Cockpit-cpp/EgoDLL/car_sim.cpp

#include <stdint.h>
#include "api/video/video_frame.h" 
#include "../common/comm.h"
#include "Protocol.pb.h"
#include "car_sim.h"
#include "EgoClient.h"

CCarSim::CCarSim(CEgoClient* car) :_car(car)
{

}
void CCarSim::Start()
{

}
void CCarSim::Stop()
{
	
}
void CCarSim::OnPeerMessage(int16_t cmd, int16_t length, const void* data)
{
	switch (cmd)
	{
		case RemoNet::CC_Ping:
		{
			RemoNet::CCPing Req;
			Req.ParseFromArray(data, length);
			int64_t tick = GetTickCount64();
			int32_t diff = tick - Req.tick();
			double temp = Req.temp();
			_car->OnPingValue(diff,temp);
		}
		break;
		case RemoNet::CC_StopACK:
		{
			_car->OnStopAck();
		}
		case RemoNet::CC_STATE:
		{
			RemoNet::State msg;
			msg.ParseFromArray(data, length);
			/*
			RemoNet::CCCanMsg msg;
			msg.ParseFromArray(data, length);
			int32_t count = msg.frams_size();
			std::vector<cannet_frame> vec;
			for (int32_t i = 0; i < count; i++)
			{
				const RemoNet::can_net_frame& frame = msg.frams(i);
				if (frame.canid() == 0x189)
				{
					cannet_frame node;
					node.canid = frame.canid();
					node.dlc = frame.dlc();
					memcpy(node.data, frame.data().data(), node.dlc);
				}
				switch (_car->GetCurrentPage())
				{
				case PageProp::WorkPage1:
				{
					switch (frame.canid())
					{
					case 0x1F0:case 0x2F0:case 0x3F0:case 0x4F0:case 0x1F1:case 0x1F2:case 0x2F1:
					case 0x2F2:
					{
						cannet_frame node;
						node.canid = frame.canid();
						node.dlc = frame.dlc();
						memcpy(node.data, frame.data().data(), node.dlc);
						vec.push_back(node);




					}
					break;
					}
				}
				break;
				case PageProp::WorkPage2:
				{
					switch (frame.canid())
					{
					case 0x3F2:
					case 0x4F2:
					{
						cannet_frame node;
						node.canid = frame.canid();
						node.dlc = frame.dlc();
						memcpy(node.data, frame.data().data(), node.dlc);
						vec.push_back(node);
					}
					break;

					}
				}
				break;
				case PageProp::CalibrationPage:
				{
					switch (frame.canid())
					{
					case 0x2F6:case 0x3F6:case 0x4F6:
					case 0x1F9:case 0x2F9:case 0x4F9:
					case 0x380 + 0x81: //0x401
					{
						cannet_frame node;
						node.canid = frame.canid();
						node.dlc = frame.dlc();
						memcpy(node.data, frame.data().data(), node.dlc);
						vec.push_back(node);
					}
					break;
					}
				}
				break;
				case PageProp::EngineParameterPage:
				{
					switch (frame.canid())
					{
					case 0x1F3: case 0x2F3:case 0x3F3:case 0x4F3:
					case 0x1F4:case 0x2F4:case 0x3F4: case 0x4F4:
					case 0x1F5:
					{
						cannet_frame node;
						node.canid = frame.canid();
						node.dlc = frame.dlc();
						memcpy(node.data, frame.data().data(), node.dlc);
						vec.push_back(node);
					}
					break;
					}
				}
				break;


				case PageProp::WarningPage:
				{
					switch (frame.canid())
					{
					case 0x1F6:
					{
						cannet_frame node;
						node.canid = frame.canid();
						node.dlc = frame.dlc();
						memcpy(node.data, frame.data().data(), node.dlc);
						vec.push_back(node);
					}
					break;
					}
				}
				break;
				}

			}
			*/
			FeedData data;
			data.brake_pressure = msg.brake_pressure();
			data.engine_rpm = msg.engine_rpm();
			data.engine_pressure = msg.engine_pressure();
			//data.gear = msg.gear();
			data.gearbox_oil_pressure = msg.gearbox_oil_pressure();
			data.gearbox_oil_temp = msg.gearbox_oil_temp();
			data.speed = msg.speed();
			data.work_pressure = msg.work_pressure();
			data.cold_water = msg.cold_water();
			data.steer_angle = msg.steer_angle();
			data.left_lock_status = msg.left_lock();
			data.right_lock_status = msg.right_lock();
			_car->OnFeedPage(data);
		}
		break;
		case RemoNet::CC_NDTPOS:
		{
			RemoNet::NDTPos Req;
			Req.ParseFromArray(data, length);
			Position pos;
			pos.x = Req.x();
			pos.y = Req.y();
			pos.z = Req.z();
			pos.rx = Req.rx();
			pos.ry = Req.ry();
			pos.rz = Req.rz();
			pos.rw = Req.rw();
			_car->OnNDTPos(&pos);
		}
		break;


	}
}