zmv
f87e5aad40
Send 0x1F6 risk updates through a bounded latest-result worker on CH0 and disable CH1 initialization, reception, transmission and live display. Preserve the four actual-position bytes from 0x391 and recorded-session compatibility. Include regression coverage, Orin camera/TensorRT/CAN validation, and the verified standalone binary with refreshed checksums.
37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
#pragma once
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#include <array>
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#include <cstdint>
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#include <string>
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#include <vector>
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namespace cms {
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inline constexpr unsigned liveCanChannelCount=1; // CH0 only; CH1 is not used.
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struct CanConfig {
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bool enabled{true};
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int device_index{0};
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int timeout_ms{1000};
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bool termination{true};
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};
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struct CanDoorSignals {
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// Raw unsigned bytes: left front, right front, left rear, right rear.
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// No scale/unit is specified in the reference protocol.
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std::array<int,4> positions{{-1,-1,-1,-1}};
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bool valid{},fd{},extended{};
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std::uint64_t received{},received_monotonic_ns{};
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std::uint32_t device_timestamp_us{};
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double age_ms{-1};
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};
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struct CanSnapshot {
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std::string source{"live"},status{"DISABLED"};
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// Keep two slots for existing recorded sessions; live CH1 stays unset.
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std::array<CanDoorSignals,2> channels;
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std::uint64_t received{},transmitted{},transmit_errors{},receive_errors{};
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};
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struct CanFrame {
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int channel{};
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std::uint32_t id{};
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bool fd{},extended{},bitrate_switch{};
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std::vector<std::uint8_t> data;
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};
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}
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