_POINT_TYPE_SEARCH;
+        }
+        else if (action_enum == "return") {
+            action_point_type = AZ_ACTION_POINT_TYPE_RETURN;
+        }
+
+        uint actionSpefific = 0;
+        if (action_points[i].HasMember("action_specific")) {
+            const Value &targets = action_points[i]["action_specific"]["targets"];
+            for (SizeType j = 0; j < targets.Size(); j++) {
+                if (targets[j].GetString() == string("tank")) {
+                    actionSpefific |= AZ_ACTION_SPECIFIC_TANK;
+                }
+                else if (targets[j].GetString() == string("artillery")) {
+                    actionSpefific |= AZ_ACTION_SPECIFIC_ARTILLERY;
+                }
+            }
+        }
+
+        AzActionPoint actionPoint(point, height, action_point_type, actionSpefific);
+        mActionPoints.push_back(actionPoint);
+    }
+
+    // Parse return_point
+    mReturnPoint = AzCoordinate(document["return_point"][0].GetDouble(), document["return_point"][1].GetDouble());
+}
+
+const vector<AzGeofence> &AzMission::getGeofences(void) const
+{
+    return mGeofences;
+}
+
+const vector<AzActionPoint> &AzMission::getActionPoints(void) const
+{
+    return mActionPoints;
+}
+
+int AzMission::getOperationalHeight(void) const
+{
+    return mOperationalHeight;
+}
+
+AzCoordinate AzMission::getReturnPoint(void) const
+{
+    return mReturnPoint;
+}
+
+ostream &operator<<(ostream &os, const AzMission &obj)
+{
+    os << "\nMission defination:" << endl;
+    os << "----------------------" << endl;
+    os << "Filename: " << obj.mFilename << endl;
+    os << "Operational height: " << obj.mOperationalHeight << endl;
+    os << "Return point: " << obj.mReturnPoint << endl;
+
+    for (size_t i = 0; i < obj.mActionPoints.size(); i++) {
+        os << "\nAction point[" << i << "]:" << endl;
+        os << obj.mActionPoints[i];
+    }
+    return os;
+}