commit

pjisuv_msgs/common_msgs.go

@@ -46,27 +46,17 @@ type TimeStatus struct {
 }
 
 type Retrieval struct {
-	msg.Package            `ros:"common_msgs"`
-	Header                 std_msgs.Header `rosname:"header"`
-	AsVehAccelerationValue float64         `rosname:"AS_Veh_Acceleration_Value"` // 惯导采集到的加速度
-	AsDriverTakeoverReq    int16           `rosname:"AS_Driver_TakeOver_Req"`    // 驾驶员接管提醒(2B9)
-	VcuAccelPosValue       float64         `rosname:"VCU_Accel_Pos_Value"`       // 实际加速踏板位置
-	VcuBrkPelPosValue      float64         `rosname:"VCU_BrkPel_Pos_Value"`      // 实际制动踏板位置
-	VcuRealSpeed           float64         `rosname:"VCU_Real_Speed"`            // 当前车速
-	VcuCurrentGear         int16           `rosname:"VCU_Current_Gear"`          // 当前档位
-	VcuParkingSt           int16           `rosname:"VCU_Parking_St"`            // 当前P档位
-	AutoDLimitInReason     int16           `rosname:"AutoD_Limitin_Reason"`      // 限制进入自动驾驶原因
-	EmergencyStopReason    int16           `rosname:"Emergency_Stop_Reason"`     // 紧急停车激活原因
-	VcuDriverTakeoverReq   int16           `rosname:"VCU_Driver_TakeOver_Req"`   // 驾驶员接管提醒(2BA)
-	VcuVehicleDriveModeSt  int16           `rosname:"VCU_Vehicle_Drive_Mode_St"` // 车辆驾驶模式
-	AutoDOutReason         int16           `rosname:"AutoD_Out_Reason"`          // 退出自动驾驶原因
-	BrakeSysFaultSt        int16           `rosname:"Brak_Sys_Fault_St"`         // 制动系统故障
-	StrgAngleRealValue     float64         `rosname:"Strg_Angle_Real_Value"`     // 方向盘实际转角
-	StrgAngleSpdValue      float64         `rosname:"Strg_Angle_Spd_Value"`      // 方向盘当前实际速度反馈
-	StrgWorkmodeSt         int16           `rosname:"Strg_WorkMode_St"`          // 当前系统实际工作模式
-	BCHornSt               int16           `rosname:"BC_Horn_St"`                // 喇叭状态
-
+	msg.Package  `ros:"common_msgs"`
+	Header       std_msgs.Header `rosname:"header"`
+	GearPos      int16           `rosname:"GearPos"`      // 当前档位
+	ActStrWhAng  float64         `rosname:"ActStrWhAng"`  // 实际方向盘转角
+	AccPed1      float64         `rosname:"AccPed1"`      // 加速踏板开度第一路EDR
+	AccPed2      float64         `rosname:"AccPed1"`      // 加速踏板开度第二路EDR
+	BrkPedSts    int16           `rosname:"BrkPedSts"`    // 制动开关状态
+	TurnSwitchLH int16           `rosname:"TurnSwitchLH"` // 左转向灯开关状态
+	TurnSwitchRH int16           `rosname:"TurnSwitchRH"` // 右转向灯开关状态
 }
+
 type CicvMovingObject__ struct {
 	msg.Package      `ros:"common_msgs"`
 	Header           std_msgs.Header