#pragma once #include #include #include template struct FVector3 { T X; T Y; T Z; }; typedef FVector3 FVector3d; enum RadarPosition :int32_t { RADAR_LEFT, RADAR_RIGHT, RADAR_REAR, RADAR_ALL }; enum RenderPosition :int32_t { FRONT, BACK, LEFT, RIGHT, LANCHOR, RANCHOR, ALL }; enum EgoType :int32_t { None, User, Car }; enum CarType { ZJ, KRESS, }; enum ChannelType:int32_t { CHANNEL_CAR, CHANNEL_RADAR, CHANNEL_ENCODE, CHANNEL_ALL, }; enum WorkArea { Area_A, Area_B, Area_C, Area_D, Area_E, Area_F, Area_G, Area_H, Area_I, Area_J, Area_ALL }; enum Metal_Area { Put_Wait =0, Put_1=1, Put_2=2, Put_3=3, Get_Wait=10, Get_1=11, Get_2=12, Get_3=13, Out_Area=100 }; enum UserState { Offline, Idle = 1, Remote = 2, Automotive = 3, AskRemote = 4 }; enum MoveDesc { Move_OK = 0, Move_Encode_Fail = 1, Move_Unknow_Fail = 2 }; enum Lock_Status { Lock_Open, Lock_Closed, Lock_CloseInvalid, }; struct UserCamera { int32_t uid; EgoType type; UserState state; CarType carType; std::string name; std::string viewurl; }; struct OfferDesc { char type[16]; char sdp[4096 * 3-16]; }; struct AnswerDesc { char type[16]; char sdp[4096 * 3 - 16]; }; struct CandidateDesc { char candidate[4096]; char sdp_mid[4096]; int32_t sdp_mline_index; }; #pragma pack(1) #define CAN_MSG_LEN 13 struct cannet_frame { int8_t dlc; int32_t canid; int8_t data[8]; }; #pragma pack() enum RobotStatus { OK, Fail, }; struct FeedData { int32_t work_pressure;//����ϵͳѹ�� int32_t brake_pressure; //�ƶ�ϵͳѹ�� int32_t gearbox_oil_temp;//���������� int32_t gearbox_oil_pressure; //��������ѹ int32_t engine_rpm;//������ת�� int32_t engine_pressure; int32_t speed; // int32_t gear; int32_t cold_water; float steer_angle; int32_t left_lock_status; int32_t right_lock_status; int32_t left_angle; int32_t right_angle; //大冶新增的下位机上传数据 int32_t engine_time;//发动机运行小时 int32_t wire_sensor_l;//拉线传感器左侧 int32_t wire_sensor_r;//拉线传感器右侧 int32_t fuel_level;//燃油油位 int32_t lock_switch_l;//锁钩到位开关左 int32_t lock_switch_r; //锁钩到位开关右 int32_t tip_limit;//倾翻限位 int32_t turn_left;//左转 int32_t turn_right;//右转 int32_t hight_beam ;//远光灯 int32_t low_beam ;//近光灯 int32_t parking;//驻车 int32_t brake;//刹车 int32_t back_car;//倒车 int32_t front_work_lamp;//前工作灯 int32_t rear_work_lamp ;//后工作灯 int32_t cargo_weight ;//渣包重量 int32_t system_vol;//系统电压 int32_t f_gear;//档位1F 2R 3N int32_t gear_1;//档位1 2 3 4 int8_t warningData[8] ;//报警信息 //报警信息列表下： bool low_oil_pressure_alarm; bool engine_water_temperature_alarm; bool high_engine_oil_temperature_alarm; bool engine_water_level_low_alarm; bool low_fuel_oil_alarm; bool return_oil_filter_blocked_alarm; bool oil_filter_blocked_alarm; bool control_screen_blockage_alarm; bool emergency_filter_blocking_alarm; bool cooling_filter_blocked_alarm; bool electric_pump_screen_blocked_alarm; bool brake_filter_blocked_alarm; bool variable_speed_filter_blocked_alarm; bool low_voltage_alarm; bool high_transmission_oil_temperature; bool transmission_oil_pressure_is_low; bool oil_temperature_sensor_1_is_faulty; bool oil_temperature_sensor_2_is_faulty; bool oil_level_sensor_is_faulty; bool front_throttle_fault; bool rear_throttle_fault; bool handle_of_the_upper_arm_is_faulty; bool left_leg_handle_is_faulty; bool right_leg_handle_is_faulty; bool engine_bus_fault; bool transmission_bus_fault; bool remote_control_bus_fault; bool rod_chamber_pressure_sensor_is_faulty; bool no_rod_chamber_pressure_sensor_is_faulty; bool brake_pressure_sensor_is_faulty; bool system_pressure_sensor_is_faulty; bool control_pressure_sensor_is_faulty; bool steering_pressure_sensor_is_faulty; bool pressure_sensor_of_the_lower_arm_is_faulty; bool locking_pin_displacement_sensor_L_is_faulty; bool locking_pin_displacement_sensor_R_is_faulty; bool leg_displacement_sensor_L_is_faulty; bool leg_displacement_sensor_R_is_faulty; bool steering_encoder_failure; };