commit

kinglong_msgs/common_msgs.go

@@ -48,20 +48,22 @@ type TimeStatus struct {
 type Retrieval struct {
 	msg.Package            `ros:"common_msgs"`
 	Header                 std_msgs.Header `rosname:"header"`
-	AsVehAccelerationValue float64         `rosname:"AS_Veh_Acceleration_Value"`
-	AsDriverTakeoverReq    int16           `rosname:"AS_Driver_TakeOver_Req"`
-	VcuAccelPosValue       float64         `rosname:"VCU_Accel_Pos_Value"`
-	VcuBrkPelPosValue      float64         `rosname:"VCU_BrkPel_Pos_Value"`
-	VcuRealSpeed           float64         `rosname:"VCU_Real_Speed"`
-	VcuCurrentGear         int16           `rosname:"VCU_Current_Gear"`
-	VcuParkingSt           int16           `rosname:"VCU_Parking_St"`
-	AutoDLimitInReason     int16           `rosname:"AutoD_Limitin_Reason"`
-	EmergencyStopReason    int16           `rosname:"Emergency_Stop_Reason"`
-	VcuDriverTakeoverReq   int16           `rosname:"VCU_Driver_TakeOver_Req"`
-	VcuVehicleDriveModeSt  int16           `rosname:"VCU_Vehicle_Drive_Mode_St"`
-	AutoDOutReason         int16           `rosname:"AutoD_Out_Reason"`
-	BrakeSysFaultSt        int16           `rosname:"Brak_Sys_Fault_St"`
-	StrgAngleRealValue     float64         `rosname:"Strg_Angle_Real_Value"`
-	StrgAngleSpdValue      float64         `rosname:"Strg_Angle_Spd_Value"`
-	StrgWorkmodeSt         int16           `rosname:"Strg_WorkMode_St"`
+	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
+
 }