Cockpit-cpp/ZjServer/common/comm.h

#pragma once
#include<string>
#include <unordered_map>
#include <vector>


template<typename T>
struct FVector3
{
	T X;
	T Y;
	T Z;
};
typedef FVector3<double> 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_IMU,
	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 engine_speed;
	int32_t	travel_speed;
	int32_t	fuel_level;
	int32_t	engine_temperature;
	int32_t	hydraulic_oil_temperature;
	int32_t main_pump_1_pressure;
	int32_t main_pump_2_pressure;
	int32_t hand_gear;
	int32_t actual_gear;
	float	gripper_height;
	float	amplitude;
	int32_t boom_angle;
	int32_t stick_angle;
	int32_t idle_protection;
	int32_t front_toggle;
	int32_t back_toggle;

	int32_t interlock ;//启动联锁
	int32_t safety_valves;//安全开关阀

	int32_t safety_switch ;//安全开关阀异常
	int32_t arm_lift_pilot ;//大臂提升先导比例阀异常
	int32_t arm_lowering_pilot ;//大臂下降先导比例阀异常
	int32_t lever_lifting_pilot ;//斗杆提升先导比例阀异常
	int32_t rod_lowering_pilot ;//斗杆下降先导比例阀异常
	int32_t left_rotary_pilot ;//左回转先导比例阀异常
	int32_t right_rotary_pilot ;//右回转先导比例阀异常
	int32_t grab_open_pilot ;//抓斗开启先导比例阀异常
	int32_t grab_close_pilot ;//抓斗闭合先导比例阀异常
	



	int8_t warningData[8];

	bool liftpilotpressuresensor_f;
	bool loweringpilotpressuresensor_f;
	bool leverliftpilotpressuresensor_f;
	bool rodloweringpilotpressurepensor_f;
	bool leftturnpilotpressuresensor_f;
	bool rightturnpilotpressuresensor_f;
	bool legextensionpilotpressuresensor_f;
	bool legretractpilotpressuresensor_f;
	bool grabopenpilotpressuresensor_f;
	bool grabclosurepilotpressuresensor_f;
	bool mainpump1pressuresensor_f;
	bool mainpump2pressuresensor_f;
	bool chamberpressuresensor_f;
	bool bucketrodpressuresensor_f;
	bool parkingpressuresensor_f;
	bool accumulatorpressuresensor_f;
	bool gaspedal_f;
	bool throttleknob_f;
	bool leghandle_f;
	bool gripknob_f;
	bool hydraulicoiltemperaturesensor_f;
	bool fuellevelsensor_f;
	bool boomanglesensor_f;
	bool bucketlevertiltsensor_f;
	bool expansionmodule_f;
	bool workingdistanceoverrun_f;
	bool lowoillevel_f;
	bool batterylowvoltage_f;
	bool batteryhighvoltage_f;
	bool accumulatorpressure_f;
	bool highhydraulicoiltemperature_f;
	bool lowoilpressure_f;
	bool coolantlevellow_f;
	bool coolanttemperaturehigh_f;
	bool systemoverload_f;
	bool safebypasspressdown_f;
	bool enginespn_f;
	bool enginewarmup_f;
	bool enginewarmuptimeout_f;
	bool emergencystoppress_f;
	bool leftfrontlegchosed;
	bool rightfrontlegchosed;
	bool leftrearlegchosed;
	bool rightrearlegchosed;



	
	int32_t work_pressure;
	int32_t brake_pressure; 
	int32_t gearbox_oil_temp;
	int32_t gearbox_oil_pressure; 
	int32_t engine_rpm;
	int32_t engine_pressure;
	int32_t speed;
//	int32_t gear;
	int32_t cold_water;
	int32_t steer_angle;
	int32_t left_lock_status;
	int32_t right_lock_status;
	int32_t left_angle;
	int32_t right_angle;
	
};