2024年9月10日: SCOUT-zw

zw_pro/EgoSystem/.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "ostream": "cpp"
+    }
+}

zw_pro/EgoSystem/can_bus.cpp

@@ -1,9 +1,8 @@
 #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)
 
@@ -226,89 +225,114 @@ void CCanBusSensor::order(cannet_frame* frame){
         Sendframe[0].can_id = 0x421;
         Sendframe[0].can_dlc = carframe.dlc;
 
-        // memcpy(Sendframe[0].data,order_on,carframe.dlc);
-        std::copy(order_on,order_on+8,Sendframe[0].data);
+        memcpy(Sendframe[0].data,order_on,carframe.dlc);
 }
 
+bool CCanBusSensor::car_stop(cannet_frame* frame){
+
+        cannet_frame& carframe = frame[0];                
+
+        switch (carframe.data[2])
+        {
+            case 0x00:
+                *id_111 = *car_stop;
+                stop_flag = true;
+                // std::cout<<"car stop!"<<std::endl;
+            break;
+   
+            default:
+                stop_flag = false;
+                // std::cout<<"car ends stop..."<<std::endl;
+            break;
+        }
+        // memset(Sendframe[0].data, 0, sizeof(Sendframe[0].data));
+    return stop_flag;
+}
 
 void CCanBusSensor::toggleLamp(cannet_frame* frame){
 
         cannet_frame& carframe = frame[0];             
-        Sendframe[1].can_id = 0x121;
-        Sendframe[1].can_dlc = carframe.dlc;
+        Sendframe[2].can_id = 0x121;
+        Sendframe[2].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[1].data);
-                        std::cout<<"前车灯关,后车灯关 "<<std::endl;
+                        memcpy(Sendframe[2].data,headlamp_off,carframe.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,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;
+                        memcpy(Sendframe[2].data,headlamp_on,carframe.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,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;
+                        memcpy(Sendframe[2].data,taillamp_on,carframe.dlc); //后车灯开
+                        // 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];                
-        bool stop_flag = false;
+int CCanBusSensor::gearselection(cannet_frame* frame){
+    
+    cannet_frame& carframe = frame[0];
+    switch (carframe.data[5])
+    {
+        case 0x10:
+            return 1;
+        break;
 
-        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;
-        }
+        case 0x00:
+            return 2;
+        break;
+
+        case 0x40:
+            return 3;
+        break;
+    }
 }
 
+void CCanBusSensor::gear_act(int gear){
+
+    switch (gear)
+    {
+        case 1:
+            id_633[0] = 
+    }
+
+}
 
 void CCanBusSensor::move_run(cannet_frame* frame){
     
         cannet_frame& carframe = frame[0];     
         
-        // Sendframe[3].can_dlc = carframe.dlc;
-
-        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)
+        switch (gearselection)
+        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
+           
+            // std::copy(move_forward,move_forward+8,Sendframe[6].data); //油门前进
+            // memcpy(Sendframe[3].data,move_forward,carframe.dlc);
+            id_111[0] = 0x00;
+            id_111[1] = 0x96;
+
             run_flag = true;
             std::cout<<"油门前进"<<std::endl;
         }
-        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)
+        else  if(carframe.data[5]>0x02 && carframe.data[5]<=0x7F)
         {
-            Sendframe[4].can_id = 0x111;
-            std::copy(move_backward,move_backward+8,Sendframe[4].data); //刹车后退
+            // std::copy(move_backward,move_backward+8,Sendframe[2].data); //刹车后退
+            // std::copy(stop_on,stop_on+8,Sendframe[2].data); //刹车停止
+            // memcpy(Sendframe[3].data,stop_on,carframe.dlc);
+            id_111[0] = 0x00;
+            id_111[1] = 0x00;
+
             run_flag = true;
             std::cout<<"刹车后退"<<std::endl;
         }
+        // else  memcpy(Sendframe[2].data,stop_on,carframe.dlc);
+        else  { id_111[0] = 0x00;   id_111[1] = 0x00; }
 
 }
 
@@ -316,13 +340,34 @@ void CCanBusSensor::move_rot(cannet_frame* frame){
 
         cannet_frame& carframe = frame[0];     
 
-        Sendframe[5].can_id = 0x111;
-        Sendframe[5].can_dlc = carframe.dlc;
+        switch(carframe.data[0])
+        {
+            case 0x01:
+                
+                id_111[2] = 0x00;
+                id_111[3] = 0x00;
+               
+                // cout<<"No rotation"<<endl;
+            break;
+
+            case 0x04:
+
+                id_111[2] = 0x00;
+                id_111[3] = 0xc8;
+
+                rot_flag = true;
+                // cout<<"turn left"<<endl;
+            break;
+
+            case 0x10:
+
+                id_111[2] = 0xFF;
+                id_111[3] = 0x38;
+
+                rot_flag = true;
+                // cout<<"turn right"<<endl;
+            break;
 
-        if(carframe.data[0] != 0x01){
-            memcpy(Sendframe[5].data,move_rotation,carframe.dlc); //转弯
-            rot_flag = true;
-            cout<<"转弯"<<endl;
         }
 
 }
@@ -330,115 +375,64 @@ void CCanBusSensor::move_rot(cannet_frame* frame){
 
 
 /*------------------小车控制止-------------------*/
-
+/* ****Sendframe[3]和Sendframe[4]不能用***** */
+/* ****不需要order_on,就能直接用指令控制***** */
 
 void CCanBusSensor::OnMessage(cannet_frame* frames, int32_t count)  //下发控制指令
 {
 
-    for (int32_t i = 0; i < count; i++) //count=4
+    for (int32_t i = count; i > 0; i--) //count=4
     {
         cannet_frame& frame = frames[i];
 
         int32_t canid = frame.canid;
         
         //std::cout << std::hex << canid << std::endl;
-                
+        CCanBusSensor::order(&frame);
         switch (canid)
         {
             case 0x181:
-                // 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;
 
+                // Sendframe[1].can_id = 0x121;
+                // Sendframe[1].can_dlc = frame.dlc;
+                // cout<<"receive 181: "<<endl;
+
+                // memcpy(Sendframe[1].data,headlamp_on,frame.dlc); //前后车灯关
+                // cout<<"前后车灯关"<<endl;
+                // memcpy(Sendframe[2].data,move_forward,frame.dlc); //前进
                
+                
                 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);
-
+                if(!CCanBusSensor::car_stop(&frame))
+                {
+                    // cout<<"car ends stopping!"<<endl;    
+                    CCanBusSensor::move_run(&frame);     //move_run和car
+                }
+                
             break;
 
             case 0x0CFDD633:  // receive from frame[3]
-
-                CCanBusSensor::order(&frame);  
-                CCanBusSensor::move_rot(&frame);
-
-            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
+                if(!CCanBusSensor::car_stop(&frame))
                 {
-                  _message->SendZGJStatus(1);
-                  std::cout << "SendZGJStatus" << std::endl;
-                  //_msg[3].DATA[4] &= 0xEF;
+                    // cout<<"car ends stopping!"<<endl;  
+                    int gear = CCanBusSensor::gearselection(&frame);
+                    CCanBusSensor::gear_act(gear);
+                    CCanBusSensor::move_rot(&frame);
                 }
+                
 
-                //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;
-                }
+            break;
 
-                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;
+
+            default:
             break;
         }
     } 
+    Sendframe[3].can_id = 0x111;
+    Sendframe[3].can_dlc = frame.dlc;
+    memcpy(Sendframe[3].data,id_111,frame.dlc);
+    cout<<"id_111: "<<static_cast<int>(id_111[0])<<static_cast<int>(id_111[1])<<static_cast<int>(id_111[2])<<static_cast<int>(id_111[3])<<endl;
 }
 
 void CCanBusSensor::SendStatusToMSG()

zw_pro/EgoSystem/can_bus.h

@@ -23,19 +23,26 @@ public:
      void Emergency();
      
 
+/*------------------小车控制参数和函数起------------------*/
+
      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);
+     bool car_stop(cannet_frame* frame);
+     int gearselection(cannet_frame* frame); // 1:前进档 2:空挡 3:后退档
+     void gear_act(int gear);
 
-/*------------------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 order_flag ; // 指令模式
+     bool lamp_flag ; // 车灯状态 
+     bool run_flag ; // 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------------------*/
+     bool stop_flag ; // 急停状态
+     int gear; //档位
+
+     unsigned char id_111[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+     unsigned char id_633[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+/*------------------小车控制参数和函数止------------------*/
 
 private:
      void Run();
@@ -50,7 +57,7 @@ private:
 
      std::thread _can_thread;
      std::mutex _last_can_lock;
-     struct can_frame Sendframe[6];
+     struct can_frame Sendframe[7];
      bool _front_view = true;
 
      int16_t Direction;//方向
@@ -63,19 +70,17 @@ private:
      int model;//0本地,1远程
 
      /*-------------------小车控制起--------------------*/
-     
-
-     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
-     unsigned char headlamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00};       //id:121 前车灯常关
-     unsigned char taillamp_on[8] = {0x01,0x00,0x00,0x01,0x50,0x00,0x00,0x00};       //id:121 后车灯常开
-     unsigned char taillamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00};       //id:121 后车灯常关
+     unsigned char headlamp_on[8] = {0x01,0x01,0x50,0x00,0x00,0x00,0x00,0x00};     //id:121 前车灯常开
+     unsigned char headlamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00};    //id:121 前车灯常关
+     unsigned char taillamp_on[8] = {0x01,0x00,0x00,0x01,0x50,0x00,0x00,0x00};     //id:121 后车灯常开
+     unsigned char taillamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00};    //id:121 后车灯常关
      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_on[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};            //id:111 急停
+     unsigned char move_backward[8] = {0xFF,0x6A,0x00,0x00,0x00,0x00,0x00,0x00};   //id:111 以0.15m/s后退
+     unsigned char turn_left[8] = {0x00,0x00,0x00,0xc8,0x00,0x00,0x00,0x00};       //id:111 以0.2rad/s左转
+     unsigned char turn_right[8] = {0x00,0x00,0xFF,0x38,0x00,0x00,0x00,0x00};      //id:111 以0.2rad/s右转
+     unsigned char stop_on[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};         //id:111 急停
      /*-------------------小车控制止--------------------*/
      
 };

zw_pro/EgoSystem/readme.txt

@@ -2,26 +2,30 @@
 舱端前车灯开：  181  10 00 FF 00 02 02 67 18                  车端前车灯(常开)： 121 01 01 50 00 00 00 00 00
 舱端后车灯开：  181  08 00 FF 00 02 02 67 18                  车端后车灯(常开)： 121 01 00 00 01 50 00 00 00
 
-                                                                 byte[0] byte[1] byte[2] byte[3] byte[4] byte[5] byte[6] byte[7]
+                                                                     byte[0] byte[1] byte[2] byte[3] byte[4] byte[5] byte[6] byte[7]
 舱端油门：      181 00 00 FF 00 7F 02 67 18            车端前进：111   00      96      00      00      00      00      00      00 （小车以0.15m/s前进）
-舱端刹车：      181 00 00 FF 00 02 7F 67 18            车体行进速度，单位mm/s,值域【-1500，1500】     
+舱端刹车：      181 00 00 FF 00 02 7F 67 18            车体行进速度，单位mm/s,值域【-1500，1500】     用十六进制表示：-1500：0xFA24    1500:0x05DC
 
 油门踏板：0-127 刹车踏板：0-127  
 
 舱端左手柄                                             车端旋转：111   00      00      00      c8      00      00      00      00 （小车以0.2rad/s旋转）
-初始状态： 0CFDD634  01 00 01 00 FF 00 00 FF          车体旋转角速度，单位0.001rad/s,值域【-523，523】   
-左转：    0CFDD634  04 90 01 00 FF 00 00 FF          byte[0]:移动速度高八位 byte[1]：移动速度低八位  byte[2]：旋转速度高八位 byte[3]:旋转速度低八位      
-右转：    0CFDD634  10 86 01 00 FF 00 00 FF                                                   
-                                                          
+初始状态： 0CFDD633  01 00 01 00 FF 00 00 FF          车体旋转角速度，单位0.001rad/s,值域【-523，523】    用十六进制表示：-523：0xFDF5   523:0x020B
+左转：     0CFDD633  04 90 01 00 FF 00 00 FF          byte[0]:移动速度高八位 byte[1]：移动速度低八位  byte[2]：旋转速度高八位 byte[3]:旋转速度低八位      
+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                                           
 
-舱端急停：  181  00 00 00 FF 02 02 67 18               车端急停：111  00      00      00      c8      00      00      00      00
+舱端急停：  181  00 00 00 FF 02 02 67 18               车端急停：111  00      00      00      00      00      00      00      00
 
 舱端右手柄
 舱端操纵杆初始状态：0CFDD634  01 00 01 00 FF 00 00 FF                             
-舱端操纵杆前进：   0CFDD634  01 00 10 FA FF 00 00 FF                  
-舱端操纵杆后退：   0CFDD634  01 00 04 FA FF 00 00 FF                  
-舱端操纵杆右转：   0CFDD634  10 FA 01 00 FF 00 00 FF                 
-舱端操纵杆左转：   0CFDD634  04 FA 01 00 FF 00 00 FF                     
+舱端操纵杆前进：    0CFDD634  01 00 10 FA FF 00 00 FF                  
+舱端操纵杆后退：    0CFDD634  01 00 04 FA FF 00 00 FF                  
+舱端操纵杆右转：    0CFDD634  10 FA 01 00 FF 00 00 FF                 
+舱端操纵杆左转：    0CFDD634  04 FA 01 00 FF 00 00 FF   
+
+
 
                                       
                                                                          

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 */
-/* ip6tables module for matching the Hop Limit value
+/* Hop Limit modification module for ip6tables
  * 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_EQ = 0,		/* equals */
-	IP6T_HL_NE,		/* not equals */
-	IP6T_HL_LT,		/* less than */
-	IP6T_HL_GT,		/* greater than */
+	IP6T_HL_SET = 0,
+	IP6T_HL_INC,
+	IP6T_HL_DEC
 };
 
+#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 */
-/* 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;
 };