Vehicle-cpp/EgoJC/EgoSystem/car_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 <fstream>
#include "../common/notifier.h"
#include "event_log.h"
class CCanSensor;
class CMessageQueue;
class CCarSensor;

   
class CCarSensor 
{
public:
    CCarSensor(CMessageQueue * q);
    ~CCarSensor();
    void Notify(TPCANMsg& canmsg);
     void SetSensorSocket(SensorSocket<CCarSensor>* can);
     bool Start();
     void Stop();
     void Notify(int8_t * buffer,int32_t size);
     void OnMessage(cannet_frame* frames,int32_t count=5);
     void SetChannelReady(bool bRet);
     void Write(TPCANMsg& msg);
     void SetAutomous(bool value,int32_t delay);
     int64_t  GetLastEncodeTime();
     void StartParking(bool b);
     bool IsFrontView();
     int16_t GetRiseDownValue() const;
     int16_t GetTipValue() const;
     //void OnSignal(RemoNet::CCRobotSignal& req);
   
private:
     void Run();
     void CanSendProc();
     void DelayFn();

 //   bool Throttle(int32_t value);
 //   bool Brake(int32_t value);
 //   bool Steer(int32_t value);
 //   bool Bucket(int32_t value);
   // bool DriverAnalog(int32_t steer,int32_t throttle,int32_t brake,bool onoff);
   // bool EmbraceAnalog(int32_t tip,int32_t zoomL,int32_t zoomR,bool onoff);
   // bool JobAnalog(int16_t n1,int16_t n2,int16_t n3,int16_t n4);
   // bool EmergencyAnalog(int16_t n1,int16_t n2,int16_t n3,int16_t n4);
private:
    CMessageQueue * _message;
    std::thread _thread;
    std::thread _can_thread;
    bool _can_run;  
    bool _run;
    bool _tip;
    bool _rise_down;
    int16_t _rise_down_value=0;
    
    int16_t _tip_value=0;
    bool _can_ready=false;
    std::unique_ptr<CCanSensor> _can;
    std::unique_ptr<CEventLog> _log;
    //cannet_frame frames[21];
    bool _channelReady;
    bool _front_view=true;
    bool _automous=false;
    bool _delayset;  
   // bool _finished=false;
    SensorSocket<CCarSensor> * _socket;
    FeedData _data;
    int32_t _low_rpm_count=0;
    std::thread _delay;
    int32_t _delayseconds;
    int16_t _brake=0;
    volatile int64_t _last_encode_uptime=0;
    volatile int64_t _last_can_uptime=0;
    std::mutex _last_can_lock;
    TPCANMsg _msg[5];
    int32_t _range_count=0;
    int16_t _steer=0;
 
private:
   
  
   
   
};