vehicle-backup/zw_pro/EgoSystem/vehicle.h

#ifndef VEHICLE_H
#define VEHICLE_H
#include <iostream>  
#include <string>  
using namespace std;

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] = {0x01,0x00,0x50,0x00,0x00,0x00,0x00,0x00};       //id:121 前车灯常关
unsigned char tailamp_on[8] = {0x01,0x00,0x00,0x10,0x50,0x00,0x00,0x00};       //id:121 后车灯常关
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[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};            //id:111 急停

class Vehicle {  
private:  
    bool order_flag; 
    bool lamp_flag; // 车灯状态 
    bool stop_flag; // 急停状态
    std::string direction_tag; // 车辆当前方向  
  
public:  
    Vehicle() : order_flag(true), lamp_flag(false), stop_flag(false), direction_tag("forward") {}  
  
    void order(bool order_flag);
    void toggleLamp(bool lamp_flag);  // 车灯开关  
    void moveForward(); // 车辆前进  
    void turnLeft();  // 车辆左转  
    void turnRight(); // 车辆右转  
    void moveBackward();  // 车辆后退（简单实现，不改变方向）  
};  


#endif