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

	
};

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

typedef struct {
	//车辆基本状态控制
	int16_t keyStatus;          //钥匙状态
	int16_t parkControl;        //驻车控制
	int16_t travelMode;        //驾驶模式
	int16_t eStop;              //急停开关
    int16_t directSwitch;       //前后切换
	int16_t gearControl;        //车辆档位控制
	int16_t hazardLight;        //双闪灯
	int16_t travelLight;        //行驶灯光
	int16_t vehicleHorn;        //喇叭
	int16_t silencedAlarm;      //消报警音按钮

	//车辆行驶控制
	// int16_t accPedal;           //油门踏板/
	int16_t accPedalH;           //手油门踏板
	int16_t accPedalF;           //脚油门踏板
	int16_t brakePedal ;        //刹车踏板
	int16_t steeringWheel;      //方向盘转速
	int16_t turnSignal ;        //转向灯
	int16_t turnMode;           //转向模式

	//作业机构控制
	int16_t enableHydraulic;	//液压使能开关
	int16_t workLight;			//工作灯
	int16_t bypassSwitch;		//旁通开关
	int16_t taskJoint_1;		//第一个作业关节控制
	int16_t taskJoint_2;		//第二个作业关节控制
	int16_t taskJoint_3;		//第三个作业关节控制
	int16_t endJoint;			//末端关节控制
	int16_t toolControl;		//末端工具控制
	int16_t baseLegSwitch;		//支腿选择开关
	int16_t baseLegControl;		//支腿动作控制
	int16_t cabLift;			//驾驶室升降机构
	int16_t esCabLift;			//驾驶室应急下降开关
	int16_t suckerSelect;		//吸盘选择开关
	int16_t coopSignal;	//协同作业信号

	//舱端故障报警
	int16_t errBasOperation;	//基本操作故障
	int16_t errAccPedal;		//油门信号故障
	int16_t errBrakePedal;		//刹车信号故障
	int16_t errSteeringWheel;	//转向故障
	int16_t errHandle;			//手柄信号故障
	int16_t errEndTool;			//末端工具控制故障
	int16_t errOther;           //其他故障

} vehicle_control_cv;