#pragma once
#include <unordered_map>
#include <vector>
template<typename T>
struct FVector3
{
T X;
T Y;
T Z;
};
enum RadarPosition :int32_t
{
RADAR_LEFT,
RADAR_RIGHT,
RADAR_REAR,
RADAR_ALL
};
enum RenderPosition :int32_t
{
FRONT,
BACK,
LEFT,
RIGHT,
DASHBOARD,
DASHBOARD_m,
ALL
};
enum EgoType :int32_t
{
None,
User,
Car
};
enum ChannelType:int32_t
{
CHANNEL_CAR,
CHANNEL_IMU,
CHANNEL_RADAR,
#ifdef LIDAR_SENSOR
CHANNEL_LEFT_LIDAR,
CHANNEL_RIGHT_LIDAR,
#endif
CHANNEL_ALL,
};
enum UserState
{
Offline=0,
Idle = 1,
Remote = 2,
Automotive = 3,
AskRemote = 4
};
struct UserCamera
{
int32_t uid;
EgoType type;
UserState state;
std::string name;
};
struct OfferDesc
{
char type[16];
char sdp[4096 * 3-16];
};
struct AnswerDesc
{
char type[16];
char sdp[4096 * 3 - 16];
};
struct CandidateDesc
{
char candidate[4096];
char sdp_mid[4096];
int32_t sdp_mline_index;
};
#pragma pack(1)
#define CAN_MSG_LEN 13
struct cannet_frame
{
int8_t dlc;
int32_t canid;
int8_t data[8];
};
#pragma pack()
enum RobotStatus
{
OK,
Fail,
};
#pragma pack()
struct RadarData
{
int32_t r0;
int32_t r1;
int32_t r2;
int32_t r3;
int32_t r4;
int32_t r5;
int32_t r6;
int32_t r7;
};
struct FeedData
{
//int32_t work_pressure;
//int32_t brake_pressure;
//int32_t gearbox_oil_temp;
//int32_t gearbox_oil_pressure;
//int32_t engine_rpm;
//int32_t engine_pressure;
//int32_t speed;
//// int32_t gear;
//int32_t cold_water;
//int32_t steer_angle;
//int32_t left_lock_status;
//int32_t right_lock_status;
///////////////////////////////////////////////////////状态参数
int32_t Engine_speed = 1;//发动机转速
int32_t Travel_speed = 2;//行驶速度
int32_t Fuel_level = 3;//燃油油位
int32_t Engine_temperature = 4;//发动机水温
int32_t Hydraulic_oil_temperature = 5;//液压油油温
int32_t Main_pump_1_pressure = 6;//主泵1压力
int32_t Main_pump_2_pressure = 7;//主泵2压力
int32_t Hand_gear = 8;//水箱水位
int32_t Actual_gear = 9;//发动机机油压力
_Float32 Gripper_height = 10;//抓具高度
_Float32 amplitude = 11;//幅度
int32_t Boom_angle = 12;//动臂角度
int32_t Stick_angle = 13;//斗杆角度
///////////////////////////////////////////////////////报警信息
int32_t Idle_protection = 14;//怠速保护
int32_t Front_toggle = 15;//前轮对中
int32_t Back_toggle = 16;//后轮对中
int8_t Error_Buff[8];//报警信息
int32_t interlock = 18;//启动联锁
int32_t safety_switch = 19;//安全开关阀异常
int32_t arm_lift_pilot = 20;//大臂提升先导比例阀异常
int32_t arm_lowering_pilot = 21;//大臂下降先导比例阀异常
int32_t lever_lifting_pilot = 22;//斗杆提升先导比例阀异常
int32_t rod_lowering_pilot = 23;//斗杆下降先导比例阀异常
int32_t left_rotary_pilot = 24;//左回转先导比例阀异常
int32_t right_rotary_pilot = 25;//右回转先导比例阀异常
int32_t grab_open_pilot = 26;//抓斗开启先导比例阀异常
int32_t grab_close_pilot = 27;//抓斗闭合先导比例阀异常
int32_t safety_valves = 28;//安全开关阀
//增加 0x384
int32_t function_code =29 ; //功能码
int32_t main_add =30; //主地址
int32_t sub_add =31; //次地址
int32_t paramter=32 ; //参数值
//增加0x28b
int32_t engine_spn =33; //发动机实时故障SPN
int32_t engine_fmi =34; //发动机实时故障FMI
int32_t engine_num =35; //发动机故障次数
int8_t all_Buff[8]; //0x28f
// //增加0x28f
// int32_t p_flameout =36; //P档熄火；
// int32_t engine_start =37; //发动机启动
// int32_t emergency_signal = 38; //紧停信号
// int32_t preheating_monitoring=39; //预热监控
// int32_t park_switch =40; //驻车开关
// int32_t safety_bar_lock =41; //安全杆锁定
// int32_t forward_gear =42; //前进档
// int32_t backward_gear =43;//后退档
// int32_t first_gear = 44; //行驶一档
// int32_t sencond_gear = 45; //行驶2档
// int32_t n_gear =46; //实际N 档
// int32_t cabin_end =47; //驾驶室上升到位
// int32_t cab_end =48; //驾驶室下降到位
// int32_t reserve =49; //保留
// int32_t for_left_outrigger =50; //前左支腿选择
// int32_t for_right_outrigger =51; //前右支腿选择
// int32_t back_left_outrigger =52; //后左支腿选择
// int32_t back_right_outrigger=53; //后右支腿选择
// int32_t cab_start = 54; //驾驶室下降
// int32_t canbin_start=55;//驾驶室上升
// int32_t swinging_bridge_lock=56; //摆动桥锁定
// int32_t cab_emery =57; //驾驶室应急下降
// int32_t safety_bypass = 58; //安全旁通
// int32_t clear_alarm = 59; //清除蜂鸣器报警
// int32_t front_wheel_steering = 60; //前轮转向
// int32_t back_wheel_steering = 61; //后轮转向
// int32_t same_steering = 62; //前后轮同向转向
// int32_t reverse_steering= 63; //前后轮反向转向
// int32_t sound_signal_alarm = 64; //故障声光报警
// int32_t rod_intake_limit_valve =65; //斗杆内收限制阀
// int32_t rod_outtake_limit_valve = 66; //斗杆外摆限制阀
// int32_t boom_lift_limit_valve = 67; //动臂提升限制阀
// int32_t boom_out_limit_valve = 68; //动臂下降限制阀
// int32_t cab_emery_value = 69; //驾驶室应急下降阀
// int32_t charging_valve= 70; //充液阀
// int32_t parking_valve = 71; //驻车阀
// int32_t parking_back_signal = 72; //驻车反馈灯
// int32_t brake_signal = 73; //刹车灯
// int32_t power_delay = 74; //断电延时
// int32_t flash_signal= 75; //闪光信号
// int32_t left_for_outrigger_value = 76; //左前支腿伸缩电磁阀
// int32_t right_for_outrigger_value = 77; //右前支腿伸缩电磁阀
// int32_t left_back_outrigger_value = 78; //左后支腿伸缩电磁阀
// int32_t right_back_outrigger_value = 79; //右后支腿伸缩电磁阀
// int32_t for_steering_value = 80; //前轮转向电磁阀
// int32_t same_steering_value = 81; //四轮同向转向电磁阀
// int32_t rever_steering_value = 82; //四轮反向转向电磁阀
// int32_t first_gear_solenoid_valve = 83; //一档电磁阀
// int32_t sen_gear_solenoid_valve = 84; //二档电磁阀
// int32_t grab_rotary_switch_valve = 85; //抓具旋转切换电磁阀
//int32_t Boom_lift_pilot_pressure = 15;//动臂提升先导压力传感器故障
//int32_t Boom_drop_pilot_pressure = 16;//动臂下降先导压力传感器故障
//int32_t Stick_lift_pilot_pressure = 17;//斗杆提升先导压力传感器故障
//int32_t Stick_Drop_Pilot_Pressure = 18;//斗杆下降先导压力传感器故障
//int32_t left_turn_Pressure = 19;//车体左回转先导压力传感器故障
//int32_t right_turn_Pressure = 20;//车体右回转先导压力传感器故障
//int32_t outstretched_Pressure = 21;//支腿伸出先导压力传感器故障
//int32_t instretched_Pressure = 22;//支腿缩回先导压力传感器故障
//int32_t grab_opens_the_pilot = 23;//抓斗开启先导压力传感器故障
//int32_t grab_close_the_pilot = 24;//抓斗闭合先导压力传感器故障
//int32_t Main_pump_1_pilot_pressure = 25;//主泵1压力传感器故障
//int32_t Main_pump_2_pilot_pressure = 26;//主泵2压力传感器故障
//int32_t rod_cavity_pressure = 27;//动臂无杆腔压力传感器故障
//int32_t stick_cavity_pressure = 28;//斗杆无杆腔压力传感器故障
//int32_t Parking_pressure = 29;//驻车压力传感器故障
//int32_t Failure_of_the_accumulator_pressure = 30;//蓄能器压力传感器故障
//int32_t Gas_pedal_failure = 31;//油门踏板故障
//int32_t Faulty_throttle_knob = 32;//油门旋钮故障
//int32_t Leg_handle_failure = 33;//支腿手柄故障
//int32_t The_gripper_knob_faulty = 34;//抓具旋钮故障
//int32_t Hydraulic_oil_temperature_sensor_failure = 35;//液压油温传感器故障
//int32_t Faulty_fuel_level_sensor = 36;//燃油油位传感器故障
//int32_t Boom_inclination_sensor_failure = 37;//动臂倾角传感器故障
//int32_t Stick_inclination_sensor_communication = 38;//斗杆倾角传感器通讯故障
//int32_t Expansion_module_communication_failure = 39;//扩展模块通讯故障
//int32_t working_distance_exceeded = 40;//工作距离超限
//int32_t hydraulic_oil_temperature_low = 41;//燃油油位低
//int32_t Low_battery_voltage = 42;//电池电压低
//int32_t High_battery_voltage = 43;//电池电压高
//int32_t accumulator_pressure_abnormal = 44;//蓄能器压力异常
//int32_t hydraulic_oil_temperature_high = 45;//液压油温高
//int32_t Low_oil_pressure = 46;//机油压力低
//int32_t Low_coolant_level = 47;//冷却液液位低
//int32_t High_coolant_level = 48;//冷却液温度高
//int32_t system_overloaded = 49;//系统超载
//int32_t Safety_bypass_pressed = 50;//安全旁通按下
//int32_t Engine_SPN_failure = 51;//发动机SPN故障
//int32_t engine_warming_up = 52;//发动机预热中
//int32_t engine_warming_up_timeout = 53;//发动机预热超时
//int32_t Emergency_stop_press = 54;//紧急停止按下
};
struct cannet_frame_receive
{
int32_t canid;
int8_t dlc;
int8_t data[8];
};
typedef struct {
int16_t fire_status; //启动/熄火
int16_t remote_forward; //远程控制前进
int16_t remote_backward; //远程控制后退
int16_t Brake; //刹车
int16_t Park; //驻车
int16_t Outrigger_status; //支腿
int16_t Turn_angle; //转弯角度
int16_t Left_turn; //左旋 左手柄 左信号
int16_t Right_turn; //右旋 右手柄 右信号
int16_t Raised; //小臂抬起 左手柄 向后
int16_t Decrease; //小臂下降 左手柄 向前
int16_t Stretch; //大臂伸起 右手柄 向后
int16_t Bulls_decline ; //大臂下降 右手柄 向前
int16_t Material ; //吸盘吸料
int16_t Discharge ; //吸盘放料
int16_t zhua; //抓斗抓料
int16_t fang; //抓斗放料
int16_t Shell_rotation_left ; //贝壳斗旋转 shun
int16_t Shell_rotation_right ; //贝壳斗旋转 ni
int16_t Cabin ; //驾驶室升
int16_t Cab ; //驾驶室降
int16_t Working_signal ; //作业灯开/关
int16_t Turn_left_signal; //左转向 开/关
int16_t Turn_right_signal ; //右转向 开/关
int16_t Warning_Light ; //警示灯 开/关
int16_t Trumpet; //喇叭
int16_t Security_lock ; //安全锁 开/关
int16_t Urget_stop ; //急停
int16_t Vehicle_id; //车辆id
} vehicle_status;