v0.1.1-2:20240921编码加速版本

README.md

@@ -3,3 +3,5 @@
 该仓库为DINO电智牛智能驾驶操作系统—智能车控系统（车端软件）。
 
 ZJZGJ_V0.1.1:为湛江抓钢机20140424发布的可测试版本
+commit: v0.1.1-2:20240921编码加速版本
+ZJZGJ_v0.1.2:为湛江抓钢机20140921编码加速的可测试版本

ZJ_PRO/EgoSystem/CMakeLists.txt

@@ -1,21 +1,15 @@
 cmake_minimum_required(VERSION 3.0.0)
 
- 
 project(EgoSystem VERSION 1.0.0)
  
 set(USE_LIDAR  OFF) 
 MESSAGE(STATUS "operation system is ${CMAKE_HOST_SYSTEM_PROCESSOR}")
-IF(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
-    SET (CMAKE_C_COMPILER             "/usr/bin/clang")
-    SET (CMAKE_CXX_COMPILER             "/usr/bin/clang++")
-    SET (CMAKE_AR      "/usr/bin/llvm-ar")
-    SET (CMAKE_LINKER  "/usr/bin/llvm-ld")
-   SET (CMAKE_NM      "/usr/bin/llvm-nm")
-    SET (CMAKE_OBJDUMP "/usr/bin/llvm-objdump")
-ENDIF()
-if( CMAKE_BUILD_TYPE STREQUAL "Debug" )
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread ")
-endif()
+
+SET (CMAKE_CXX_COMPILER             "/usr/bin/clang++-12")
+
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -Wno-attributes")
+
 add_definitions(-DJSONCPP_USING_SECURE_MEMORY=0)
 
  
@@ -60,15 +54,15 @@ endif()
 include_directories("../thirdparty/Mqtt/inlcude/")
 link_directories("../thirdparty/Mqtt/lib/")
 
+include_directories(${CUDA_INCLUDES} ./ ./include ./include/libjpeg-8b  /usr/include/libdrm)
+aux_source_directory(/usr/src/jetson_multimedia_api/samples/common/classes COMMON)
+
 
 add_executable(EgoSystem ${native_srcs} ${common_srcs} ${proto_srcs})
 
 find_package(Boost COMPONENTS system REQUIRED)
 message(Boost "${Boost_SYSTEM_LIBRARY}")
-#find_library(
-#    UDEV_LIB
-#    udev
-#)
+
 
 #list(APPEND EXTERNAL_LIBS pcap)
 list(APPEND EXTERNAL_LIBS "-lpthread")
@@ -93,3 +87,11 @@ target_link_libraries(EgoSystem dl)
 target_link_libraries(EgoSystem X11)
 
 target_link_libraries(EgoSystem  ${GLIB_LIBRARIES})
+
+link_directories(/usr/lib/aarch64-linux-gnu/tegra /lib/aarch64-linux-gnu /usr/local/lib /usr/lib)
+
+# target_link_libraries(EgoSystem ${CUDA_LIBRARIES} pthread v4l2 EGL GLESv2 X11 nvbufsurface nvbufsurftransform nvjpeg nvosd drm cuda)
+target_link_libraries(EgoSystem ${CUDA_LIBRARIES} pthread v4l2 EGL GLESv2 X11 /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so 
+/usr/lib/aarch64-linux-gnu/tegra/libnvjpeg.so
+ /usr/lib/aarch64-linux-gnu/tegra/libnvosd.so  
+ /usr/lib/aarch64-linux-gnu/libdrm.so) 

ZJ_PRO/EgoSystem/CMakeSettings.json

@@ -1,36 +0,0 @@
-{
-  "configurations": [
-    {
-      "name": "Linux-Clang-Debug",
-      "generator": "Ninja",
-      "configurationType": "Debug",
-      "cmakeExecutable": "cmake",
-      "remoteCopySourcesExclusionList": [ ".vs", ".git", "out" ],
-      "cmakeCommandArgs": "",
-      "buildCommandArgs": "",
-      "ctestCommandArgs": "",
-      "inheritEnvironments": [ "linux_clang_x64" ],
-      "remoteMachineName": "${defaultRemoteMachineName}",
-      "remoteCMakeListsRoot": "$HOME/.vs/${projectDirName}/${workspaceHash}/src",
-      "remoteBuildRoot": "$HOME/.vs/${projectDirName}/${workspaceHash}/out/build/${name}",
-      "remoteInstallRoot": "$HOME/.vs/${projectDirName}/${workspaceHash}/out/install/${name}",
-      "remoteCopySources": true,
-      "rsyncCommandArgs": "-t --delete",
-      "remoteCopyBuildOutput": false,
-      "remoteCopySourcesMethod": "rsync",
-
-      "variables": [
-        {
-          "name": "Boost_INCLUDE_DIR",
-          "value": "/usr/include ",
-          "type": "PATH"
-        },
-        {
-          "name": "glibc_DIR",
-          "value": "/usr/include ",
-          "type": "PATH"
-        }
-      ]
-    }
-  ]
-}

ZJ_PRO/EgoSystem/Rtk.cpp

@@ -84,14 +84,14 @@ void CRtkSensor::Notify(int8_t* buffer, int32_t size)
 		p1 = (unsigned char*)strchr((const char*)p + 1, Temp);  //NSV2
 		p = (unsigned char*)strchr((const char*)p1 + 1, Temp); //STATUS
 		float loc_status = strtof((const char*)p + 1, NULL);    //
-		//std::cout << "loc status" << loc_status << std::endl;
+	//	std::cout << "loc status" << loc_status << std::endl;
 		m_imu.rx = strtof((const char*)p + 1, NULL);  //
 		if(m_imu.rx == 42)
 			m_imu.ry =1;
 		else 
 			m_imu.ry = 0;
 		// m_imu.ry = strtof((const char*)p + 1, NULL);  //
-		_message ->WriteIMUData((&m_imu));
+            _message ->WriteIMUData((&m_imu));
 
 		
 		/*_count++;

ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/cache-v2-01f3996a2889368b7404.json → ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/cache-v2-192c30c97d094f73ce55.json

@@ -95,7 +95,7 @@
 				}
 			],
 			"type" : "INTERNAL",
-			"value" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/build"
+			"value" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/build"
 		},
 		{
 			"name" : "CMAKE_CACHE_MAJOR_VERSION",
@@ -198,8 +198,8 @@
 					"value" : "CXX compiler"
 				}
 			],
-			"type" : "STRING",
-			"value" : "/usr/bin/clang++"
+			"type" : "FILEPATH",
+			"value" : "/usr/bin/c++"
 		},
 		{
 			"name" : "CMAKE_CXX_COMPILER_AR",
@@ -211,11 +211,11 @@
 				},
 				{
 					"name" : "HELPSTRING",
-					"value" : "LLVM archiver"
+					"value" : "A wrapper around 'ar' adding the appropriate '--plugin' option for the GCC compiler"
 				}
 			],
 			"type" : "FILEPATH",
-			"value" : "/usr/lib/llvm-12/bin/llvm-ar"
+			"value" : "/usr/bin/gcc-ar-9"
 		},
 		{
 			"name" : "CMAKE_CXX_COMPILER_RANLIB",
@@ -227,11 +227,11 @@
 				},
 				{
 					"name" : "HELPSTRING",
-					"value" : "Generate index for LLVM archive"
+					"value" : "A wrapper around 'ranlib' adding the appropriate '--plugin' option for the GCC compiler"
 				}
 			],
 			"type" : "FILEPATH",
-			"value" : "/usr/lib/llvm-12/bin/llvm-ranlib"
+			"value" : "/usr/bin/gcc-ranlib-9"
 		},
 		{
 			"name" : "CMAKE_CXX_FLAGS",
@@ -326,8 +326,8 @@
 					"value" : "C compiler"
 				}
 			],
-			"type" : "STRING",
-			"value" : "/usr/bin/clang"
+			"type" : "FILEPATH",
+			"value" : "/usr/bin/cc"
 		},
 		{
 			"name" : "CMAKE_C_COMPILER_AR",
@@ -339,11 +339,11 @@
 				},
 				{
 					"name" : "HELPSTRING",
-					"value" : "LLVM archiver"
+					"value" : "A wrapper around 'ar' adding the appropriate '--plugin' option for the GCC compiler"
 				}
 			],
 			"type" : "FILEPATH",
-			"value" : "/usr/lib/llvm-12/bin/llvm-ar"
+			"value" : "/usr/bin/gcc-ar-9"
 		},
 		{
 			"name" : "CMAKE_C_COMPILER_RANLIB",
@@ -355,11 +355,11 @@
 				},
 				{
 					"name" : "HELPSTRING",
-					"value" : "Generate index for LLVM archive"
+					"value" : "A wrapper around 'ranlib' adding the appropriate '--plugin' option for the GCC compiler"
 				}
 			],
 			"type" : "FILEPATH",
-			"value" : "/usr/lib/llvm-12/bin/llvm-ranlib"
+			"value" : "/usr/bin/gcc-ranlib-9"
 		},
 		{
 			"name" : "CMAKE_C_FLAGS",
@@ -635,7 +635,7 @@
 				}
 			],
 			"type" : "INTERNAL",
-			"value" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem"
+			"value" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem"
 		},
 		{
 			"name" : "CMAKE_INSTALL_PREFIX",
@@ -1231,7 +1231,7 @@
 				}
 			],
 			"type" : "STATIC",
-			"value" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/build"
+			"value" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/build"
 		},
 		{
 			"name" : "EgoSystem_SOURCE_DIR",
@@ -1243,7 +1243,7 @@
 				}
 			],
 			"type" : "STATIC",
-			"value" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem"
+			"value" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem"
 		},
 		{
 			"name" : "FIND_PACKAGE_MESSAGE_DETAILS_Boost",

ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/cmakeFiles-v1-e2017fbf8ad5d3182686.json

@@ -0,0 +1,220 @@
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+	],
+	"kind" : "cmakeFiles",
+	"paths" : 
+	{
+		"build" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/build",
+		"source" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem"
+	},
+	"version" : 
+	{
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+		"minor" : 0
+	}
+}

ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/codemodel-v2-8011c300e5f8d3817c26.json → ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/codemodel-v2-822623401fe0d7881434.json

@@ -38,7 +38,7 @@
 				{
 					"directoryIndex" : 0,
 					"id" : "EgoSystem::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-EgoSystem-68b79bd5508739df886d.json",
+					"jsonFile" : "target-EgoSystem-1ed3eb39c8182b850418.json",
 					"name" : "EgoSystem",
 					"projectIndex" : 0
 				}
@@ -48,8 +48,8 @@
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-		"source" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem"
+		"build" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/build",
+		"source" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem"
 	},
 	"version" : 
 	{

ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/index-2024-04-08T02-36-30-0488.json → ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/index-2024-09-21T06-16-00-0729.json

@@ -25,7 +25,7 @@
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@@ -34,7 +34,7 @@
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ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/target-EgoSystem-68b79bd5508739df886d.json → ZJ_PRO/EgoSystem/build/.cmake/api/v1/reply/target-EgoSystem-1ed3eb39c8182b850418.json

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 		]
@@ -117,7 +123,7 @@
 			"compileCommandFragments" : 
 			[
 				{
-					"fragment" : " "
+					"fragment" : " -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -Wno-attributes  "
 				}
 			],
 			"defines" : 
@@ -147,23 +153,39 @@
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 				{
 					"backtrace" : 10,
-					"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../webrtcinterop/include"
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../webrtcinterop/include"
 				},
 				{
 					"backtrace" : 11,
-					"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/rs_driver"
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/rs_driver"
 				},
 				{
 					"backtrace" : 12,
-					"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/protobuf/include"
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/protobuf/include"
 				},
 				{
 					"backtrace" : 13,
-					"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../Protocol/linux"
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../Protocol/linux"
 				},
 				{
 					"backtrace" : 14,
-					"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude"
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/Mqtt/inlcude"
+				},
+				{
+					"backtrace" : 15,
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/."
+				},
+				{
+					"backtrace" : 15,
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/./include"
+				},
+				{
+					"backtrace" : 15,
+					"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/./include/libjpeg-8b"
+				},
+				{
+					"backtrace" : 15,
+					"path" : "/usr/include/libdrm"
 				}
 			],
 			"language" : "CXX",
@@ -195,32 +217,36 @@
 	{
 		"commandFragments" : 
 		[
+			{
+				"fragment" : "-O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -Wno-attributes",
+				"role" : "flags"
+			},
 			{
 				"fragment" : "-rdynamic",
 				"role" : "flags"
 			},
 			{
 				"backtrace" : 2,
-				"fragment" : "-L/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../webrtcinterop/build",
+				"fragment" : "-L/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../webrtcinterop/build",
 				"role" : "libraryPath"
 			},
 			{
 				"backtrace" : 3,
-				"fragment" : "-L/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/webrtc/lib/aarch64",
+				"fragment" : "-L/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/webrtc/lib/aarch64",
 				"role" : "libraryPath"
 			},
 			{
 				"backtrace" : 4,
-				"fragment" : "-L/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/protobuf/lib/aarch64",
+				"fragment" : "-L/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/protobuf/lib/aarch64",
 				"role" : "libraryPath"
 			},
 			{
 				"backtrace" : 5,
-				"fragment" : "-L/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/Mqtt/lib",
+				"fragment" : "-L/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/Mqtt/lib",
 				"role" : "libraryPath"
 			},
 			{
-				"fragment" : "-Wl,-rpath,/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../webrtcinterop/build:/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/webrtc/lib/aarch64:/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/protobuf/lib/aarch64:/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/../thirdparty/Mqtt/lib",
+				"fragment" : "-Wl,-rpath,/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../webrtcinterop/build:/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/webrtc/lib/aarch64:/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/protobuf/lib/aarch64:/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/EgoSystem/../thirdparty/Mqtt/lib:/usr/lib/aarch64-linux-gnu/tegra",
 				"role" : "libraries"
 			},
 			{
@@ -299,6 +325,82 @@
 			{
 				"fragment" : "-lX11",
 				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lpthread",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lv4l2",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lEGL",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lGLESv2",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lX11",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvjpeg.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvosd.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-ldrm",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lpthread",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lv4l2",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lEGL",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-lGLESv2",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvjpeg.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "/usr/lib/aarch64-linux-gnu/tegra/libnvosd.so",
+				"role" : "libraries"
+			},
+			{
+				"fragment" : "-ldrm",
+				"role" : "libraries"
 			}
 		],
 		"language" : "CXX"
@@ -414,37 +516,37 @@
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 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/common/Feedback.cpp",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/common/Feedback.cpp",
 			"sourceGroupIndex" : 0
 		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/common/iobuffer.cpp",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/common/iobuffer.cpp",
 			"sourceGroupIndex" : 0
 		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/common/peer_connection.cpp",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/common/peer_connection.cpp",
 			"sourceGroupIndex" : 0
 		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/common/socket_client.cpp",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/common/socket_client.cpp",
 			"sourceGroupIndex" : 0
 		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/common/update_thread.cpp",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/common/update_thread.cpp",
 			"sourceGroupIndex" : 0
 		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,
-			"path" : "/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/Protocol/linux/protocol.pb.cc",
+			"path" : "/home/nvidia/devdata/Vehicle-cpp/ZJ_PRO/Protocol/linux/protocol.pb.cc",
 			"sourceGroupIndex" : 0
 		}
 	],

ZJ_PRO/EgoSystem/build/CMakeCache.txt

@@ -1,452 +0,0 @@
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-# For build in directory: /home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/build
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-# If you do not want to change any of the values, simply exit the editor.
-# If you do want to change a value, simply edit, save, and exit the editor.
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-# KEY is the name of a variable in the cache.
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-########################
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-//Path to a file.
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-Boost_SYSTEM_LIBRARY_RELEASE:STRING=/usr/lib/aarch64-linux-gnu/libboost_system.so.1.71.0
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-//Enable/Disable color output during build.
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-//Value Computed by CMake
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-//Value Computed by CMake
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-//Value Computed by CMake
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-//Flags used by the linker during the creation of static libraries
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-//Flags used by the linker during the creation of static libraries
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-//Path to a program.
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-//If this value is on, makefiles will be generated without the
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-CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
-
-//Value Computed by CMake
-EgoSystem_BINARY_DIR:STATIC=/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/build
-
-//Value Computed by CMake
-EgoSystem_SOURCE_DIR:STATIC=/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem
-
-//Path to a file.
-MODBUS_INCLUDE_DIR:PATH=MODBUS_INCLUDE_DIR-NOTFOUND
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-//pkg-config executable
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-//The directory containing a CMake configuration file for boost_headers.
-boost_headers_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/boost_headers-1.71.0
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-//The directory containing a CMake configuration file for boost_system.
-boost_system_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/boost_system-1.71.0
-
-//Path to a library.
-pkgcfg_lib_GLIB_PKG_glib-2.0:FILEPATH=/usr/lib/aarch64-linux-gnu/libglib-2.0.so
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-########################
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-//This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=/home/nvidia/20240320ZGJ-CANUDP/EgoZJ/EgoSystem/build
-//Major version of cmake used to create the current loaded cache
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-  /* SDCC = VRP */
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-#elif defined(__HAIKU__)
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-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
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-#elif defined(__QNX__) || defined(__QNXNTO__)
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-#elif defined(__WATCOMC__)
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-# elif defined(__WINDOWS__)
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-# else /* unknown platform */
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-#endif
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-# elif defined(_M_ARM64)
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-# elif defined(_M_MIPS)
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-# elif defined(_M_SH)
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-# else /* unknown architecture */
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-# elif defined(_M_IX86)
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-# else /* unknown architecture */
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-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
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-# elif defined(__ICCAVR__)
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-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-#else
-#  define ARCHITECTURE_ID
-#endif
-
-/* Convert integer to decimal digit literals.  */
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-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
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-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
-#ifdef COMPILER_VERSION_MAJOR
-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
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-#ifdef COMPILER_VERSION_INTERNAL
-char const info_version_internal[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
-  'i','n','t','e','r','n','a','l','[',
-  COMPILER_VERSION_INTERNAL,']','\0'};
-#endif
-
-/* Construct a string literal encoding the version number components. */
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-char const info_simulate_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
-  SIMULATE_VERSION_MAJOR,
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-  '.', SIMULATE_VERSION_MINOR,
-#  ifdef SIMULATE_VERSION_PATCH
-   '.', SIMULATE_VERSION_PATCH,
-#   ifdef SIMULATE_VERSION_TWEAK
-    '.', SIMULATE_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
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-   because some compilers will just produce instructions to fill the
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-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-
-#if !defined(__STDC__)
-# if defined(_MSC_VER) && !defined(__clang__)
-#  define C_DIALECT "90"
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-#  define C_DIALECT
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-# define C_DIALECT "11"
-#elif __STDC_VERSION__ >= 199901L
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-#else
-# define C_DIALECT "90"
-#endif
-const char* info_language_dialect_default =
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-
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-#ifdef ID_VOID_MAIN
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-# if defined(__CLASSIC_C__)
-int main(argc, argv) int argc; char *argv[];
-# else
-int main(int argc, char* argv[])
-# endif
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-  require += info_arch[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-#ifdef COMPILER_VERSION_INTERNAL
-  require += info_version_internal[argc];
-#endif
-#ifdef SIMULATE_ID
-  require += info_simulate[argc];
-#endif
-#ifdef SIMULATE_VERSION_MAJOR
-  require += info_simulate_version[argc];
-#endif
-#if defined(__CRAYXE) || defined(__CRAYXC)
-  require += info_cray[argc];
-#endif
-  require += info_language_dialect_default[argc];
-  (void)argv;
-  return require;
-}
-#endif

ZJ_PRO/EgoSystem/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp

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-
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-# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
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-#elif defined(__INTEL_COMPILER) || defined(__ICC)
-# define COMPILER_ID "Intel"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
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-  /* __INTEL_COMPILER = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
-# if defined(__INTEL_COMPILER_UPDATE)
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
-# else
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
-# endif
-# if defined(__INTEL_COMPILER_BUILD_DATE)
-  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
-#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
-# endif
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
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-  identification macro.  Try to identify the platform and guess that
-  it is the native compiler.  */
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-#ifdef SIMULATE_ID
-char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
-#endif
-
-#ifdef __QNXNTO__
-char const* qnxnto = "INFO" ":" "qnxnto[]";
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-#if defined(__CRAYXE) || defined(__CRAYXC)
-char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
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-
-#define STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
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-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
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-# define PLATFORM_ID "AIX"
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-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
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-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
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-#elif defined(__WATCOMC__)
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-#  define PLATFORM_ID "Linux"
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-# elif defined(__DOS__)
-#  define PLATFORM_ID "DOS"
-
-# elif defined(__OS2__)
-#  define PLATFORM_ID "OS2"
-
-# elif defined(__WINDOWS__)
-#  define PLATFORM_ID "Windows3x"
-
-# else /* unknown platform */
-#  define PLATFORM_ID
-# endif
-
-#elif defined(__INTEGRITY)
-# if defined(INT_178B)
-#  define PLATFORM_ID "Integrity178"
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-# else /* regular Integrity */
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-
-#else /* unknown platform */
-# define PLATFORM_ID
-
-#endif
-
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-# if defined(_M_IA64)
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-# elif defined(_M_X64) || defined(_M_AMD64)
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-# elif defined(_M_IX86)
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-# elif defined(_M_ARM64)
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-# elif defined(_M_ARM)
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-# elif defined(_M_MIPS)
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-
-# elif defined(_M_SH)
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-# else /* unknown architecture */
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-# elif defined(_M_IX86)
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-
-# else /* unknown architecture */
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-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
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-
-# elif defined(__ICCRX__)
-#  define ARCHITECTURE_ID "RX"
-
-# elif defined(__ICCRH850__)
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-
-# elif defined(__ICCRL78__)
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-# elif defined(__ICCRISCV__)
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-# elif defined(__ICCAVR__)
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-
-# elif defined(__ICC430__)
-#  define ARCHITECTURE_ID "MSP430"
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-# elif defined(__ICCV850__)
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-# elif defined(__ICC8051__)
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-
-# else /* unknown architecture */
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-#elif defined(__ghs__)
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-# elif defined(__ppc__)
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-# elif defined(__ARM__)
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-
-# elif defined(__x86_64__)
-#  define ARCHITECTURE_ID "x64"
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-# elif defined(__i386__)
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-# else /* unknown architecture */
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-#  define ARCHITECTURE_ID
-#endif
-
-/* Convert integer to decimal digit literals.  */
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-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
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-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
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-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct a string literal encoding the internal version number. */
-#ifdef COMPILER_VERSION_INTERNAL
-char const info_version_internal[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
-  'i','n','t','e','r','n','a','l','[',
-  COMPILER_VERSION_INTERNAL,']','\0'};
-#endif
-
-/* Construct a string literal encoding the version number components. */
-#ifdef SIMULATE_VERSION_MAJOR
-char const info_simulate_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
-  SIMULATE_VERSION_MAJOR,
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-  '.', SIMULATE_VERSION_MINOR,
-#  ifdef SIMULATE_VERSION_PATCH
-   '.', SIMULATE_VERSION_PATCH,
-#   ifdef SIMULATE_VERSION_TWEAK
-    '.', SIMULATE_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
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-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-
-#if !defined(__STDC__)
-# if (defined(_MSC_VER) && !defined(__clang__)) \
-  || (defined(__ibmxl__) || defined(__IBMC__))
-#  define C_DIALECT "90"
-# else
-#  define C_DIALECT
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-#elif __STDC_VERSION__ >= 201000L
-# define C_DIALECT "11"
-#elif __STDC_VERSION__ >= 199901L
-# define C_DIALECT "99"
-#else
-# define C_DIALECT "90"
-#endif
-const char* info_language_dialect_default =
-  "INFO" ":" "dialect_default[" C_DIALECT "]";
-
-/*--------------------------------------------------------------------------*/
-
-#ifdef ID_VOID_MAIN
-void main() {}
-#else
-# if defined(__CLASSIC_C__)
-int main(argc, argv) int argc; char *argv[];
-# else
-int main(int argc, char* argv[])
-# endif
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-  require += info_arch[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-#ifdef COMPILER_VERSION_INTERNAL
-  require += info_version_internal[argc];
-#endif
-#ifdef SIMULATE_ID
-  require += info_simulate[argc];
-#endif
-#ifdef SIMULATE_VERSION_MAJOR
-  require += info_simulate_version[argc];
-#endif
-#if defined(__CRAYXE) || defined(__CRAYXC)
-  require += info_cray[argc];
-#endif
-  require += info_language_dialect_default[argc];
-  (void)argv;
-  return require;
-}
-#endif

ZJ_PRO/EgoSystem/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

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-
-
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-
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-#  define SIMULATE_ID "GNU"
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-  /* __INTEL_COMPILER = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
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-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
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-# if defined(__INTEL_COMPILER_BUILD_DATE)
-  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
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-# endif
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
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-
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-# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
-
-#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
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-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/message_queue.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/message_queue.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/message_queue.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/pcan_sensor.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/pcan_sensor.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/pcan_sensor.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/radar_can.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/radar_can.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/radar_can.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/radar_ip.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/radar_ip.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/radar_ip.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/Feedback.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/common/Feedback.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/Feedback.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/iobuffer.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/common/iobuffer.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/iobuffer.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/peer_connection.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/common/peer_connection.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/peer_connection.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/socket_client.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/common/socket_client.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/socket_client.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/update_thread.cpp.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/common/update_thread.cpp",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/common/update_thread.cpp"
-},
-{
-  "directory": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build",
-  "command": "/usr/bin/clang++  -DBOOST_ALL_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DJSONCPP_USING_SECURE_MEMORY=0 -DWEBRTC_LINUX=1 -DWEBRTC_POSIX=1 -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../webrtcinterop/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/rs_driver -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/protobuf/include -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../Protocol/linux -I/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/../thirdparty/Mqtt/inlcude   -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread  -g   -o CMakeFiles/EgoSystem.dir/home/nvidia/20240226ZGJ-PORT/EgoZJ/Protocol/linux/protocol.pb.cc.o -c /home/nvidia/20240226ZGJ-PORT/EgoZJ/Protocol/linux/protocol.pb.cc",
-  "file": "/home/nvidia/20240226ZGJ-PORT/EgoZJ/Protocol/linux/protocol.pb.cc"
-}
-]

ZJ_PRO/EgoSystem/build/new.json

@@ -1,58 +0,0 @@
-{
-    "serial":"E537DDFB-6E3E-4E1A-AD18-AC21393BE300",
-
-    "device":1, 
-
-    "ip":"10.0.0.7",
-    "TcpHostPort":20918,
-    "TcpRemotePort":20916,
-
-    "rtk_ip":"192.168.0.103",
-    "rtk_port":4444,
-    "rtk_host":25000,
- 
-    "can_bus_vehicle":"can0",
-    "can_bus_radar":"can1",
-
-    "radar_ip":"10.0.0.100",
-    "radar_port":20011,
-    "radar_host":20001,
-    
-    "MqttserverUrl":"tcp://172.18.74.150:1883",
-    "Esn":"zgj001",
-    "EsnPass":"Admin@1234",
-
-    "DataServerUrl":"tcp://10.10.61.229:41883",
-    "DataEsn":"",
-    "DataEsnPass":"",
-    "DataClientId":"",
-
-    "camerainfo":
-    [
-        {
-            "label":"front",
-            "index":0
-        },
-        {
-            "label":"back",
-            "index":1
-        },
-      	{
-            "label":"left",
-            "index":2
-        },
-        {
-            "label":"right",
-            "index":3
-        },
-        {
-            "label":"dash",
-            "index":4
-        },
-        {
-            "label":"dash2",
-            "index":6
-        }
-    ]
-    
-}

ZJ_PRO/EgoSystem/can_bus.cpp

@@ -4,15 +4,6 @@
 #include <math.h>
 
 
-// _data.arm_lift_pilot = (date->data[7] & 0x01) == 0x01 ? 1 : 0;//大臂提升先导比例阀异常
-//             _data.arm_lowering_pilot = (date->data[7] & 0x02) == 0x02 ? 1 : 0;//大臂下降先导比例阀异常
-//             _data.lever_lifting_pilot = (date->data[7] & 0x04) == 0x04 ? 1 : 0;//斗杆提升先导比例阀异常
-//             _data.rod_lowering_pilot = (date->data[7] & 0x08) == 0x08 ? 1 : 0;//斗杆下降先导比例阀异常
-//             _data.left_rotary_pilot = (date->data[7] & 0x10) == 0x10 ? 1 : 0;//左回转先导比例阀异常
-//             _data.right_rotary_pilot = (date->data[7] & 0x20) == 0x20 ? 1 : 0;//右回转先导比例阀异常
-//             _data.grab_open_pilot = (date->data[7] & 0x40) == 0x40 ? 1 : 0;//抓斗开启先导比例阀异常
-//             _data.grab_close_pilot = (date->data[7] & 0x80) == 0x80 ? 1 : 0;//抓斗闭合先导比例阀异常
-
 #define	GET_BIT(x, bit)	((x & (1 << bit)) >> bit)
 
 float Canb2f(uint8_t m0, uint8_t m1, uint8_t m2, uint8_t m3)
@@ -50,17 +41,6 @@ float Canb2f(uint8_t m0, uint8_t m1, uint8_t m2, uint8_t m3)
  
     return f;
 }
-// int16_t hi = (int16_t)(h & 0x00FF);
-// 这一行代码提取 h 参数的低8位,并将其转换为16位有符号整数存储在 hi 变量中。
-// 表达式 h & 0x00FF 用于确保只保留 h 的低8位,高8位被清0。
-// int16_t low = (int16_t)(l & 0x00FF);
-// 这一行与上一行类似,提取 l 参数的低8位,并将其转换为16位有符号整数存储在 low 变量中。
-// 表达式 l & 0x00FF 用于确保只保留 l 的低8位,高8位被清0。
-// return (hi << 8) | low;
-// 这一行将 hi 和 low 两个变量组合成一个16位的值并返回。
-// hi 变量首先被左移8位,相当于将它的值移动到高8位。
-// 然后将移位后的 hi 与 low 执行按位或操作 (|),将两个8位值合并成一个16位值。
-// 最后返回这个16位的组合值。
 
 int hex_to_decimal(const char* hex_str) {
     int decimal = 0;
@@ -242,7 +222,7 @@ void CCanBusSensor::Notify(struct can_frame *date)
 
             //增加
             memcpy(_data.all_Buff,date->data,date->can_dlc);
-         
+
             break;
 
         case 0x280:
@@ -351,7 +331,7 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 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 = 1;      //车辆id
+                can_status.Vehicle_id = 535;      //车辆id
 
                 //模式
                 
@@ -398,6 +378,7 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)
                 //    printf("data delay:%ld\r\n",_message->_dst - _message->_source);
                 //std::cout << "revice 184" << std::endl;
 
+                // _message -> SendVehicleStatus( vehicle_status);
             break;
 
 
@@ -450,65 +431,6 @@ void CCanBusSensor::SendStatusToMSG()
 
     //增加0X28F
     req.set_all_buff((char *)_data.all_Buff,8);
-
-	// //增加0x28f
-	// req.set_p_flameout(_data.p_flameout);        //P档熄火；
-	// req.set_engine_start(_data.engine_start);      //发动机启动
-	// req.set_emergency_signal(_data.emergency_signal);  //紧停信号
-	// req.set_preheating_monitoring(_data.preheating_monitoring);  //预热监控
-	// req.set_park_switch(_data.park_switch);   //驻车开关
-	// req.set_safety_bar_lock (_data.safety_bar_lock); //安全杆锁定
-	// req.set_forward_gear (_data.forward_gear);     //前进档
-	// req.set_backward_gear (_data.backward_gear );//后退档
-	
-	// req.set_first_gear(_data.first_gear);   //行驶一档
-	// req.set_sencond_gear(_data.sencond_gear);  //行驶2档
-	// req.set_n_gear(_data.n_gear);       //实际N 档
-	// req.set_cabin_end(_data.cabin_end);     //驾驶室上升到位 
-	// req.set_cab_end(_data.cab_end);       //驾驶室下降到位
-	// req.set_reserve(_data.reserve);       //保留
-
-	// req.set_for_left_outrigger(_data.for_left_outrigger);   //前左支腿选择
-	// req.set_for_right_outrigger(_data.for_right_outrigger);  //前右支腿选择
-	// req.set_back_left_outrigger(_data.back_left_outrigger);  //后左支腿选择
-	// req.set_back_right_outrigger(_data.back_right_outrigger);  //后右支腿选择
-	// req.set_cab_start(_data.cab_start); //驾驶室下降
-	// req.set_canbin_start(_data.canbin_start);//驾驶室上升
-	// req.set_swinging_bridge_lock(_data.swinging_bridge_lock); //摆动桥锁定
-	// req.set_cab_emery(_data.cab_emery);       //驾驶室应急下降
-
-	// req.set_safety_bypass (_data.safety_bypass);   //安全旁通
-	// req.set_clear_alarm(_data.clear_alarm);    //清除蜂鸣器报警
-	// req.set_front_wheel_steering(_data.front_wheel_steering);  //前轮转向
-	// req.set_back_wheel_steering(_data.back_wheel_steering);  //后轮转向
-	// req.set_same_steering(_data.same_steering);  //前后轮同向转向
-	// req.set_reverse_steering(_data.reverse_steering);  //前后轮反向转向
-	// req.set_sound_signal_alarm(_data.sound_signal_alarm);  //故障声光报警
-
-
-	// req.set_rod_intake_limit_valve(_data.rod_intake_limit_valve);   //斗杆内收限制阀
-	// req.set_rod_outtake_limit_valve(_data.rod_outtake_limit_valve);  //斗杆外摆限制阀
-	// req.set_boom_lift_limit_valve(_data.boom_lift_limit_valve);  //动臂提升限制阀
-	// req.set_boom_out_limit_valve(_data.boom_out_limit_valve);  //动臂下降限制阀
-	// req.set_cab_emery_value(_data.cab_emery_value);  //驾驶室应急下降阀
-	// req.set_charging_valve(_data.charging_valve);  //充液阀
-	// req.set_parking_valve(_data.parking_valve);   //驻车阀
-
-	// req.set_parking_back_signal(_data.parking_back_signal);    //驻车反馈灯
-	// req.set_brake_signal(_data.brake_signal);   //刹车灯
-	// req.set_power_delay(_data.power_delay);    //断电延时
-	// req.set_flash_signal(_data.flash_signal);    //闪光信号
-	// req.set_left_for_outrigger_value (_data.left_for_outrigger_value);  //左前支腿伸缩电磁阀
-	// req.set_right_for_outrigger_value (_data.right_for_outrigger_value);   //右前支腿伸缩电磁阀
-	// req.set_left_back_outrigger_value(_data.left_back_outrigger_value);  //左后支腿伸缩电磁阀
-
-	// req.set_right_back_outrigger_value(_data.right_back_outrigger_value);    //右后支腿伸缩电磁阀
-	// req.set_for_steering_value(_data.for_steering_value);   //前轮转向电磁阀
-	// req.set_same_steering_value (_data.same_steering_value);   //四轮同向转向电磁阀
-	// req.set_rever_steering_value (_data.rever_steering_value);   //四轮反向转向电磁阀
-	// req.set_first_gear_solenoid_valve(_data.first_gear_solenoid_valve);   //一档电磁阀
-	// req.set_sen_gear_solenoid_valve(_data.sen_gear_solenoid_valve);   //二档电磁阀
-	// req.set_grab_rotary_switch_valve(_data.grab_rotary_switch_valve);    //抓具旋转切换电磁阀
    
     MessageHead Head;
     CIOBuffer pBuffer;
@@ -533,4 +455,5 @@ void CCanBusSensor::Emergency()
         Sendframe[3].data[3] &= 0xFD;
         //_canbus->Write(&Sendframe[3]);
     }
-}
+}
+

ZJ_PRO/EgoSystem/can_bus.h

@@ -5,38 +5,6 @@
 #include "../common/sensor_socket.h"
 
 
-// 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   左手柄 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   逆时针
-//     int16_t Shell_rotation_right;      //贝壳斗旋转   顺时针
-//     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_t;
-
 class CMessageQueue;
 class CCanBusSensor
 {

ZJ_PRO/EgoSystem/config.json

@@ -1,45 +0,0 @@
-{
-    "serial":"E537DDFB-6E3E-4E1A-AD18-AC21393BE300",
-    "ip":"10.99.74.201",
-    "type":"car",
-    "rtk_ip":"192.168.0.103",
-    "rtk_port":3333,
-    "rtk_host":25000,
-    "radar_ip":"192.168.0.111",
-    "radar_port":20001,
-    "radar_host":20011,
-    
-    "name" :"Car Name",
-    
-    
-    "MqttserverUrl":"tcp://localhost:1883",
-    "Esn":"",
-    "EsnPass":"",
-    "camerainfo":
-    [
-        {
-            "label":"front",
-            "index":0
-        },
-        {
-            "label":"back",
-            "index":1
-        },
-      	{
-            "label":"left",
-            "index":2
-        },
-        {
-            "label":"right",
-            "index":3
-        },
-        {
-            "label":"dash",
-            "index":4
-        }
-        
-
-
-    ]
-    
-}

ZJ_PRO/EgoSystem/main.cpp

@@ -580,7 +580,6 @@ int main(int argc,char *argv[])
     Q.Create();
 	while(true)
     {
-
 		Q.Process();
 	}
     //gtk_main();

ZJ_PRO/EgoSystem/message_queue.cpp

@@ -217,55 +217,10 @@ void CMessageQueue::Create()
     _client=std::make_unique<SocketClient>(this);
     _client->Start(serverip.c_str(),_remotePort,_hostPort);
    
-   
-
-    //20230412
-    //_Mqtt_ZR = std::make_unique<CMqtt>(this);
-    
-    //_Mqtt_ZR->start();
-  
-    //_can=std::make_unique<SocketCan>(this);
-    //_can->Start(_canip,_canport,_hostport);
-      
-    
-  
     std::this_thread::yield();
- //    OnNotifyReq(0);
 
 }
-/*
-void CMessageQueue::WriteCanMessage(std::unordered_map<int32_t, cannet_frame>& node,bool islidar)
-{
-    if(!bDataChannelCreated) return;
-     // std::lock_guard<std::mutex> l(_canLock);
-      RemoNet::CCCanMesage Req;
-      Req.set_islidar(islidar);
-      for(auto& p:node)
-      {
-         int32_t lidar=p.second.canid;
-         auto m=Req.add_message();
-         m->set_head(p.second.dlc);
-         m->set_canid(lidar);
-         m->set_data(p.second.data,8);
-        
-      }
-      
-      MessageHead Head;
-      CIOBuffer pBuffer;
-      Head.Command = RemoNet::CC_CAN;
-      Head.Length = Req.ByteSizeLong();
-      Head.Serialize(pBuffer.Buffer);
-      auto ptr = pBuffer.Buffer + MessageHead::Size();
-      Req.SerializeToArray(ptr, Head.Length);
-      pBuffer.Length = MessageHead::Size() + Head.Length;
-      _peerArray[0]->SendData(&pBuffer);
-}
 
-bool CMessageQueue::IsCarId(int32_t value)
-{
-    return std::find(_carArray.begin(),_carArray.end(),value)!=_carArray.end();
-}
-*/
 
 void CMessageQueue::EnQueue(CIOBuffer* pBuffer)
 {
@@ -373,106 +328,106 @@ void CMessageQueue::OnNotifyConnected(bool bRet)
     }
 }
 
-int day_diffient(int year_start, int month_start, int day_start,char *Dst)
-{
-    //2024-03-11
+// int day_diffient(int year_start, int month_start, int day_start,char *Dst)
+// {
+//     //2024-03-11
 
-    int year_end = strtol(Dst,NULL,10);
+//     int year_end = strtol(Dst,NULL,10);
 
-    char Temp = '-',*p = NULL,*p1 = NULL;
+//     char Temp = '-',*p = NULL,*p1 = NULL;
 
-    p = strchr(Dst,Temp);
-    int month_end = strtol(p + 1,NULL,10);
-    p1 = strchr(p + 1,Temp);
-    int day_end = strtol(p1 + 1,NULL,10);
+//     p = strchr(Dst,Temp);
+//     int month_end = strtol(p + 1,NULL,10);
+//     p1 = strchr(p + 1,Temp);
+//     int day_end = strtol(p1 + 1,NULL,10);
 
-    int y2, m2, d2;
-    int y1, m1, d1;
+//     int y2, m2, d2;
+//     int y1, m1, d1;
 
-    m1 = (month_start + 9) % 12;
-    y1 = year_start - m1/10;
-    d1 = 365*y1 + y1/4 - y1/100 + y1/400 + (m1*306 + 5)/10 + (day_start - 1);
-    m2 = (month_end + 9) % 12;
-    y2 = year_end - m2/10;
-    d2 = 365*y2 + y2/4 - y2/100 + y2/400 + (m2*306 + 5)/10 + (day_end - 1);
+//     m1 = (month_start + 9) % 12;
+//     y1 = year_start - m1/10;
+//     d1 = 365*y1 + y1/4 - y1/100 + y1/400 + (m1*306 + 5)/10 + (day_start - 1);
+//     m2 = (month_end + 9) % 12;
+//     y2 = year_end - m2/10;
+//     d2 = 365*y2 + y2/4 - y2/100 + y2/400 + (m2*306 + 5)/10 + (day_end - 1);
 
-    return (d1 - d2);
-}
+//     return (d1 - d2);
+// }
 
-void delete_days(const char *path)
-{
-    DIR *dir;
-    struct dirent *entry;
-    struct stat statbuf;
+// void delete_days(const char *path)
+// {
+//     DIR *dir;
+//     struct dirent *entry;
+//     struct stat statbuf;
 
-    time_t rawtime;
-    struct tm* info;
-    time(&rawtime);
+//     time_t rawtime;
+//     struct tm* info;
+//     time(&rawtime);
 
-    info = localtime(&rawtime);
-    uint8_t secret[64] = { 0 };
+//     info = localtime(&rawtime);
+//     uint8_t secret[64] = { 0 };
 
-    sprintf((char*)secret, "%d-%.2d-%.2d.log", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday);
-    printf("%s\r\n",secret);
+//     sprintf((char*)secret, "%d-%.2d-%.2d.log", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday);
+//     printf("%s\r\n",secret);
  
-    dir = opendir(path);
-    if (dir == NULL)
-    {
-        printf("无法打开目录\n");
-        return;
-    }
+//     dir = opendir(path);
+//     if (dir == NULL)
+//     {
+//         printf("无法打开目录\n");
+//         return;
+//     }
  
-    while ((entry = readdir(dir)) != NULL) 
-    {
+//     while ((entry = readdir(dir)) != NULL) 
+//     {
         
-        if(entry->d_name[0]=='.') 
-            continue;
-        //printf("%s\n",entry->d_name);
-
-        if(day_diffient(info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,entry->d_name) > 15)
-        {
-            char Dst[128];
-            memset(Dst,0,128);
-
-            sprintf(Dst,"rm -rf /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log/%s",entry->d_name);
-            system(Dst);
-        }
-    }
-    closedir(dir);
-}
-
-void CMessageQueue::SerichFile(char *filename)
-{
-    DIR *directory_pointer;
-    struct dirent *entry;
-    int exist = 0;
-
-    char Dst[128];
-    memset(Dst,0,128);
-    sprintf(Dst,"/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log/%s",filename);
+//         if(entry->d_name[0]=='.') 
+//             continue;
+//         //printf("%s\n",entry->d_name);
+
+//         if(day_diffient(info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,entry->d_name) > 15)
+//         {
+//             char Dst[128];
+//             memset(Dst,0,128);
+
+//             sprintf(Dst,"rm -rf /home/nvidia/ZJ_PRO/EgoSystem/build/log/%s",entry->d_name);
+//             system(Dst);
+//         }
+//     }
+//     closedir(dir);
+// }
 
-    if((directory_pointer=opendir("/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log/")) == NULL)
-        printf("Error open\n");
-    else
-    {
-        while((entry=readdir(directory_pointer)) != NULL)
-        {
-            if(entry->d_name[0]=='.') continue;
-                printf("%s\n",entry->d_name);
+// void CMessageQueue::SerichFile(char *filename)
+// {
+//     DIR *directory_pointer;
+//     struct dirent *entry;
+//     int exist = 0;
+
+//     char Dst[128];
+//     memset(Dst,0,128);
+//     sprintf(Dst,"/home/nvidia/devdata/zhanjiang_0534/EgoSystem/build/log/%s",filename);
+
+//     if((directory_pointer=opendir("/home/nvidia/devdata/zhanjiang_0534/EgoSystem/build/log/")) == NULL)
+//         printf("Error open\n");
+//     else
+//     {
+//         while((entry=readdir(directory_pointer)) != NULL)
+//         {
+//             if(entry->d_name[0]=='.') continue;
+//                 printf("%s\n",entry->d_name);
             
-            if(!strcmp(entry->d_name,filename))
-            {
-                File_fd = fopen(Dst, "a");
-                exist = 1;
-                break;
-            }
-        }
-    }
-
-    if(!exist)
-        File_fd = fopen(Dst, "w+");
-    closedir(directory_pointer);
-}
+//             if(!strcmp(entry->d_name,filename))
+//             {
+//                 File_fd = fopen(Dst, "a");
+//                 exist = 1;
+//                 break;
+//             }
+//         }
+//     }
+
+//     if(!exist)
+//         File_fd = fopen(Dst, "w+");
+//     closedir(directory_pointer);
+// }
 
 
 void CMessageQueue::OnNotifyReq(int32_t index)
@@ -499,32 +454,32 @@ void CMessageQueue::OnNotifyReq(int32_t index)
         _Mqtt_ZR->Start();
         _Mqtt_SE->Start();
 
-        File_fd = NULL;
-        struct statfs diskInfo;  
+        // File_fd = NULL;
+        // struct statfs diskInfo;  
       
-        statfs("/dev/mmcblk0p1", &diskInfo);  
-        unsigned long long freeDisk = diskInfo.f_bfree * diskInfo.f_bsize; 
+        // statfs("/dev/mmcblk0p1", &diskInfo);  
+        // unsigned long long freeDisk = diskInfo.f_bfree * diskInfo.f_bsize; 
 
 
-        time_t rawtime;
-        struct tm* info;
-        time(&rawtime);
+        // time_t rawtime;
+        // struct tm* info;
+        // time(&rawtime);
 
-        info = localtime(&rawtime);
+        // info = localtime(&rawtime);
 
-        uint8_t secret[64] = { 0 };
+        // uint8_t secret[64] = { 0 };
 
-        sprintf((char*)secret, "%d-%.2d-%.2d.log", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday);
+        // sprintf((char*)secret, "%d-%.2d-%.2d.log", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday);
 
-        if((freeDisk >> 30) < 15)
-        {
-            system("rm -rf /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log");
-            system("mkdir /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log/");
-        }
-        else
-            delete_days("/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log");
+        // if((freeDisk >> 30) < 15)
+        // {
+        //     system("rm -rf /home/nvidia/devdata/zhanjiang_0534/EgoSystem/build/log");
+        //     system("mkdir /home/nvidia/devdata/zhanjiang_0534/EgoSystem/build/log/");
+        // }
+        // else
+        //     delete_days("/home/nvidia/devdata/zhanjiang_0534/EgoSystem/build/log");
 
-        SerichFile((char *)secret);
+        // SerichFile((char *)secret);
 
     }
     
@@ -735,11 +690,11 @@ void CMessageQueue::OnNotifyStopSensor()
     std::cout<<"data mqtt Stop"<<std::endl;
     _Mqtt_SE->Stop();
 
-    if(!File_fd)
-    {
-        fclose(File_fd);
-        File_fd = NULL;
-    }
+    // if(!File_fd)
+    // {
+    //     fclose(File_fd);
+    //     File_fd = NULL;
+    // }
     
 
      RemoNet::StopAck Rep;
@@ -787,8 +742,6 @@ void CMessageQueue::SwitchCamera(bool front)
 }
 */
 
-
-//关注
 void CMessageQueue::OnMessageFrameNotify(ChannelType type,int16_t cmd,int16_t length,const void * data)
 {
      
@@ -878,10 +831,10 @@ void CMessageQueue::OnNotifyMessage()
           auto ptr = Buffer.Buffer + MessageHead::Size();
           Req.SerializeToArray(ptr, Head.Length);
           Buffer.Length = Head.Length + MessageHead::Size();
-         _peerArray[RenderPosition::FRONT]->SendData(Buffer);
-         
+         _peerArray[RenderPosition::FRONT]->SendData(Buffer);         
 }
 
+
 void CMessageQueue::OnNotifyPing(int64_t value)
 {
      RemoNet::CCPing Rep;

ZJ_PRO/EgoSystem/message_queue.h

@@ -66,6 +66,36 @@ 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;

ZJ_PRO/EgoSystem/out/build/Linux-Clang-Debug/isenseconfig/iconfig.json

@@ -1,790 +0,0 @@
-{
-  "host_identifier": "1268522042",
-  "predefines": {
-    "cpp_compiler": "clang++",
-    "cpp_compiler_defines": {
-      "_GNU_SOURCE": "1",
-      "_LP64": "1",
-      "__AARCH64EL__": "1",
-      "__AARCH64_CMODEL_SMALL__": "1",
-      "__ARM_64BIT_STATE": "1",
-      "__ARM_ACLE": "200",
-      "__ARM_ALIGN_MAX_STACK_PWR": "4",
-      "__ARM_ARCH": "8",
-      "__ARM_ARCH_ISA_A64": "1",
-      "__ARM_ARCH_PROFILE": "'A'",
-      "__ARM_FEATURE_CLZ": "1",
-      "__ARM_FEATURE_DIRECTED_ROUNDING": "1",
-      "__ARM_FEATURE_DIV": "1",
-      "__ARM_FEATURE_FMA": "1",
-      "__ARM_FEATURE_IDIV": "1",
-      "__ARM_FEATURE_LDREX": "0xF",
-      "__ARM_FEATURE_NUMERIC_MAXMIN": "1",
-      "__ARM_FEATURE_UNALIGNED": "1",
-      "__ARM_FP": "0xE",
-      "__ARM_FP16_ARGS": "1",
-      "__ARM_FP16_FORMAT_IEEE": "1",
-      "__ARM_NEON": "1",
-      "__ARM_NEON_FP": "0xE",
-      "__ARM_PCS_AAPCS64": "1",
-      "__ARM_SIZEOF_MINIMAL_ENUM": "4",
-      "__ARM_SIZEOF_WCHAR_T": "4",
-      "__ATOMIC_ACQUIRE": "2",
-      "__ATOMIC_ACQ_REL": "4",
-      "__ATOMIC_CONSUME": "1",
-      "__ATOMIC_RELAXED": "0",
-      "__ATOMIC_RELEASE": "3",
-      "__ATOMIC_SEQ_CST": "5",
-      "__BIGGEST_ALIGNMENT__": "16",
-      "__BYTE_ORDER__": "__ORDER_LITTLE_ENDIAN__",
-      "__CHAR16_TYPE__": "unsigned short",
-      "__CHAR32_TYPE__": "unsigned int",
-      "__CHAR_BIT__": "8",
-      "__CHAR_UNSIGNED__": "1",
-      "__CLANG_ATOMIC_BOOL_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_CHAR16_T_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_CHAR32_T_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_CHAR_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_INT_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_LLONG_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_LONG_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_POINTER_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_SHORT_LOCK_FREE": "2",
-      "__CLANG_ATOMIC_WCHAR_T_LOCK_FREE": "2",
-      "__CONSTANT_CFSTRINGS__": "1",
-      "__DBL_DECIMAL_DIG__": "17",
-      "__DBL_DENORM_MIN__": "4.9406564584124654e-324",
-      "__DBL_DIG__": "15",
-      "__DBL_EPSILON__": "2.2204460492503131e-16",
-      "__DBL_HAS_DENORM__": "1",
-      "__DBL_HAS_INFINITY__": "1",
-      "__DBL_HAS_QUIET_NAN__": "1",
-      "__DBL_MANT_DIG__": "53",
-      "__DBL_MAX_10_EXP__": "308",
-      "__DBL_MAX_EXP__": "1024",
-      "__DBL_MAX__": "1.7976931348623157e+308",
-      "__DBL_MIN_10_EXP__": "(-307)",
-      "__DBL_MIN_EXP__": "(-1021)",
-      "__DBL_MIN__": "2.2250738585072014e-308",
-      "__DECIMAL_DIG__": "__LDBL_DECIMAL_DIG__",
-      "__DEPRECATED": "1",
-      "__ELF__": "1",
-      "__EXCEPTIONS": "1",
-      "__FINITE_MATH_ONLY__": "0",
-      "__FLT16_DECIMAL_DIG__": "5",
-      "__FLT16_DENORM_MIN__": "5.9604644775390625e-8F16",
-      "__FLT16_DIG__": "3",
-      "__FLT16_EPSILON__": "9.765625e-4F16",
-      "__FLT16_HAS_DENORM__": "1",
-      "__FLT16_HAS_INFINITY__": "1",
-      "__FLT16_HAS_QUIET_NAN__": "1",
-      "__FLT16_MANT_DIG__": "11",
-      "__FLT16_MAX_10_EXP__": "4",
-      "__FLT16_MAX_EXP__": "16",
-      "__FLT16_MAX__": "6.5504e+4F16",
-      "__FLT16_MIN_10_EXP__": "(-4)",
-      "__FLT16_MIN_EXP__": "(-13)",
-      "__FLT16_MIN__": "6.103515625e-5F16",
-      "__FLT_DECIMAL_DIG__": "9",
-      "__FLT_DENORM_MIN__": "1.40129846e-45F",
-      "__FLT_DIG__": "6",
-      "__FLT_EPSILON__": "1.19209290e-7F",
-      "__FLT_EVAL_METHOD__": "0",
-      "__FLT_HAS_DENORM__": "1",
-      "__FLT_HAS_INFINITY__": "1",
-      "__FLT_HAS_QUIET_NAN__": "1",
-      "__FLT_MANT_DIG__": "24",
-      "__FLT_MAX_10_EXP__": "38",
-      "__FLT_MAX_EXP__": "128",
-      "__FLT_MAX__": "3.40282347e+38F",
-      "__FLT_MIN_10_EXP__": "(-37)",
-      "__FLT_MIN_EXP__": "(-125)",
-      "__FLT_MIN__": "1.17549435e-38F",
-      "__FLT_RADIX__": "2",
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