commit

kinglong_msgs/common_msgs.go

@@ -51,22 +51,19 @@ type Retrieval struct {
 	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
-	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
-	//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
-	//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
+	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
 
 }

test/main/main.go

@@ -55,7 +55,7 @@ func main() {
 								SensorForHRight:  0,
 								SensorForHTop:    0,
 								SensorForHBottom: 0,
-								SensorFilter:     "",
+								SensorFilter:     "0,5,6",
 								SensorDisplay:    false,
 								SensorMaxObjects: 0,
 								SensorPort:       0,
@@ -65,7 +65,7 @@ func main() {
 								SensorForHRight:  0,
 								SensorForHTop:    0,
 								SensorForHBottom: 0,
-								SensorFilter:     "",
+								SensorFilter:     "1,2,3,4",
 								SensorDisplay:    false,
 								SensorMaxObjects: 0,
 								SensorPort:       0,