72 lines
1.4 KiB
C++
72 lines
1.4 KiB
C++
#ifndef IO__CBOARD_HPP
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#define IO__CBOARD_HPP
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#include <Eigen/Geometry>
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#include <chrono>
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#include <cmath>
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#include <functional>
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#include <string>
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#include <vector>
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#include "io/command.hpp"
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#include "io/socketcan.hpp"
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#include "tools/logger.hpp"
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#include "tools/thread_safe_queue.hpp"
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namespace io
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{
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enum Mode
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{
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idle,
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auto_aim,
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small_buff,
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big_buff,
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outpost
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};
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const std::vector<std::string> MODES = {"idle", "auto_aim", "small_buff", "big_buff", "outpost"};
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// 哨兵专有
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enum ShootMode
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{
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left_shoot,
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right_shoot,
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both_shoot
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};
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const std::vector<std::string> SHOOT_MODES = {"left_shoot", "right_shoot", "both_shoot"};
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class CBoard
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{
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public:
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double bullet_speed;
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Mode mode;
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ShootMode shoot_mode;
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double ft_angle; //无人机专有
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CBoard(const std::string & config_path);
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Eigen::Quaterniond imu_at(std::chrono::steady_clock::time_point timestamp);
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void send(Command command) const;
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private:
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struct IMUData
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{
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Eigen::Quaterniond q;
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std::chrono::steady_clock::time_point timestamp;
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};
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tools::ThreadSafeQueue<IMUData> queue_; // 必须在can_之前初始化，否则存在死锁的可能
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SocketCAN can_;
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IMUData data_ahead_;
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IMUData data_behind_;
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int quaternion_canid_, bullet_speed_canid_, send_canid_;
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void callback(const can_frame & frame);
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std::string read_yaml(const std::string & config_path);
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};
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} // namespace io
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#endif // IO__CBOARD_HPP
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