Cockpit-cpp/EgoServer/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_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;

};