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- #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 work_pressure = 1;
- int32_t brake_pressure = 2;
- int32_t gearbox_oil_temp = 3;
- int32_t gearbox_oil_pressure = 4;
- int32_t engine_rpm = 5;
- int32_t speed = 6;
- int32_t gear = 7;
- int32_t engine_pressure = 8;
- int32_t cold_water = 9;
-
- float steer_angle = 10;
- int32_t left_lock = 11;
- int32_t right_lock = 12;
-
- int32_t engine_time = 13;
- int32_t wire_sensor_l = 14;
- int32_t wire_sensor_r = 15;
- int32_t fuel_level = 16;
- int32_t lock_switch_l = 17;
- int32_t lock_switch_r = 18;
- int32_t tip_limit = 19;
- int32_t turn_left = 20;
- int32_t turn_right = 21;
- int32_t hight_beam = 22;
- int32_t low_beam = 23;
- int32_t parking = 24;
- int32_t brake = 25;
- int32_t back_car = 26;
- int32_t front_work_lamp = 27;
- int32_t rear_work_lamp = 28;
- int32_t cargo_weight = 29;
- int32_t system_vol = 30;
- int8_t Error_Buff[8];
- int32_t f_gear = 32;
- int32_t gear_1 =33;
- int32_t outgrigger_l = 34;
- int32_t outgrigger_r = 35;
- int32_t tip_pressure = 36;
- };
- 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;
- };
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