| 65 | RoutePlan::~RoutePlan() {} |
| 66 | |
| 67 | bool RoutePlan::searchPath(std::vector<txPoint>& dsts, RoadInfoArray& traj) { |
| 68 | if (dataInsPtr->cloudFlag) return false; |
| 69 | |
| 70 | int32_t r = dataInsPtr->planerPtr->searchTrajectory(dsts, traj); |
| 71 | if (r != 0) { |
| 72 | txlog::info("search trajectory failed!"); |
| 73 | return false; |
| 74 | } else { |
| 75 | const int minPathSize = (traj.size() > 64 ? traj.size() + 1 : 64); |
| 76 | char* info = new char[minPathSize * 32]; |
| 77 | sprintf(info, "Trajectory Size: %s", std::to_string(traj.size()).c_str()); |
| 78 | txlog::info(info); |
| 79 | sprintf(info, "Trajectory Result: \n"); |
| 80 | char trajId[32]; |
| 81 | for (size_t i = 0; i < traj.size(); ++i) { |
| 82 | if (traj[i].roadId > 0) { |
| 83 | sprintf(trajId, "%s ", std::to_string(traj[i].roadId).c_str()); |
| 84 | } else { |
| 85 | sprintf(trajId, "%s-%s", std::to_string(traj[i].roadId).c_str(), std::to_string(traj[i].attribute).c_str()); |
| 86 | switch (traj[i].attribute) { |
| 87 | case U_TURN: |
| 88 | strcat(trajId, "U "); |
| 89 | break; |
| 90 | case STRAIGHT: |
| 91 | strcat(trajId, "S "); |
| 92 | break; |
| 93 | case TURN_LEFT: |
| 94 | strcat(trajId, "L "); |
| 95 | break; |
| 96 | case TURN_RIGHT: |
| 97 | strcat(trajId, "R "); |
| 98 | break; |
| 99 | case LEFT_WITH_TRAFFIC_LIGHT: |
| 100 | strcat(trajId, "LwL "); |
| 101 | break; |
| 102 | case STRAIGHT_WITH_TRAFFIC_LIGHT: |
| 103 | strcat(trajId, "SwL "); |
| 104 | break; |
| 105 | case RIGHT_WITH_TRAFFIC_LIGHT: |
| 106 | strcat(trajId, "RwL "); |
| 107 | break; |
| 108 | case U_TURN_WITH_TRAFFIC_LIGHT: |
| 109 | strcat(trajId, "UwL "); |
| 110 | break; |
| 111 | } |
| 112 | } |
| 113 | strcat(info, trajId); |
| 114 | } |
| 115 | txlog::info(info); |
| 116 | delete[] info; |
| 117 | info = NULL; |
| 118 | } |
| 119 | return true; |
| 120 | } |
| 121 | |
| 122 | bool RoutePlan::searchPath(std::vector<txPoint>& dsts, hadmap::txRoute& traj) { |
| 123 | if (dataInsPtr->cloudFlag) { |
nothing calls this directly
no test coverage detected