obu

src/v2x/obuUdpClient/obu.json

@@ -12,7 +12,7 @@
 
 {
 	"Timestamp":"time",
-	"Obj_List":"String",
+	"Obj_List":
 	[
 		{
 			"ID":"String",
@@ -27,4 +27,4 @@
 			"PtcHeading":double			
 		}
 	]
-}
+}

src/v2x/obuUdpClient/udpreciver.cpp

@@ -4,7 +4,7 @@ UdpReciver::UdpReciver(QObject *parent, QString localhost, int port) : QObject(p
 {
     m_thread = new QThread();
     m_udpSocket = new QUdpSocket();
-//    localhost = "";
+    //    localhost = "";
     init_port(localhost, port);
     connect(m_udpSocket, SIGNAL(readyRead()), this, SLOT(readDatagrams()), Qt::DirectConnection);
     this->moveToThread(m_thread);
@@ -33,8 +33,8 @@ void UdpReciver::readDatagrams()
     {
         m_data.resize(m_udpSocket->pendingDatagramSize());
         m_udpSocket->readDatagram(m_data.data(), m_data.size(), &client_address);
-//        QString strclient_address = client_address.toString();
-//        deliverInfo(m_data, strclient_address);
+        //        QString strclient_address = client_address.toString();
+        //        deliverInfo(m_data, strclient_address);
         qDebug() << "receive UDP data: " << m_data;
         ReceiveDecode(m_data);
     }
@@ -50,7 +50,6 @@ void UdpReciver::ReceiveDecode(QByteArray &data)
     }
     //  ##
     char first;
-    char second;
     // 寻找报文开头
     while (data.size() >= 10) {
         while (1) {
@@ -64,43 +63,141 @@ void UdpReciver::ReceiveDecode(QByteArray &data)
                 return;
         }
 
-
-        QJsonObject object;
-        object = QJsonDocument::fromJson(data).object();
-    QByteArray jsonData();
-        if (object.contains("member")) {
-            QJsonArray array = object.value("member").toArray();
-            qDebug() << array[0].toString();
-            qDebug() << array[1].toString();
-            qDebug() << array[2].toString();
-        }
-
         int jsonSize = data[3]<<8 | data[4];
 
         if(data[1] == 0x02) //LightsInfo
         {
+            QByteArray jsonData;
+            int len = jsonSize;
+            jsonData.resize(len);
+
+            memcpy(jsonData.data(), &(data.data()[5]),jsonSize);
+            QJsonObject object = QJsonDocument::fromJson(jsonData).object();
+
+            if(object.contains("LightsStates"))
+                int lightState = object.value("LightsStates");
+
+            if (object.contains("LightsInfo")) {
+                QJsonArray array = object.value("LightsInfo").toArray();
+                int size = array.size();
+                qDebug("lightsInfo size %d", size);
+                for(int i = 0; i < size; i++){
+                    qDebug() << array.at(0).toString();
+                    QJsonObject lightInfo = array.at(0).toObject();
+
+                    if(lightInfo.contains("function"))
+                    {
+                        int lightFuncValue = lightInfo.value("function");
+                        qDebug("light fuction value: %d", lightFuncValue);
+                    }
+
+                    if(lightInfo.contains("LightsColor"))
+                    {
+                        int lightColorValue = lightInfo.value("LightsColor");
+                        qDebug("light Color value: %d", lightColorValue);
+                    }
+
+                    if(lightInfo.contains("RemainingTime"))
+                    {
+                        int lightRemTimeValue = lightInfo.value("RemainingTime");
+                        qDebug("light Remaining Time:%d", lightRemTimeValue);
+                    }
+
+                }
+            }
 
         }
         else if(data[1] == 0x04)
         {
+            QByteArray jsonData();
+            memcpy(jsonData, &data[5],jsonSize);
+            QJsonObject object = QJsonDocument::fromJson(jsonData).object();
 
-        }
+            if (object.contains("Obj_List")) {
+                QJsonArray array = object.value("Obj_List").toArray();
+                int size = array.size();
+                qDebug("Obj_List size %d", size);
+                for(int i = 0; i < size; i++){
+                    qDebug() << array.at(0).toString();
+                    QJsonObject obsObj = array.at(0).toObject();
 
+                    if(obsObj.contains("ID"))
+                    {
+                        string objID = obsObj.value("ID");
+                        qDebug("obs ID : %s", objID);
+                    }
+
+                    if(obsObj.contains("PtcType"))
+                    {
+                        int ptcType = obsObj.value("PtcType");
+                        qDebug("obs type value: %d", ptcType);
+                    }
+
+                    if(obsObj.contains("VehL"))
+                    {
+                        double dVehL = obsObj.value("VehL");
+                        qDebug("obs VehL :%f", dVehL);
+                    }
+                    if(obsObj.contains("VehW"))
+                    {
+                        double dVehW = obsObj.value("VehW");
+                        qDebug("obs VehW :%f", dVehW);
+                    }
+                    if(obsObj.contains("VehH"))
+                    {
+                        double dVehH = obsObj.value("VehH");
+                        qDebug("obs VehH :%f", dVehH);
+                    }
+
+                    if(obsObj.contains("PtcLon"))
+                    {
+                        double dPtcLon = obsObj.value("PtcLon");
+                        qDebug("obs PtcLon :%f", dPtcLon);
+                    }
+
+                    if(obsObj.contains("PtcLat"))
+                    {
+                        double dPtcLat = obsObj.value("PtcLat");
+                        qDebug("obs Ptc :%f", dPtcLat);
+                    }
+
+                    if(obsObj.contains("PtcEle"))
+                    {
+                        double dPtcEle = obsObj.value("PtcEle");
+                        qDebug("obs PtcEle :%f", dPtcEle);
+                    }
+
+                    if(obsObj.contains("PtcSpeed"))
+                    {
+                        double dPtcSpeed = obsObj.value("PtcSpeed");
+                        qDebug("obs PtcSpeed :%f", dPtcSpeed);
+                    }
+
+                    if(obsObj.contains("PtcHeading"))
+                    {
+                        double dPtcHeading = obsObj.value("PtcHeading");
+                        qDebug("obs PtcHeading :%f", dPtcHeading);
+                    }
+
+                }
+            }
+
+        }
 
 
-//        int high = data.at(22);
-//        int low = data.at(23);
-//        int dataLen = (high << 8) | low;
-//        //qDebug() << "dataLen:" << dataLen;
-//        // 长度不对
-//        if ((dataLen + sizeof(packageDataHead)) > data.size()) {
-//            //qDebug() << "message len error";
-//            return;
-//        }
-//        QByteArray temp = data.left(sizeof(packageDataHead) + dataLen + 1);
-//        //queue_mutex.lock();
-//        readData.enqueue(temp);
-//        //queue_mutex.unlock();
-//        data.remove(0, sizeof(packageDataHead) + dataLen + 1);//need check,20210915,jiaolili
+        //        int high = data.at(22);
+        //        int low = data.at(23);
+        //        int dataLen = (high << 8) | low;
+        //        //qDebug() << "dataLen:" << dataLen;
+        //        // 长度不对
+        //        if ((dataLen + sizeof(packageDataHead)) > data.size()) {
+        //            //qDebug() << "message len error";
+        //            return;
+        //        }
+        //        QByteArray temp = data.left(sizeof(packageDataHead) + dataLen + 1);
+        //        //queue_mutex.lock();
+        //        readData.enqueue(temp);
+        //        //queue_mutex.unlock();
+        //        data.remove(0, sizeof(packageDataHead) + dataLen + 1);//need check,20210915,jiaolili
     }
 }