铁建错误编码发送到遥控端的接收说明

遥控

1. 简述

错误代码在遥控驾驶系统最基本的车辆上行报文中，具体字段如下图所示：

2. 遥控端接收方法示例

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace TestCSharp
{
    class Program
    {
        static ushort ERRDET_GPS_LOSS = 0x0004;
        static ushort ERRDET_IMU_LOSS = 0x0008;
        static ushort ERRDET_LIDAR_LOSS = 0x0010;
        static ushort ERRDET_POSTYPE = 0X0080;
        static ushort ERRDET_OUTOFPATH = 0X0100;
        static void Main(string[] args)
        {
            ushort err_msg = (ushort)(ERRDET_GPS_LOSS | ERRDET_LIDAR_LOSS | ERRDET_OUTOFPATH);
            string msg1 = ErrorToString(err_msg);
            string msg2 = ErrorToString_Single(err_msg);
            Console.WriteLine("多个错误一起显示的方式：" + msg1);
            Console.WriteLine("只显示一个错误的方式：" + msg2);
        }
        /// <summary>
        /// 如果有多个错误，全部显示的函数；
        /// </summary>
        /// <param name="_err_msg">车辆上行报文中m_ctrl_info 的数值</param>
        /// <returns>代表错误的字符串</returns>
        static string ErrorToString(ushort _err_msg)
        {
            string ret = "";
            bool location_error = (_err_msg & ERRDET_GPS_LOSS) == ERRDET_GPS_LOSS ||
                (_err_msg & ERRDET_IMU_LOSS) == ERRDET_IMU_LOSS ||
                (_err_msg & ERRDET_POSTYPE) == ERRDET_POSTYPE;
            bool lidar_error = (_err_msg & ERRDET_LIDAR_LOSS) == ERRDET_LIDAR_LOSS;
            bool path_error = (_err_msg & ERRDET_OUTOFPATH) == ERRDET_OUTOFPATH;
            bool is_error = location_error || lidar_error || path_error;
            if (is_error)
            {
                if (location_error)
                    ret += "定位系统故障；";
                if (lidar_error)
                    ret += "激光雷达故障；";
                if (path_error)
                    ret += "行驶异常；";
            }
            else
                ret += "正常";
            return ret;
        }
        /// <summary>
        /// 同时发生多个错误，但只显示其中一个错误的函数
        /// </summary>
        /// <param name="_err_msg">车辆上行报文中m_ctrl_info 的数值</param>
        /// <returns>代表错误的字符串</returns>
        static string ErrorToString_Single(ushort _err_msg)
        {
            string ret = "";
            bool location_error = (_err_msg & ERRDET_GPS_LOSS) == ERRDET_GPS_LOSS ||
                (_err_msg & ERRDET_IMU_LOSS) == ERRDET_IMU_LOSS ||
                (_err_msg & ERRDET_POSTYPE) == ERRDET_POSTYPE;
            bool lidar_error = (_err_msg & ERRDET_LIDAR_LOSS) == ERRDET_LIDAR_LOSS;
            bool path_error = (_err_msg & ERRDET_OUTOFPATH) == ERRDET_OUTOFPATH;
            bool is_error = location_error || lidar_error || path_error;
            // 假设错误显示优先级从高到低依次为：
            // 1. 定位问题；
            // 2. 行驶异常；
            // 3. 激光雷达故障；
            if (location_error)
                ret += "定位系统故障；";
            else if (path_error)
                ret += "行驶异常；";
            else if (lidar_error)
                ret += "激光雷达故障；";
            else
                ret += "正常";
            return ret;
        }
    }
}