Vehicle-cpp/ZJ_PRO/EgoSystem/can_bus.h

#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/iobuffer.h"
#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
{
public:
     CCanBusSensor(CMessageQueue *q);
     void Notify(struct can_frame *date);
     
     void SetCanBusSensor(SensorCanBus<CCanBusSensor>* can);
     void Start();
     void Stop();

     void OnMessage(cannet_frame* frames, int32_t count = 4);
     void Emergency();
     
private:
     void Run();
     void CanSendProc();
     void SendStatusToMSG();
     

private:
     CMessageQueue* _message;
     SensorCanBus<CCanBusSensor> * _canbus;
     bool _run;

     std::thread _can_thread;
     std::mutex _last_can_lock;
     // struct can_frame Sendframe[4];
     struct can_frame Sendframe[5];
     bool _front_view = true;

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

     int64_t count;
     FeedData _data;
     int model;//0本地,1远程

     vehicle_status can_status;
};