1. 优化。

core/Publisher.cxx

@@ -54,6 +54,9 @@ PublisherApp::PublisherApp(
     , summary_topic_(nullptr)
     , summary_writer_(nullptr)
     , summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
+    , print_topic_(nullptr)
+    , print_writer_(nullptr)
+    , print_type_(new InternalSystem::PrintReqPubSubType())
     , matched_(0)
     , samples_sent_(0)
     , stop_(false)
@@ -76,6 +79,7 @@ PublisherApp::PublisherApp(
     bar_type_.register_type(participant_);
     light_type_.register_type(participant_);
     summary_type_.register_type(participant_);
+    print_type_.register_type(participant_);
 
     // Create the publisher
     PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
@@ -166,6 +170,33 @@ PublisherApp::PublisherApp(
     {
         throw std::runtime_error("WeighingSystem::SummaryUpdate DataWriter initialization failed");
     }
+
+    // Create the topic
+    topic_qos = TOPIC_QOS_DEFAULT;
+    participant_->get_default_topic_qos(topic_qos);
+    print_topic_ = participant_->create_topic("PrintReq", print_type_.get_type_name(), topic_qos);
+    if (print_topic_ == nullptr)
+    {
+        throw std::runtime_error("PrintReq Topic initialization failed");
+    }
+
+    // Create the data writer
+    writer_qos = DATAWRITER_QOS_DEFAULT;
+    publisher_->get_default_datawriter_qos(writer_qos);
+    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
+    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
+    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
+    writer_qos.history().depth = 1;
+    writer_qos.resource_limits().max_samples = 200;
+    writer_qos.resource_limits().max_instances = 1;
+    writer_qos.resource_limits().max_samples_per_instance = 100;
+    writer_qos.data_sharing().off();
+    print_writer_ = publisher_->create_datawriter(print_topic_, writer_qos, this, StatusMask::all());
+    if (print_writer_ == nullptr)
+    {
+        throw std::runtime_error("InternalSystem::PrintReq DataWriter initialization failed");
+    }
 }
 
 PublisherApp::~PublisherApp()
@@ -288,6 +319,22 @@ bool PublisherApp::light_ctrl(const std::map<std::string, std::string>& ctrl)
     return true;
 }
 
+bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
+{
+    InternalSystem::PrintReq req;
+
+    req.msg() = msg;
+
+    for (auto &m : req.msg())
+    {
+        std::cout << "first: " << m.first << " second: " << m.second << std::endl;
+    }
+
+    print_writer_->write(&req);
+
+    return true;
+}
+
 void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
 {
     uint8_t send_sum = 0;
@@ -418,6 +465,40 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 WeighingSystem::WeightInfoOk info = std::move(DdsMsgData::WeightInfoOk_queue_.front());
                 DdsMsgData::WeightInfoOk_queue_.pop();
                 dds_lock.unlock();
+
+                std::map<std::string, std::string> print_msg;
+                auto formatFloat = [](float value) -> std::string
+                {
+                    std::ostringstream oss;
+                    oss << std::fixed << std::setprecision(2) << value;
+                    return oss.str();
+                };
+
+                print_msg.clear();
+                print_msg["Title"] = "过衡单";
+                print_msg["DeviceID"] = std::to_string(info.DeviceID());
+                print_msg["DeviceName"] = info.DeviceName();
+                print_msg["TitleCorp"] = info.EnterpriseName();
+                print_msg["CoalNumber"] = info.BillNumber();
+                print_msg["CarNumber"] = info.CarNumber();
+                print_msg["Supplier"] = info.Supplier();
+                print_msg["GoodsType"] = info.GoodsType();
+                print_msg["GrossWeight"] = formatFloat(info.GrossWeight());
+                print_msg["GrossTime"] = info.GrossTime();
+                print_msg["GrossOperater"] = info.GrossOperater();
+                print_msg["TareWeight"] = formatFloat(info.Tare());
+                print_msg["TareTime"] = info.TareTime();
+                print_msg["TareOperater"] = info.TareOperater();
+                print_msg["SuttleWeight"] = formatFloat(info.Suttle());
+                print_msg["duduction1"] = formatFloat(info.duduction1());
+                print_msg["duduction2"] = formatFloat(info.duduction2());
+                print_msg["duduction3"] = formatFloat(info.duduction3());
+                print_msg["INCoalYard"] = info.INCoalYard();
+                print_msg["OUTCoalYard"] = info.OutCoalYard();
+                print_msg["BatchNumber"] = info.BatchNumber();
+                print_msg["Warning"] = info.Warning();
+
+                print_receipt(print_msg);
             }
             else if (!DdsMsgData::WeightInfoError_queue_.empty())
             {

core/Publisher.hpp

@@ -53,6 +53,7 @@ public:
 
     bool bar_ctrl(const std::map<std::string, std::string>& ctrl);
     bool light_ctrl(const std::map<std::string, std::string>& ctrl);
+    bool print_receipt(const std::map<std::string, std::string>& msg);
 
 private:
 
@@ -74,6 +75,9 @@ private:
     eprosima::fastdds::dds::Topic* summary_topic_;
     eprosima::fastdds::dds::DataWriter* summary_writer_;
     eprosima::fastdds::dds::TypeSupport summary_type_;
+    eprosima::fastdds::dds::Topic* print_topic_;
+    eprosima::fastdds::dds::DataWriter* print_writer_;
+    eprosima::fastdds::dds::TypeSupport print_type_;
     std::condition_variable cv_;
     int32_t matched_;
     std::mutex mutex_;

gatectrl/MsgHandler.cxx

@@ -8,12 +8,12 @@
 
 MsgHandler::MsgHandler() : fd(-1)
 {
-    this->iomap.omap["FrontBarUp"] = {1, 1};
+    this->iomap.omap["FrontBarUp"] = {2, 0};
-    this->iomap.omap["FrontBarDown"] = {2, 1};
+    this->iomap.omap["FrontBarDown"] = {1, 0};
-    this->iomap.omap["BackBarUp"] = {3, 1};
+    this->iomap.omap["BackBarUp"] = {3, 0};
-    this->iomap.omap["BackBarDown"] = {4, 1};
+    this->iomap.omap["BackBarDown"] = {4, 0};
-    this->iomap.omap["FrontLED"] = {5, 1};
+    this->iomap.omap["FrontLED"] = {5, 0};
-    this->iomap.omap["BackLED"] = {6, 1};
+    this->iomap.omap["BackLED"] = {6, 0};
 
     this->iomap.imap["FrontResistance"] = {5, 1};
     this->iomap.imap["BackResistance"] = {6, 1};
@@ -143,7 +143,7 @@ void MsgHandler::HandleDdsMsg(const std::map<std::string, std::string>& msg)
 bool MsgHandler::CtrlBar(const std::vector<std::string>& port)
 {
     std::vector<uint8_t> data;
-    data.resize(8, 1);
+    data.resize(8, 0);
     data.insert(data.begin(), {this->device_id, 0x51, 1});
     for (const auto &port : this->iomap.omap)
     {
@@ -155,20 +155,20 @@ bool MsgHandler::CtrlBar(const std::vector<std::string>& port)
         auto port = this->iomap.omap.find(p);
         if (port != this->iomap.omap.end())
         {
-            port->second.second = 0;
+            port->second.second = 1;
             data[port->second.first + 2] = port->second.second;
         }
     }
     SendDeviceMsg(data);
 
-    std::this_thread::sleep_for(std::chrono::seconds(1));
+    std::this_thread::sleep_for(std::chrono::seconds(2));
 
     for (const std::string& p : port)
     {
         auto port = this->iomap.omap.find(p);
         if (port != this->iomap.omap.end())
         {
-            port->second.second = 1;
+            port->second.second = 0;
             data[port->second.first + 2] = port->second.second;
         }
     }
@@ -181,7 +181,7 @@ bool MsgHandler::CtrlBar(const std::vector<std::string>& port)
 bool MsgHandler::CtrlLight(const std::map<std::string, uint8_t>& port)
 {
     std::vector<uint8_t> data;
-    data.resize(8, 1);
+    data.resize(8, 0);
     data.insert(data.begin(), {this->device_id, 0x51, 1});
     for (const auto &port : this->iomap.omap)
     {

print/MsgHandler.hpp

@@ -45,21 +45,8 @@ private:
     void Page_End(std::vector<uint8_t>& Data);
     void GtstrLength(int iVal, char *p);
 
-    void Print1_1(const std::map<std::string, std::string>& msg);
-
-    void Print1_2(const std::map<std::string, std::string>& msg);
-    void Print2_2(const std::map<std::string, std::string>& msg);
-    void Print3_2(const std::map<std::string, std::string>& msg);
-    void Print4_2(const std::map<std::string, std::string>& msg);
-    void Print5_2(const std::map<std::string, std::string>& msg);
-    void Print6_2(const std::map<std::string, std::string>& msg);
 
     void Print1_3(const std::map<std::string, std::string>& msg);
-    void Print2_3(const std::map<std::string, std::string>& msg);
-    void Print4_3(const std::map<std::string, std::string>& msg);
-    void Print5_3(const std::map<std::string, std::string>& msg);
-    void Print6_3(const std::map<std::string, std::string>& msg);
-    void Print8_3(const std::map<std::string, std::string>& msg);
 };
 
 #endif

print/Subscriber.cxx

@@ -76,7 +76,7 @@ SubscriberApp::SubscriberApp(
     // Create the topic
     TopicQos topic_qos = TOPIC_QOS_DEFAULT;
     participant_->get_default_topic_qos(topic_qos);
-    topic_ = participant_->create_topic("PrintReqTopic", type_.get_type_name(), topic_qos);
+    topic_ = participant_->create_topic("PrintReq", type_.get_type_name(), topic_qos);
     if (topic_ == nullptr)
     {
         throw std::runtime_error("InternalSystem::PrintReq Topic initialization failed");
@@ -86,7 +86,7 @@ SubscriberApp::SubscriberApp(
     DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
     subscriber_->get_default_datareader_qos(reader_qos);
     reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
-    reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+    reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
     reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
     if (reader_ == nullptr)
@@ -133,7 +133,7 @@ void SubscriberApp::on_data_available(
     std::string topic_name = reader->get_topicdescription()->get_name();
     std::cout << topic_name << std::endl;
 
-    if (topic_name == "PrintReqTopic")
+    if (topic_name == "PrintReq")
     {
         InternalSystem::PrintReq sample_;
         while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))

print/main.cxx

@@ -78,7 +78,7 @@ int main(int argc, char** argv)
     const char* interface = "serial";
     const char* port = "ttyS1";
     const char* baudrate = "9600";
-    const char* device = "Toledo";
+    const char* device = "NP80A";
 
     for (int i = 1; i < argc; i++)
     {

weigh/Publisher.cxx

@@ -155,7 +155,7 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
     config.min_weight_threshold = handler->empty_weight;     // 300kg开始检测
     config.empty_car_threshold = handler->empty_weight;       // 默认300kg为空车
     config.fast_drop_threshold = 1000.0f;      // 快速下降1吨认为车辆离开
-    config.required_stable_count = 6;          // 6次稳定即可
+    config.required_stable_count = 20;         // 20次稳定即可
     config.min_jitter_count = 2;               // 至少2次非增长
     config.timeout_extra = 3;                  // 超时额外次数
     config.window_size = 8;                    // 窗口大小8