change detection_chassis for canlog.

src/detection/detection_chassis/decodechassis.cpp

@@ -1,6 +1,7 @@
 
 #include "decodechassis.h"
 #include <iostream>
+#include <chrono>
 #include "ivlog.h"
 #include "ivfault.h"
 
@@ -18,7 +19,7 @@ void PrintCANRaw(const iv::can::canraw * praw )
     char strout[512];
     int ndatalen = praw->len();
     int i;
-    snprintf(strout,512,"id: %02X data: ",praw->id());
+    snprintf(strout,512,"%ld id: %02X data: ",std::chrono::system_clock::now().time_since_epoch().count()/1000000, praw->id());
     char * pdata = new char[8];
     if(ndatalen>0)pdata = new char[ndatalen];
     memcpy(pdata,praw->data().data(),ndatalen);
@@ -562,6 +563,7 @@ int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg)
     float fbatt = 0.0;
     float fmileage_left = 0.0;
     float fmileage_right = 0.0;
+    double fwheelangle_feedback = 0.0;
     for(i=0;i<pmsg->rawmsg_size();i++)
     {
 
@@ -579,7 +581,17 @@ int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg)
             memcpy(&svalue,vswap,2);
             double vehspeed =  svalue;
             vehspeed = vehspeed * 0.001 *3.6;
+
+            memcpy(&vdata,praw->data().data() + 6,2);
+            vswap[0] = vdata[1];
+            vswap[1] = vdata[0];
+            memcpy(&svalue,vswap,2);
+            fwheelangle_feedback =  svalue;
+            fwheelangle_feedback = fwheelangle_feedback * 0.001;
+
+
             xchassis.set_vel(static_cast<float>(vehspeed));
+            xchassis.set_angle_feedback(fwheelangle_feedback);
             bHave0x221 = true;
         }
         if(praw->id() == 0x361)
@@ -654,7 +666,7 @@ int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg)
             bHave0x361 = false;
             ShareChassis(pa,&xchassis);
 
-            std::cout<<"veh: "<<xchassis.vel()<<" soc: "<<fsoc<<" soh:"<<fsoh<< std::endl;
+            std::cout<<"veh: "<<xchassis.vel()<<" wheel: "<<fwheelangle_feedback<<" soc: "<<fsoc<<" soh:"<<fsoh<< std::endl;
             std::cout<<"bat v:"<<fbatv<<" i: "<<fbati<<" Temp:"<<fbatt<<" mil left:"<<fmileage_left<<" right: "<<fmileage_right<<std::endl;
         }