v0.1.1-3:20240927车端控制指令mqtt

ZJ_PRO/EgoSystem/.vscode/extensions.json

@@ -1,5 +0,0 @@
-{
-    "recommendations": [
-        "ms-vscode.cpptools"
-    ]
-}

ZJ_PRO/EgoSystem/DataMqttClient.cpp

@@ -37,8 +37,7 @@ void CDataMqttSensor::onConnectCallCBack(void* context, char* cause) //���
             subTopic[row] = new char[COLUMNS];
         }
         
-        //sprintf((char*)*(subTopic + 0), "v2x/v1/grasp/%s/info/up/ack", (char*)context);
-        memcpy((char*)*(subTopic + 0),"bg/log",strlen("bg/log"));
+        memcpy((char*)*(subTopic + 0),"Vehicle/ControlVehicle/Veh001",strlen("Vehicle/ControlVehicle/Veh001"));
         
 
         opts = MQTTAsync_responseOptions_initializer;

ZJ_PRO/EgoSystem/build/.cmake/api/v1/query/client-vscode/query.json

@@ -1 +0,0 @@
-{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]}

ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/cache-v2-192c30c97d094f73ce55.json

@@ -1,1811 +0,0 @@
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ZJ_PRO/EgoSystem/can_bus.cpp

@@ -266,15 +266,12 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
             case 0x181:
                 Sendframe[0].can_id = 0x181;
                 Sendframe[0].can_dlc = frame.dlc;
-
-                Hand_Throttle = make_int16(frame.data[1],frame.data[0]);
-                Foot_Throttle = make_int16(frame.data[3],frame.data[2]);
-                can_status.Brake = make_int16(frame.data[5],frame.data[4]);   //刹车
-                can_status.Outrigger_status = make_int16(frame.data[7],frame.data[6]);  //支腿
-                // Turn_angle = 
-
-
                 memcpy(Sendframe[0].data, frame.data, frame.dlc);
+                control_can.accPedalH = make_int16(frame.data[1],frame.data[0]);   //手油门
+                control_can.accPedalF = make_int16(frame.data[3],frame.data[2]);  //脚油门
+                control_can.brakePedal =  make_int16(frame.data[5],frame.data[4]);  //刹车
+                control_can.baseLegControl = make_int16(frame.data[7],frame.data[6]);  //支腿动作控制
+
                 //std::cout << "revice 181" << std::endl;
             break;
 
@@ -283,24 +280,19 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 Sendframe[1].can_dlc = frame.dlc;
 
                 memcpy(Sendframe[1].data, frame.data, frame.dlc);
+                control_can.taskJoint_1 = make_int16(frame.data[1], frame.data[0]);//第一个作业关节控制  
+                control_can.taskJoint_2 = make_int16(frame.data[7], frame.data[6]);//第2个作业关节控制
+                control_can.taskJoint_3 = make_int16(frame.data[3], frame.data[2]);//第3个作业关节控制
+                control_can.toolControl = make_int16(frame.data[5],frame.data[4]);  //末端控制工具
                 //std::cout << "182" << std::endl;
             break;
 
             case 0x183:
                 Sendframe[2].can_id = 0x183;
                 Sendframe[2].can_dlc = frame.dlc;
-
-                // Direction = make_int16(frame.data[3],frame.data[2]);
-                can_status.Turn_angle = make_int16(frame.data[3], frame.data[2]);  //转弯角度
-
-
-                // Turn_angle =                         //转弯角度
-
-                 
-                // _message->SendVehicleStatus(Direction,Hand_Throttle,Foot_Throttle,Brake);
-
                 memcpy(Sendframe[2].data, frame.data, frame.dlc);
-                //std::cout << "revice 183" << std::endl;
+                control_can.steeringWheel = make_int16(frame.data[3],frame.data[2]);   //方向盘转速
+                control_can.endJoint = make_int16(frame.data[1],frame.data[0]);    //抓具旋转
             break;
 
             case 0x184:
@@ -308,31 +300,37 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 Sendframe[3].can_id = 0x184;
                 Sendframe[3].can_dlc = frame.dlc;
 
-                can_status.fire_status = frame.data[2] & 0x80 ? 1 : 0;     //启动/熄火？   
-                can_status.remote_forward =  frame.data[0] & 0x10 ? 1 : 0;  //前进      0 - 5  
-                can_status.remote_backward =  frame.data[0] & 0x20 ? 1 : 0;   //后退      0 - 6  
-                can_status.Park = frame.data[1] & 0x01 ? 1 : 0;    //驻车    1-0
-                can_status.Left_turn = frame.data[7] & 0x40 ? 1 : 0; //左旋    右手柄  左  7-7
-                can_status.Right_turn = frame.data[7] & 0x80 ? 1 : 0 ;   //右旋    右手柄   右  7-8
-                can_status.Raised = frame.data[7] & 0x02 ? 1 : 0;              //小臂抬起   左手柄  向后        7-2
-                can_status.Decrease = frame.data[7] & 0x01 ? 1 : 0;            //小臂下降   左手柄  向前   7-1
-                can_status.Stretch = frame.data[7] &  0x20 ? 1 : 0;             //大臂伸起   右手柄  向后   7-6
-                can_status.Bulls_decline = frame.data[7] &  0x10  ? 1 : 0;      //大臂下降    右手柄  向前  7-5 
-                can_status.Material  = frame.data[4]  & 0x01  ? 1 : 0;          //吸盘吸   4-1
-                can_status.Discharge  = frame.data[4]  & 0x02  ? 1 : 0;         //吸盘放  4-2
-                can_status.zhua = frame.data[7] & 0x40 ? 1 : 0;                      //抓斗抓料   右手柄 左边  7-7
-                can_status.fang = frame.data[7] & 0x80 ? 1 : 0 ;                      //抓斗放料   右手柄 右边  7-8
-                can_status.Shell_rotation_left = frame.data[6] &0x40 ? 1 : 0  ;              //贝壳斗旋转  shun   6-7
-                can_status.Shell_rotation_right = frame.data[7] & 0x80? 1 : 0 ;              //贝壳斗旋转   ni   6-8
-                can_status.Cabin = frame.data[1] & 0x40 ? 1 : 0;                //驾驶室升  1-7
-                can_status.Cab = frame.data[1] & 0x80? 1 : 0;                //驾驶室降   1-8
-                can_status.Working_signal = frame.data[2] & 0x20? 1 : 0 ;         //作业灯   2-6
-                can_status.Turn_left_signal = frame.data[0] &  0x08? 1 : 0 ;           //左转向      0-4
-                can_status.Turn_right_signal = frame.data[0] &  0x10? 1 : 0;            //右转向   0-5
-                can_status.Trumpet = frame.data[1] & 0x02 ? 1 : 0;        //喇叭   1-2
-                can_status.Urget_stop = frame.data[3] & 0x02 ? 1 : 0;       //急停  3-2
-                can_status.Vehicle_id = 535;      //车辆id
-
+                control_can.keyStatus = (frame.data[3] & 0x01 ? 1:0 ) + (frame.data[2] & 0x80 ? 1:0)*2;  //钥匙状态  0-熄火   1-上电   2-启动
+
+                control_can.parkControl = frame.data[1] & 0x01 ? 1:0 ;   //驻车控制   1-1
+                control_can.travelMode = frame.data[3] & 0x04? 1:0 ;   //驾驶模式   3-3
+                control_can.eStop = frame.data[3] & 0x02 ? 1:0 ;         //急停开关   3-2
+                control_can.directSwitch = frame.data[4] & 0x04 ? 1:0 ;  //前后切换   4-3
+
+                control_can.gearControl = (frame.data[0] & 0x20 ? 1:0)  + (frame.data[0] & 0x40 ? 1:0) * 2 ;  //车辆档位控制  1-前进   2-后退
+
+                control_can.hazardLight = frame.data[0] & 0x04 ? 1:0 ;   //双闪灯0-3
+
+                control_can.travelLight = (frame.data[0] & 0x02 ? 1:0)  +(frame.data[0] & 0x01 ? 1:0)*2;   //行驶灯光  0-全关闭  1-近光   2-远光
+                control_can.vehicleHorn = frame.data[1] & 0x02 ? 1:0 ;   //喇叭1-2
+                control_can.silencedAlarm  = frame.data[2] & 0x40 ? 1:0; //消报警音按钮2-7100000data[2] & 0x20 ? 1:0) *2 ;  //2- 4*5  工作灯 0-全关闭  1-前大灯  2工作灯  3 全开
+
+                control_can.turnSignal = (frame.data[0] & 0x08 ? 1:0) + (frame.data[0] & 0x10 ? 1:0) * 2 ;  //转向灯   0-关   1-近光灯   2-远光灯
+                control_can.turnMode = (frame.data[3] & 0x08 ? 1:0) + (frame.data[3] & 0x10 ? 1:0) * 2 + (frame.data[3] & 0x20 ? 1:0) * 3 +(frame.data[3] & 0x40 ? 1:0) * 4;   //转向模式
+                control_can.enableHydraulic = frame.data[2] & 0x01 ? 1:0;              //液压使能开关
+                control_can.workLight = (frame.data[2] & 0x20 ? 1:0)  + (frame.data[2] & 0x40 ? 1:0)*2 ;                   //工作灯  0-关  1-前大灯  2-工作灯  3-全开
+                control_can.bypassSwitch = frame.data[1] & 0x02 ? 1:0 ;                  //2- 1  旁通开关
+                control_can.baseLegSwitch =(frame.data[1] & 0x04 ? 1:0)*1 +(frame.data[1] & 0x08  ? 1:0)*2 +(frame.data[1] & 0x10  ? 1:0)*4+(frame.data[1] & 0x20  ? 1:0)*8; //四个支腿选择开关
+                control_can.cabLift = (frame.data[1] &0x40 ? 1:0) * 1 + (frame.data[1] & 0x80 ? 1:0) * 2;   //驾驶室升降  0 无   1-升  2-降
+                control_can.esCabLift = frame.data[2] & 0x08 ? 1:0;    //驾驶室应急下降
+                control_can.suckerSelect = frame.data[2] & 0x04 ? 1:0;          //吸盘选择开关
+                control_can.errBasOperation = 0;    //基本操作故障
+                control_can.errAccPedal = (frame.data[5] & 0x40 ? 1:0) + (frame.data[5] & 0x80 ? 1:0)*2;        //油门信号故障 0-无故障  1-油门旋扭故障 2-脚油门故障  3-都有故障
+                control_can.errBrakePedal = frame.data[6] & 0x01 ? 1:0;   //刹车信号故障
+                control_can.errSteeringWheel = frame.data[6] & 0x02 ? 1:0 ; //转向故障
+                control_can.errHandle = (frame.data[5] & 0x01 ? 1:0) + (frame.data[5] & 0x02 ? 1:0)*2 +(frame.data[5] & 0x04 ? 1:0)*4 +( frame.data[5] & 0x08 ? 1:0) *8 +(frame.data[5] & 0x10 ? 1:0)*16    ; //手柄信号故障
+                control_can.errEndTool = frame.data[5] & 0x20 ?1:0;//末端工具控制故障
+                control_can.errOther = 0;//其他故障   
                 //模式
                 
                 model = (frame.data[3] & 0x04) == 0x04 ? 1 : 0;
@@ -345,6 +343,7 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 if((frame.data[4] & 0x10) == 0x10 ? 1 : 0)//已就绪 抓钢机就绪状态，待无人车入场
                 {
                   _message->SendZGJStatus(1);
+                  control_can.coopSignal = 1;      //就位
                   std::cout << "SendZGJStatus" << std::endl;
                   //_msg[3].DATA[4] &= 0xEF;
                 }
@@ -352,6 +351,7 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 if((frame.data[4] & 0x20) == 0x20 ? 1 : 0)//已完成 抓钢机抓钢结束，待无人车离场
                 {
                   _message->SendZGJStatus(2);
+                  control_can.coopSignal = 0;      //结束
                   //_msg[3].DATA[4] &= 0xD7;
                 }
 
@@ -387,7 +387,7 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 Sendframe[4].can_dlc = frame.dlc;
 
                 memcpy(Sendframe[4].data, frame.data, frame.dlc);
-                _message -> SendVehicleStatus( can_status);
+                _message -> SendVehicleStatus( control_can);
             break;
         }
     } 

ZJ_PRO/EgoSystem/can_bus.h

@@ -45,5 +45,5 @@ private:
      FeedData _data;
      int model;//0本地,1远程
 
-     vehicle_status can_status;
+     vehicle_control_cv control_can;
 };

ZJ_PRO/EgoSystem/message_queue.cpp

@@ -980,143 +980,106 @@ void CMessageQueue::SendZGJStatus(int status)
     _Rtk->Get()->Send_ZGJ_status(status);
 }
 
-// void CMessageQueue::SendVehicleStatus(int16_t Direction,int16_t Hand_Throttle,int16_t Foot_Throttle,int16_t Brake)
-// {
-//     //CDataMqttSensor::sendMessage()
-//     if (CDataMqttSensor::_run)
-// 	{
-// 		time_t rawtime;
-//         struct tm* info;
-//         time(&rawtime);
-
-//         info = localtime(&rawtime);
-
-//         char secret[64] = { 0 };
-
-//         sprintf((char*)secret, "%d-%.2d-%.2d %.2d:%.2d:%.2d", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,info->tm_hour,info->tm_min,info->tm_sec);
-//         printf("%s\r\n",secret);
-
-
-//         char WriteLocalDat[128];
-//         memset(WriteLocalDat,0,128);
-//         sprintf(WriteLocalDat, "%d-%.2d-%.2d %.2d:%.2d:%.2d    方向值:%d    手油门值:%d    脚油门值:%d    刹车值:%d\n", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,info->tm_hour,info->tm_min,info->tm_sec,
-//         Direction,Hand_Throttle,Foot_Throttle,Brake);
-//         fwrite(WriteLocalDat, strlen(WriteLocalDat) , 1, File_fd);
-
-// 		Json::Value root;
-// 		Json::Value Source;
-// 		Json::FastWriter writer;
-
-// 		std::string SendTime;
-
-// 		Source["1"] = SendTime.assign(secret,strlen(secret));//发送时间
-// 		Source["2"] = Direction;//方向值
-// 		Source["3"] = Hand_Throttle;//手油门值
-//         Source["4"] = Foot_Throttle;//脚油门值
-// 		Source["5"] = Brake;//刹车值
-
-// 		Json::StyledWriter sw;
-// 		//std::cout << sw.write(Source) << std::endl << std::endl;
-//         if (!DataMqtt_SendDate)
-// 		{
-// 			DataMqtt_curTick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-// 			DataMqtt_SendDate = true;
-// 		}
-// 		else
-// 		{
-// 			long long tick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-// 			if (DataMqtt_curTick != 0 && tick - DataMqtt_curTick > 10000)
-// 			{
-// 				if (CDataMqttSensor::_run && (CDataMqttSensor::m_mqttClient != NULL))
-// 					CDataMqttSensor::sendMessage((char*)sw.write(Source).c_str(), 0, (char*)"bg/log");
-// 				DataMqtt_SendDate = false;
-// 			}
-// 		}
-// 	}
-// }
 
-void CMessageQueue::SendVehicleStatus(vehicle_status can_status)
+void CMessageQueue::SendVehicleStatus(vehicle_control_cv control_can)
 {
     //CDataMqttSensor::sendMessage()
     if (CDataMqttSensor::_run)
 	{
-		time_t rawtime;
-        struct tm* info;
-        time(&rawtime);
-
-        info = localtime(&rawtime);
-
-        char secret[64] = { 0 };
-
-        sprintf((char*)secret, "%d-%.2d-%.2d %.2d:%.2d:%.2d", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,info->tm_hour,info->tm_min,info->tm_sec);
-        printf("%s\r\n",secret);
-
+        struct timeval tv;
+        gettimeofday(&tv, NULL);
+        char m_Send[16],Dst[16];
+        memset(Dst, 0, 16);
+        sprintf((char*)Dst, "%ld", tv.tv_sec * 1000 + tv.tv_usec / 1000);
 
-        // char WriteLocalDat[128];
-        // memset(WriteLocalDat,0,128);
-        // sprintf(WriteLocalDat, "%d-%.2d-%.2d %.2d:%.2d:%.2d    方向值:%d    手油门值:%d    脚油门值:%d    刹车值:%d\n", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,info->tm_hour,info->tm_min,info->tm_sec,
-        // Direction,Hand_Throttle,Foot_Throttle,Brake);
-        // fwrite(WriteLocalDat, strlen(WriteLocalDat) , 1, File_fd);
 
 		Json::Value root;
 		Json::Value Source;
 		Json::FastWriter writer;
 
 		std::string SendTime;
+ 
+        Source["VehicleID"] = 538;
+        Source["timestamp"] = SendTime.assign(Dst,strlen(Dst));
+
+        //车辆基本状态控制
+        Json::Value baseControl;
+        baseControl["keyStatus"] = control_can.keyStatus;
+        baseControl["parkControl"] = control_can.parkControl;
+        baseControl["travelMode"] = control_can.travelMode;
+        baseControl["eStop"] = control_can.eStop;
+        baseControl["directSwitch"] = control_can.directSwitch;
+        baseControl["gearCaontrol"] = control_can.gearControl;
+        baseControl["hazardLight"] = control_can.hazardLight;
+        baseControl["travelLight"] = control_can.travelLight;
+        baseControl["vehicleHorn"] = control_can.vehicleHorn;
+        baseControl["silencedAlarm"] = control_can.silencedAlarm;
+        Source["baseControl"].append(baseControl);
+
+        
+
+        //车辆行驶控制
+        Json::Value driveControl;
+        Json::Value accPedal;
+
+        accPedal["accPedalH"] = control_can.accPedalH;
+        accPedal["accPedalF"] = control_can.accPedalF;
+        driveControl["accPedal"].append(accPedal);
+        driveControl["brakePedal"] = control_can.brakePedal;
+        driveControl["steeringWheel"] = control_can.steeringWheel;
+        driveControl["turnSignal"] = control_can.turnSignal;
+        driveControl["turnMode"] = control_can.turnMode;
+        Source["driveControl"].append(driveControl);
+
+        //作业机构控制
+        Json::Value taskControl;
+        taskControl["enableHydraulic"] = control_can.enableHydraulic;
+        taskControl["toolControl"] = control_can.toolControl;
+        taskControl["workLight"] = control_can.workLight;
+        taskControl["bypassSwitch"] = control_can.bypassSwitch;
+        taskControl["taskJoint_1"] = control_can.taskJoint_1;
+        taskControl["taskJoint_2"] = control_can.taskJoint_2;
+        taskControl["taskJoint_3"] = control_can.taskJoint_3;
+        taskControl["endJoint"] = control_can.endJoint;
+        taskControl["baseLegSwitch"] = control_can.baseLegSwitch;
+        taskControl["baseLegControl"] = control_can.baseLegControl;
+        taskControl["cabLift"] = control_can.cabLift;
+        taskControl["esCabLift"] = control_can.esCabLift;
+        taskControl["suckerSelect"] = control_can.suckerSelect;
+        taskControl["cooperationSignal"] = control_can.coopSignal;
+        Source["taskControl"].append(taskControl);
+
+        //舱端故障报警
+        Json::Value errCode;
+        errCode["errBasOperation"] = control_can.errBasOperation;
+        errCode["errAccPedal"] = control_can.errAccPedal;
+        errCode["errBrakePedal"] = control_can.errBrakePedal;
+        errCode["errSteeringWheel"] = control_can.errSteeringWheel;
+        errCode["errHandle"] = control_can.errHandle;
+        errCode["errEndTool"] = control_can.errEndTool;
+        errCode["errOther"] = control_can.errOther;
+        Source["errCode"].append(errCode);
 
-		// Source["1"] = SendTime.assign(secret,strlen(secret));//发送时间
-		// Source["2"] = Direction;//方向值
-		// Source["3"] = Hand_Throttle;//手油门值
-        // Source["4"] = Foot_Throttle;//脚油门值
-		// Source["5"] = Brake;//刹车值
-
-        Source["1"] = can_status.fire_status;//启动/熄火
-		Source["2"] = can_status.remote_forward;//远程控制前进
-		Source["3"] = can_status.remote_backward;//远程控制后退
-        Source["4"] = can_status.Brake;//刹车
-		Source["5"] = can_status.Park;//驻车
-        Source["6"] = can_status.Outrigger_status;//支腿
-		Source["7"] = can_status.Turn_angle;//转弯角度
-		Source["8"] = can_status.Left_turn;//左旋   左手柄 左信号  
-        Source["9"] = can_status.Right_turn;//右旋   左手柄 右信号
-		Source["10"] = can_status.Raised;//小臂抬起   左手柄  向后 
-        Source["11"] = can_status.Decrease;//小臂下降   左手柄  向前 
-		Source["12"] = can_status.Stretch;//大臂伸起   右手柄  向后
-		Source["13"] = can_status.Bulls_decline;//大臂下降    右手柄  向前
-        Source["14"] = can_status.Material;//吸盘吸料
-		Source["15"] = can_status.Discharge;//吸盘放料
-		Source["16"] = can_status.zhua;//抓斗抓料
-		Source["17"] = can_status.fang;//抓斗放料
-		Source["18"] = can_status.Shell_rotation_left;//贝壳斗旋转   shun
-		Source["19"] = can_status.Shell_rotation_right;//贝壳斗旋转   ni
-		Source["19"] = can_status.Cabin;//驾驶室升
-		Source["20"] = can_status.Cab;//驾驶室降
-		Source["21"] = can_status.Working_signal;//作业灯开/关
-		Source["22"] = can_status.Turn_left_signal;//左转向 开/关
-		Source["23"] = can_status.Turn_right_signal;//右转向  开/关
-		Source["24"] = can_status.Warning_Light;//警示灯 开/关  ?
-		Source["25"] = can_status.Trumpet;//喇叭
-		Source["26"] = can_status.Security_lock;//安全锁 开/关
-		Source["27"] = can_status.Urget_stop;//急停 
-		Source["28"] = can_status.Vehicle_id;//车辆id   
-		Source["29"] = SendTime.assign(secret,strlen(secret));;//发送时间  
 
 		Json::StyledWriter sw;
-		//std::cout << sw.write(Source) << std::endl << std::endl;
-        if (!DataMqtt_SendDate)
-		{
-			DataMqtt_curTick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-			DataMqtt_SendDate = true;
-		}
-		else
-		{
-			long long tick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-			if (DataMqtt_curTick != 0 && tick - DataMqtt_curTick > 10000)
-			{
-				if (CDataMqttSensor::_run && (CDataMqttSensor::m_mqttClient != NULL))
-					CDataMqttSensor::sendMessage((char*)sw.write(Source).c_str(), 0, (char*)"bg/log");
-				DataMqtt_SendDate = false;
-			}
-		}
+		std::cout << sw.write(Source) << std::endl << std::endl;
+        //控制发送频率
+        // if (!DataMqtt_SendDate)
+		// {
+		// 	DataMqtt_curTick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+		// 	DataMqtt_SendDate = true;
+		// }
+		// else
+		// {
+		// 	long long tick = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+		// 	if (DataMqtt_curTick != 0 && tick - DataMqtt_curTick > 10000)
+		// 	{
+		// 		if (CDataMqttSensor::_run && (CDataMqttSensor::m_mqttClient != NULL))
+		// 			CDataMqttSensor::sendMessage((char*)sw.write(Source).c_str(), 0, (char*)"Vehicle/ControlVehicle/Veh001");
+		// 		DataMqtt_SendDate = false;
+		// 	}
+		// }
+        CDataMqttSensor::sendMessage((char*)sw.write(Source).c_str(), 0, (char*)"Vehicle/ControlVehicle/Veh001");
+
 	}
 }

ZJ_PRO/EgoSystem/message_queue.h

@@ -10,6 +10,8 @@
 #include "../common/sensor_socket.h"
 #include "../common/update_thread.h"
 
+#include <sys/time.h>
+
 #include "MqttClient.h"
 #include "DataMqttClient.h"
 #include "can_bus.h"
@@ -66,37 +68,6 @@ enum RA {
      RA_Encode,
 };
 
-// typedef struct {
-//     int16_t fire_status;  //启动/熄火
-//     int16_t remote_forward;  //远程控制前进
-//     int16_t remote_backward;   //远程控制后退
-//     int16_t Brake;        //刹车
-//     int16_t Park;        //驻车
-//     int16_t Outrigger_status;   //支腿
-//     int16_t Turn_angle;  //转弯角度
-//     int16_t Left_turn;   //左旋   左手柄 左信号       
-//     int16_t Right_turn;   //右旋   右手柄 右信号
-//     int16_t Raised;        //小臂抬起   左手柄  向后        
-//     int16_t Decrease;        //小臂下降   左手柄  向前 
-//     int16_t Stretch;         //大臂伸起   右手柄  向后
-//     int16_t Bulls_decline           ;   //大臂下降    右手柄  向前
-//     int16_t Material            ;  //吸盘吸料
-//     int16_t Discharge           ;   //吸盘放料
-//     int16_t zhua;        //抓斗抓料
-//     int16_t fang;                //抓斗放料
-//     int16_t Shell_rotation ;  //贝壳斗旋转
-//     int16_t Cabin          ;    //驾驶室升
-//     int16_t Cab           ;    //驾驶室降
-//     int16_t Working_signal  ;    //作业灯开/关
-//     int16_t Turn_left_signal;             //左转向 开/关
-//     int16_t Turn_right_signal ;              //右转向  开/关
-//     int16_t Warning_Light ;    //警示灯 开/关
-//     int16_t Trumpet;    //喇叭
-//     int16_t Security_lock ;  //安全锁 开/关
-//     int16_t Urget_stop ;    //急停   
-//     int16_t Vehicle_id;  //车辆id
-// } vehicle_status;
-
 class CIOBuffer;
 struct RadarData;
 class CMessageQueue:public INativeNotify
@@ -152,9 +123,10 @@ public:
  //  void StartCar();
    void CheckSignal();
    void SendZGJStatus(int status);
-   // void SendVehicleStatus(int16_t Direction,int16_t Hand_Throttle,int16_t Foot_Throttle,int16_t Brake);
+
+   void SendVehicleStatus(vehicle_control_cv control_can);
    
-   void SendVehicleStatus(vehicle_status can_status);
+
    bool bStopedCar;
    long long _curStopTick;
    bool btimeStopedCar;

ZJ_PRO/common/.vscode/extensions.json

@@ -1,5 +0,0 @@
-{
-    "recommendations": [
-        "ms-vscode.cpptools"
-    ]
-}

ZJ_PRO/common/comm.h

@@ -172,105 +172,7 @@ struct FeedData
 
 	int8_t all_Buff[8];         //0x28f
 
-	// //增加0x28f
-	// int32_t p_flameout =36;        //P档熄火；
-	// int32_t engine_start =37;      //发动机启动
-	// int32_t emergency_signal = 38;  //紧停信号
-	// int32_t preheating_monitoring=39;  //预热监控
-	// int32_t park_switch =40;   //驻车开关
-	// int32_t safety_bar_lock =41; //安全杆锁定
-	// int32_t forward_gear   =42;     //前进档
-	// int32_t backward_gear   =43;//后退档
 	
-	// int32_t first_gear = 44;   //行驶一档
-	// int32_t sencond_gear = 45;  //行驶2档
-	// int32_t n_gear =46;       //实际N 档
-	// int32_t cabin_end =47;     //驾驶室上升到位 
-	// int32_t cab_end =48;       //驾驶室下降到位
-	// int32_t reserve =49;       //保留
-
-	// int32_t for_left_outrigger =50;   //前左支腿选择
-	// int32_t for_right_outrigger =51;  //前右支腿选择
-	// int32_t back_left_outrigger =52;  //后左支腿选择
-	// int32_t back_right_outrigger=53;  //后右支腿选择
-	// int32_t cab_start = 54; //驾驶室下降
-	// int32_t canbin_start=55;//驾驶室上升
-	// int32_t swinging_bridge_lock=56; //摆动桥锁定
-	// int32_t cab_emery =57;       //驾驶室应急下降
-
-	// int32_t safety_bypass = 58;   //安全旁通
-	// int32_t clear_alarm = 59;    //清除蜂鸣器报警
-	// int32_t front_wheel_steering = 60;  //前轮转向
-	// int32_t back_wheel_steering = 61;  //后轮转向
-	// int32_t same_steering = 62;  //前后轮同向转向
-	// int32_t reverse_steering= 63;  //前后轮反向转向
-	// int32_t sound_signal_alarm = 64;  //故障声光报警
-
-
-	// int32_t rod_intake_limit_valve =65;   //斗杆内收限制阀
-	// int32_t rod_outtake_limit_valve = 66;  //斗杆外摆限制阀
-	// int32_t boom_lift_limit_valve = 67;  //动臂提升限制阀
-	// int32_t boom_out_limit_valve = 68;  //动臂下降限制阀
-	// int32_t cab_emery_value = 69;  //驾驶室应急下降阀
-	// int32_t charging_valve= 70;  //充液阀
-	// int32_t parking_valve = 71;   //驻车阀
-
-	// int32_t parking_back_signal = 72;    //驻车反馈灯
-	// int32_t brake_signal = 73;   //刹车灯
-	// int32_t power_delay = 74;    //断电延时
-	// int32_t flash_signal= 75;    //闪光信号
-	// int32_t left_for_outrigger_value = 76;  //左前支腿伸缩电磁阀
-	// int32_t right_for_outrigger_value = 77;   //右前支腿伸缩电磁阀
-	// int32_t left_back_outrigger_value = 78;  //左后支腿伸缩电磁阀
-
-	// int32_t right_back_outrigger_value = 79;    //右后支腿伸缩电磁阀
-	// int32_t for_steering_value = 80;   //前轮转向电磁阀
-	// int32_t same_steering_value = 81;   //四轮同向转向电磁阀
-	// int32_t rever_steering_value = 82;   //四轮反向转向电磁阀
-	// int32_t first_gear_solenoid_valve = 83;   //一档电磁阀
-	// int32_t sen_gear_solenoid_valve = 84;   //二档电磁阀
-	// int32_t grab_rotary_switch_valve = 85;    //抓具旋转切换电磁阀
-
-	//int32_t Boom_lift_pilot_pressure = 15;//动臂提升先导压力传感器故障
-	//int32_t Boom_drop_pilot_pressure = 16;//动臂下降先导压力传感器故障
-	//int32_t Stick_lift_pilot_pressure = 17;//斗杆提升先导压力传感器故障
-	//int32_t Stick_Drop_Pilot_Pressure = 18;//斗杆下降先导压力传感器故障
-	//int32_t left_turn_Pressure = 19;//车体左回转先导压力传感器故障
-	//int32_t right_turn_Pressure = 20;//车体右回转先导压力传感器故障
-	//int32_t outstretched_Pressure = 21;//支腿伸出先导压力传感器故障
-	//int32_t instretched_Pressure = 22;//支腿缩回先导压力传感器故障
-	//int32_t grab_opens_the_pilot = 23;//抓斗开启先导压力传感器故障
-	//int32_t grab_close_the_pilot = 24;//抓斗闭合先导压力传感器故障
-	//int32_t Main_pump_1_pilot_pressure = 25;//主泵1压力传感器故障
-	//int32_t Main_pump_2_pilot_pressure = 26;//主泵2压力传感器故障
-	//int32_t rod_cavity_pressure = 27;//动臂无杆腔压力传感器故障
-	//int32_t stick_cavity_pressure = 28;//斗杆无杆腔压力传感器故障
-	//int32_t Parking_pressure = 29;//驻车压力传感器故障
-	//int32_t Failure_of_the_accumulator_pressure = 30;//蓄能器压力传感器故障
-	//int32_t Gas_pedal_failure = 31;//油门踏板故障
-	//int32_t Faulty_throttle_knob = 32;//油门旋钮故障
-	//int32_t Leg_handle_failure = 33;//支腿手柄故障
-	//int32_t The_gripper_knob_faulty = 34;//抓具旋钮故障
-	//int32_t Hydraulic_oil_temperature_sensor_failure = 35;//液压油温传感器故障
-	//int32_t Faulty_fuel_level_sensor = 36;//燃油油位传感器故障
-	//int32_t Boom_inclination_sensor_failure = 37;//动臂倾角传感器故障
-	//int32_t Stick_inclination_sensor_communication = 38;//斗杆倾角传感器通讯故障
-	//int32_t Expansion_module_communication_failure = 39;//扩展模块通讯故障
-	//int32_t working_distance_exceeded = 40;//工作距离超限
-	//int32_t hydraulic_oil_temperature_low = 41;//燃油油位低
-	//int32_t Low_battery_voltage = 42;//电池电压低
-	//int32_t High_battery_voltage = 43;//电池电压高
-	//int32_t accumulator_pressure_abnormal = 44;//蓄能器压力异常
-	//int32_t hydraulic_oil_temperature_high = 45;//液压油温高
-	//int32_t Low_oil_pressure = 46;//机油压力低
-	//int32_t Low_coolant_level = 47;//冷却液液位低
-	//int32_t High_coolant_level = 48;//冷却液温度高
-	//int32_t system_overloaded = 49;//系统超载
-	//int32_t Safety_bypass_pressed = 50;//安全旁通按下
-	//int32_t Engine_SPN_failure = 51;//发动机SPN故障
-	//int32_t engine_warming_up = 52;//发动机预热中
-	//int32_t engine_warming_up_timeout = 53;//发动机预热超时
-	//int32_t Emergency_stop_press = 54;//紧急停止按下	
 };
 
 struct cannet_frame_receive
@@ -282,33 +184,50 @@ struct cannet_frame_receive
 };
 
 typedef struct {
-    int16_t fire_status;  //启动/熄火
-    int16_t remote_forward;  //远程控制前进
-    int16_t remote_backward;   //远程控制后退
-    int16_t Brake;        //刹车
-    int16_t Park;        //驻车
-    int16_t Outrigger_status;   //支腿
-    int16_t Turn_angle;  //转弯角度
-    int16_t Left_turn;   //左旋   左手柄 左信号       
-    int16_t Right_turn;   //右旋   右手柄 右信号
-    int16_t Raised;        //小臂抬起   左手柄  向后        
-    int16_t Decrease;        //小臂下降   左手柄  向前 
-    int16_t Stretch;         //大臂伸起   右手柄  向后
-    int16_t Bulls_decline           ;   //大臂下降    右手柄  向前
-    int16_t Material            ;  //吸盘吸料
-    int16_t Discharge           ;   //吸盘放料
-    int16_t zhua;        //抓斗抓料
-    int16_t fang;                //抓斗放料
-    int16_t Shell_rotation_left ;  //贝壳斗旋转   shun
-    int16_t Shell_rotation_right ;  //贝壳斗旋转   ni
-    int16_t Cabin          ;    //驾驶室升
-    int16_t Cab           ;    //驾驶室降
-    int16_t Working_signal  ;    //作业灯开/关
-    int16_t Turn_left_signal;             //左转向 开/关
-    int16_t Turn_right_signal ;              //右转向  开/关
-    int16_t Warning_Light ;    //警示灯 开/关
-    int16_t Trumpet;    //喇叭
-    int16_t Security_lock ;  //安全锁 开/关
-    int16_t Urget_stop ;    //急停   
-    int16_t Vehicle_id;  //车辆id
-} vehicle_status;
+	//车辆基本状态控制
+	int16_t keyStatus;          //钥匙状态
+	int16_t parkControl;        //驻车控制
+	int16_t travelMode;        //驾驶模式
+	int16_t eStop;              //急停开关
+    int16_t directSwitch;       //前后切换
+	int16_t gearControl;        //车辆档位控制
+	int16_t hazardLight;        //双闪灯
+	int16_t travelLight;        //行驶灯光
+	int16_t vehicleHorn;        //喇叭
+	int16_t silencedAlarm;      //消报警音按钮
+
+	//车辆行驶控制
+	// int16_t accPedal;           //油门踏板/
+	int16_t accPedalH;           //手油门踏板
+	int16_t accPedalF;           //脚油门踏板
+	int16_t brakePedal ;        //刹车踏板
+	int16_t steeringWheel;      //方向盘转速
+	int16_t turnSignal ;        //转向灯
+	int16_t turnMode;           //转向模式
+
+	//作业机构控制
+	int16_t enableHydraulic;	//液压使能开关
+	int16_t workLight;			//工作灯
+	int16_t bypassSwitch;		//旁通开关
+	int16_t taskJoint_1;		//第一个作业关节控制
+	int16_t taskJoint_2;		//第二个作业关节控制
+	int16_t taskJoint_3;		//第三个作业关节控制
+	int16_t endJoint;			//末端关节控制
+	int16_t toolControl;		//末端工具控制
+	int16_t baseLegSwitch;		//支腿选择开关
+	int16_t baseLegControl;		//支腿动作控制
+	int16_t cabLift;			//驾驶室升降机构
+	int16_t esCabLift;			//驾驶室应急下降开关
+	int16_t suckerSelect;		//吸盘选择开关
+	int16_t coopSignal;	//协同作业信号
+
+	//舱端故障报警
+	int16_t errBasOperation;	//基本操作故障
+	int16_t errAccPedal;		//油门信号故障
+	int16_t errBrakePedal;		//刹车信号故障
+	int16_t errSteeringWheel;	//转向故障
+	int16_t errHandle;			//手柄信号故障
+	int16_t errEndTool;			//末端工具控制故障
+	int16_t errOther;           //其他故障
+
+} vehicle_control_cv;

ZJ_PRO/webrtcinterop/.vscode/extensions.json

@@ -1,5 +0,0 @@
-{
-    "recommendations": [
-        "ms-vscode.cpptools"
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-}

ZJ_PRO/webrtcinterop/build/.cmake/api/v1/query/client-vscode/query.json

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ZJ_PRO/webrtcinterop/build/.cmake/api/v1/reply/cache-v2-8f5b0f09ecce5580c5b2.json

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