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@@ -3,23 +3,87 @@
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#include <iostream>
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#include <QDateTime>
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#include <math.h>
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+#include <QTimer>
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+#include <sys/time.h>
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+#include <signal.h>
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+#include <QThread>
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#include "modulecomm.h"
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#include "xmlparam.h"
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+#include "ivlog.h"
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+#include "ivfault.h"
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#include "canmsg.pb.h"
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#include "radarobjectarray.pb.h"
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+#include "gpsimu.pb.h"
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+
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+/*Vcan send data*/
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+std::string gstrmemgpsimu;
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+std::string gstrmemcancar;
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+double g_gyro_z; //
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+double g_v; //
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iv::radar::radarobjectarray gobj;
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+iv::Ivlog *givlog;
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iv::radar::radarobjectarray gobjright;
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int gntemp = 0;
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int gntmpright=0;
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-void * gpa , * gpb,*gpc;
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+void * gpa , * gpb, *gpc, *gpcanSend;
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QTime gTime;
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+/*vcan send begin*/
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+int gnIndex = 0;
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+
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+void ExecSend(uint16_t id, unsigned char _data[8])
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+{
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+ iv::can::canmsg xmsg;
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+ iv::can::canraw xraw;
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+
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+ unsigned char canbyte[8];
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+
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+ memcpy(canbyte,_data,sizeof(_data));
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+
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+ xraw.set_id(id);
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+ xraw.set_data(canbyte,8);
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+ xraw.set_bext(false);
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+ xraw.set_bremote(false);
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+ xraw.set_len(8);
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+ iv::can::canraw * pxraw = xmsg.add_rawmsg();
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+ pxraw->CopyFrom(xraw);
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+ xmsg.set_channel(0);
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+ xmsg.set_index(gnIndex);
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+ gnIndex++;
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+ xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
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+ int ndatasize = xmsg.ByteSize();
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+ char * strser = new char[ndatasize];
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+ std::shared_ptr<char> pstrser;
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+ pstrser.reset(strser);
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+ if(xmsg.SerializePartialToArray(strser,ndatasize))
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+ {
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+ iv::modulecomm::ModuleSendMsg(gpcanSend,strser,ndatasize);
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+ }
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+ else
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+ {
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+ std::cout<<"MainWindow::onTimer serialize error."<<std::endl;
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+ }
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+}
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+
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+void Listengpsimu(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
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+{
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+ if(nSize<1)return;
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+ iv::gps::gpsimu xgpsimu;
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+ if(false == xgpsimu.ParseFromArray(strdata,nSize))
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+ {
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+ givlog->warn("detection_radar_delphi_esr_send--Listengpsimu parse errror. nSize is %d",nSize);
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+ return;
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+ }
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+ g_gyro_z = xgpsimu.gyro_z();
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+ g_v = sqrt(pow(xgpsimu.vn(),2) + pow(xgpsimu.ve(),2));
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+}
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+/*vcan end*/
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void ShareResult()
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{
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char * str = new char[gobj.ByteSize()];
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@@ -232,6 +296,37 @@ void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int
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// qDebug("latence = %ld ",xt-pic.time());
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}
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+
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+void signalHandler(int sig)
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+{
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+ unsigned char dataYaw[8] = {0,0,0,0,0,0,0,0};
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+ unsigned char dataSpeed[8] = {0,0,0,0,0,0,0,0};
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+ uint16_t id;
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+ int32_t value = 0;
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+ id = 0x278;
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+ value = int32_t(g_gyro_z * 100);
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+ dataYaw[5] = value & 0xFF;
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+ dataYaw[4] = (value >> 8) & 0x3F;
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+ dataYaw[6] = 0x00;//0x80
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+ ExecSend(id, dataYaw);
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+ QThread::msleep(2);
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+ id = 0x218;
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+ value = int32_t(g_v * 20);
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+ dataYaw[5] = value & 0xFF;
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+ dataSpeed[4] = ((value >> 8) & 0x0F) | 0x00;//0x30
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+ QThread::msleep(2);
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+ ExecSend(id,dataSpeed);
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+// id = 0x180;
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+// unsigned char a[8] = {0,0,0,0,0,0,0,0};
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+// QThread::msleep(2);
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+// ExecSend(id,a);
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+ id = 0x270;
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+// unsigned char b[8] = {0,0,0,0x80,0x15,0xFF,0,0x2};
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+ unsigned char b[8] = {0,0,0,0,0x05,0,0,0};
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+ QThread::msleep(2);
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+ ExecSend(id,b);
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+}
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+
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int main(int argc, char *argv[])
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{
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QCoreApplication a(argc, argv);
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@@ -271,17 +366,38 @@ int main(int argc, char *argv[])
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iv::xmlparam::Xmlparam xp(strpath.toStdString());
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std::string strmemcan = xp.GetParam("canrecv","canrecv0");
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+ std::string strmemsend = xp.GetParam("cansend","cansend0");
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std::string strmemradarleft = xp.GetParam("radarleft","corner_radar_left");
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std::string strmemradaright = xp.GetParam("radaright","corner_radar_right");
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+ gstrmemgpsimu = xp.GetParam("gpsimu_name","hcp2_gpsimu");
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gpa = iv::modulecomm::RegisterSend(strmemradarleft.data(),100000,3);
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gpb = iv::modulecomm::RegisterSend(strmemradaright.data(),100000,3);
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+ gpcanSend = iv::modulecomm::RegisterSend(strmemsend.data(),100000,3);
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void * pa = iv::modulecomm::RegisterRecv(strmemcan.data(),Listencan0);
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+ void * pb = iv::modulecomm::RegisterRecv(gstrmemgpsimu.data(),Listengpsimu);
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+
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+ givlog = new iv::Ivlog("detection_radar_delphi_srr");
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+// QWidget *mwidget = new QWidget(nullptr);
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+// QTimer * timer = new QTimer(); //car数据发送定时器，每隔30ms发送一次
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+// mwidget->connect(timer,SIGNAL(timeout()),mwidget,SLOT(onTimer()));
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+// timer->setTimerType(Qt::PreciseTimer);
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+// timer->start(100);
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+ signal(SIGALRM, signalHandler);
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+
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+ struct itimerval new_value, old_value;
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+ new_value.it_value.tv_sec = 0;
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+ new_value.it_value.tv_usec = 1;
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+ new_value.it_interval.tv_sec = 0;
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+ new_value.it_interval.tv_usec = 100000;
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+ setitimer(ITIMER_REAL, &new_value, NULL);
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return a.exec();
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}
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+
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+
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HAPO