Vehicle-cpp/ZJ_PRO/EgoSystem/message_queue.h

#pragma once
#include<mutex>
#include<memory>
#include<string>
#include<condition_variable>
#include <vector> 
#include "protocol.pb.h"
#include "../common/iobuffer.h"
#include "../common/socket_client.h"
#include "../common/sensor_socket.h"
#include "../common/update_thread.h"

#include "MqttClient.h"
#include "DataMqttClient.h"
#include "can_bus.h"
#include "radar_can.h" 
#include "pcan_sensor.h"
#include "radar_ip.h"
#ifdef LIDAR_SENSOR
#include "./lidar/lidar_sensor.h"

#endif
class CImuSensor;
class SocketClient;
class CPeerConnection;
class VideoRenderer;
class CMqttSensor;
class CRtkSensor;
class CDataMqttSensor;
class CCanBusSensor;
class CCanRadarSensor;
class CPcanSensor;
class CRadarSensor;

struct ImuData;
enum MessageType:int32_t
{
    ReqVideo,
    RepVideo,
    Connected,
    Leave,
    StopSensor,
    Ping,
    AsyncMessage,
    //BootStrap,
    //Startup,
};
struct Message
{
    MessageType cmd;
    int64_t param_l;
    int64_t param_r;
    
};
 
struct LocalCameraInfo
{
   int32_t index;
   std::string label;
};
 
enum RA {
     RA_Boot,
     RA_Stop,
     RA_Goal,
     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
{
public:
   CMessageQueue();
   virtual ~CMessageQueue();
   void Create();
   void EnQueue(CIOBuffer* pBuffer);
   void Process();
   //virtual void OnAdd(bool bRet) override;
   virtual void OnAdd(bool bRet) override;
   virtual void OnConnected(bool bRet) override;
  // virtual bool IsCarId(int32_t value) override;
 //  virtual void WriteCanMessage(std::unordered_map<int32_t, cannet_frame>& node,bool islidar) override;
#ifdef WIN32
	virtual void OnVideoRep(int32_t index,int32_t peer) override;
#else
    virtual void OnVideoReq(int32_t index,int32_t peer) override;
#endif
	virtual void OnVideoOffer(int32_t index,const char* type, const char* sdp) override;
	virtual void OnVideoAnswer(int32_t index, const char* type, const char* sdp) override;
	virtual void OnVideoCandidate(int32_t index,const char* candidate,
		int32_t sdp_mline_index,
		const char* sdp_mid) override;
	/*virtual void OnVideoAddTrack(RemoteVideoTrackWrapper* ptr) = 0;*/
	//virtual void OnCancelReq(int32_t index) override;
	virtual void OnVideoLeave(int32_t peer,EgoType type) override;


   virtual void OnMessageFrameNotify(ChannelType type,int16_t cmd,int16_t length,const void * data) override;

   void OnNotifyConnected(bool bRet);
   void OnNotifyReq(int32_t index);
   void OnNotifyRep(int32_t index);
   void OnNotifyStopSensor();
   void OnNotifyLeave();
   void OnNotifyMessage();
   void OnNotifyPing(int64_t value);
   void InitPeerConnection(int32_t peer,int32_t index);
   void WriteIMUData(ImuData* data);
   void WriteRadarData(RadarData& data);
   void WriteRobotStatus(int32_t value,int32_t desc);
   void WritePacket(ChannelType type, CIOBuffer & pBuffer);
   void SwitchCamera(bool front);
   void SetTick(long long tick);
   void ChangeState(UserState state);
   void OnSwitchDriver();
#ifdef LIDAR_SENSOR
   void WriteLidarPoint(const PointCloudMsg<PointXYZI>& msg,ChannelType side);
#endif
   void StopCar();
 //  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_status can_status);
   bool bStopedCar;
   long long _curStopTick;
   bool btimeStopedCar;

   long long DataMqtt_curTick;
   bool DataMqtt_SendDate;

   FILE *File_fd;
   int32_t _Version;
   void SerichFile(char *filename);

   long long _source = 0;
   long long _dst = 0;

   
   
private:
   std::mutex _lock;
   std::condition_variable _cv;
   CIOBuffer* Head;
   CIOBuffer* Tail;
   //add-3-7
   //CRobotSensor *cs;
//	std::unique_ptr<PeerConnectionWrapper> _peer_video;
	std::vector<std::unique_ptr<CPeerConnection> > _peerArray;
   std::vector<LocalCameraInfo> _cameraArray;
	//EgoType _egoType;
    //int32_t _indexOffset;
   // std::vector<std::unique_ptr<VideoRenderer> > _windowArray;
//	std::unique_ptr<VideoRenderer> _main_window;
//	std::unique_ptr<VideoRenderer> _arm_window;
	std::unique_ptr<SocketClient>  _client;
   std::unique_ptr<SensorSocket<CImuSensor>> _imu;
   std::unique_ptr<SensorMQTT<CMqttSensor>> _Mqtt_ZR;
   std::unique_ptr<SensorMQTT<CDataMqttSensor>> _Mqtt_SE;
   std::unique_ptr<SensorSocket<CRtkSensor>> _Rtk;
   std::unique_ptr<SensorCanBus<CCanBusSensor>> _CanBusVehicle;
   std::unique_ptr<SensorCanBus<CCanRadarSensor>> _CanBusRadar;

   std::unique_ptr<SensorPeakCan<CPcanSensor>> _PcanBusVehicle;
   std::unique_ptr<SensorSocket<CRadarSensor>> _RadarIp;

    int32_t _peerId;
	 std::string _serial; 
    std::string _name;
    int32_t _uid=0;
  
    int32_t _UdpMinPort;
    int32_t _UdpMaxPort;

    CUpdateThread _updatethread;
    std::mutex _canLock;
    long long _curTick;
    
    ////////////////////////////////////////////////////////////////
#ifdef LIDAR_SENSOR
    std::unique_ptr<CLidarSensor> _left;
    std::unique_ptr<CLidarSensor> _right;
#endif
};