modularization/src1/decision/common/common/car_status.h

#pragma once
#ifndef _IV_COMMON_CAR_STATUS_
#define _IV_COMMON_CAR_STATUS_

#include <common/boost.h>
#include <boost/serialization/singleton.hpp>
#include <gps_type.h>
#include <obstacle_type.h>
#include <time.h>
#include <common/mobileye.h>
#include <QTime>

///kkcai, 2020-01-03
#include <QMutex>
///////////////////////////////////////

#include "platform/platform.h"

#include "ultrasonic_type.h"

//#include "common/decitionview.pb.h"

#include "common/sysparam_type.h"

#include "common/roadmode_type.h"

#define RADAR_OBJ_NUM 64

#ifdef linux
unsigned long GetTickCount();
#endif
namespace iv {
    class CarStatus : public boost::noncopyable {
    public:
        CarStatus();
        ~CarStatus();

        float speed;			//车速
        double mfCalAcc = 0;
        std::int16_t wheel_angle;		//方向盘转角
        std::uint8_t braking_pressure;	//刹车压力
         float torque_st=0;
        bool mbRunPause = false;
        bool mbBrainCtring = false;
        bool status[6] = { true, false, false, false, true, false };	//bool arrive = false;	//  x4:是否到达站点（0:未到 1:到达）
                                                                //bool people = false;	//	x3:车上是否有人（0:无人 1:有人）
                                                                //bool stop = false;	    //	x2:是否停车（0:否   1:是）
                                                                //bool call = false;		//	x1:是否叫车（0:否	1:是）
                                                                //bool available = true;	// 是否可被叫车
                                                                //bool fire = false;
 //       int carState = 0;	// 0:停车	1:正常循迹	2:前往站点

        int carState = 0;	// 0:停车	1:正常循迹	2:前往站点
        int emergencyStop=0;
        int station_control_door=0;//0: door close    1:door open
        bool station_control_door_option=false;
                int istostation = 0;
                //int ctostation = 0;
                int currentstation = 0;
                //int nextstation = 0;
                int clientto = 0;
                double amilng = 0.0;
                double amilat = 0.0;
                bool busmode = false;
                bool netconnect = false;
                bool doorsta=false;
                unsigned char speedlimte;

        int grade=0;
        int driverMode=0;
        int epb=0;
        int epsMode=1;
        float engine_speed=0;
        bool receiveEps=false;


              bool speed_control=true;
              bool group_control =false;
              int group_server_status=0;
              int  group_state = 0;
              float group_x_local = 0.0;
              float group_y_local = 0.0;
              float group_velx_local = 0.0;
              float group_vely_local = 0.0;
              float group_comm_speed = 0.0;
              int group_pathpoint=0;
              float group_offsetx=0.0;
              float group_frontDistance=0.0;

              float mfttc = 0;


        std::vector <iv::platform::station> car_stations;


        AWS_display aws_display;
        lane Lane;
        obstacle_status obstacleStatus;
        obstacle_data_a obstacleStatusA[15];
        obstacle_data_b obstacleStatusB[15];
        obstacle_data_c obstacleStatusC[15];
        aftermarket_lane aftermarketLane;
        lka_left_lane_a LKAleftLaneA;
        lka_left_lane_b LKAleftLaneB;
        lka_right_lane_a LKArightLaneA;
        lka_right_lane_b LKArightLaneB;
        next_lane_a nextLaneA_left[4], nextLaneA_right[4];
        next_lane_b nextLaneB_left[4], nextLaneB_right[4];
        ref_points refPoints;
        num_of_next_lane_mark_reported numOfNextLaneMarkReported;


        double mfAcc = 0;
        double mfVehAcc=0;
        double mfWheel = 0;
        double mfBrake = 0;
        double steerAngle=0;
        QTime mRunTime;

        int mRadarS = -1;
        int mLidarS = -1;
        int mRTKStatus = 0;
        int mLidarPer = -1;

        double mLidarObs;
        double mRadarObs;
        double mObs;


        GPS_INS aim_gps_ins;
        bool bocheMode=false;
        int bocheEnable=0;

        double mfParkLat;
        double mfParkLng;
        double mfParkHeading;
        int mnParkType;


        double mLidarRotation;
        double mLidarRangeUnit;

        iv::GPSData location;		//当前车辆位置
        boost::array<iv::ObstacleBasic, 64> obs_radar;//毫米波雷达的障碍物数据
         boost::array<iv::ObstacleBasic, 64> obs_rear_radar;//houxiang毫米波雷达的障碍物数据
        iv::ultrasonic_obs multrasonic_obs;
        std::vector<iv::TracePoint> obsTraceLeft,obsTraceRight;

        double mfGPSAcc = 0;

//        iv::brain::decitionview mdecitionview;
        iv::sysparam msysparam;
        iv::roadmode_vel mroadmode_vel;
        int vehGroupId;
        double mfEPSOff = 0.0;
        float socfDis=15;   //停障触发距离
        float aocfDis=25;   //避障触发距离
        float aocfTimes=5; //避障触发次数
        float aobzDis=5;   //避障保障距离
        /// traffice light : 0x90
        int iTrafficeLightID = 0;       //红绿灯ID
        int iTrafficeLightColor = 2;    //0x0: 红色
        //0x1: 黄色
        //0x2: 绿色
        int iTrafficeLightTime = 0;     //红绿灯剩余时间
        double iTrafficeLightLat = 0;
        double iTrafficeLightLon = 0;

        bool daocheMode=false;

        //////////////////////////////////////////////////////

        ///kkcai, 2020-01-03
        QMutex mMutexMap;
        /////////////////////////////////////

        //mobileEye chuku

        float vehSpeed_st=0;

        bool useMobileEye = false;
        bool m_bOutGarage=false;//车道线识别出库标志
        float outGarageLong=10;
        float waitGpsTimeWidth=5000;

        int mnBocheComplete = 0;   //When boche comple set a value.

        uint32_t ultraDistance[13];
        bool useObsPredict = false;
        bool useLidarPerPredict = false;
        bool avoidObs = false;
        bool inRoadAvoid = false;
        //hapo station 2021/02/05
        iv::StationCmd   stationCmd;
    };
    typedef boost::serialization::singleton<iv::CarStatus> CarStatusSingleton;//非线程安全，注意多线程加锁，单例模式
}
#define ServiceCarStatus iv::CarStatusSingleton::get_mutable_instance()
#endif // !_IV_COMMON_CAR_STATUS_