Cockpit-cpp/EgoQt/EgoDLL/car_sim.cpp

#include <stdint.h>
#include "../common/comm.h"
#include "Protocol.pb.h"
#include "car_sim.h"
#include "EgoClient.h"
#include "car_sim.h"
#include <random>
#include "control_sensor.h"
#include <chrono>
#include <iomanip>
#include <windows.h>
#include <iomanip>
#include <sstream>


CCarSim::CCarSim(CEgoClient* car) :_car(car)
{

}

void CCarSim::Start()
{

}

void CCarSim::Stop()
{

}

void CCarSim::OnPeerMessage(int16_t cmd, int16_t length, const void* data)
{
    switch (cmd)
    {
        case RemoNet::CC_Ping:
        {
            RemoNet::CCPing Req;
            Req.ParseFromArray(data, length);
            int64_t tick = GetTickCount64();
            int32_t diff = tick - Req.tick();
            double temp = Req.temp();


            testPing= Req.tick();
            //增加打印日志文件内容
            /*
            auto now = std::chrono::system_clock::now();
            auto time = std::chrono::system_clock::to_time_t(now);
            auto localtime = std::localtime(&time);
            // 格式化当前系统时间作为文件名
            std::ostringstream filenameStream;
            filenameStream << "E:\\DY\\EgoDY\\Run\\log_" << std::put_time(localtime, "%Y%m%d_%H%M%S") << ".txt";
            filename = filenameStream.str();

            // 添加日志记录
            std::ofstream logFile("E:\\DY\\EgoDY\\Run\\log.txt", std::ios::app);
            //std::ofstream logFile(filename, std::ios::app);
            if (logFile.is_open()) {
                logFile << "System Time: " << std::put_time(localtime, "%Y-%m-%d %H:%M:%S") << std::endl;
                logFile << "Diff: " << diff << " Temp: " << temp << std::endl;
                //logFile.close();
            }
            */


            _car->OnPingValue(diff, temp);


        }
            break;
        case RemoNet::CC_StopACK:
        {
            _car->OnStopAck();
        }
        case RemoNet::CC_STATE:
        {
            //创建一个RemoNet::State
            RemoNet::State msg;

            //用ParseFromArray(data, length)将从data中解析的数据填充到msg对象中
            msg.ParseFromArray(data, length);

            //_control_sensor->_automous = (msg.left_lock()!=0) ? true:false;//left_lock为1时，切换为遥操，发送报文给下位机

            //创建了FeedData类型的数据结构，用于存储从msg中提取的不同数据字段
            FeedData data;
            data.brake_pressure = msg.brake_pressure();//制动气压
            data.engine_rpm = msg.engine_rpm();//发动机转速
            data.engine_pressure = msg.engine_pressure();//发动机压力
            data.gearbox_oil_pressure = msg.gearbox_oil_pressure();//变速箱油压
            data.gearbox_oil_temp = msg.gearbox_oil_temp();//变速箱油温
            data.speed = msg.speed();//行驶速度
            data.cold_water = msg.cold_water();//发动机水温
            data.steer_angle = msg.steer_angle();//车辆姿态???原来是轮子现在定义为铰链
            data.left_lock_status = msg.left_lock();
            data.right_lock_status = msg.right_lock();
            data.work_pressure = msg.work_pressure();
            //data.gear = msg.gear();


            //发送给qt的信息以下是大冶增加的：
            data.engine_time = msg.engine_time();//发动机工作小时
            data.wire_sensor_l = msg.wire_sensor_l();//左支腿高度
            data.wire_sensor_r = msg.wire_sensor_r();//右支腿高度
            //OutputDebugStringA(("===================打印左支腿高度 " + std::to_string(data.wire_sensor_l) + "============\n").c_str());
            //OutputDebugStringA(("===================打印右支腿高度 " + std::to_string(data.wire_sensor_r) + "============\n").c_str());
            data.fuel_level = msg.fuel_level();//燃油油位油量
            //data.lock_switch_l = msg.lock_switch_l();//锁钩到位开关L
            //data.lock_switch_r = msg.lock_switch_r();//锁钩到位开关R
            //data.tip_limit = msg.tip_limit();//倾翻限位
            data.lock_switch_l = msg.outgrigger_l();//左支腿伸到位开关
            data.lock_switch_r = msg.outgrigger_r();//右支腿伸到位开关
            data.tip_limit = msg.tip_pressure();//倾翻压力开关
            data.turn_left = msg.turn_left();//左转
            data.turn_right = msg.turn_right();//右转
            data.hight_beam = msg.hight_beam();//远光灯
            data.low_beam = msg.low_beam();//近光灯
            data.parking = msg.parking();//驻车
            data.brake = msg.brake();//刹车
            data.back_car = msg.back_car();//倒车
            data.front_work_lamp = msg.front_work_lamp();//前工作灯
            data.rear_work_lamp = msg.rear_work_lamp();//后工作灯
            data.cargo_weight = msg.cargo_weight();//渣包重量
            data.system_vol = msg.system_vol();//系统电压
            data.f_gear = msg.f_gear();//档位信息1=F 2=R 3=N
            data.gear_1 = msg.gear_1();//档位1234

            //发送信息给PCAN（下位机传的0x280透传）
            TPCANMsg* CANMsg = (TPCANMsg*)malloc(sizeof(TPCANMsg));
            CANMsg->ID = 0x280;
            CANMsg->MSGTYPE = PCAN_MESSAGE_STANDARD;
            CANMsg->LEN = msg.error_buff().size();
            memcpy(CANMsg->DATA, data.warningData, CANMsg->LEN);
            //SendCANMessage(CANMsg);
            _car->SendCanDate(CANMsg);
            free(CANMsg);

            for (int i = 0; i < msg.error_buff().size(); ++i)//报警信息
            {
                data.warningData[i] = msg.error_buff()[i];
            }

            //将报警信息解读出来赋值给data中的变量
            data.low_oil_pressure_alarm = (data.warningData[0] & 0x1) == 0x1 ? 1 : 0;//机油压力低报警
            data.engine_water_temperature_alarm = (data.warningData[0] & 0x2) == 0x2 ? 1 : 0;//发动机水温高报警
            data.high_engine_oil_temperature_alarm = (data.warningData[0] & 0x4) == 0x4 ? 1 : 0;//发动机油温高报警
            data.engine_water_level_low_alarm = (data.warningData[0] & 0x8) == 0x8 ? 1 : 0;//发动机水位低报警
            data.low_fuel_oil_alarm = (data.warningData[0] & 0x10) == 0x10 ? 1 : 0;//燃油油位低报警
            data.return_oil_filter_blocked_alarm = (data.warningData[0] & 0x20) == 0x20 ? 1 : 0;//回油滤网堵塞报警
            data.oil_filter_blocked_alarm = (data.warningData[0] & 0x40) == 0x40 ? 1 : 0;//吸油滤网堵塞报警
            data.control_screen_blockage_alarm = (data.warningData[0] & 0x80) == 0x80 ? 1 : 0;//控制滤网堵塞报警
            data.emergency_filter_blocking_alarm = (data.warningData[1] & 0x1) == 0x1 ? 1 : 0;//应急滤网堵塞报警
            data.cooling_filter_blocked_alarm = (data.warningData[1] & 0x2) == 0x2 ? 1 : 0;//冷却滤网堵塞报警
            data.electric_pump_screen_blocked_alarm = (data.warningData[1] & 0x4) == 0x4 ? 1 : 0;//电泵滤网堵塞报警
            data.brake_filter_blocked_alarm = (data.warningData[1] & 0x8) == 0x8 ? 1 : 0;//制动滤网堵塞报警
            data.variable_speed_filter_blocked_alarm = (data.warningData[1] & 0x10) == 0x10 ? 1 : 0;//变速滤网堵塞报警
            data.low_voltage_alarm = (data.warningData[1] & 0x20) == 0x20 ? 1 : 0;//电压低报警
            data.high_transmission_oil_temperature = (data.warningData[2] & 0x1) == 0x1 ? 1 : 0;//变速箱油温高
            data.transmission_oil_pressure_is_low = (data.warningData[2] & 0x2) == 0x2 ? 1 : 0;//变速箱油压低
            data.oil_temperature_sensor_1_is_faulty = (data.warningData[2] & 0x4) == 0x4 ? 1 : 0; //油温传感器1故障
            data.oil_temperature_sensor_2_is_faulty = (data.warningData[2] & 0x8) == 0x8 ? 1 : 0;//油温传感器2故障
            data.oil_level_sensor_is_faulty = (data.warningData[2] & 0x10) == 0x10 ? 1 : 0;//油位传感器故障
            data.front_throttle_fault = (data.warningData[2] & 0x20) == 0x20 ? 1 : 0;//前油门故障
            data.rear_throttle_fault = (data.warningData[2] & 0x40) == 0x40 ? 1 : 0;//后油门故障
            data.handle_of_the_upper_arm_is_faulty = (data.warningData[2] & 0x80) == 0x80 ? 1 : 0;//大臂手柄故障
            data.left_leg_handle_is_faulty = (data.warningData[3] & 0x8) == 0x8 ? 1 : 0;//左支腿手柄故障
            data.right_leg_handle_is_faulty = (data.warningData[3] & 0x10) == 0x10 ? 1 : 0;//右支腿手柄故障
            data.engine_bus_fault = (data.warningData[3] & 0x20) == 0x20 ? 1 : 0;//发动机总线故障
            data.transmission_bus_fault = (data.warningData[3] & 0x40) == 0x40 ? 1 : 0;//变速箱总线故障
            data.remote_control_bus_fault = (data.warningData[3] & 0x80) == 0x80 ? 1 : 0;//遥控器总线故
            data.rod_chamber_pressure_sensor_is_faulty = (data.warningData[4] & 0x1) == 0x1 ? 1 : 0;//有杆腔压力传感器故障
            data.no_rod_chamber_pressure_sensor_is_faulty = (data.warningData[4] & 0x2) == 0x2 ? 1 : 0;//无杆腔压力传感器故障
            data.brake_pressure_sensor_is_faulty = (data.warningData[4] & 0x4) == 0x4 ? 1 : 0;//制动压力传感器故障
            data.system_pressure_sensor_is_faulty = (data.warningData[4] & 0x8) == 0x8 ? 1 : 0;//系统压力传感器故障
            data.control_pressure_sensor_is_faulty = (data.warningData[4] & 0x10) == 0x10 ? 1 : 0;//控制压力传感器故障
            data.steering_pressure_sensor_is_faulty = (data.warningData[4] & 0x20) == 0x20 ? 1 : 0;//转向压力传感器故障
            data.pressure_sensor_of_the_lower_arm_is_faulty = (data.warningData[4] & 0x40) == 0x40 ? 1 : 0;//小臂压力传感器故障
            data.locking_pin_displacement_sensor_L_is_faulty = (data.warningData[5] & 0x1) == 0x1 ? 1 : 0;//锁销位移传感器L故障
            data.locking_pin_displacement_sensor_R_is_faulty = (data.warningData[5] & 0x2) == 0x2 ? 1 : 0;//锁销位移传感器R故障
            data.leg_displacement_sensor_L_is_faulty = (data.warningData[5] & 0x4) == 0x4 ? 1 : 0;//支腿位移传感器L故障
            data.leg_displacement_sensor_R_is_faulty = (data.warningData[5] & 0x8) == 0x8 ? 1 : 0;//支腿位移传感器R故障
            data.steering_encoder_failure = (data.warningData[5] & 0x10) == 0x10 ? 1 : 0;//转向编码器故障


            //qqq 发送给QT
            _car->OnFeedPage(data);
        }
            break;

        case RemoNet::CC_NDTPOS:
        {
            RemoNet::NDTPos Req;
            Req.ParseFromArray(data, length);
            Position pos;
            pos.x = Req.x();
            pos.y = Req.y();
            pos.z = Req.z();
            pos.rx = Req.rx();
            pos.ry = Req.ry();
            pos.rz = Req.rz();
            pos.rw = Req.rw();
            _car->OnNDTPos(&pos);
        }
            break;


    }
}