Vehicle-cpp/ZJ_PRO/EgoSystem/pcan_sensor.h

#pragma once
#ifdef WIN32
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN
#endif
#include <WS2tcpip.h>
#include <WinSock2.h>
#define socketerrno WSAGetLastError()
#define SOCKET_EAGAIN_EINPROGRESS WSAEINPROGRESS
#define SOCKET_EWOULDBLOCK WSAEWOULDBLOCK
#ifndef _SSIZE_T_DEFINED
typedef int ssize_t;
#define _SSIZE_T_DEFINED
#endif
#ifndef _SOCKET_T_DEFINED
typedef SOCKET socket_t;
#define _SOCKET_T_DEFINED
#endif
#else
#include <unistd.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h> 
#include <fcntl.h>
#define socketerrno errno
#define SOCKET_EAGAIN_EINPROGRESS EAGAIN
#define SOCKET_EWOULDBLOCK EWOULDBLOCK
#define INVALID_SOCKET -1
#define SOCKET_ERROR -1
#ifndef _SOCKET_T_DEFINED
typedef int socket_t;
#define _SOCKET_T_DEFINED
#endif
#endif
#include "../common/notifier.h"

#include <stdint.h>
#include "../common/comm.h"
#include "../common/iobuffer.h"
#include "../common/sensor_socket.h"

#include <thread>
#include <math.h>

class CMessageQueue;

class CPcanSensor 
{
public:
    CPcanSensor(CMessageQueue * q);

    void Notify(TPCANMsg *buffer, int32_t size);
    void SetSensorSocket(SensorPeakCan<CPcanSensor>* can);

    void OnMessage(cannet_frame* frames, int32_t count = 4);



    void Start();
    void Stop();

    bool Emergency();  //急停 只局限于程序 和网络
    void Run();
private:
  
    void SendStatusToMSG();
   
private:

    CMessageQueue * _message;
    SensorPeakCan<CPcanSensor> * _socket;

    bool _run;
    
    
    std::mutex _last_can_lock;

    bool _front_view = true;
    // TPCANMsg _msg[4];
    TPCANMsg _msg[5];
    FeedData _data;

    //int b_ready;
    //int b_over;
    int model;//0本地,1远程

    int16_t Direction;//方向
     
     int16_t Hand_Throttle;//手油门
    int16_t Foot_Throttle;//脚油门
    int16_t Brake;//刹车

    vehicle_status can_status;    
};