#pragma once #include #include template struct FVector3 { T X; T Y; T Z; }; enum RadarPosition :int32_t { RADAR_LEFT, RADAR_RIGHT, RADAR_REAR, RADAR_ALL }; enum RenderPosition :int32_t { FRONT, BACK, LEFT, RIGHT, DASHBOARD, DASHBOARD_m, ALL }; enum EgoType :int32_t { None, User, Car }; enum ChannelType:int32_t { CHANNEL_CAR, CHANNEL_IMU, CHANNEL_RADAR, #ifdef LIDAR_SENSOR CHANNEL_LEFT_LIDAR, CHANNEL_RIGHT_LIDAR, #endif CHANNEL_ALL, }; enum UserState { Offline=0, Idle = 1, Remote = 2, Automotive = 3, AskRemote = 4 }; struct UserCamera { int32_t uid; EgoType type; UserState state; std::string name; }; struct OfferDesc { char type[16]; char sdp[4096 * 3-16]; }; struct AnswerDesc { char type[16]; char sdp[4096 * 3 - 16]; }; struct CandidateDesc { char candidate[4096]; char sdp_mid[4096]; int32_t sdp_mline_index; }; #pragma pack(1) #define CAN_MSG_LEN 13 struct cannet_frame { int8_t dlc; int32_t canid; int8_t data[8]; }; #pragma pack(1) #define CAN_MSG_LEN 13 struct cannet_busframe { int8_t dlc; int32_t canid; int8_t data[8]; }; #pragma pack() enum RobotStatus { OK, Fail, }; struct FeedData { /* int32_t Engine_speed = 1;//发动机转速 int32_t Travel_speed = 2;//行驶速度 int32_t Fuel_level = 3;//燃油油位 int32_t Engine_temperature = 4;//发动机水温 int32_t Hydraulic_oil_temperature = 5;//液压油油温 int32_t Main_pump_1_pressure = 6;//主泵1压力 int32_t Main_pump_2_pressure = 7;//主泵2压力 int32_t Hand_gear = 8;//水箱水位 int32_t Actual_gear = 9;//发动机机油压力 _Float32 Gripper_height = 10;//抓具高度 _Float32 amplitude = 11;//幅度 int32_t Boom_angle = 12;//动臂角度 int32_t Stick_angle = 13;//斗杆角度 int32_t Idle_protection = 14;//怠速保护 int32_t Front_toggle = 15;//前轮对中 int32_t Back_toggle = 16;//后轮对中 int8_t Error_Buff[8];//报警信息 */ int32_t work_pressure = 1;//工作系统压力 int32_t brake_pressure = 2; //制动系统压力 int32_t gearbox_oil_temp = 3;//变速箱油温 int32_t gearbox_oil_pressure = 4; //变速箱油压 int32_t engine_rpm = 5;//发动机转速 int32_t speed = 6;//不知道？---可能是后加的传感器---驱动轮增量编码器 int32_t gear = 7; int32_t engine_pressure = 8;//发动机压力 int32_t cold_water = 9;//冷却液温度-发动机水温 //int32_t steer_angle = 10; float steer_angle = 10;//转向角度（原来金川是轮子的现在大冶用铰链位置） 铰接转向姿态编码器 int32_t left_lock = 11;//遥操模式 int32_t right_lock = 12;//人工模式 //大冶新加的 int32_t engine_time = 13;//发动机运行小时 int32_t wire_sensor_l = 14;//拉线传感器左侧 int32_t wire_sensor_r = 15;//拉线传感器右侧 int32_t fuel_level = 16;//燃油油位 int32_t lock_switch_l = 17;//锁钩到位开关左 int32_t lock_switch_r = 18; //锁钩到位开关右 int32_t tip_limit = 19;//倾翻限位 int32_t turn_left = 20;//左转 int32_t turn_right = 21;//右转 int32_t hight_beam = 22;//远光灯 int32_t low_beam = 23;//近光灯 int32_t parking = 24;//驻车 int32_t brake = 25;//刹车 int32_t back_car = 26;//倒车 int32_t front_work_lamp = 27;//前工作灯 int32_t rear_work_lamp = 28;//后工作灯 int32_t cargo_weight = 29;//渣包重量 int32_t system_vol = 30;//系统电压 int8_t Error_Buff[8];//报警信息 int32_t f_gear = 32;//1F，2R，3N int32_t gear_1 =33;//1，2，3，4 int32_t outgrigger_l = 34;//左支腿伸到位开关 int32_t outgrigger_r = 35;//右支腿伸到位开关 int32_t tip_pressure = 36;//倾翻压力开关 }; struct cannet_frame_receive { int32_t canid; int8_t dlc; uint8_t data[8]; }; struct Gsml_Info { int32_t m_record; int32_t m_device; int64_t m_time; };