package pjisuv_msgs
import (
"github.com/bluenviron/goroslib/v2/pkg/msg"
"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
)
type Header struct {
msg.Package `ros:"common_msgs"`
SequenceNum int32 `rosname:"sequence_num"`
TimeStamp float64 `rosname:"time_stamp"`
ModuleName string `rosname:"module_name"`
Version string `rosname:"version"`
FaultVec FaultVec `rosname:"fault_vec"`
TimeStatistics TimeStatistics `rosname:"time_statistics"`
}
type FaultVec struct {
msg.Package `ros:"common_msgs"`
InfoVec []FaultInfo `rosname:"info_vec"`
ModuleFaultLevel int32 `rosname:"module_fault_level"`
}
type TimeStatistics struct {
msg.Package `ros:"common_msgs"`
DevTimeStatusMsg []TimeStatus `rosname:"dev_time_status_msg"`
SendingTimestamp float64 `rosname:"sending_timestamp"`
}
type FaultInfo struct {
msg.Package `ros:"common_msgs"`
TimestampSec float64 `rosname:"timestamp_sec"`
ModuleName string `rosname:"module_name"`
Version string `rosname:"version"`
ErrorCode int32 `rosname:"error_code"`
Msg string `rosname:"msg"`
FaultLevel int8 `rosname:"fault_level"`
FaultType int8 `rosname:"fault_type"`
}
type TimeStatus struct {
msg.Package `ros:"common_msgs"`
Dtime float64 `rosname:"dtime"`
SourceNodeName string `rosname:"source_node_name"`
DestinationNodeName string `rosname:"destination_node_name"`
}
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
}
type CicvMovingObject__ struct {
msg.Package `ros:"common_msgs"`
Header std_msgs.Header
Id uint32
Label string
Probability float32
LabelProbability float32
MotionStatus uint32
Ttc float32
Variance float32
DataSource string
LeftTopX float32
LeftTopY float32
RightTopX float32
RightTopY float32
LeftButtomX float32
LeftButtomY float32
RightButtomX float32
RightButtomY float32
MinZ float32
MaxZ float32
Pose geometry_msgs.Pose
Dimensions geometry_msgs.Vector3
Velocity geometry_msgs.Twist
Acceleration geometry_msgs.Twist
ConvexHull geometry_msgs.PolygonStamped
Speed float32
SpeedDirection float32
GlobalX float32
GlobalY float32
Lane int32
RelativeLane int32
GlobalLane int32
}
type CommonCicvMovingObject struct {
msg.Package `ros:"common_msgs"`
Header std_msgs.Header
Id uint32
Label string
Probability float32
LabelProbability float32
MotionStatus uint32
Ttc float32
Variance float32
DataSource string
X1 float32
Y1 float32
X2 float32
Y2 float32
X3 float32
Y3 float32
X4 float32
Y4 float32
MinZ float32
MaxZ float32
Pose geometry_msgs.Pose
Dimensions geometry_msgs.Vector3
Velocity geometry_msgs.Twist
Acceleration geometry_msgs.Twist
ConvexHull geometry_msgs.PolygonStamped
Speed float32
SpeedDirection float32
GlobalX float32
GlobalY float32
Lane int32
RelativeLane int32
GlobalLane int32
ClusterPoints sensor_msgs.PointCloud2
}
type CommonCicvMovingObjects struct {
msg.Package `ros:"common_msgs"`
Header std_msgs.Header
Num int32
Objects []CommonCicvMovingObject
}
type Vector3WithCovariance struct {
msg.Package `ros:"common_msgs"`
X UnsureVar
Y UnsureVar
Z UnsureVar
}
type PoseEuler struct {
msg.Package `ros:"common_msgs"`
Position Vector3WithCovariance
Rotation EulerWithCovariance
}
type DRPoseWithTime struct {
msg.Package `ros:"common_msgs"`
Week int32
Utctime float64
DrTime float64
PoseEuler PoseEuler
}
type UnsureVar struct {
msg.Package `ros:"common_msgs"`
Variable float64
VarStd float64
}
type EulerWithCovariance struct {
msg.Package `ros:"common_msgs"`
Roll UnsureVar
Pitch UnsureVar
Yaw UnsureVar
}
type LLH struct {
msg.Package `ros:"common_msgs"`
Lat UnsureVar
Lon UnsureVar
Height UnsureVar
}
type NavStatus struct {
msg.Package `ros:"common_msgs"`
UtcTime float64
GpsStatus int8
PosStatus int32
AttStatus int32
InitStatus int32
SateNum int32
Hdop float32
Pdop float32
DiffAge float32
}
type Pose struct {
msg.Package `ros:"common_msgs"`
PoseEuler PoseEuler
PoseQuaternion PoseQuaternion
Status int8
}
type Quaternion struct {
msg.Package `ros:"common_msgs"`
X float64
Y float64
Z float64
W float64
}
type Vector3 struct {
msg.Package `ros:"common_msgs"`
X float64
Y float64
Z float64
}
type PoseQuaternion struct {
msg.Package `ros:"common_msgs"`
Position Vector3WithCovariance
Quaternion Quaternion
RpyCovariance Vector3
}
type Twist struct {
msg.Package `ros:"common_msgs"`
Velocity Vector3WithCovariance
AngularVelocity Vector3WithCovariance
}
type CommonVehicleCmd struct {
msg.Package `ros:"common_msgs"`
Header std_msgs.Header
ICPVCmdStrAngle float64 `rosname:"ICPV_Cmd_StrAngle"`
ICPVCmdStrAngleLimit float64 `rosname:"ICPV_Cmd_StrAngleLimit"`
ICPVCmdEPSXBWEn float64 `rosname:"ICPV_Cmd_EPSXBW_En"`
ICPVCmdEPSDir float64 `rosname:"ICPV_Cmd_EPSDir"`
ICPVCmdStrAngleSpd float64 `rosname:"ICPV_Cmd_StrAngleSpd"`
ICPVCmdChecksum float64 `rosname:"ICPV_Cmd_Checksum"`
ICPVCmdRCnt float64 `rosname:"ICPV_Cmd_RCnt"`
ICPVCmdTgtSft float64 `rosname:"ICPV_Cmd_TgtSft"`
ICPVCmdAccPelEnable float64 `rosname:"ICPV_Cmd_AccPelEnable"`
ICPVCmdBrkPelEnable float64 `rosname:"ICPV_Cmd_BrkPelEnable"`
ICPVCmdAccPelPosAct float64 `rosname:"ICPV_Cmd_AccPelPosAct"`
ICPVCmdAccPelPosActInv float64 `rosname:"ICPV_Cmd_AccPelPosActInv"`
ICPVCmdBrkPelPosAct float64 `rosname:"ICPV_Cmd_BrkPelPosAct"`
ICPVCmdBrkPelPosActInv float64 `rosname:"ICPV_Cmd_BrkPelPosActInv"`
ICPVCmdBrkLightReq float64 `rosname:"ICPV_Cmd_BrkLightReq"`
ICPVCmdTgtSftEnable float64 `rosname:"ICPV_Cmd_TgtSftEnable"`
ICPVCmdATOModeEnable float64 `rosname:"ICPV_Cmd_ATOModeEnable"`
CANICPVVCUControlEPBREQ float64 `rosname:"CAN_ICPV_VCU_Control_EPB_REQ"`
CANICPVVCUBUZZING float64 `rosname:"CAN_ICPV_VCU_BUZZING"`
TargetX float64
TargetY float64
Velocity float64
CalcAccel float64
AutoMode int16
}