添加了驾驶模式的上报功能

src/communication/mqtt_report/include/mqtt_report/report_struct.h

@@ -20,6 +20,7 @@ struct GeneralMsg
     int controllerTemp = 0;      // 控制器温度 °C
     int64_t timestamp = 0;       // 时间戳
     int drivingStatus = 0;       // 行驶状态：0=正常行驶（默认），1=遇障停车，2=绕障中，3=雷达数据超时停车，4=RTK没信号停车，5=到达终点停车
+    int driveMode = 0;           // 驾驶模式：0=本地模式，1=自驾模式，2=遥控模式，3=远控模式
 };
 
 struct BMSFault

src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp

@@ -47,6 +47,7 @@ void MqttReporter::publish_info()
     j["controllerTemp"] = snapshot.controllerTemp;
     j["timestamp"] = snapshot.timestamp;
     j["drivingStatus"] = snapshot.drivingStatus;
+    j["driveMode"] = snapshot.driveMode;
 
     mqtt_.publish(make_topic(config_.info_topic_template, vid), j.dump(), 1);
 }

src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp

@@ -16,6 +16,7 @@
 #include "sweeper_interfaces/msg/fu.hpp"
 #include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/vehicle_identity.hpp"
+#include "std_msgs/msg/int32.hpp"
 
 namespace sweeperMsg = sweeper_interfaces::msg;
 using sweeper_interfaces::msg::VehicleIdentity;
@@ -51,6 +52,10 @@ class VehicleReportNode : public rclcpp::Node
         fu_sub_ = this->create_subscription<sweeper_interfaces::msg::Fu>(
             "fu_message", 10, std::bind(&VehicleReportNode::fu_callback, this, std::placeholders::_1));
 
+        // Drive mode
+        drive_mode_sub_ = this->create_subscription<std_msgs::msg::Int32>(
+            "/drive_mode", 10, std::bind(&VehicleReportNode::drive_mode_callback, this, std::placeholders::_1));
+
         // Timers
         info_timer_ = this->create_wall_timer(std::chrono::milliseconds(500), [this]() { reporter_.publish_info(); });
 
@@ -114,6 +119,13 @@ class VehicleReportNode : public rclcpp::Node
         ctx_.info.drivingStatus = msg->driving_status;
     }
 
+    // ========== Drive mode (驾驶模式) ==========
+    void drive_mode_callback(const std_msgs::msg::Int32::SharedPtr msg)
+    {
+        std::lock_guard<std::mutex> lock(ctx_.mtx);
+        ctx_.info.driveMode = msg->data;
+    }
+
     // ========== RTK ==========
     void rtk_callback(const sweeper_interfaces::msg::Rtk::SharedPtr msg)
     {
@@ -155,6 +167,7 @@ class VehicleReportNode : public rclcpp::Node
     rclcpp::Subscription<VehicleIdentity>::SharedPtr identity_sub_;
     rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr rtk_sub_;
     rclcpp::Subscription<sweeper_interfaces::msg::Fu>::SharedPtr fu_sub_;
+    rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr drive_mode_sub_;
 
     rclcpp::TimerBase::SharedPtr info_timer_;
     rclcpp::TimerBase::SharedPtr gps_timer_;

src/control/ctrl_arbiter/src/ctrl_arbiter.cpp

@@ -4,6 +4,7 @@
 #include "logger/logger.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/mc_ctrl.hpp"
+#include "std_msgs/msg/int32.hpp"
 
 using namespace std::chrono_literals;
 namespace sweeperMsg = sweeper_interfaces::msg;
@@ -16,6 +17,7 @@ class ArbitrationNode : public rclcpp::Node
         timeout_ms_ = 200;  // 200毫秒超时阈值，可调整
 
         publisher_ = this->create_publisher<sweeperMsg::McCtrl>("/mc_ctrl", 10);
+        mode_publisher_ = this->create_publisher<std_msgs::msg::Int32>("/drive_mode", 10);
 
         sub_radio_ = this->create_subscription<sweeperMsg::McCtrl>("/radio_mc_ctrl", 10,
                                                                    [this](const sweeperMsg::McCtrl::SharedPtr msg)
@@ -53,11 +55,14 @@ class ArbitrationNode : public rclcpp::Node
     {
         std::lock_guard<std::mutex> lock(mutex_);
         rclcpp::Time now = this->now();
+        std_msgs::msg::Int32 mode_msg;
 
         // 检查每个控制源是否在线
         if (radio_valid_ && (now - radio_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(radio_msg_);
+            mode_msg.data = 2;  // 遥控模式
+            mode_publisher_->publish(mode_msg);
             LOG_INFO_THROTTLE(2000, "[ARBITER] Using RADIO control");
             return;
         }
@@ -65,6 +70,8 @@ class ArbitrationNode : public rclcpp::Node
         if (remote_valid_ && (now - remote_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(remote_msg_);
+            mode_msg.data = 3;  // 远控模式
+            mode_publisher_->publish(mode_msg);
             LOG_INFO_THROTTLE(2000, "[ARBITER] Using REMOTE control");
             return;
         }
@@ -72,6 +79,8 @@ class ArbitrationNode : public rclcpp::Node
         if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(auto_msg_);
+            mode_msg.data = 1;  // 自驾模式
+            mode_publisher_->publish(mode_msg);
             LOG_INFO_THROTTLE(2000, "[ARBITER] Using AUTO control");
             return;
         }
@@ -95,10 +104,13 @@ class ArbitrationNode : public rclcpp::Node
         safe_msg.enable_water_pump = false;
 
         publisher_->publish(safe_msg);
+        mode_msg.data = 0;  // 本地模式（默认）
+        mode_publisher_->publish(mode_msg);
         LOG_WARN_THROTTLE(1000, "[ARBITER] All sources timeout, publishing FAILSAFE control");
     }
 
     rclcpp::Publisher<sweeperMsg::McCtrl>::SharedPtr publisher_;
+    rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr mode_publisher_;
 
     rclcpp::Subscription<sweeperMsg::McCtrl>::SharedPtr sub_radio_, sub_remote_, sub_auto_;
     rclcpp::TimerBase::SharedPtr timer_;