Vehicle-cpp/remote_drive/EgoZJ/common/comm.h

#pragma once
#include <unordered_map>
#include <vector>


template<typename T>
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;
};