新版本遥控中心程序报文说明

慧拓

端口和IP定义

const char* UI_IP = "127.0.0.1";
const int UI_PORT = 10010;     // 对应 UplinkDGram
const char* PANOSIM_IP = "10.130.210.63";
const int PANOSIM_PORT = 10012; // 对应 UplinkDGram
const int STATE_PORT = 10013;  // 按键事件触发报文的端口，对应 HomeDgram_Trigger
const int LOCAL_PORT = 10015;  // 模拟器输入实时状态的发送端口 HomeDgram_Ctrl

报文定义

#pragma once
// 车辆上行信息，接收到就发给UI和PanoSim
struct UplinkDGram
{
    short m_gram_header;      // 报文头 0xAAA
    short m_gram_id;          // 报文标识 0xAF1
    short m_vehicle_id;       // 车辆ID 0x00A ~ 0x00C
    short m_vehicle_state;    // 0:正常; 1:故障
    unsigned int m_longitude; // 经度
    unsigned int m_latitude;  // 纬度
    unsigned short m_heading; // 航向
    short m_speed;            // 速度
    int m_steering;           // 方向盘转角
    short m_ctrl_sign;        // 0:自动; 1:遥控
    short m_ctrl_info;        // 控制信息 1:车辆主动请求接管; 2:车辆故障 ...
    short m_rpm;              // RPM 
    short m_unused0;          // 
    void Print()
    {
        printf("DGram CarID: %d\n", m_vehicle_id);
        printf("DGram m_speed: %d\n", m_speed);
        printf("DGram m_steering: %d\n", m_steering);
    }
};
struct DownlinkDGram
{
    short m_gram_header;      // 报文头 0xAAA
    short m_gram_id;          // 报文标识 0xAF1  
    short m_vehicle_id;       // 车辆ID 0x00A ~ 0x00C
    short m_rc_speed;         // 遥控速度
    short m_rc_acc_pedal;
    short m_rc_brake_pedal;
    short m_ctrl_sign;        // 遥控状态, 1: 遥控; 0: 自动
    short m_unused;
    int m_rc_steer;           // 遥控方向盘转角
    void Print()
    {
        printf("DGram CarID: %d\n", m_vehicle_id);
        printf("DGram Steering: %d\n", m_rc_steer);
        printf("DGram Acc: %d\n", m_rc_acc_pedal);
        printf("DGram Brk: %d\n", m_rc_brake_pedal);
    }
};
#pragma pack(push)
#pragma pack(1)
// 模拟器状态报文，一直发送
typedef struct HomeDgram_Ctrl
{
    short m_gram_header;            // 报文头 0xA00
    short m_gram_id;                // 报文标识 0xA01  
    short m_vehicle_id;             // 0 - 当前没有观察任何车辆；或 车辆ID
    int m_rc_steering;              // 模拟方向盘转角
    short m_rc_speed;               // 模拟器速度
    short m_rc_acc_pedal;           // 模拟器油门踏板开度 (0-100)
    short m_rc_brk_pedal;           // 模拟器刹车踏板开度 (0-100)
    short m_ping_time;              // RTT
    HomeDgram_Ctrl()
    {
        m_gram_header = 0xA00;
        m_gram_id = 0xA01;
        m_ping_time = 5;
    }
};
// 控制更改报文，有按键消息再发送
typedef struct HomeDgram_Trigger
{
    short m_gram_header;            // 报文头 0x010
    short m_gram_id;                // 报文标识 0x011
    short m_ctrl_state;             // 控制状态 0 - 啥也不做；1 - 遥控； 2 - 同步
    HomeDgram_Trigger()
    {
        m_gram_header = 0x010;
        m_gram_id = 0x011;
    }
};
#pragma pack(pop)