2024年9月6日: SCOUT-zw

zw_pro/.vscode/settings.json

@@ -72,7 +72,8 @@
         "typeindex": "cpp",
         "typeinfo": "cpp",
         "valarray": "cpp",
-        "variant": "cpp"
+        "variant": "cpp",
+        "slist": "cpp"
     },
-    "C_Cpp.errorSquiggles": "disabled"
+    "C_Cpp.errorSquiggles": "enabled"
 }

zw_pro/EgoSystem/bak/can_bus.cpp

@@ -0,0 +1,501 @@
+#include "can_bus.h"
+#include <thread>
+#include "message_queue.h"
+#include <math.h>
+#include <chrono>
+#include <algorithm>
+
+#define	GET_BIT(x, bit)	((x & (1 << bit)) >> bit)
+
+
+
+float Canb2f(uint8_t m0, uint8_t m1, uint8_t m2, uint8_t m3)
+{
+    //求符号位
+    float sig = 1.;
+    if (m0 >=128.)
+        sig = -1.;
+  
+    //求阶码
+    float jie = 0.;
+     if (m0 >=128.)
+    {
+        jie = m0-128.  ;
+    }
+    else
+    {
+        jie = m0;
+    }
+    jie = jie * 2.;
+    if (m1 >=128.)
+        jie += 1.;
+
+    jie -= 127.;
+ 
+    //求尾码
+ 
+    float tail = 0.;
+    if (m1 >=128.)
+        m1 -= 128.;
+    tail =  m3 + (m2 + m1 * 256.) * 256.;
+    tail  = (tail)/8388608;   //   8388608 = 2^23
+ 
+    float f = sig * pow(2., jie) * (1+tail);
+ 
+    return f;
+}
+
+int16_t make_int16(unsigned char h,unsigned char l) //解析
+{
+  int16_t hi=(int16_t)(h&0x00FF);        // 高8位
+  int16_t low= (int16_t)(l&0x00FF);      // 低8位
+
+   return (hi<<8)|low;
+}
+
+CCanBusSensor::CCanBusSensor(CMessageQueue* q) :_message(q)
+{
+    _run = false;
+
+    for (int32_t i = 0; i < sizeof(Sendframe)/sizeof(can_frame); i++)
+        memset(&Sendframe[i], 0, sizeof(can_frame));
+}
+
+void CCanBusSensor::SetCanBusSensor(SensorCanBus<CCanBusSensor>* can)
+{
+    _canbus = can;
+}
+
+void CCanBusSensor::CanSendProc()
+{
+    while (_run)
+    {
+       for(int32_t i=0;i<sizeof(Sendframe)/sizeof(can_frame);i++)
+        {
+            if(Sendframe[i].can_id != 0)
+            {
+                if(Sendframe[i].can_id == 0x184)
+                {
+                    _message->_dst  = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+                    //printf("data delay:%lld\r\n",_message->_dst - _message->_source);
+                }
+                _canbus->Write(&Sendframe[i]);
+                Sendframe[i].can_id  = 0;
+            }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(5)); 
+
+    }
+    
+   
+}
+
+void CCanBusSensor::Start()
+{
+    _run = true;
+
+    _can_thread = std::thread(&CCanBusSensor::CanSendProc, this);
+
+    Direction = 0;//方向
+    Hand_Throttle = 0;//手油门
+    Foot_Throttle = 0;//脚油门
+    Brake = 0;//刹车
+    _message->DataMqtt_SendDate = false;
+    _message->DataMqtt_curTick = 0;
+}
+
+
+void CCanBusSensor::Run()
+{
+    
+}
+  
+void CCanBusSensor::Stop()
+{
+    if (_run)
+    {
+        _run = false;
+        _can_thread.join();
+    }
+
+    for (int32_t i = 0; i < sizeof(Sendframe)/sizeof(can_frame); i++)
+        memset(&Sendframe[i], 0, sizeof(can_frame));
+
+    Direction = 0;//方向
+    Hand_Throttle = 0;//手油门
+    Foot_Throttle = 0;//脚油门
+    Brake = 0;//刹车
+
+    _message->DataMqtt_SendDate = false;
+    _message->DataMqtt_curTick = 0;
+}
+
+
+void CCanBusSensor::Notify(struct can_frame *date) //上传状态信息
+{
+    //std::cout << std::hex << date->can_id << std::endl;
+    if(_run)
+    {
+        
+        switch (date->can_id)
+        {
+        case 0x283:
+            _data.Main_pump_1_pressure = make_int16(date->data[1],date->data[0]);//主泵1压力
+            _data.Main_pump_2_pressure = make_int16(date->data[3],date->data[2]);//主泵2压力
+            break;
+        
+        case 0x285:
+            _data.Stick_angle = make_int16(date->data[1],date->data[0]);//斗杆角度
+            _data.Boom_angle = make_int16(date->data[3],date->data[2]);//动臂角度
+            break;
+
+        case 0x286:
+            _data.Hydraulic_oil_temperature = make_int16(date->data[1],date->data[0]);//液压油油温
+            _data.Fuel_level = (int32_t)date->data[6];//燃油油位
+            break;
+        
+        case 0x28A:
+            _data.Travel_speed = make_int16(date->data[1],date->data[0]);//行驶速度
+            _data.Engine_temperature = make_int16(date->data[3],date->data[2]);//发动机水温
+            _data.Hand_gear = make_int16(date->data[5],date->data[4]);//水箱水位
+            _data.Actual_gear = make_int16(date->data[7],date->data[6]);//发动机机油压力
+            break;
+
+        case 0x28B:
+            _data.Engine_speed = make_int16(date->data[1],date->data[0]);//发动机转速
+            {
+                long long tick=std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+
+                if(_data.Engine_speed > 700 && _message->bStopedCar && tick-_message->_curStopTick > 500)
+                    _message->bStopedCar = false;
+            }
+            
+            break;
+
+        case 0x28D:
+            _data.Gripper_height = Canb2f(date->data[3], date->data[2], date->data[1], 
+                date->data[0]);//抓具高度
+            _data.amplitude = Canb2f(date->data[7], date->data[6], date->data[5], 
+                date->data[4]);//幅度
+            break;
+
+        case 0x28F:
+            _data.Idle_protection = (date->data[3] & 0x80) == 0x80 ? 1 : 0;//怠速保护
+
+            _data.Front_toggle = (date->data[1] & 0x08) == 0x08 ? 1 : 0;//前轮对中
+            _data.Back_toggle = (date->data[1] & 0x10) == 0x10 ? 1 : 0;//后轮对中
+
+
+            _data.interlock = (date->data[5] & 0x08) == 0x08 ? 1 : 0;//启动联锁
+
+            _data.safety_switch = (date->data[6] & 0x80) == 0x80 ? 1 : 0;//安全开关阀异常
+
+            _data.arm_lift_pilot = (date->data[7] & 0x01) == 0x01 ? 1 : 0;//大臂提升先导比例阀异常
+            _data.arm_lowering_pilot = (date->data[7] & 0x02) == 0x02 ? 1 : 0;//大臂下降先导比例阀异常
+            _data.lever_lifting_pilot = (date->data[7] & 0x04) == 0x04 ? 1 : 0;//斗杆提升先导比例阀异常
+            _data.rod_lowering_pilot = (date->data[7] & 0x08) == 0x08 ? 1 : 0;//斗杆下降先导比例阀异常
+            _data.left_rotary_pilot = (date->data[7] & 0x10) == 0x10 ? 1 : 0;//左回转先导比例阀异常
+            _data.right_rotary_pilot = (date->data[7] & 0x20) == 0x20 ? 1 : 0;//右回转先导比例阀异常
+            _data.grab_open_pilot = (date->data[7] & 0x40) == 0x40 ? 1 : 0;//抓斗开启先导比例阀异常
+            _data.grab_close_pilot = (date->data[7] & 0x80) == 0x80 ? 1 : 0;//抓斗闭合先导比例阀异常
+
+            _data.safety_valves = (date->data[4] & 0x10) == 0x10 ? 1 : 0;//安全开关阀
+
+            break;
+
+        case 0x280:
+            memcpy(_data.Error_Buff,date->data,date->can_dlc);
+            SendStatusToMSG();
+            break;
+        
+        
+        
+
+        default:
+            break;
+        }
+    }
+}
+
+
+/*------------------小车控制起-------------------*/
+
+void CCanBusSensor::order(cannet_frame* frame){
+    
+        cannet_frame& carframe = frame[0];          
+        Sendframe[0].can_id = 0x421;
+        Sendframe[0].can_dlc = carframe.dlc;
+
+        memcpy(Sendframe[0].data,order_on,carframe.dlc);
+        order_flag = true; 
+
+        if(!order_flag){
+        cout<<"order_flag: false"<<endl;
+        }
+}
+
+
+void CCanBusSensor::toggleLamp(cannet_frame* frame){
+
+        cannet_frame& carframe = frame[0];             
+        Sendframe[0].can_id = 0x121;
+        Sendframe[0].can_dlc = carframe.dlc;
+
+        switch (carframe.data[0])
+                {
+                    case 0x00:
+                        // memcpy(Sendframe[0].data,headlamp_off,carframe.dlc); //前后车灯关
+                        std::copy(headlamp_off,headlamp_off+8,Sendframe[0].data);
+                        std::cout<<"前车灯关,后车灯关 "<<std::endl;
+                    break;
+                
+                    case 0x10:
+                        // memcpy(Sendframe[0].data,headlamp_on,carframe.dlc); //前车灯开
+                        std::copy(headlamp_on,headlamp_on+8,Sendframe[0].data);
+                        std::cout<<"前车灯开,后车灯关 "<<std::endl;
+                    break;
+                    
+                    case 0x08:
+                        // memcpy(Sendframe[0].data,taillamp_on,carframe.dlc); //后车灯开
+                        std::copy(taillamp_on,taillamp_on+8,Sendframe[0].data);
+                        std::cout<<"前车灯关,后车灯开 "<<std::endl;
+                    break;
+                }
+}
+
+void CCanBusSensor::car_stop(cannet_frame* frame){
+
+        cannet_frame& carframe = frame[0];                
+        Sendframe[0].can_id = 0x111;
+        Sendframe[0].can_dlc = carframe.dlc;
+
+        if(carframe.data[2]==0x00){
+            memcpy(Sendframe[0].data,stop_on,carframe.dlc); //急停
+            
+            stop_flag = true; 
+            if(stop_flag){
+            std::cout<<"stop_flag: true"<<std::endl;
+            }
+        }
+}
+
+
+void CCanBusSensor::move_run(cannet_frame* frame){
+    
+        cannet_frame& carframe = frame[0];     
+        Sendframe[0].can_id = 0x111;
+        Sendframe[0].can_dlc = carframe.dlc;
+
+    {
+        auto start = std::chrono::high_resolution_clock::now();
+        if(carframe.data[4]>0x02 && carframe.data[4]<=0x7F){
+            data2copy = move_forward; //油门前进
+            run_flag = true;
+        }
+        else if(carframe.data[5]>0x02 && carframe.data[5]<=0x7F){
+           data2copy = stop_on; //刹车后退
+            run_flag = true;
+        }
+
+        if(run_flag){
+            memcpy(Sendframe[0].data,data2copy,carframe.dlc);
+            run_flag = false;
+        }
+        auto end = std::chrono::high_resolution_clock::now();
+
+        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
+        std::cout << "Memcpy of " << carframe.dlc << " bytes took " << duration << " microseconds." << std::endl;
+        std::cout << "frame.dlc:"<< carframe.dlc<< std::endl;
+    }
+
+}
+
+void CCanBusSensor::move_rot(cannet_frame* frame){
+
+        cannet_frame& carframe = frame[0];     
+
+        Sendframe[1].can_id = 0x111;
+        Sendframe[1].can_dlc = carframe.dlc;
+
+        if(carframe.data[0] != 0x01){
+            memcpy(Sendframe[0].data,move_rotation,carframe.dlc); //转弯
+            rot_flag = true;
+        }
+
+}
+
+
+
+/*------------------小车控制止-------------------*/
+
+
+void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控制指令
+{
+
+    for (int32_t i = 0; i < count; i++)
+    {
+        cannet_frame& frame = frames[i];
+
+        int32_t canid = frame.canid;
+        
+        //std::cout << std::hex << canid << std::endl;
+        // CCanBusSensor::order(&frame);
+                
+        switch (canid)
+        {
+            case 0x181:
+                // Sendframe[0].can_id = 0x421;
+                // Sendframe[0].can_dlc = frame.dlc;
+
+                // memcpy(Sendframe[0].data, frame.data, frame.dlc);
+                // Hand_Throttle = make_int16(frame.data[1],frame.data[0]);
+                // Foot_Throttle = make_int16(frame.data[3],frame.data[2]);
+                // Brake = make_int16(frame.data[5],frame.data[4]);
+                // cout<<"receive 181: "<<Hand_Throttle<<" "<<Foot_Throttle<<" "<<Brake<<endl;
+
+                // 指令模式
+                // memcpy(Sendframe[0].data,order_on,sizeof(order_on)); 
+                // Sendframe[0].can_id = 0x121;
+                // memcpy(Sendframe[0].data,headlamp_off,sizeof(headlamp_off)); 
+                // cout<<"receive 181:"<< headlamp_off<<endl;
+                
+                // CCanBusSensor::order(&frame);
+                CCanBusSensor::toggleLamp(&frame);
+
+                
+                // CCanBusSensor::move_run(&frame);     //move_run和car
+                // CCanBusSensor::car_stop(&frame);
+
+            break;
+
+            case 0x0CFDD634:  // receive from frame[3]
+                
+
+
+                cout<<"receive 0CFDD634"<<endl;
+
+            break;
+
+            // case 0x182:
+            //     Sendframe[1].can_id = 0x182;
+            //     Sendframe[1].can_dlc = frame.dlc;
+
+            //     memcpy(Sendframe[1].data, frame.data, frame.dlc);
+            //     //std::cout << "182" << std::endl;
+            // break;
+
+            case 0x183:
+                Sendframe[2].can_id = 0x183;
+                Sendframe[2].can_dlc = frame.dlc;
+
+                Direction = make_int16(frame.data[3],frame.data[2]);
+                _message->SendVehicleStatus(Direction,Hand_Throttle,Foot_Throttle,Brake);
+
+                memcpy(Sendframe[2].data, frame.data, frame.dlc);
+                //std::cout << "revice 183" << std::endl;
+            break;
+
+            case 0x184:
+            
+                Sendframe[3].can_id = 0x184;
+                Sendframe[3].can_dlc = frame.dlc;
+
+                //模式
+                
+                model = (frame.data[3] & 0x04) == 0x04 ? 1 : 0;
+
+                //切换前后摄像头
+                _front_view = (frame.data[4] & 0x04) == 0x04 ?  false: true;
+                _message->SwitchCamera(_front_view);
+
+                //b_ready = (_msg[3].DATA[4] & 0x10) == 0x10 ? 1 : 0;
+                if((frame.data[4] & 0x10) == 0x10 ? 1 : 0)//已就绪 抓钢机就绪状态，待无人车入场
+                {
+                  _message->SendZGJStatus(1);
+                  std::cout << "SendZGJStatus" << std::endl;
+                  //_msg[3].DATA[4] &= 0xEF;
+                }
+
+                //b_over = (_msg[3].DATA[4] & 0x20) == 0x20 ? 1 : 0;
+                if((frame.data[4] & 0x20) == 0x20 ? 1 : 0)//已完成 抓钢机抓钢结束，待无人车离场
+                {
+                  _message->SendZGJStatus(2);
+                  //_msg[3].DATA[4] &= 0xD7;
+                }
+
+                if(!_message->btimeStopedCar)
+                {
+                    memcpy(Sendframe[3].data, frame.data, frame.dlc);  
+                } 
+                else
+                {
+                    long long tick=std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+                    /*
+                    if(tick-_message->_curStopTick > 500) 
+                    {
+                        Emergency();
+                        _message->btimeStopedCar = false;
+                    }
+                    */
+                    if(tick-_message->_curStopTick < 500) 
+                        Emergency();
+                    else
+                        _message->btimeStopedCar = false;
+                }
+                //_message->_dst  = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+                //    printf("data delay:%ld\r\n",_message->_dst - _message->_source);
+                //std::cout << "revice 184" << std::endl;
+            break;
+        }
+    } 
+}
+
+void CCanBusSensor::SendStatusToMSG()
+{
+    RemoNet::State req;
+    req.set_engine_speed(_data.Engine_speed);
+    req.set_travel_speed(_data.Travel_speed);
+    req.set_fuel_level(_data.Fuel_level);
+    req.set_engine_temperature(_data.Engine_temperature);
+    req.set_hydraulic_oil_temperature(_data.Hydraulic_oil_temperature);
+    req.set_main_pump_1_pressure(_data.Main_pump_1_pressure);
+    req.set_main_pump_2_pressure(_data.Main_pump_2_pressure);
+    req.set_hand_gear(_data.Hand_gear);
+    req.set_actual_gear(_data.Actual_gear);
+    req.set_gripper_height(_data.Gripper_height);
+    req.set_amplitude(_data.amplitude);
+    req.set_boom_angle(_data.Boom_angle);
+    req.set_stick_angle(_data.Stick_angle);
+
+    req.set_idle_protection(_data.Idle_protection);
+    req.set_front_toggle(_data.Front_toggle);
+    req.set_back_toggle(_data.Back_toggle);
+
+
+    req.set_error_buff((char *)_data.Error_Buff,8);
+   
+    MessageHead Head;
+    CIOBuffer pBuffer;
+    Head.Command = RemoNet::CC_STATE;
+    Head.Length = req.ByteSizeLong();
+    Head.Serialize(pBuffer.Buffer);
+    auto ptr = pBuffer.Buffer + MessageHead::Size();
+    req.SerializeToArray(ptr, Head.Length);
+    pBuffer.Length = MessageHead::Size() + Head.Length;
+
+    _message->WritePacket(ChannelType::CHANNEL_CAR, pBuffer);
+}
+
+
+void CCanBusSensor::Emergency()
+{
+    if(model)
+    {
+        Sendframe[3].can_id = 0x184;
+        Sendframe[3].can_dlc = 8;
+
+        Sendframe[3].data[3] &= 0xFD;
+        //_canbus->Write(&Sendframe[3]);
+    }
+}
+

zw_pro/EgoSystem/can_bus.cpp

@@ -2,6 +2,8 @@
 #include <thread>
 #include "message_queue.h"
 #include <math.h>
+#include <chrono>
+#include <algorithm>
 
 #define	GET_BIT(x, bit)	((x & (1 << bit)) >> bit)
 
@@ -218,93 +220,109 @@ void CCanBusSensor::Notify(struct can_frame *date) //上传状态信息
 
 /*------------------小车控制起-------------------*/
 
-void CCanBusSensor::order(cannet_frame* frames){
+void CCanBusSensor::order(cannet_frame* frame){
     
-        cannet_frame& frame = frames[0];          
+        cannet_frame& carframe = frame[0];          
         Sendframe[0].can_id = 0x421;
-        Sendframe[0].can_dlc = frame.dlc;
+        Sendframe[0].can_dlc = carframe.dlc;
 
-        memcpy(Sendframe[0].data,order_on,frame.dlc);
-        order_flag = true; 
-
-        if(!order_flag){
-        cout<<"order_flag: false"<<endl;
-        }
+        // memcpy(Sendframe[0].data,order_on,carframe.dlc);
+        std::copy(order_on,order_on+8,Sendframe[0].data);
 }
 
 
-void CCanBusSensor::toggleLamp(cannet_frame* frames){
+void CCanBusSensor::toggleLamp(cannet_frame* frame){
 
-        cannet_frame& frame = frames[0];           
-        Sendframe[0].can_id = 0x121;
-        Sendframe[0].can_dlc = frame.dlc;
+        cannet_frame& carframe = frame[0];             
+        Sendframe[1].can_id = 0x121;
+        Sendframe[1].can_dlc = carframe.dlc;
 
-        switch (frame.data[0])
+        switch (carframe.data[0])
                 {
                     case 0x00:
-                        memcpy(Sendframe[0].data,headlamp_off,frame.dlc); //前后车灯关
+                        // memcpy(Sendframe[0].data,headlamp_off,carframe.dlc); //前后车灯关
+                        std::copy(headlamp_off,headlamp_off+8,Sendframe[1].data);
                         std::cout<<"前车灯关,后车灯关 "<<std::endl;
                     break;
                 
                     case 0x10:
-                        memcpy(Sendframe[0].data,headlamp_on,frame.dlc); //前车灯开
+                        // memcpy(Sendframe[0].data,headlamp_on,carframe.dlc); //前车灯开
+                        std::copy(headlamp_on,headlamp_on+8,Sendframe[1].data);
                         std::cout<<"前车灯开,后车灯关 "<<std::endl;
                     break;
                     
                     case 0x08:
-                        memcpy(Sendframe[0].data,taillamp_on,frame.dlc); //后车灯开
+                        // memcpy(Sendframe[0].data,taillamp_on,carframe.dlc); //后车灯开
+                        std::copy(taillamp_on,taillamp_on+8,Sendframe[1].data);
                         std::cout<<"前车灯关,后车灯开 "<<std::endl;
                     break;
                 }
 }
 
-void CCanBusSensor::car_stop(cannet_frame* frames){
+void CCanBusSensor::car_stop(cannet_frame* frame){
 
-        cannet_frame& frame = frames[0];           
-        Sendframe[0].can_id = 0x111;
-        Sendframe[0].can_dlc = frame.dlc;
+        cannet_frame& carframe = frame[0];                
+        bool stop_flag = false;
 
-        if(frame.data[2]==0x00){
-            memcpy(Sendframe[0].data,stop,frame.dlc); //急停
-            
-            stop_flag = true; 
-            if(stop_flag){
-            std::cout<<"stop_flag: true"<<std::endl;
-            }
+        switch (carframe.data[2])
+        {
+            case 0x00:
+                Sendframe[2].can_id = 0x111;
+                Sendframe[2].can_dlc = carframe.dlc;
+                stop_flag = true;
+                while(stop_flag){
+                    memcpy(Sendframe[2].data,stop_on,carframe.dlc); //急停
+                    std::cout<<"car stop!"<<std::endl;
+                }
+            break;
+   
+            case 0xFF:
+                stop_flag = false;
+                std::cout<<"car end stop..."<<std::endl;
+            break;
         }
 }
 
 
-void CCanBusSensor::move_run(cannet_frame* frames){
+void CCanBusSensor::move_run(cannet_frame* frame){
     
-        cannet_frame& frame = frames[0];
-        int32_t canid = frame.canid;
-
-        Sendframe[0].can_id = 0x111;
-        Sendframe[0].can_dlc = frame.dlc;
+        cannet_frame& carframe = frame[0];     
+        
+        // Sendframe[3].can_dlc = carframe.dlc;
 
-        if(frame.data[4]>0x02 && frame.data[4]<=0x7F){
-            Sendframe[0].data = move_forward; //油门前进
+        if (static_cast<unsigned char>(carframe.data[4]) > 0x02 && 
+    static_cast<unsigned char>(carframe.data[4]) <= 0x7F)
+        // if(carframe.data[4]>0x02 && carframe.data[4]<=0x7F)
+        {
+            Sendframe[3].can_id = 0x111;
+            std::copy(move_forward,move_forward+8,Sendframe[3].data); //油门前进
             run_flag = true;
+            std::cout<<"油门前进"<<std::endl;
         }
-        else if(frame.data[5]>0x02 && frame.data[5]<=0x7F){
-            memcpy(Sendframe[0].data,stop,frame.dlc); //刹车后退
+        else 
+        // if(carframe.data[5]>0x02 && carframe.data[5]<=0x7F)
+        if (static_cast<unsigned char>(carframe.data[5]) > 0x02 && 
+    static_cast<unsigned char>(carframe.data[5]) <= 0x7F)
+        {
+            Sendframe[4].can_id = 0x111;
+            std::copy(move_backward,move_backward+8,Sendframe[4].data); //刹车后退
             run_flag = true;
+            std::cout<<"刹车后退"<<std::endl;
         }
 
 }
 
-void CCanBusSensor::move_rot(cannet_frame* frames){
+void CCanBusSensor::move_rot(cannet_frame* frame){
 
-        cannet_frame& frame = frames[0];
-        int32_t canid = frame.canid;
+        cannet_frame& carframe = frame[0];     
 
-        Sendframe[1].can_id = 0x111;
-        Sendframe[1].can_dlc = frame.dlc;
+        Sendframe[5].can_id = 0x111;
+        Sendframe[5].can_dlc = carframe.dlc;
 
-        if(frame.data[0] != 0x01){
-            memcpy(Sendframe[0].data,move_rotation,frame.dlc); //转弯
+        if(carframe.data[0] != 0x01){
+            memcpy(Sendframe[5].data,move_rotation,carframe.dlc); //转弯
             rot_flag = true;
+            cout<<"转弯"<<endl;
         }
 
 }
@@ -317,7 +335,7 @@ void CCanBusSensor::move_rot(cannet_frame* frames){
 void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控制指令
 {
 
-    for (int32_t i = 0; i < count; i++)
+    for (int32_t i = 0; i < count; i++) //count=4
     {
         cannet_frame& frame = frames[i];
 
@@ -328,79 +346,26 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控
         switch (canid)
         {
             case 0x181:
-                // Sendframe[0].can_id = 0x421;
-                Sendframe[0].can_dlc = frame.dlc;
-
                 // memcpy(Sendframe[0].data, frame.data, frame.dlc);
                 // Hand_Throttle = make_int16(frame.data[1],frame.data[0]);
                 // Foot_Throttle = make_int16(frame.data[3],frame.data[2]);
                 // Brake = make_int16(frame.data[5],frame.data[4]);
                 // cout<<"receive 181: "<<Hand_Throttle<<" "<<Foot_Throttle<<" "<<Brake<<endl;
 
-                // 指令模式
-                // memcpy(Sendframe[0].data,order_on,frame.dlc); 
-                
-                CCanBusSensor::order(&frame);
+               
                 CCanBusSensor::toggleLamp(&frame);
+                CCanBusSensor::order(&frame);      // 启用order会导致几秒的延迟响应
                 // CCanBusSensor::move_run(&frame);     //move_run和car
-                // CCanBusSensor::car_stop(&frame);
-
-                // 车灯
-                // Sendframe[0].can_id = 0x121;
-                // memcpy(Sendframe[0].data,headlamp_on,frame.dlc);
-                // switch (frame.data[0])
-                // {
-                //     case 0x00:
-                //         memcpy(Sendframe[0].data,headlamp_off,frame.dlc); //前后车灯关
-                //         std::cout<<"前车灯关,后车灯关 "<<std::endl;
-                //     break;
-                
-                //     case 0x10:
-                //         memcpy(Sendframe[0].data,headlamp_on,frame.dlc); //前车灯开
-                //         std::cout<<"前车灯开,后车灯关 "<<std::endl;
-                //     break;
-                    
-                //     case 0x08:
-                //         memcpy(Sendframe[0].data,taillamp_on,frame.dlc); //后车灯开
-                //         std::cout<<"前车灯关,后车灯开 "<<std::endl;
-                //     break;
-                // }
-                 
-
-                // 前进后退
-                // Sendframe[0].can_id = 0x111;
-                // if(frame.data[4]>0x02 && frame.data[4]<=0x7F){
-                //     memcpy(Sendframe[0].data,move_forward,frame.dlc); //油门前进
-                //     run_flag = true;
-                // }
-                // else if(frame.data[5]>0x02 && frame.data[5]<=0x7F){
-                //     memcpy(Sendframe[0].data,stop,frame.dlc); //刹车后退
-                //     run_flag = true;
-                // }
-
-                // // 急停        
-                // Sendframe[0].can_id = 0x111;
-                // if(frame.data[2]==0x00 && frame.data[3]==0xFF){
-                //     memcpy(Sendframe[0].data,stop,frame.dlc); //急停
-                //     stop_flag = true; 
-                //     if(stop_flag){
-                //         cout<<"stop_flag: true"<<endl;
-                //     }
-                // }
-
-
-
+                CCanBusSensor::car_stop(&frame);
 
             break;
 
-            // case 0x0CFDD634:
-
-            //     Sendframe[1].can_dlc = frame.dlc;
+            case 0x0CFDD633:  // receive from frame[3]
 
-            //     CCanBusSensor::order(&frame);
-            //     CCanBusSensor::move_rot(&frame);
+                CCanBusSensor::order(&frame);  
+                CCanBusSensor::move_rot(&frame);
 
-            // break;
+            break;
 
             case 0x182:
                 Sendframe[1].can_id = 0x182;

zw_pro/EgoSystem/can_bus.h

@@ -23,11 +23,19 @@ public:
      void Emergency();
      
 
-     void order(cannet_frame* frames);  // 指令模式
-     void toggleLamp(cannet_frame* frames);  // 车灯开关  
-     void move_run(cannet_frame* frames); // 车辆前进  
-     void move_rot(cannet_frame* frames);  // 车辆右转  
-     void car_stop(cannet_frame* frames);
+     void order(cannet_frame* frame);  // 指令模式
+     void toggleLamp(cannet_frame* frame);  // 车灯开关  
+     void move_run(cannet_frame* frame); // 车辆前进  
+     void move_rot(cannet_frame* frame);  // 车辆右转  
+     void car_stop(cannet_frame* frame);
+
+/*------------------小车控制参数起------------------*/
+     bool order_flag = false; // 指令模式
+     bool lamp_flag = false; // 车灯状态 
+     bool run_flag = false; // 车辆前进后退
+     bool rot_flag = false; // 车辆转弯
+     bool stop_flag = false; // 急停状态
+/*------------------小车控制参数止------------------*/
 
 private:
      void Run();
@@ -42,7 +50,7 @@ private:
 
      std::thread _can_thread;
      std::mutex _last_can_lock;
-     struct can_frame Sendframe[4];
+     struct can_frame Sendframe[6];
      bool _front_view = true;
 
      int16_t Direction;//方向
@@ -55,11 +63,9 @@ private:
      int model;//0本地,1远程
 
      /*-------------------小车控制起--------------------*/
-     bool order_flag = false; // 指令模式
-     bool lamp_flag = false; // 车灯状态 
-     bool run_flag = false; // 车辆前进后退
-     bool rot_flag = false; // 车辆转弯
-     bool stop_flag = false; // 急停状态
+     
+
+     unsigned char* data2copy;
 
      unsigned char order_on[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00};        //id:421 指令模式开
      unsigned char headlamp_on[8] = {0x01,0x01,0x50,0x00,0x00,0x00,0x00,0x00};        //id:121 前车灯常开
@@ -69,7 +75,7 @@ private:
      unsigned char move_forward[8] = {0x00,0x96,0x00,0x00,0x00,0x00,0x00,0x00};    //id:111 以0.15m/s前进
      unsigned char move_backward[8] = {0x00,0xcc,0x00,0x00,0x00,0x00,0x00,0x00};   //id:111 以0.15m/s后退
      unsigned char move_rotation[8] = {0x00,0x00,0x00,0xc8,0x00,0x00,0x00,0x00};   //id:111 以0.2rad/s旋转
-     unsigned char stop[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};            //id:111 急停
+     unsigned char stop_on[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};            //id:111 急停
      /*-------------------小车控制止--------------------*/
      
 };

zw_pro/thirdparty/webrtc_nvidia/include/build/linux/debian_sid_arm64-sysroot/usr/include/linux/netfilter_ipv6/ip6t_hl.h

@@ -1,7 +1,7 @@
 /* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
-/* Hop Limit modification module for ip6tables
+/* ip6tables module for matching the Hop Limit value
  * Maciej Soltysiak <solt@dns.toxicfilms.tv>
- * Based on HW's TTL module */
+ * Based on HW's ttl module */
 
 #ifndef _IP6T_HL_H
 #define _IP6T_HL_H
@@ -9,14 +9,14 @@
 #include <linux/types.h>
 
 enum {
-	IP6T_HL_SET = 0,
-	IP6T_HL_INC,
-	IP6T_HL_DEC
+	IP6T_HL_EQ = 0,		/* equals */
+	IP6T_HL_NE,		/* not equals */
+	IP6T_HL_LT,		/* less than */
+	IP6T_HL_GT,		/* greater than */
 };
 
-#define IP6T_HL_MAXMODE	IP6T_HL_DEC
 
-struct ip6t_HL_info {
+struct ip6t_hl_info {
 	__u8	mode;
 	__u8	hop_limit;
 };

zw_pro/thirdparty/webrtc_nvidia/include/build/linux/debian_sid_i386-sysroot/usr/include/linux/netfilter_ipv4/ipt_ttl.h

@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
-/* TTL modification module for IP tables
- * (C) 2000 by Harald Welte <laforge@netfilter.org> */
+/* IP tables module for matching the value of the TTL
+ * (C) 2000 by Harald Welte <laforge@gnumonks.org> */
 
 #ifndef _IPT_TTL_H
 #define _IPT_TTL_H
@@ -8,14 +8,14 @@
 #include <linux/types.h>
 
 enum {
-	IPT_TTL_SET = 0,
-	IPT_TTL_INC,
-	IPT_TTL_DEC
+	IPT_TTL_EQ = 0,		/* equals */
+	IPT_TTL_NE,		/* not equals */
+	IPT_TTL_LT,		/* less than */
+	IPT_TTL_GT,		/* greater than */
 };
 
-#define IPT_TTL_MAXMODE	IPT_TTL_DEC
 
-struct ipt_TTL_info {
+struct ipt_ttl_info {
 	__u8	mode;
 	__u8	ttl;
 };