modularization/src/controller/controller_hapo/control/controller.h

#pragma once
/*
*控制器
*/
#ifndef _IV_CONTROL_CONTROLLER_
#define _IV_CONTROL_CONTROLLER_

#include <boost.h>
//#include <common/car_status.h>
#include <control/control_status.h>

namespace iv {
    namespace control {
        class Controller
        {
        public:
            Controller();
            ~Controller();
            void inialize();// 初始化


            void control_wheel(float angle);		//方向盘控制
            void control_angle_speed(float angSpeed);
            void control_angle_enable(bool enable);

            void control_speed_limit(float speedLimit);
            void control_torque(float percent);	//油门开度控制
            void control_aeb(float aeb);	//油门开度控制
            void control_brake(float brake);
            void control_gear(float gear);
            void control_handBrake(bool  enable);
            void control_mode(char mode);
            void control_gear_en(bool enable);
            void control_aeb_en(bool enable);
            void control_acc_en(bool enanble);


            void control_win_lf(char para);
            void control_win_rf(char para);
            void control_win_lr(char para);
            void control_win_rr(char para);
            void control_air_on(bool enable);
            void control_air_cricle(char para);
            void control_air_auto(char para);
            void control_air_off(char para);
            void control_air_temup(char para);
            void control_air_temdown(char para);
            void control_air_powerup(char para);
            void control_air_powerdown(char para);
            void control_obligate(char para);
            void control_door(char enable);
            void control_turnsignals(bool left, bool right);
            void control_small_light(char para);
            void control_near_light(char para);
            void control_horn(char para);
            void control_far_light(char para);
            void control_frog_light(char para);
            void control_wiper(char para);
            void control_brake_light(char para);
            void control_defrog(char para);
            void control_reverse_light(char para);
            void cmd_checksum(unsigned char cmd_id);



            void control_air_temp(char para);
            void control_air_mode(char para);
            void control_air_enable(bool enable);
            void control_wind_level(char para);
            void control_roof_light(char para);
            void control_home_light(char para);
            void control_air_worktime(char para);
            void control_air_offtime(char para);

            ///* 获取当前车辆状态*/
            //void getCurrentCarStatus(iv::CarStatus & car_status);

        private:
        };
    }
}

#endif // !_IV_CONTROL_CONTROLLER_