feat(controller_hapo):add remote control function. but not be tested, attentiongit status!

src/controller/controller_hapo/controller_hapo.pro

@@ -24,7 +24,9 @@ SOURCES += $$PWD/main.cpp \
     ../../include/msgtype/brainstate.pb.cc \
     ../../include/msgtype/canmsg.pb.cc \
     ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/chassis.pb.cc
+    ../../include/msgtype/chassis.pb.cc \
+    ../../include/msgtype/platform_feedback.pb.cc \
+    ../../include/msgtype/remotectrl.pb.cc
 
 include($$PWD/control/control.pri)
 

src/controller/controller_hapo/main.cpp

@@ -20,13 +20,21 @@
 
 #include <thread>
 
+#include "remotectrl.pb.h"
+#include "platform_feedback.pb.h"
+
 void * gpacansend;
 void * gpadecition;
 void * gpachassis;
+void * gparemote;
+void * gpaPaltformFeedback;
 
 std::string gstrmemdecition;
 std::string gstrmemcansend;
 std::string gstrmemchassis;
+std::string gstrmemremote; //Remote Ctrl
+std::string gstrmemPaltformFeedback;
+
 bool gbSendRun = true;
 
 bool gbChassisEPS = false;
@@ -34,6 +42,15 @@ bool gbChassisEPS = false;
 iv::brain::decition gdecition_def;
 iv::brain::decition gdecition;
 
+bool gbAllowRemote = false;   //Default, Not Allow Remote
+
+bool gbAutoDriving = true; //if true, Auto Driving, false, remote controll
+
+iv::brain::decition gdecition_remote;
+iv::platformFeedback gPlatformFeedback;
+
+qint64 gLastRemoteTime = 0;
+
 QTime gTime;
 int gnLastSendTime = 0;
 int gnLastRecvDecTime = -1000;
@@ -43,7 +60,6 @@ int gnIndex = 0;
 
 boost::shared_ptr<iv::control::Controller> gcontroller;	//实际车辆控制器
 
-
 static QMutex gMutex;
 //void executeDecition(const iv::decition::Decition decition)
 //{
@@ -134,17 +150,89 @@ void executeDecition(const iv::brain::decition decition)
 
 //qDebug("door is %d",decition.door());
 
-
-
-
-
     gcontroller->cmd_checksum(0x10);
     gcontroller->cmd_checksum(0x11);
     gcontroller->cmd_checksum(0x12);
 
+    switch (decition.gear()) {
+    case 0:
+        gPlatformFeedback.set_shift(3);  //0N 1D 2R 3P
+        break;
+    case 1:
+        gPlatformFeedback.set_shift(1);  //0N 1D 2R 3P
+        break;
+    case 2:
+        gPlatformFeedback.set_shift(2);  //0N 1D 2R 3P
+        break;
+    case 3:
+        gPlatformFeedback.set_shift(0);  //0N 1D 2R 3P
+        break;
+    default:
+        break;
+    }
+    gPlatformFeedback.set_throttle(decition.torque());
+    gPlatformFeedback.set_brake(decition.brake());
+    gPlatformFeedback.set_steeringwheelangle(decition.wheelangle());
+
     //    qDebug("dangwei is %d mode is %d",decition.gear(),decition.mode());
 }
 
+void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+//    qint64 oldtime;
+    iv::brain::decition xdecition;
+
+    iv::remotectrl xrc;
+
+    if(!xrc.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenRemotectrl parse error."<<std::endl;
+        return;
+    }
+
+    if(xrc.ntype() == iv::remotectrl_CtrlType_AUTO)
+    {
+        gbAutoDriving = true;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_AUTO);
+    }
+    else if(xrc.ntype() == iv::remotectrl_CtrlType_STOP)
+    {
+        gbAutoDriving = false;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_STOP);
+        xdecition.set_torque(0.0);
+        xdecition.set_brake(100.0);
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_gear(1); //0P 1D 2R 3N
+        xdecition.set_handbrake(0);
+        xdecition.set_mode(1);
+        gMutex.lock();
+        gdecition_remote.CopyFrom(xdecition);
+        gMutex.unlock();
+        gLastRemoteTime = QDateTime::currentMSecsSinceEpoch();
+    }
+    else
+    {
+        gbAutoDriving = false;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_REMOTE);
+        xdecition.set_torque(xrc.acc());
+        xdecition.set_brake(xrc.brake());
+        xdecition.set_wheelangle(xrc.wheel()*5.5f);
+        if(xrc.shift() > 0) //D shift
+            xdecition.set_gear(1); //0P 1D 2R 3N
+        else if(xrc.shift() < 0)
+            xdecition.set_gear(2);
+        else
+            xdecition.set_gear(3);
+        xdecition.set_handbrake(0);
+        xdecition.set_mode(1);
+        gMutex.lock();
+        gdecition_remote.CopyFrom(xdecition);
+        gMutex.unlock();
+        gLastRemoteTime = QDateTime::currentMSecsSinceEpoch();
+    }
+
+}
+
 void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
     iv::chassis xchassis;
@@ -163,7 +251,6 @@ void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned
 
 }
 
-
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
     qint64 oldtime;
@@ -245,6 +332,16 @@ void ExecSend()
     {
         std::cout<<"MainWindow::onTimer serialize error."<<std::endl;
     }
+
+    int ndatasize_pf = gPlatformFeedback.ByteSize();
+    char * str_pf = new char[ndatasize_pf];
+    std::shared_ptr<char> pstr;pstr.reset(str_pf);
+    if(!gPlatformFeedback.SerializeToArray(str_pf,ndatasize_pf))
+    {
+        std::cout<<"MainWindow::on_horizontalSlider_valueChanged serialize error."<<std::endl;
+        return;
+    }
+    iv::modulecomm::ModuleSendMsg(gpaPaltformFeedback,str_pf,ndatasize_pf);
 }
 
 void initial()
@@ -265,16 +362,32 @@ void sendthread()
     iv::brain::decition xdecition;
     while(gbSendRun)
     {
-        if(gnDecitionNum <= 0)
+        if(gbAutoDriving)
         {
-            xdecition.CopyFrom(gdecition_def);
+            if(gnDecitionNum <= 0)
+            {
+                xdecition.CopyFrom(gdecition_def);
+            }
+            else
+            {
+                gMutex.lock();
+                xdecition.CopyFrom(gdecition);
+                gMutex.unlock();
+                gnDecitionNum--;
+            }
         }
         else
         {
-            gMutex.lock();
-            xdecition.CopyFrom(gdecition);
-            gMutex.unlock();
-            gnDecitionNum--;
+            if((QDateTime::currentMSecsSinceEpoch() - gLastRemoteTime)> 1000)
+            {
+                xdecition.CopyFrom(gdecition_def);
+            }
+            else
+            {
+                gMutex.lock();
+                xdecition.CopyFrom(gdecition_remote);
+                gMutex.unlock();
+            }
         }
         executeDecition(xdecition);
         if(gbChassisEPS == false) ExecSend();
@@ -317,10 +430,22 @@ int main(int argc, char *argv[])
     gstrmemcansend = xp.GetParam("cansend","cansend0");
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmemchassis = xp.GetParam("chassismsgname","chassis");
+    gstrmemremote =  xp.GetParam("remotectrl","remotectrl");
+    gstrmemPaltformFeedback = xp.GetParam("paltformFeedback","platformFeedback");
+    std::string strremote = xp.GetParam("allowremote","true");
+    if(strremote == "true")
+    {
+        gbAllowRemote = true;
+    }
 
     gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,1);
     gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
     gpachassis = iv::modulecomm::RegisterRecv(gstrmemchassis.data(),UpdateChassis);
+    if(gbAllowRemote)
+    {
+        gpaPaltformFeedback = iv::modulecomm::RegisterSend(gstrmemPaltformFeedback.data(),10000,1);
+        gparemote = iv::modulecomm::RegisterRecv(gstrmemremote.data(),ListenRemotectrl);
+    }
 
 #ifdef TORQUEBRAKETEST
     EnableTorqueBrakeTest();