server/classdef.h

#ifndef YASERVER_CLASSDEF_H_
#define YASERVER_CLASSDEF_H_

#define MAX_DIST_CACHE 4  //5
#define DIST_COUNT 4
#define ANCHOR_COUNT 4

#define KALMAN_OFFSET_COOR 0.01
#define KALMAN_OFFSET_MOVE 1
#define KALMAN_OFFSET_RANGING 0.01
#define KALMAN_INTERVAL 0.3

#define KALMAN_OFFSET_COOR_TRI 0.01
#define KALMAN_OFFSET_MOVE_TRI 1
#define KALMAN_OFFSET_RANGING_TRI 0.09
#define KALMAN_INTERVAL_TRI 1

#define ANTENNA_COUNT 2
#define ADHOC_COUNT 10
#define READER_TIMEOUT 20
#define OVER_TIME 480 * 60

//#define CARD_TYPE_ADHOC 3
#define MAX_SEMACOUNT 64
#define INVALID_COORDINATE -1

//算法类型
//#define ALGORITHM_TYPE_TOF
#define ALGORITHM_TYPE_TDOA
//#define ALGORITHM_TYPE_INS		//使用惯导判断

//滤波功能开启
//#define FILTER_KALMAN

#include <string>
#include <ctime>
#include <map>
#include <iostream>  
#include <string>  
#include <vector>
#include <unordered_map>
#include <deque>
//#include "winsock2.h"
#include <kalman\locate.h>
#include "Filter\KalmanFilter.h"

#define MIN(x,y) (x < y ? x : y)
#define MAX(x,y) (x > y ? x : y)

using namespace std;

const int MAX_CALC_POINTS = 30;
const double INS_WEIGHT = 9.0;	//惯导权重
const double UWB_WEIGHT = 1.0;  //UWB权重

enum TIMER_ID
{
	TMR_SEND_COUNTING = 1,
	TMR_SEND_ALARM,
	TMR_SEND_DEVICE_STATE,
	TMR_SEND_POSTION,
	TMR_SYNC_READER_TIME,
	TMR_CLEAR_CALL_TIMER,
	TMR_SEND_CALL
};

enum ALARM_FLAG{
	AF_CARD_OVER_COUNT = 1,
	AF_CARD_OVER_TIME,
	AF_CARD_OVER_SPEED,
	AF_CARD_AREA_OVER_TIME,
	AF_CARD_AREA_OVER_COUNT,
	AF_CARD_AREA_FORBIDDEN,//1 这两个需要处理s
	AF_AREA_OVER_COUNT,
	AF_AREA_OVER_TIME,
	AF_AREA_FORBIDDEN	//2

};

enum EDIT_TYPE_ID{
	ET_INSERT = 0,
	ET_UPDATE,
	ET_DELETE
};

enum ALARM_TYPE_ID
{
	ATID_OVER_COUNT_PERSON = 1,
	ATID_OVER_TIME_PERSON,
	ATID_AREA_OVER_COUNT_PERSON,
	ATID_AREA_OVER_TIME_PERSON,
	ATID_AREA_LIMIT_PERSON,
	ATID_AREA_FORBIDDEN_PERSON,
	ATID_READER,
	ATID_OVER_SPEED,
	ATID_RUN_THE_RED_LIGHT,
	ATID_POWER,
	ATID_OVER_COUNT_VEHICLE,
	ATID_OVER_TIME_VEHICLE,
	ATID_AREA_OVER_COUNT_VEHICLE,
	ATID_AREA_OVER_TIME_VEHICLE,
	ATID_AREA_LIMIT_VEHICLE,
	ATID_AREA_FORBIDDEN_VEHICLE
};

enum STATUS_DEVICE{
	STATUS_DEVICE_NORMAL = 1,
	STATUS_DEVICE_ERROR,
};

enum STATUS_CARD
{
	STATUS_NORMAL = 0,				//正常
	STATUS_ERROR = 1, 
	STATUS_ERROR_SERIOUS = 2,

	STATUS_POWER_LOWER = 1,			//电量低
	STATUS_POWER_LOWER_SERIOUS = 2, //电量极低
	STATUS_OVER_TIME = 4,			//超时
	//STATUS_OVER_COUNT = 1,
	STATUS_OVER_SPEED = 8,			//超速
	STATUS_AREA_OVER_TIME = 16,		//区域超时
	//STATUS_AREA_OVER_COUNT = 1,
	STATUS_AREA_OVER_SPEED = 32,	//区域超速
	STATUS_AREA_FORBIDDEN = 64,		//进入限制区域
	STATUS_HELP = 128,				//呼救
	STATUS_HELP_DEALED = 256,		//
	STATUS_CALL = 512,				//呼叫
	STATUS_LOST = 1024				//清除盲区
	//STATUS_ERROR_DEALED,
};

enum STORE_CARD_DATA_FLAG{
	TEST_LOCATE_COMPARE = 0,
	TEST_LOCATE_DATA,
	HIS_LOCATION,
	HIS_RAW_DATA,
	HIS_AREA_LOCATION_ENTER,
	HIS_AREA_LOCATION_LEAVE,
	RPT_ATTEND_DOWN,
	RPT_ATTEND_UP,
	ALARM_CARD_OVER_TIME_START,
	ALARM_CARD_OVER_TIME_END,
	ALARM_CARD_OVER_SPEED_START,
	ALARM_CARD_OVER_SPEED_END,
	//ALARM_CARD_LOST_START,
	//ALARM_CARD_LOST_END,
	ALARM_CARD_LOW_POWER_START,
	ALARM_CARD_LOW_POWER_END,
	ALARM_CARD_OVER_TIME_AREA_START,
	ALARM_CARD_OVER_TIME_AREA_END,
	ALARM_CARD_OVER_SPEED_AREA_START,
	ALARM_CARD_OVER_SPEED_AREA_END,
	ALARM_CARD_AREA_FORBIDDEN_START,
	ALARM_CARD_AREA_FORBIDDEN_END,
	ALARM_CARD_HELP_START,
	ALARM_CARD_HELP_END
};
enum STORE_AREA_DATA_FLAG{
	ALARM_AREA_OVER_COUNT_PERSON_START = 0,
	ALARM_AREA_OVER_COUNT_PERSON_END,
	ALARM_AREA_OVER_COUNT_VEHICLE_START,
	ALARM_AREA_OVER_COUNT_VEHICLE_END,
	ALARM_AREA_FORBIDDEN_PERSON_START,
	ALARM_AREA_FORBIDDEN_PERSON_END,
	ALARM_AREA_FORBIDDEN_VEHICLE_START,
	ALARM_AREA_FORBIDDEN_VEHICLE_END,
};

enum STORE_READER_DATA_FLAG{
	ALARM_READER = 0,
	ALARM_READER_LOST_START,
	ALARM_READER_LOST_END
};

enum STORE_MINE_DATA_FLAG{
	ALARM_MINE_OVER_COUNT_PERSON_START = 0,
	ALARM_MINE_OVER_COUNT_PERSON_END,
	ALARM_MINE_OVER_COUNT_VEHICLE_START,
	ALARM_MINE_OVER_COUNT_VEHICLE_END
};

enum LOCATE_TYPE
{
	LT_COORDINATE = 0,
	LT_READER,
	LT_TDOA,
};

enum FILTER_TYPE{
	NO_FILTER = 0,
	FILTER_KALMAN = 1,
};


struct SQLTHREAD_DATA//写数据库线程传递的参数
{
	char* pText;//数据库语句地址指针
	int nRepeatTimes;//已经重试几次
};

// 定位坐标
struct _coordinate{
	_coordinate(){
		t = 0;
		reader_id = 0;
		tt = 0;
		d = 0.0;
		st = 0;	

		x = 0.0;
		y = 0.0;
		z = 0.0;
		a = 0.0;
		v = 0.0;
		antenna_id = 0;
		d_offset = 0.0;
		special = 0;
		acceleration = 0;
		acce_state = 0;	
	}
	int t; // 定位时间戳
	int reader_id;
	unsigned long long tt;
	double d; // 距离

	double x; // x坐标
	double y; // y坐标
	double z; // z坐标
	double a; // 平面角度
	double v; // 速度
	int antenna_id;
	double d_offset; // 与显示距离的偏移，用来修正单基站的情况

	int st;   //同步序号
	double acceleration;	//加速度
	int acce_state;	//加速度状态
	int special; //分站是否属于特殊分站，0属于特殊分站，1普通分站

	_coordinate& operator=(_coordinate &tmp){
		t = tmp.t;
		reader_id = tmp.reader_id;
		tt = tmp.tt;
		d = tmp.d;
		st = tmp.st;
		x = tmp.x;
		y = tmp.y;
		z = tmp.z;
		a = tmp.a;
		v = tmp.v;
		antenna_id = tmp.antenna_id;
		d_offset = tmp.d_offset;
		special = tmp.special;
		acceleration = tmp.acceleration;
		acce_state = tmp.acce_state;
		return *this;
	}
};

struct _point{ // 坐标
	double x;
	double y;
	double z;
};

struct sync_data{
	double x;
	double y;

	double vx;
	double vy;

	int sync_num;	//本次同步号

	bool update;

	sync_data(){
		x = 0.0;
		y = 0.0;
		vx = 0.0;
		vy = 0.0;
		sync_num = 0;
		update = false;
	}

	sync_data& operator=(sync_data&tmp){
		x = tmp.x;
		y = tmp.y;
		vx = tmp.vx;
		vy = tmp.vy;
		sync_num = tmp.sync_num;
		update = tmp.update;
		return *this;
	}
};

struct _call_info_card
{
	int card_id;
	int card_type;
	int call_type;
	string str_card_id;
	time_t start_time;
	int time_out;
	bool is_success;
};
typedef map<std::string, _call_info_card*> CallInfoCardMap;

struct _call_info_reader
{
	bool is_call_all;
	bool is_start_call;		//true,开始呼叫;false,取消呼叫
	BYTE call_type;
	int cards_count;
	CallInfoCardMap mpCard;
};
typedef map<int, _call_info_reader*> CallInfoReaderMap;

// 分站接收时间定义
struct ReceiveData{
	unsigned int reader_id;		// 分站号
	unsigned short antenna_id;  // 天线号
	long long rec_time_stamp;	// 分站接收时间，一个5字节的无符号数
	int special;
	double x;	//分站的x坐标
	double y;   //分站的y坐标
	double z;   //分站的z坐标
	ReceiveData(){
		reader_id = -1;
		antenna_id = -1;
		rec_time_stamp = 0;
		x = y = z = 0.0;
		special = -1;
	};
};

typedef unordered_map<int,ReceiveData> ReceiveDataMap;
//typedef unordered_map<int,ReceiveData*> ReceiveDataMap;

struct INFO_PRE{
	int t;
	long long detaT;
	double dist;
	int ant;
	int sta_num;
};

struct POS{
	double posx;
	double posy;
	double posz;
	double pos_radius;

	//保存定位结果的两个分站信息
	int nFirstReader;
	int nSecondReader;

	//精度参考
	double dFirstDiff;
	double dSecondDiff;

	POS(){
		nFirstReader = INVALID_COORDINATE;
		nSecondReader = INVALID_COORDINATE;
		posx = 0;
		posy = 0;
		posz = 0;
		dFirstDiff = 0;
		dSecondDiff = 0;
		pos_radius = 0;
	
	}

	POS& operator=(POS& tmp){
		nFirstReader = tmp.nFirstReader;
		nSecondReader = tmp.nSecondReader;
		posx = tmp.posx;
		posy = tmp.posy;
		posz = tmp.posz;
		dFirstDiff = tmp.dFirstDiff;
		dSecondDiff = tmp.dSecondDiff;
		pos_radius = tmp.pos_radius;

		return *this;
	}
};

struct RESULT{
	double x[3];
	double y[3];
	double z[3];
	int nCount;
};

class Mine;
class Area;
class Reader;
class Card;
class MapInfo;
class Dept;
class ReaderPath;

typedef map<string, Card*> CardMap;
typedef map<int, Area*> AreaMap;
typedef map<int, Reader*> ReaderMap;
typedef map<int, MapInfo*> MapInfoMap;
typedef map<int, Dept*> DeptMap;
typedef map<int, string> AlarmTypeMap;
typedef map<int,ReaderPath*> ReaderPathMap;
typedef unordered_map<int,ReaderPathMap*> TDOAReaderPathMap;
typedef unordered_map<string, _coordinate*> DistMap;

struct DistQueMapItem
{
	WORD cardstamp;
	DistMap distmap;
};
typedef deque<DistQueMapItem> DistQueMap;

// 地图
class MapInfo{
public:
	MapInfo(void);
	~MapInfo(void);
public:
	int map_id;
	string map_path;
	string map_name;
	double map_width;
	double map_height;
	double map_scale;
	int map_type;

	AreaMap map_area_list;
	ReaderMap map_reader_list;
	CardMap map_card_list_person;
	CardMap map_card_list_vehicle;
};

// 区域
class Area  // 矩形
{
private:
	std::vector<std::string> split(std::string str,std::string pattern);
	double get_vertex(std::string src); // 顶点
public:
	Area(void);
	~Area(void);
	void init_border(string sz_path);
	bool is_in_polygon(_point p);
public:
	int map_id;
	int area_id;
	string area_name;
	string area_type_name;
	int area_type_id;
	string path; // 多边形
	// 人员
	int over_count_person;
	int over_time_person;
	int under_count_person;
	int under_time_person;
	// 车辆
	int over_count_vehicle;
	int over_time_vehicle;
	int under_count_vehicle;
	int under_time_vehicle;

	int polygon_count;
	_point* polygon;
	// 坐标
	//double x;
	//double y;
	//double z;
	//double sr; // 短半径
	//double lr; // 长半径

	//double x1, y1, z1; // 矩形四个顶点
	//double x2, y2, z2;
	//double x3, y3, z3;
	//double x4, y4, z4;

	double rect_left;
	double rect_right;
	double rect_top;
	double rect_bottom;

	// 区域人数
	int count_person;
	int count_vehicle;
	int count_card;

	// 是否写考勤
	int is_att; // 0 停车场外，1 停车场内
	//
	bool is_area_over_time_person; // 车辆超时
	bool is_area_over_time_vehicle; // 人员超时
	int count_area_over_time_person; // 超时人数
	int count_area_over_time_vehicle; // 超时车数
	time_t time_over_time_person; // 开始超时时间
	time_t time_over_time_vehicle; // 开始超时时间

	bool is_area_over_count_person; // 人员超员
	bool is_area_over_count_vehicle; // 车辆超员
	int count_area_over_count_person;
	int count_area_over_count_vehicle;
	time_t time_over_count_person; // 开始时间
	time_t time_over_count_vehicle; // 开始时间

	bool is_area_forbidden_person;
	bool is_area_forbidden_vehicle;
	int count_area_forbidden_person;
	int count_area_forbidden_vehicle;
	time_t time_forbidden_person; // 开始时间
	time_t time_forbidden_vehicle; // 开始时间

	CardMap area_card_list_person;
	CardMap area_card_list_vehicle;
};

// 自组网预置坐标
class Adhoc
{
public:
	Adhoc();
	~Adhoc();
public:
	int adhoc_id;
	double x;
	double y;
	double z;
	int idx;
};

// 天线
class Antenna
{
public:
	Antenna(void);
	~Antenna(void);
public:
	int antenna_id;
	double antenna_x;
	double antenna_y;
	double antenna_z;
	double antenna_angle;
};
// 分站
class Reader
{
public:
	Reader(void);
	~Reader(void);
public:
	int reader_id; // 分站号
	string reader_name; // 分站名称
	int device_type_id;
	int pos_state; // 位置状态 1井上，2井下
	string ip;
	double reader_x; 
	double reader_y;
	double reader_z;
	double reader_angle;

	double reader_interval_time;

	int map_id; // 所在地图
	int area_id; // 所属区域
	double map_scale; // 比例尺

	//double rec_time; // 接收数据时间
	time_t rec_time; 
	time_t reader_time; // 分站时间
	time_t lost_time;
	int temperature; // 温度
	int tick_count; // 计数器
	int state; // 状态 0 正常, 1 故障

	int sync_level;

	int state_old; // 上一次状态
	Antenna* ant[ANTENNA_COUNT]; // 两个天线
	Adhoc* adhoc[ADHOC_COUNT];// 自组网节点预置坐标
	map<int,_point> readerCoveragePath;
	bool bIsInitCoverage;
	int m_nIsSpecial;

public:
	string get_state_text();
};

// 卡
class Card
{
public:
	Card(void);
	~Card(void);
	Card(string cardid, int cardtype,double z_offset, double offset_x = 12.0, double offset_y =12.0);

public:
	CRITICAL_SECTION m_csCard;
public:
	int card_type; // 卡类型 0x01人, 0x02车
	//int64_t card_id; // 卡唯一标识， 高位为卡号，低位为卡类型， ((card_id << 8) | card_type)
	string card_id;
	
	// 人员
	string level; // 级别
	string occupation; // 职务
	// 人员、车辆
	string id; // 编号，人员或车辆
	string name; // 姓名、车辆名称
	string number; // 身份证号码，车牌号码
	string photo; // 照片
	string company; // 单位
	string department; // 部门
	int dept_id;
	int group_id;
	string group; // 班组 
	string worktype; // 工种、车辆类型

	//time_t deal_time; // 最后处理卡逻辑时间
	SYSTEMTIME deal_time;
	time_t rec_time; // 最后接收时间
	time_t down_time; // 入井时间
	time_t up_time; // 升井时间
	time_t enter_area_time; // 进入区域时间
	time_t enter_reader_time; // 进入分站时间
	time_t low_power_time; // 电量低开始时间
	//time_t enter_park_time; // 回场时间
	//time_t leave_park_time; // 出场时间, 开始工作时间
	double coor_offset_x;
	double coor_offset_y;
	double x;
	double y;
	double z;
	double a; // 上次定位时的角度
	int t; // 上次定位时的时间戳
	double z_offset;
	bool init_postion;
	bool is_first_location;
	double v; //速度
	double m_dAverageV; //平均速度

	double xx;
	double yy;
	double zz;

	double x1, x2, x3, x4;
	double y1, y2, y3, y4;
	double z1, z2, z3, z4;

	double last_x;
	double last_y;
	double last_z;

	double stored_x;
	double stored_y;
	double stored_z;

	double last_vx;
	double last_vy;

	int state;	// 0 正常， 共32bit,每个bit代表一个状态，从右起:
				// 第一位 0x01 井下超时, 第二位 0x02 区域超时, 第三位 0x04 超速, 第四位 0x08, 进入限制区域
				// 状态，故障、电量低等
	int state_moving; // 运动状态， 0 静止，1 启动
	int state_biz;    //业务状态，呼叫/超时/进入禁区等

	// 电量低、 呼叫、呼救
	int status_over_time; // 0 未超时，1 超时
	int status_over_speed; // 0 未超速，1 超速
	int status_area_over_time; // 0 未区域超时， 1 区域超时
	int status_area_over_speed; // 0 未区域超速， 1 区域超速
	int status_area_forbidden; // 0 未进入限制区域， 1 进入限制区域
	int status_help; // 0 未呼救， 1 呼救， 2 已处理呼救
	int status_call; // 0 未呼叫 1 呼叫
	int status_power; // 0 电量正常，1 电量低
	int status_lost; // 0 未进入盲区，1 盲区状态
	
	int map_id; // 当前地图
	double map_scale; // 地图比例尺
	int map_id_old; // 上次测距所在地图
	int area_id; // 当前区域	
	int reader_id; // 当前分站
	Reader* p_reader;
	ReaderPathMap* pReaderPathMap;
	TDOAReaderPathMap* pTdoaReaderPathMap;
	_coordinate** p_dists;
	_coordinate** p_dists_locate;
	_coordinate last_locate;
	_coordinate origin_locate;
	double m_dFirstDiff;
	double m_dSecondDiff;
	
	DistQueMap _dists;
	int time_stamp_max; // 最大时间戳，即需要计算定位的时间戳
	int time_stamp_cal;
	//int get_pos_state() const { return pos_state; }
	//void set_pos_state(int val) ;
	//int get_pos_state_count() const { return pos_state_count; }

	int pos_state; // 位置状态，0初始化，1井下，2井上，3车场分站
	int pos_state_old;
	//int pos_state_last;
	int pos_state_count; // 当前位置状态确认次数

	int pos_state_park; // 在停车场区域状态
	int pos_state_park_old;
	//int pos_state_park_last;
	int pos_state_park_count;

	int m_nFilterType;
	int m_nLastLocateT;
	int m_nCalcSyncNum;	//卡在算法中的同步号，此同步号和卡的实时同步号并不一定一致
	int m_nSyncNumInList;	//从队列中取出的大于5的同步号

	//int last_area_type_id;
	//int cur_area_type_id;

	bool issent; // true 已发送至客户端，false 新数据，需要发送至客户端
	bool issaved; //true 已保存到数据库，false 生成新的考勤记录，需要保存到数据库
	bool isdealed; // 已经处理
	bool isreceive; // 接收到
	bool is_pos_changed;
	bool is_deal_by_algo;
	bool is_hist;
	bool is_need_cal;
	bool m_bUseFilter;

	bool is_mine_over_time;		// 是否井下超时
	bool is_area_over_time;		// 是否区域超时, 区域超时分车辆超时、人员超时
	time_t time_area_over_time; // 区域超时开始时间
	time_t time_over_time;		// 井下超时开始时间
	time_t time_area_forbidden; // 进入限制区域时间
	time_t time_over_speed;		// 超速开始时间
	time_t time_low_power;

	void set_reader(Reader* preader);
	bool is_pos_state_changed(int nval); // 入\升井状态变化
	bool is_pos_state_pack_changed(int nval);
	void add_dist(_coordinate* dist);
	void remove_dist_head();
	string concat(int reader_id, int ant_id);
	time_t get_working_time();
	string get_state_text();
	string get_acc_text();
	double get_speed();
	int get_effictive_dist_count(int offset = 0);
	void set_reader_path(ReaderPathMap *rpm);
	void set_reader_path(TDOAReaderPathMap* trpm);
public:
	// 滤波算法相关
	//CalLocation* cal_location;
	CalLocation3* cal_location3;
	//Point2* p2_anchors;
	Point3* p3_anchors;
	//bool is_init_kalman;
	CKalmanFilter* m_pKalmanFilter;
	//int m_max_stamp; // 最大的时间戳，即最近采集的数据
	list<sync_data> m_syncNumList;

	int last_s_locate_reader[2];	//上一次定位成功的分站信息

	double ins_weight;
	double uwb_weight;
	double weight;

	bool is_anchor_changed;
	void get_coordinate();
	void get_coordinate(int cnt);
	void get_coordinate_3d(int cnt);
	void get_coordinate_2d(int cnt);
	void set_anchors(int cnt);

	void EnableFilter(int nType);
	int FindDistMap(int cardstamp);
public: // 采集到的底层数据
	int reader_tickcount; 
	int time_stamp; // 定位时间戳
	int ranging_type; // 报文类型 tof，tdoa
	int accelerate_state; // 加速度
	int antenna_id; // 天线号
	double antenna_angle; // 天线角度
	double distance; // 距离
	int64_t flying_time; // 飞行时间
	int power_state; // 电量
	unsigned short sync_num;

	int time_stamp_last; // 定位时间戳
	int context_type_last; // 报文类型 tof，tdoa
	int accelerate_state_last; // 加速度
	int antenna_id_last; // 天线号
	double antenna_angle_last; // 天线角度
	double distance_last; // 距离	
	int64_t flying_time_last; // 飞行时间
	int power_state_last; // 电量

	int reader_id_last;	//上一次定位时间戳的分站id

	string str_his_time;
	string str_rec_time;
};

class Dept
{
public:
	Dept();
	~Dept();
	Dept(int id, string name);
private:
public:
	int dept_id;
	string dept_name;
	
	CardMap dept_card_list_person;
	CardMap dept_card_list_vehicle;
};

/*
 * 地图集路径描述
*/
class ReaderPath{
public:
	ReaderPath(){
		bIsInit = false;
		nRealCalcPoints = 0;
		x[0] = x[1] = y[0] = y[1] = 0;
		for(int i=0;i<MAX_CALC_POINTS;i++){
			px[i] = py[i] = pz[i] = 0;
		}
	}
public:
	//对于TOF而言，x,y表示1,2天线对应的坐标
	//对于TDOA而言，x,y表示焦点F1,F2（等同于分站i,i+1）的坐标
	int nRealCalcPoints;
	double x[2];
	double y[2];
	double z[2];
	double px[MAX_CALC_POINTS];
	double py[MAX_CALC_POINTS];
	double pz[MAX_CALC_POINTS];

	bool bIsInit;
};

#endif //YASERVER_CLASSDEF_H_