2024年9月13日: SCOUT-zw

zw_pro/EgoSystem/can_bus.cpp

@@ -2,7 +2,8 @@
 #include <thread>
 #include "message_queue.h"
 #include <iomanip>
-
+#include <chrono>   // 用于时间相关的功能
+#include <thread>   // 用于线程操作
 
 #define	GET_BIT(x, bit)	((x & (1 << bit)) >> bit)
 
@@ -279,30 +280,130 @@ int CCanBusSensor::gearselection(cannet_frame* frame){
     
     cannet_frame& carframe = frame[0];
     
+    CCanBusSensor::speedlevel(&carframe);
     switch (carframe.data[5])
     {
-        case 0x10:
+        case 0x10:              //前进档
             return 1;
 
-        case 0x00:
+        case 0x00:              //空档
             return 2;
 
-        case 0x40:
+        case 0x40:              //后退档
             return 3;
+
+        default:
+        return -1;
+        
     }
 }
 
 
+void CCanBusSensor::speedlevel(cannet_frame* frame){
+
+    cannet_frame& gearframe = frame[0];
+
+    switch (gearframe.data[5])
+    {
+        case 0x14:              //前进档升档
+            if(speed_flag < 14)
+               speed_flag++;
+            std::this_thread::sleep_for(std::chrono::seconds(2));
+        break;
+
+        case 0x11:              //前进档降档
+            if(speed_flag > 11)
+                speed_flag--;
+            std::this_thread::sleep_for(std::chrono::seconds(2));
+        break;
+
+        case 0x44:              //后退档升档
+            if(speed_flag < 14)
+                speed_flag++;
+            std::this_thread::sleep_for(std::chrono::seconds(2));
+        break;
+
+        case 0x41:              //后退档升档
+            if(speed_flag > 11)
+                speed_flag--;
+            std::this_thread::sleep_for(std::chrono::seconds(2));
+        break;
+
+        default:
+        break;
+    }
+
+}
+
+
 void CCanBusSensor::runSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1) {
+
+    // unsigned int mapped_value;
+    // cout<<"speed_flag before change: "<<speed_flag<<endl;
+    // switch (speed_flag)
+    //     {
+    //         case 11:
+    //             mapped_value = static_cast<unsigned int>(input-2) * 375 / 0x7F;
+    //             cout<<"run speed: 11"<<mapped_value<<endl;
+    //         break;
+
+    //         case 12:
+    //             mapped_value = static_cast<unsigned int>(input-2) * 750 / 0x7F;
+    //             cout<<"run speed: 12"<<mapped_value<<endl;
+    //         break;
+
+    //         case 13:
+    //             mapped_value = static_cast<unsigned int>(input-2) * 1125 / 0x7F;
+    //             cout<<"run speed: 13"<<mapped_value<<endl;
+    //         break;
+
+    //         case 14:
+    //             mapped_value = static_cast<unsigned int>(input-2) * 1500 / 0x7F;
+    //             cout<<"run speed: 14"<<mapped_value<<endl;
+    //         break;
+
+    //         default:
+    //         break;
+    //     }
+    // cout<<"speed_flag after change: "<<speed_flag<<endl;
+
     // 将输入值从 0x00 - 0xFF 映射到 0x0000 - 0x05DC (0 - 1500)
-    unsigned int mapped_value = static_cast<unsigned int>(input-2) * 1500 / 0x7F;
-    cout<<"run speed: "<<mapped_value<<endl;
+    // unsigned int mapped_value = static_cast<unsigned int>(input-2) * 1500 / 0x7F;
+    // cout<<"run speed: "<<mapped_value<<endl;
     // 提取高八位和低八位
     byte0 = static_cast<unsigned char>((mapped_value >> 8) & 0xFF); // 高八位
     byte1 = static_cast<unsigned char>(mapped_value & 0xFF);        // 低八位
 }
 
 void CCanBusSensor::backSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1) {
+    
+    // unsigned int mapped_value;
+    // switch (speed_flag)
+    //     {
+    //         case 11:
+    //             mapped_value = static_cast<unsigned int>(input-2) * -375 / 0x7F;
+    //             cout<<"back speed: 11"<<mapped_value<<endl;
+    //         break;
+
+    //         case 12:
+    //             mapped_value = static_cast<unsigned int>(input-2) * -750 / 0x7F;
+    //             cout<<"back speed: 12"<<mapped_value<<endl;
+    //         break;
+
+    //         case 13:
+    //             mapped_value = static_cast<unsigned int>(input-2) * -1125 / 0x7F;
+    //             cout<<"back speed: 13"<<mapped_value<<endl;
+    //         break;
+
+    //         case 14:
+    //             mapped_value = static_cast<unsigned int>(input-2) * -1500 / 0x7F;
+    //             cout<<"back speed: 14"<<mapped_value<<endl;
+    //         break;
+
+    //         default:
+    //         break;
+    //     }
+    
     // 将输入值从 0x00 - 0xFF 映射到 -1500 到 0 的范围
     int mapped_value = static_cast<int>(input-2) * -1500 / 0x7F;
     cout<<"back speed: "<<mapped_value<<endl;
@@ -325,15 +426,16 @@ void CCanBusSensor::move_run(cannet_frame* frame){
         if(carframe.data[4]>0x02 && carframe.data[4]<=0x7F)
         {
             CCanBusSensor::runSpeed(carframe.data[4],id_111[0],id_111[1]);
+            
             run_flag = true;
-            std::cout<<"油门前进"<<std::endl;
+            // std::cout<<"油门前进"<<std::endl;
         }
         else
         {
             id_111[0] = 0x00;
             id_111[1] = 0x00;
             run_flag = true;
-            std::cout<<"前进油门松开"<<std::endl;
+            // std::cout<<"前进油门松开"<<std::endl;
         }
     }
     else  
@@ -341,7 +443,7 @@ void CCanBusSensor::move_run(cannet_frame* frame){
         std::copy(id_init,id_init+8,id_111);
         run_flag = false;
 
-        std::cout<<"前进档：刹车"<<std::endl;
+        // std::cout<<"前进档：刹车"<<std::endl;
     }
 
 }
@@ -374,7 +476,7 @@ void CCanBusSensor::move_back(cannet_frame* frame){
             CCanBusSensor::backSpeed(carframe.data[4],id_111[0],id_111[1]);
             run_flag = true;
 
-            std::cout<<"油门后退"<<std::endl;
+            // std::cout<<"油门后退"<<std::endl;
         }
         else
         {
@@ -382,7 +484,7 @@ void CCanBusSensor::move_back(cannet_frame* frame){
             id_111[1] = 0x00;
             run_flag = true;
             
-            std::cout<<"后退油门松开"<<std::endl;
+            // std::cout<<"后退油门松开"<<std::endl;
         }
     }
     else  
@@ -390,7 +492,7 @@ void CCanBusSensor::move_back(cannet_frame* frame){
         std::copy(id_init,id_init+8,id_111);
         run_flag = false;
 
-        std::cout<<"后退档：刹车"<<std::endl;
+        // std::cout<<"后退档：刹车"<<std::endl;
     }
 }
 
@@ -398,7 +500,7 @@ void CCanBusSensor::leftSpeed(unsigned char input, unsigned char &byte0, unsigne
 
     // 将输入值从 0x00 - 0xFA 映射到 0x0000 - 0x020B (0 - 523)
     unsigned int mapped_value = static_cast<unsigned int>(input) * 523 / 0xFA;
-    cout<<"run speed: "<<mapped_value<<endl;
+    // cout<<"run speed: "<<mapped_value<<endl;
     // 提取高八位和低八位
     byte0 = static_cast<unsigned char>((mapped_value >> 8) & 0xFF); // 高八位
     byte1 = static_cast<unsigned char>(mapped_value & 0xFF);        // 低八位
@@ -408,7 +510,7 @@ void CCanBusSensor::rightSpeed(unsigned char input, unsigned char &byte0, unsign
 
     // 将输入值从 0x00 - 0xFA 映射到 -523 到 0 的范围
     int mapped_value = static_cast<int>(input) * -523 / 0xFA;
-    cout<<"back speed: "<<mapped_value<<endl;
+    // cout<<"back speed: "<<mapped_value<<endl;
 
     // 将负数调整为 0xFA24 ( -1500) 到 0x0000 的正数范围
     unsigned short adjusted_value = static_cast<unsigned short>(mapped_value + 0x10000);
@@ -491,21 +593,22 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控
                     {
                         case 1:
                             CCanBusSensor::move_run(&frame);
-                            cout<<"case 1:前进档"<<endl;
+                            // cout<<"case 1:前进档"<<endl;
                         break;
 
                         case 2:
                             CCanBusSensor::move_neutral(&frame);
-                            cout<<"case 2:空档"<<endl;
+                            // cout<<"case 2:空档"<<endl;
                         break;
 
                         case 3:
                             CCanBusSensor::move_back(&frame);
-                            cout<<"case 3:后退档"<<endl;
+                            // cout<<"case 3:后退档"<<endl;
                         break;
 
                         default:
-                            cout<<"gear error"<<endl;
+                            // cout<<"gear error"<<endl;
+                            cout<<"升档降档"<<endl;
                         break;
                     }
                 }
@@ -532,11 +635,11 @@ void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控
     Sendframe[3].can_id = 0x111;
     std::copy(id_111,id_111+8,Sendframe[3].data);
     
-    std::cout << "Array contents: ";
-    for (unsigned char value : id_111) {
-        std::cout << "0x" << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(value) << " ";
-    }
-    std::cout << std::endl;
+    // std::cout << "Array contents: ";
+    // for (unsigned char value : id_111) {
+    //     std::cout << "0x" << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(value) << " ";
+    // }
+    // std::cout << std::endl;
 }
 
 void CCanBusSensor::SendStatusToMSG()

zw_pro/EgoSystem/can_bus.h

@@ -33,6 +33,7 @@ public:
      void move_rot(cannet_frame* frame);  // 车辆右转  
      bool car_stop(cannet_frame* frame);
      int gearselection(cannet_frame* frame); // 1:前进档 2:空挡 3:后退档
+     void speedlevel(cannet_frame* frame); //升档降档
      void runSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1); //座舱速度与小车速度线性对应
      void backSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1);
      void leftSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1);
@@ -43,7 +44,9 @@ public:
      bool run_flag ; // 车辆前进后退
      bool rot_flag ; // 车辆转弯
      bool stop_flag ; // 急停状态
-     int gear; //档位
+     int gear; //前进后退空档位
+     int speed_flag = 11; //升档降档档位
+     // unsigned int mapped_value;
 
      unsigned char id_init[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
      unsigned char id_111[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

zw_pro/EgoSystem/readme.txt

@@ -15,7 +15,9 @@
 右转：     0CFDD633  10 86 01 00 FF 00 00 FF                                                   
 前进档：   0CFDD633  01 00 01 00 FF 10 00 FF   
 空档：     0CFDD633  01 00 01 00 FF 00 00 FF  
-后退档：   0CFDD633  01 00 01 00 FF 40 00 FF                                           
+后退档：   0CFDD633  01 00 01 00 FF 40 00 FF    
+(空挡)升档：     0CFDD633  01 00 01 00 FF 04 00 FF
+(空档)降档：     0CFDD633  01 00 01 00 FF 01 00 FF  
 左转范围:0x00~0xD8, 右转范围:0x00~0xFA
 
 舱端右手柄

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