Vehicle-cpp/ZJ_PRO/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()
enum RobotStatus
{
	 OK,
	 Fail,
};

#pragma pack()
struct RadarData
{
     int32_t r0;
     int32_t r1;
     int32_t r2;
     int32_t r3;
     int32_t r4;
     int32_t r5;
     int32_t r6;
     int32_t r7;
};

struct FeedData
{
	//int32_t work_pressure;
	//int32_t brake_pressure;
	//int32_t gearbox_oil_temp;
	//int32_t gearbox_oil_pressure; 
	//int32_t engine_rpm;
	//int32_t engine_pressure;
	//int32_t speed;
	////	int32_t gear;
	//int32_t cold_water;
	//int32_t steer_angle;
	//int32_t left_lock_status;
	//int32_t right_lock_status;
	///////////////////////////////////////////////////////状态参数
	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
	///////////////////////////////////////////////////////报警信息
	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 interlock = 18;//启动联锁
	int32_t safety_switch = 19;//安全开关阀异常
	int32_t arm_lift_pilot = 20;//大臂提升先导比例阀异常
	int32_t arm_lowering_pilot = 21;//大臂下降先导比例阀异常
	int32_t lever_lifting_pilot = 22;//斗杆提升先导比例阀异常
	int32_t rod_lowering_pilot = 23;//斗杆下降先导比例阀异常
	int32_t left_rotary_pilot = 24;//左回转先导比例阀异常
	int32_t right_rotary_pilot = 25;//右回转先导比例阀异常
	int32_t grab_open_pilot = 26;//抓斗开启先导比例阀异常
	int32_t grab_close_pilot = 27;//抓斗闭合先导比例阀异常
	int32_t safety_valves = 28;//安全开关阀

    //增加 0x384
	int32_t function_code =29 ;  //功能码
	int32_t main_add =30;        //主地址
	int32_t sub_add =31;         //次地址
	int32_t paramter=32 ;        //参数值

	//增加0x28b  
	int32_t engine_spn =33;        //发动机实时故障SPN
	int32_t engine_fmi =34;       //发动机实时故障FMI
	int32_t engine_num =35;        //发动机故障次数

	int8_t all_Buff[8];         //0x28f

	// //增加0x28f
	// int32_t p_flameout =36;        //P档熄火；
	// int32_t engine_start =37;      //发动机启动
	// int32_t emergency_signal = 38;  //紧停信号
	// int32_t preheating_monitoring=39;  //预热监控
	// int32_t park_switch =40;   //驻车开关
	// int32_t safety_bar_lock =41; //安全杆锁定
	// int32_t forward_gear   =42;     //前进档
	// int32_t backward_gear   =43;//后退档
	
	// int32_t first_gear = 44;   //行驶一档
	// int32_t sencond_gear = 45;  //行驶2档
	// int32_t n_gear =46;       //实际N 档
	// int32_t cabin_end =47;     //驾驶室上升到位 
	// int32_t cab_end =48;       //驾驶室下降到位
	// int32_t reserve =49;       //保留

	// int32_t for_left_outrigger =50;   //前左支腿选择
	// int32_t for_right_outrigger =51;  //前右支腿选择
	// int32_t back_left_outrigger =52;  //后左支腿选择
	// int32_t back_right_outrigger=53;  //后右支腿选择
	// int32_t cab_start = 54; //驾驶室下降
	// int32_t canbin_start=55;//驾驶室上升
	// int32_t swinging_bridge_lock=56; //摆动桥锁定
	// int32_t cab_emery =57;       //驾驶室应急下降

	// int32_t safety_bypass = 58;   //安全旁通
	// int32_t clear_alarm = 59;    //清除蜂鸣器报警
	// int32_t front_wheel_steering = 60;  //前轮转向
	// int32_t back_wheel_steering = 61;  //后轮转向
	// int32_t same_steering = 62;  //前后轮同向转向
	// int32_t reverse_steering= 63;  //前后轮反向转向
	// int32_t sound_signal_alarm = 64;  //故障声光报警


	// int32_t rod_intake_limit_valve =65;   //斗杆内收限制阀
	// int32_t rod_outtake_limit_valve = 66;  //斗杆外摆限制阀
	// int32_t boom_lift_limit_valve = 67;  //动臂提升限制阀
	// int32_t boom_out_limit_valve = 68;  //动臂下降限制阀
	// int32_t cab_emery_value = 69;  //驾驶室应急下降阀
	// int32_t charging_valve= 70;  //充液阀
	// int32_t parking_valve = 71;   //驻车阀

	// int32_t parking_back_signal = 72;    //驻车反馈灯
	// int32_t brake_signal = 73;   //刹车灯
	// int32_t power_delay = 74;    //断电延时
	// int32_t flash_signal= 75;    //闪光信号
	// int32_t left_for_outrigger_value = 76;  //左前支腿伸缩电磁阀
	// int32_t right_for_outrigger_value = 77;   //右前支腿伸缩电磁阀
	// int32_t left_back_outrigger_value = 78;  //左后支腿伸缩电磁阀

	// int32_t right_back_outrigger_value = 79;    //右后支腿伸缩电磁阀
	// int32_t for_steering_value = 80;   //前轮转向电磁阀
	// int32_t same_steering_value = 81;   //四轮同向转向电磁阀
	// int32_t rever_steering_value = 82;   //四轮反向转向电磁阀
	// int32_t first_gear_solenoid_valve = 83;   //一档电磁阀
	// int32_t sen_gear_solenoid_valve = 84;   //二档电磁阀
	// int32_t grab_rotary_switch_valve = 85;    //抓具旋转切换电磁阀

	//int32_t Boom_lift_pilot_pressure = 15;//动臂提升先导压力传感器故障
	//int32_t Boom_drop_pilot_pressure = 16;//动臂下降先导压力传感器故障
	//int32_t Stick_lift_pilot_pressure = 17;//斗杆提升先导压力传感器故障
	//int32_t Stick_Drop_Pilot_Pressure = 18;//斗杆下降先导压力传感器故障
	//int32_t left_turn_Pressure = 19;//车体左回转先导压力传感器故障
	//int32_t right_turn_Pressure = 20;//车体右回转先导压力传感器故障
	//int32_t outstretched_Pressure = 21;//支腿伸出先导压力传感器故障
	//int32_t instretched_Pressure = 22;//支腿缩回先导压力传感器故障
	//int32_t grab_opens_the_pilot = 23;//抓斗开启先导压力传感器故障
	//int32_t grab_close_the_pilot = 24;//抓斗闭合先导压力传感器故障
	//int32_t Main_pump_1_pilot_pressure = 25;//主泵1压力传感器故障
	//int32_t Main_pump_2_pilot_pressure = 26;//主泵2压力传感器故障
	//int32_t rod_cavity_pressure = 27;//动臂无杆腔压力传感器故障
	//int32_t stick_cavity_pressure = 28;//斗杆无杆腔压力传感器故障
	//int32_t Parking_pressure = 29;//驻车压力传感器故障
	//int32_t Failure_of_the_accumulator_pressure = 30;//蓄能器压力传感器故障
	//int32_t Gas_pedal_failure = 31;//油门踏板故障
	//int32_t Faulty_throttle_knob = 32;//油门旋钮故障
	//int32_t Leg_handle_failure = 33;//支腿手柄故障
	//int32_t The_gripper_knob_faulty = 34;//抓具旋钮故障
	//int32_t Hydraulic_oil_temperature_sensor_failure = 35;//液压油温传感器故障
	//int32_t Faulty_fuel_level_sensor = 36;//燃油油位传感器故障
	//int32_t Boom_inclination_sensor_failure = 37;//动臂倾角传感器故障
	//int32_t Stick_inclination_sensor_communication = 38;//斗杆倾角传感器通讯故障
	//int32_t Expansion_module_communication_failure = 39;//扩展模块通讯故障
	//int32_t working_distance_exceeded = 40;//工作距离超限
	//int32_t hydraulic_oil_temperature_low = 41;//燃油油位低
	//int32_t Low_battery_voltage = 42;//电池电压低
	//int32_t High_battery_voltage = 43;//电池电压高
	//int32_t accumulator_pressure_abnormal = 44;//蓄能器压力异常
	//int32_t hydraulic_oil_temperature_high = 45;//液压油温高
	//int32_t Low_oil_pressure = 46;//机油压力低
	//int32_t Low_coolant_level = 47;//冷却液液位低
	//int32_t High_coolant_level = 48;//冷却液温度高
	//int32_t system_overloaded = 49;//系统超载
	//int32_t Safety_bypass_pressed = 50;//安全旁通按下
	//int32_t Engine_SPN_failure = 51;//发动机SPN故障
	//int32_t engine_warming_up = 52;//发动机预热中
	//int32_t engine_warming_up_timeout = 53;//发动机预热超时
	//int32_t Emergency_stop_press = 54;//紧急停止按下	
};

struct cannet_frame_receive
{
	int32_t canid;
	int8_t dlc;
	int8_t data[8];
	
};

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_left ;  //贝壳斗旋转   shun
    int16_t Shell_rotation_right ;  //贝壳斗旋转   ni
    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;