predictor.c

在ARM7和UC/OSII的平台上实现了GPS自动报站的功能,涉及GPS模块LEA_4S的驱动,位置速寻算法,语音芯片ISD4004的录放音驱动,LED页面管理等等.从启动代码到操作系统的移植以及到业

/****************************************************************
**                                                              *
**  FILE         : Predictor.c                                  *
**                                                              *
**     By : Cyb 2007.01.05                                      *
****************************************************************/

#include "includes.h"
#include "errcode.h"
#include "errtask.h"
#include "message.h"
#include "tools.h"
#include "public.h"
#include "timetask.h"
#include "sensor.h"
#include "almtask.h"
#include "alarmer.h"
#include "GpsTool.h"
#include "flash.h"
#include "VtPos.h"
#include "debug.h"
#include "PredicTools.h"
#include "Predictor.h"
#include "systime.h" 
#include "SysTask.h"
#include "StaName.h"
#include "DisplayTask.h"
#include "vtcalculate.h"
#include "PortDrv.h"


#define  AOPEN_         0x55
#define  ACLOSE_        0xaa

#define  UPSTREAM         1
#define  DOWMSTREAM       2

#define  LEDPARA_GPSVALID   PORT_LEDGREEN,10,10
#define  LEDPARA_WORK       PORT_LEDRED,  20, 20

#define  MainSearchPeriod   SECOND,1
#define  AssiSearchPeriod   SECOND,1

static  LINE_STR            CurLine;                      //当前线路
static  STATION_STR         Station_Searched;             //搜寻到的站点
static  STATION_STR         Station_Last;                 //上一次被搜寻到的站点
static  INT16S              StationID_Cur;                //当前的站点ID
static  INT16S              StationID_Last;               //上一个站点ID
static  INT16S              StationID_Next;               //下一个站点ID
static  INT16S              MemIndex;                    
static  ADOBJECT_STR        AdObj;                        //广告点

static  INT32U              Status;
static  OBJECT_STR          Object_Searched;              //搜寻到的目标点


static  INT16U              Index_Line;                   //线路数据的索引
static DATUM_STRUCT         Gpsdata;
static DATUM_STRUCT         Gpsdatum;
static TMR_TSK              *MainSearchTmr;
static TMR_TSK              *AssiSearchTmr;

static INT8U                Count_Station_Search;         
static INT32U               Space[2];

//static INT16U               CurStaNum;
static BOOLEAN              AutoValid;



static INT8S                LineDirection;


// 获取该条线路数据的存储索引
static INT16U GetLineIndex_Memory(void)
{
       if (!PubParaValid(LINENUM_))
       {
           return 0xffff;
       }
       else
       {
           return LineNumPara.index;
       }
}

static BOOLEAN IsDepartStation(STATION_STR *station_searched)
{
       if(!(Status & IS_BEGIN_DEPART))
       {
            if(CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,station_searched->pos.latitude, station_searched->pos.longitude) <ALARM_LEN_DEPART)
            {
                  Status |= IS_BEGIN_DEPART;
            }
       }
       else
       {
           if(CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,station_searched->pos.latitude, station_searched->pos.longitude) >= ALARM_LEN_DEPART)
           {
                  Status &= ~IS_BEGIN_DEPART;
                  Status |= IS_DEPART_STATION;
                  return TRUE;
           }  
       }
       
       return FALSE;
}

// 搜寻站点
static BOOLEAN SearchBusStation(STATION_STR *station_searched)
{
       INT16U        i;
       INT16S       direction;
       INT32U       space;
       STATION_STR  station_searching;
    
      
#if DEBUG_UARTNo_BUSSTATION  <=1
       if(!(Status & IS_FOUND_STATION))
       {
          PrintFromUART(DEBUG_UARTNo_BUSSTATION, "\n搜寻站点.....\n");
       }
      
#endif      
       for( i=0;i<CurLine.nums;i++)
       {
             if(Status & IS_FOUND_STATION)
             {
                  break;
             }
        
                          
             if(Status & IS_DEPART_STATION)
             {
                 if( i == StationID_Last)
                 {
                     continue;
                 }
             }
             
             ReadRecFromFlash(POSITI_STA, CurLine.cell[i].cur,sizeof(STATION_STR), (INT8U*)&station_searching);
 
             
             space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,station_searching.pos.latitude, station_searching.pos.longitude);
 

             if(space < ALARM_LEN_STAFOUND)
             {
                  
                 direction = (Gpsdata.direction-1)*3;
               
                 if((direction >= (station_searching.direction -15)) && (direction <=(station_searching.direction +15)))
                {
                    if(!(Status & IS_FOUND_STATION))
                    {
                       if(Count_Station_Search <=1)
                       {
                           Space[Count_Station_Search] = space;
                          
                       }
                       else
                       {
                           if(Space[1] < Space[0])
                           {
                               Status |= IS_FOUND_STATION;
                              // StationID_Last = i;
                              // StationID_Cur  = i;
                              // StationID_Next = i+2;
                               MemIndex = i;
                               memcpy((INT8U*)station_searched,(INT8U*)&station_searching,sizeof(STATION_STR));
#if DEBUG_UARTNo_BUSSTATION  <=1
                               PrintFromUART(DEBUG_UARTNo_BUSSTATION , "\n当前站点ID:"); 
                               SendFromUART_HEX(DEBUG_UARTNo_BUSSTATION ,CurLine.cell[i].cur);
                                
#endif                              
                              if(!AutoValid)
                               {
                                   AutoValid = TRUE;
                               }
                               
                               if(!(Status & IS_NOTAT_START))
                               {
                                   Status |= IS_NOTAT_START;
                               }
                                
                           }
                           
                           Count_Station_Search = 0;
                       }
                      
                       if(Status & IS_FOUND_STATION)
                       {
                             return TRUE;
                       }
                      
                       Count_Station_Search++;
                       break;
                   }
                 }
              }
        }
        
        
        if(Status & IS_FOUND_STATION)
        {
             if(IsDepartStation(station_searched))
             {
                   Status &= ~IS_FOUND_STATION;
                   memcpy((INT8U*)&Station_Last,(INT8U*)station_searched,sizeof(STATION_STR));
             }
             else if (!(Status & IS_BEGIN_DEPART))
             {
                   space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,station_searched->pos.latitude, station_searched->pos.longitude);
                   
                   if(space >= ALARM_LEN_STAFOUND)
                   {
                       Status &= ~IS_FOUND_STATION; 
                   }
             }
         
        }
        
        
       if(Status & IS_DEPART_STATION)
       {
            space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude, Station_Last.pos.latitude, Station_Last.pos.longitude);
            
            if(space >= ALARM_LEN_STAFOUND)
            {
                Status &= ~IS_DEPART_STATION;
            } 
       }
       
       if(Status & IS_FOUND_STATION)
       {
          return TRUE;
       }
       else
       {
          return FALSE;
       }

}

//是否进站
static BOOLEAN IsStationArrived(void)
{
     INT16U    direction;
     INT32U    space;
     
     
#if DEBUG_UARTNo_BUSSTATION  <=1
      PrintFromUART(DEBUG_UARTNo_BUSSTATION , "\n等待进站.....");
#endif     
     
     if(!(Status &IS_ARRIVED_STATION))
     {
         space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,Station_Searched.pos.latitude, Station_Searched.pos.longitude);
         
         if(space <= ALARM_LEN_ARRIVE)
         {
             direction = (Gpsdata.direction - 1)*3;
             
             if((direction >= (Station_Searched.direction -15)) && (direction <=(Station_Searched.direction +15)))
             {
                 Status |= IS_ARRIVED_STATION;
                 return TRUE;
             }
         }
         
         if(space <= ALARM_LEN_ARRIVEMAX)
         {
             direction = (Gpsdata.direction - 1)*3;
             
             if((direction >= (Station_Searched.direction -15)) && (direction <=(Station_Searched.direction +15)))
             {
                  
                  if(VechicleIsStopNow())
                  {
                      Status |= IS_ARRIVED_STATION;
                      return TRUE;
                  }
                  
             }
         }
     }
     else
     {
         
        space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,Station_Searched.pos.latitude, Station_Searched.pos.longitude);
         
         if(space > ALARM_LEN_ARRIVEMAX)
         {
               Status &= ~IS_ARRIVED_STATION;
         }
     } 
    
     return FALSE;
    
}

//开始出站
static BOOLEAN IsStationBeginDepart(void)
{
       
       INT16U       direction;
       INT32U       space;
                          
  
#if DEBUG_UARTNo_BUSSTATION  <=1
       PrintFromUART(DEBUG_UARTNo_BUSSTATION, "\n等待出站.....");
#endif 
              
       if(!(Status & IS_LEFT_STATION))
       { 
           
           space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,Station_Searched.pos.latitude, Station_Searched.pos.longitude);
      
           if(space < ALARM_LEN_LEAVE)
           {
               direction = (Gpsdata.direction - 1)*3;
               
               if((direction >= (Station_Searched.direction -15)) && (direction <=(Station_Searched.direction +15)))
               {
                   
                     Status |= IS_LEFT_STATION;
                     return TRUE;
               }
           }
       }
       else
       {
            if(CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,Station_Searched.pos.latitude, Station_Searched.pos.longitude)>=ALARM_LEN_LEAVE)
            {
                 Status &= ~IS_LEFT_STATION;
            }
       }
       
       return FALSE;
             
}

//搜寻特定道路状态（拐弯、上坡、下坡）
static BOOLEAN SearchRoadObjects(OBJECT_STR *object_searched)
{
       INT8U          i;
       INT16U         objindex;
       INT32U         space;
       OFFSET2_STR    offset;
       OBJECT_STR     object_searching;
     
       ReadRecFromFlash(OFFSET_OBJ,Index_Line,sizeof(OFFSET2_STR), (INT8U*)&offset);
       
             
       for (i=0;i<offset.nums;i++)
       {
            if(Status & IS_FOUND_OBJECT)
            {
                break;
            }
            
            ReadRecFromFlash(NUMBER_OBJ, offset.pos++,2, (INT8U*)&objindex);
            ReadRecFromFlash(POSITI_OBJ, objindex,sizeof(OBJECT_STR), (INT8U*)&object_searching);
            
            space = CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,object_searching.pos.latitude,object_searching.pos.longitude);
            
            if(space < ALARM_LEN_OBJFOUND)
            {
                if(!(Status & IS_FOUND_OBJECT))
                {
                    Status |= IS_FOUND_OBJECT;
                    memcpy((INT8U*)object_searched,(INT8U*)&object_searching,sizeof(OBJECT_STR));
                    return TRUE;
                }    
            }
              
                      
       }
       
       if(Status & IS_FOUND_OBJECT)
       {
           if(CalculateGpsSpace(Gpsdata.latitude, Gpsdata.longitude,object_searched->pos.latitude,object_searched->pos.longitude)>ALARM_LEN_OBJFOUND)
           {
                Status &=~IS_FOUND_OBJECT; 
           }
       }
       
       return FALSE;  
       
}


//起步提醒
static void DeclareOnStartRun(void)
{
   if(VechicleIsStopNow())
     {
        if(!(Status & IS_VECHICLE_STOP))
        {
            Status |= IS_VECHICLE_STOP;
        } 
     }
     else
     {   
         if(Status & IS_VECHICLE_STOP)
         {
             Status &=~IS_VECHICLE_STOP;
             OSQPost(AlmTaskMsgQue, MSG_BUSSWORDS_BUSSTART, 0 ,0);
         }
         
     }
}

//整点报时
static void DeclareOnExactTime(void)
{
    
    TIME_STRUCT  curtime;
    
    GetCurTime_Time(&curtime);
     
     if((curtime.hour > 5) && (curtime.hour <24))
     {
         if(curtime.minute == 0)
         {
             if(!(Status & IS_TIME_PROMPT))
             {
                if(!(Status & IS_TIME_EXACT))
                {
                   Status |= IS_TIME_EXACT;
                }
             }
         }
         else
         {
             Status &= ~IS_TIME_PROMPT;
         }
     }
     
     if(Status & IS_TIME_EXACT)
     {
          Status &= ~IS_TIME_EXACT;
          Status |= IS_TIME_PROMPT;
          OSQPost(AlmTaskMsgQue, MSG_TIME_PROMPT, curtime.hour ,0);
     }
}

//行驶特定道路状态提醒（拐弯、上坡、下坡）
static void DeclareOnObjectsFound(void)
{
   if(SearchRoadObjects(&Object_Searched))
   {
          switch(Object_Searched.type)
          {
              case GUAIWAN_TYPE:
              OSQPost(AlmTaskMsgQue, MSG_OBJECT_WANDAOFD, 0 ,0);
              break;
              case SHANGPO_TYPE:
              OSQPost(AlmTaskMsgQue, MSG_OBJECT_SHANGPOFD,0,0);
              break;
              case XIAPO_TYPE:
              OSQPost(AlmTaskMsgQue, MSG_OBJECT_XIAPOFD,0,0);
              break;
              default:
              break;
          }
     }          

}

static void MainSearchProc(void)