Cockpit-cpp/EgoQt/Qt/Ego.cpp

#include "Ego.h"

// start -> login -> OnSigin -> OnCarConnect -> OnRobot -> OnCarLeave
// -> OnNotifyDel

//qqq 发送给QT
void CEgoNotify::OnSigin(bool bRet) {
    emit egoLoginResult(bRet);
    //emit egoMoveEnd(10004, WorkArea::Area_F, 32);
}

//qqq 发送给QT
//车辆ID
void CEgoNotify::OnRobot(std::unique_ptr<UserCamera> &info) {
  UserCamera users;
  users.uid = info->uid;
  users.name = info->name;
  users.type = info->type;
  users.state = info->state;
  users.carType = info->carType;
  //_users.push_back(users);
  emit egoCarAppend(users);
}

void CEgoNotify::OnNotifyDel(int32_t peer) 
{
  qDebug() << "OnNotifyDel";
  emit egoNotifyDel(peer);
}

//qqq 发送给QT
void CEgoNotify::OnNotifyRadar(int32_t r0, int32_t r1, int32_t r2, int32_t r3,
                               int32_t r4, int32_t r5,int32_t r6,int32_t r7,int32_t r8) 
{
  emit egoRadar(r0, r1, r2, r3, r4, r5,r6,r7,r8);
}
void CEgoNotify::OnNotifyEncode(int32_t left, int32_t right)
{
    emit egoEncode(left, right);
}

//void CEgoNotify::OnNotifyIMU() {}

void CEgoNotify::OnNotifyPing(int32_t value,double temp) { emit egoPing(value,temp); }

void CEgoNotify::OnNotifyKickOff() {
  qDebug() << "kick off";
  emit egoKickoff();
}
void CEgoNotify::OnNotifyMoveEnd(int32_t rid, WorkArea area, int32_t no)
{
    emit egoMoveEnd(rid, area, no);
}
void CEgoNotify::OnNotifyMoveRet(MoveDesc desc)
{
    emit egoMoveRet(desc);
}
// void CEgoNotify::OnEmergency(bool enable, bool motor, bool gear, bool turnl, bool turnR) {
// 
// }
// void CEgoNotify::OnAccel(int16_t accel, bool onoff)
// {
// 
// }
// void CEgoNotify::OnSteer(uint64_t steer)
// {
// 
// }
// void CEgoNotify::OnArm(int16_t flip, int16_t armL, int16_t armR, bool onoff)
// {
// 
// }
void CEgoNotify::OnNotifyFeed(const FeedData& data)
{
    emit egoFeedData(data);
}

void CEgoNotify::OnNotifyLeave(int32_t peer)
{
    emit egoNotifyLeave(peer);
}

void CEgoNotify::OnNotifyState(int32_t uid, UserState state)
{
/*
    for (auto& node : _users)
    {
        if (node.uid == uid)
        {
            node.state = state;
            break;
        }
    }
*/
    emit egoNotifyState(uid,state);
}
void CEgoNotify::OnNotifyVideoFail(int32_t uid)
{
    emit egoNotifyFail(uid);
}

void CEgoNotify::OnNDTPos(Position* pos)
{
    emit egoPosition(pos->x, pos->y, pos->z);
}