modularization/src/controller/controller_hunter/control/control_status.h

#pragma once
//由于控制器指令共享同一个ID 0x20，建立此类维护控制指令的最新状态

#include <boost.h>
#include <cstdint>
#include <boost/serialization/singleton.hpp>
//#include <control/vv7.h>
#include <control/hunter.h>
#include <control/yuhesenfr09_1x.h>
#include <control/yuhesenfr09pro_1x.h>
namespace iv {
namespace control {
class ControlStatus : public boost::noncopyable
{
public:
    /*****************
             * ****测试标志位*****
             * ***************/
    int normal_speed  = 0;//常规速度
    int swerve_speed  = 0;//转弯速度
    int high_speed = 0;//快速
    int mid_speed = 0;//中速
    int low_speed = 0;//慢速
    int change_line  = -1;//换道标志
    int stop_obstacle = -1;//停障标志
    int elude_obstacle = -1;//避障标志
    int special_signle = -1;//特殊信号标志
    int car_pullover = -1;//靠边停车标志位
    float torque = 0.0;
    float brake = 0.0;
    float acc=0.0;

    Command111 command111 ;
    Command421 command421 ;
    Command131 command131;
    Command_Response command_reponse;

    int command_ID111 = 0x111;
    int command_ID421 = 0x421;
    int command_ID131 = 0x131;

    Command1d0 command1d0 ;
    Command2d0 command2d0 ;
    Command3d0 command3d0 ;
    Command4d0 command4d0 ;
    Command5d0 command5d0 ;
    Command2d0pro cmd2d0pro;
    Command7d0pro cmd7d0pro;
    int cmd2d0pro_ID= 0x18C4D2D0;
    int cmd7d0pro_ID= 0x18C4D7D0;

    int command_ID1D0= 0x18C4D1D0;
    int command_ID2D0= 0x18C4D2D0;
    int command_ID3D0= 0x18C4D3D0;
    int command_ID4D0= 0x18C4D4D0;
    int command_ID5D0= 0x18C4D5D0;


    void set_wheel_angle(float angle);
    void set_wheel_speed(float speed);
    void set_wheel_enable(bool enable);





    void set_speed_limit(float speed);
    void set_torque(float percent);
    void set_aeb(float aeb);
    void set_brake(float brake);
    void set_gear(int gear);
    void set_handBrake(bool handBrake);
    void set_driveMode(char mode);
    void set_gear_enable(bool enable);
    void set_aeb_enable(bool enable);
    void set_acc_enable(bool enable);
    void set_brake_enable(bool enable);
    void set_park_enable(bool enable);


    void set_win_lf(char para);
    void set_win_rf(char para);
    void set_win_lr(char para);
    void set_win_rr(char para);
    void set_air_on(char para);
    void set_air_cricle(char para);
    void set_air_auto(char para);
    void set_air_off(char para);
    void set_air_temup(char para);
    void set_air_temdown(char para);
    void set_air_powerup(char para);
    void set_air_powerdown(char para);
    void set_obligate(char para);
    void set_door(char enable);
    void set_turnsignals_control(bool left, bool right);
    void set_small_light(char para);
    void set_near_light(char para);
    void set_horn(char para);
    void set_far_light(char para);
    void set_frog_light(char para);
    void set_wiper(char para);
    void set_brake_light(char para);
    void set_defrog(char para);
    void set_reverse_light(char para);

    void set_air_temp(char para);
    void set_air_mode(char para);
    void set_air_enable(bool enable);
    void set_wind_level(char para);
    void set_roof_light(char para);
    void set_home_light(char para);
    void set_air_worktime(char para);
    void set_air_offtime(char para);

    void set_cmd_checksum(unsigned char cmd_id);

};
typedef boost::serialization::singleton<iv::control::ControlStatus> ControlStatusSingleton;
}
}
#define ServiceControlStatus iv::control::ControlStatusSingleton::get_mutable_instance()