fix(tool_fsm_test):fix some error about compiling in agx.

src/tool/tool_FSM_Test/main.cpp

@@ -1,9 +1,11 @@
 #include "mainwindow.h"
 
 #include <QApplication>
+#include <ivbacktrace.h>
 
 int main(int argc, char *argv[])
 {
+    RegisterIVBackTrace();
     QApplication a(argc, argv);
     MainWindow w;
     w.show();

src/tool/tool_FSM_Test/mainwindow.cpp

@@ -1,5 +1,6 @@
 #include "mainwindow.h"
 #include "ui_mainwindow.h"
+#include "iostream"
 
 MainWindow::MainWindow(QWidget *parent)
     : QMainWindow(parent)
@@ -23,6 +24,7 @@ MainWindow::MainWindow(QWidget *parent)
     ModuleFun funupdate = std::bind(&MainWindow::ListenBrainStateMsg,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
     shmBrainState.mpa = iv::modulecomm::RegisterRecvPlus(shmBrainState.mstrmsgname,funupdate);
 
+    QObject::connect(this,&MainWindow::refreshHMI_Signal,this,&MainWindow::refreshHMI_Slot);
     QObject::connect(&signalSendTimer,&QTimer::timeout,this,&MainWindow::signalSend_Timeout);
     if(signalSendTimer.isActive() == false)signalSendTimer.start(50);
 }
@@ -46,6 +48,32 @@ void MainWindow::ListenBrainStateMsg(const char * strdata,const unsigned int nSi
 
     FSMState = xdata.mbfsm_state(); //0:待命停车 1:任务中 2:人工接管 3:停工停车 4:返程 5:返库
 
+    emit refreshHMI_Signal();
+}
+
+void MainWindow::signalSend_Timeout(void)
+{
+    iv::brain::fsm_skip_cmd xmsg;
+    xmsg.set_timestamp(QDateTime::currentMSecsSinceEpoch());
+    xmsg.set_missioncmd(missionCMD);
+    xmsg.set_workcmd(workCMD);
+    xmsg.set_remotectrlcmd(remoteCtrlCMD);
+    xmsg.set_waitingstationarrived(waitingStationArrived);
+    xmsg.set_maintainstationarrived(maintainStationArrived);
+
+    int ndatasize = xmsg.ByteSize();
+    char * str = new char[ndatasize];
+    std::shared_ptr<char> pstr;pstr.reset(str);
+    if(!xmsg.SerializeToArray(str,ndatasize))
+    {
+        std::cout<<"FSMSkipCommand serialize error."<<std::endl;
+        return;
+    }
+    iv::modulecomm::ModuleSendMsg(shmFSMSkipCMD.mpa,str,ndatasize);
+}
+
+void MainWindow::refreshHMI_Slot(void)
+{
     switch (FSMState) {
     case 0:
         ui->FSMStateTextBrowser->setText("0待命停车");
@@ -131,27 +159,6 @@ void MainWindow::ListenBrainStateMsg(const char * strdata,const unsigned int nSi
     }
 }
 
-void MainWindow::signalSend_Timeout(void)
-{
-    iv::brain::fsm_skip_cmd xmsg;
-    xmsg.set_timestamp(QDateTime::currentMSecsSinceEpoch());
-    xmsg.set_missioncmd(missionCMD);
-    xmsg.set_workcmd(workCMD);
-    xmsg.set_remotectrlcmd(remoteCtrlCMD);
-    xmsg.set_waitingstationarrived(waitingStationArrived);
-    xmsg.set_maintainstationarrived(maintainStationArrived);
-
-    int ndatasize = xmsg.ByteSize();
-    char * str = new char[ndatasize];
-    std::shared_ptr<char> pstr;pstr.reset(str);
-    if(!xmsg.SerializeToArray(str,ndatasize))
-    {
-        std::cout<<"FSMSkipCommand serialize error."<<std::endl;
-        return;
-    }
-    iv::modulecomm::ModuleSendMsg(shmFSMSkipCMD.mpa,str,ndatasize);
-}
-
 void MainWindow::on_missionStaButton_clicked(bool checked)
 {
     if(checked)
@@ -214,87 +221,23 @@ void MainWindow::on_comboBox_activated(int index)
 {
     FSMState = index; //0:待命停车 1:任务中 2:人工接管 3:停工停车 4:返程 5:返库
 
-    switch (FSMState) {
-    case 0:
-        ui->FSMStateTextBrowser->setText("0待命停车");
-        if(missionCMD == iv::brain::MissionCMD::MISSIOH_FINISH \
-                || missionCMD == iv::brain::MissionCMD::MISSION_CANCEL)
-        {
-            missionCMD = iv::brain::MissionCMD::MISSION_RESERVED;
-            ui->missionResButton->setChecked(true);
-        }
-        if(workCMD == iv::brain::WorkCMD::WORK_START)
-        {
-            workCMD = iv::brain::WorkCMD::WORK_RESERVED;
-            ui->workResButton->setChecked(true);
-        }
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_EXIT)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        if(waitingStationArrived == true)
-        {
-            waitingStationArrived = false;
-            ui->waitSta_checkBox->setChecked(false);
-        }
-        break;
-    case 1:
-        ui->FSMStateTextBrowser->setText("1任务中");
-        if(missionCMD == iv::brain::MissionCMD::MISSION_START)
-        {
-            missionCMD = iv::brain::MissionCMD::MISSION_RESERVED;
-            ui->missionResButton->setChecked(true);
-        }
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_EXIT)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        break;
-    case 2:
-        ui->FSMStateTextBrowser->setText("2人工接管");
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_ENTER)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        break;
-    case 3:
-        ui->FSMStateTextBrowser->setText("3停工停车");
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_EXIT)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        if(maintainStationArrived == true)
-        {
-            maintainStationArrived = false;
-            ui->maintainSta_checkBox->setChecked(false);
-        }
-        break;
-    case 4:
-        ui->FSMStateTextBrowser->setText("4返程");
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_EXIT)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        break;
-    case 5:
-        ui->FSMStateTextBrowser->setText("5返库");
-        if(workCMD == iv::brain::WorkCMD::WORK_STOP)
-        {
-            workCMD = iv::brain::WorkCMD::WORK_RESERVED;
-            ui->workResButton->setChecked(true);
-        }
-        if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_EXIT)
-        {
-            remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
-            ui->remoteResButton->setChecked(true);
-        }
-        break;
-    default:
-        break;
-    }
+    emit refreshHMI_Signal();
+}
+
+void MainWindow::on_missionResButton_clicked(bool checked)
+{
+    if(checked)
+        missionCMD = iv::brain::MissionCMD::MISSION_RESERVED;
+}
+
+void MainWindow::on_workResButton_clicked(bool checked)
+{
+    if(checked)
+        workCMD = iv::brain::WorkCMD::WORK_RESERVED;
+}
+
+void MainWindow::on_remoteResButton_clicked(bool checked)
+{
+    if(checked)
+        remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
 }

src/tool/tool_FSM_Test/mainwindow.h

@@ -56,8 +56,12 @@ private:
     bool waitingStationArrived = false; // 到达等待站点
     bool maintainStationArrived = false; // 到达维护站点
 
+signals:
+    void refreshHMI_Signal(void);
+
 public slots:
     void signalSend_Timeout(void);
+    void refreshHMI_Slot(void);
 private slots:
     void on_missionStaButton_clicked(bool checked);
     void on_missionFinButton_clicked(bool checked);
@@ -69,5 +73,8 @@ private slots:
     void on_waitSta_checkBox_clicked(bool checked);
     void on_maintainSta_checkBox_clicked(bool checked);
     void on_comboBox_activated(int index);
+    void on_missionResButton_clicked(bool checked);
+    void on_workResButton_clicked(bool checked);
+    void on_remoteResButton_clicked(bool checked);
 };
 #endif // MAINWINDOW_H

src/tool/tool_FSM_Test/mainwindow.ui

@@ -45,7 +45,7 @@
      <property name="title">
       <string>任务开始、完成、取消</string>
      </property>
-     <widget class="QWidget" name="layoutWidget">
+     <widget class="QWidget" name="layoutWidget1">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -114,7 +114,7 @@
      <property name="title">
       <string>开工、停工</string>
      </property>
-     <widget class="QWidget" name="layoutWidget">
+     <widget class="QWidget" name="layoutWidget2">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -170,7 +170,7 @@
      <property name="title">
       <string>远控退出、进入</string>
      </property>
-     <widget class="QWidget" name="layoutWidget">
+     <widget class="QWidget" name="layoutWidget3">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -226,7 +226,7 @@
      <property name="title">
       <string>到达某位置</string>
      </property>
-     <widget class="QWidget" name="layoutWidget">
+     <widget class="QWidget" name="layoutWidget4">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -254,7 +254,7 @@
      </widget>
     </widget>
    </widget>
-   <widget class="QWidget" name="layoutWidget">
+   <widget class="QWidget" name="layoutWidget5">
     <property name="geometry">
      <rect>
       <x>260</x>

src/tool/tool_FSM_Test/tool_FSM_Test.pro

@@ -46,9 +46,9 @@ else: unix:!android: target.path = /opt/$${TARGET}/bin
     error( "Couldn't find the ivboost.pri file!" )
 }
 
-!include(../../../include/ivgrpc.pri ) {
-    error( "Couldn't find the ivgrpc.pri file!" )
-}
+#!include(../../../include/ivgrpc.pri ) {
+#    error( "Couldn't find the ivgrpc.pri file!" )
+#}
 
 !include(../../../include/ivyaml-cpp.pri ) {
     error( "Couldn't find the ivyaml-cpp.pri file!" )