Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,50 @@
+#ifndef COCKPIT_CORE_H
+#define COCKPIT_CORE_H
+
+#include "ros/ros.h"
+#include "serial/serial.h"
+#include "rc_receiver/rc.h"
+#include "sensor_msgs/BatteryState.h"
+
+#define __APP_NAME__ "cockpit_driver"
+
+class CockPit{
+    public:
+        CockPit();
+        ~CockPit();
+        void run();
+    
+    private:
+        ros::NodeHandle nh_;
+        ros::NodeHandle private_nh_;
+    
+    private:
+        /*串口号 */
+        std::string cockpit_com_;
+        /* 串口波特率 */
+        int baudrate_;
+        /* 驾驶模式控制的指令话题 */
+        std::string input_ctr_mode_topic_;
+        /* 电池状态的指令话题 */
+        std::string input_battery_state_topic_;
+    
+    private:
+        uint16_t soc_ = 0;
+        uint8_t current_page_ = 0;
+        uint8_t drive_mode_ = 0;
+    
+    private:
+        ros::Subscriber ctr_mode_sub_;
+        ros::Subscriber battery_state_sub_;
+    
+    private:
+        serial::Serial serial_;
+    
+    private:
+        void ctr_mode_callback(const rc_receiver::rc::ConstPtr &msg);
+        void battery_status_callback(const sensor_msgs::BatteryState::ConstPtr& msg);
+        void process(const ros::TimerEvent& e);
+        void serial_initial();
+};
+
+#endif