Vehicle-cpp/remote_drive/EgoZJ/EgoSystem/robot_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"
 
class CMessageQueue;
#pragma pack(1)
struct  OpState{
    uint16_t func=htons(10);
    uint16_t boot_addr=htons(101);
    uint16_t boot_value=0;
    uint16_t start_addr=htons(102);
    uint16_t start_value=0;
    uint16_t stop_addr=htons(103);
    uint16_t stop_value=0;
    uint16_t emergency_addr=htons(104);
    uint16_t emergency_value=0;
    uint16_t gear_addr=htons(135);
    uint16_t gear_value=0;
    uint16_t wip_addr=htons(132);
    uint16_t wip_value=0;
    uint16_t flight_addr=htons(133);
    uint16_t flight_value=0;
    uint16_t blight_addr=htons(134);
    uint16_t blight_value=0;
    uint16_t park_addr=htons(135);
    uint16_t park_value=0;
    uint16_t ldlight_addr=htons(136);
    uint16_t ldlight_value=0;
    uint16_t rdlight_addr=htons(137);
    uint16_t rdlight_value=0;
    uint16_t gear_d_addr=htons(138);
    uint16_t gear_d_value=0;
    uint16_t buz_addr=htons(139);
    uint16_t buz_value=0;

};

struct Analog_rtu {
    int16_t func=htons(10);
    int16_t steer_addr=htons(113);
    int16_t steer_value=0;
    int16_t arm_addr=htons(117);
    int16_t arm_value=0;
    int16_t bucket_addr=htons(119);
    int16_t bucket_value=0;
      int16_t throttle_addr=htons(111);
     int16_t throttle_value=0; 
     int16_t brake_addr=htons(115);
     int16_t brake_value=0;
    
};
 
struct ReadCmd
{
     int16_t func=htons(03);
     int16_t boot_addr=htons(201);
     int16_t start_addr=htons(203);
     int16_t stop_addr=htons(205);
     int16_t emergenc_addr=htons(207);

};
struct ReadRet
{
    int16_t func=3;
    int16_t boot_addr;
    int16_t boot_value;
    int16_t start_addr;
    int16_t start_value;
    int16_t stop_addr;
    int16_t stop_value;
    int16_t emergenc_addr;
    int16_t emergenc_value;
};

#pragma pack()
class CRobotSensor 
{
public:
    CRobotSensor(CMessageQueue * q);

    void Notify(TPCANMsg *buffer, int32_t size);
    void SetSensorSocket(SensorPeakCan<CRobotSensor>* 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:
    unsigned int CRC16(uint8_t *buf, int len);
  
    
    void OnPark(bool on);
    bool Resume();  
  
    void CanSendProc();
    void SendStatusToMSG();
   
private:
   
   
    CMessageQueue * _message;
    SensorPeakCan<CRobotSensor> * _socket;
    
    bool _resume=false;
    bool _emergency=false;
    bool _autorise=false;
    RemoNet::Gears _gears=RemoNet::Gears::N;
    RemoNet::DirectionLight _light=RemoNet::DirectionLight::OffLight;
    RemoNet::Gears_D _gears_d=RemoNet::Gears_D::None_d;
    bool _frontLight=false;
    bool _backLight=false;
    bool _wipe=false;
    bool _buzzer=false;
    bool _park=false;
    
    bool _run;
    int8_t value_g=1;
    OpState  state;
    
    std::mutex _last_can_lock;
    std::thread _can_thread;

    bool _front_view = true;
    volatile int64_t _last_can_uptime = 0;
    TPCANMsg _msg[4];
    FeedData _data;

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

    
};