change detection_chassis for hunter.

src/detection/detection_chassis/decodechassis.cpp

@@ -527,3 +527,123 @@ int ProcShenLanCANFDChassis(void *pa, iv::can::canmsg *pmsg)
 
     return 0;
 }
+
+int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg)
+{
+    int i;
+    static iv::chassis xchassis;
+    static bool bHave0x221 = false;
+    static bool bHave0x361 = false;
+    float fsoc = 0.0;
+    float fsoh = 0.0;
+    float fbatv = 0.0;
+    float fbati = 0.0;
+    float fbatt = 0.0;
+    float fmileage_left = 0.0;
+    float fmileage_right = 0.0;
+    for(i=0;i<pmsg->rawmsg_size();i++)
+    {
+
+        const iv::can::canraw * praw = &(pmsg->rawmsg(i));
+//        unsigned char data[8];
+//        memcpy(data,praw->data().data(),8);
+        if(praw->id() == 0x221)
+        {
+            unsigned char vdata[2];
+            memcpy(&vdata,praw->data().data(),2);
+            double fvh = vdata[0];
+            double fvl = vdata[1];
+            double vehspeed = (fvh * 256 + fvl) * 0.001;
+            xchassis.set_vel(static_cast<float>(vehspeed));
+            bHave0x221 = true;
+        }
+        if(praw->id() == 0x361)
+        {
+            unsigned char vdata[2];
+            memcpy(&vdata,praw->data().data(),1);
+            fsoc = vdata[0];
+            memcpy(&vdata,praw->data().data() + 1,1);
+            fsoh = vdata[0];
+            memcpy(&vdata,praw->data().data()+2,2);
+            double fvh = vdata[0];
+            double fvl = vdata[1];
+            fbatv = (fvh * 256 + fvl) * 0.01f;
+
+            memcpy(&vdata,praw->data().data()+4,2);
+            unsigned char vswap[2];
+            vswap[0] = vdata[1];
+            vswap[1] = vdata[0];
+            unsigned short svalue;
+            memcpy(&svalue,vswap,2);
+            fbati = svalue;
+            fbati = fbati * 0.1f;
+
+            memcpy(&vdata,praw->data().data()+6,2);
+            vswap[0] = vdata[1];
+            vswap[1] = vdata[0];
+            memcpy(&svalue,vswap,2);
+            fbatt = svalue;
+            fbatt = fbatt * 0.1f;
+
+            bHave0x361 = true;
+        }
+        if(praw->id() == 0x311)
+        {
+            unsigned char vdata[4];
+            memcpy(&vdata,praw->data().data(),4);
+            unsigned char vswap[4];
+            vswap[0] = vdata[3];
+            vswap[1] = vdata[2];
+            vswap[2] = vdata[1];
+            vswap[3] = vdata[0];
+            int mil_left;
+            memcpy(&mil_left,vswap,4);
+            fmileage_left = mil_left;
+            fmileage_left = fmileage_left * 0.001f;
+
+            memcpy(&vdata,praw->data().data(),4);
+            vswap[0] = vdata[3];
+            vswap[1] = vdata[2];
+            vswap[2] = vdata[1];
+            vswap[3] = vdata[0];
+            int mil_right;
+            memcpy(&mil_right,vswap,4);
+            fmileage_right = mil_right;
+            fmileage_right = fmileage_right * 0.001f;
+        }
+        if(praw->id() == 0x358)
+        {
+
+
+        }
+        if(praw->id() == 0x3AA)
+        {
+
+
+        }
+
+        if(bHave0x221 && bHave0x361)
+        {
+            bHave0x221 = false;
+            bHave0x361 = false;
+            ShareChassis(pa,&xchassis);
+
+            std::cout<<"veh: "<<xchassis.vel()<<" soc: "<<fsoc<<" soh:"<<fsoh<< std::endl;
+            std::cout<<"bat v:"<<fbatv<<" i: "<<fbati<<" Temp:"<<fbatt<<" mil left:"<<fmileage_left<<" right: "<<fmileage_right<<std::endl;
+        }
+
+//        if(ghave0x13&&ghave0x14&&ghave0x15)
+//        {
+//            ghave0x13 = false;
+//            ghave0x14 = false;
+//            ghave0x15 = false;
+//            ShareChassis(pa,&xchassis);
+//            nRtn = 1;
+//        }
+    }
+
+
+    return 0;
+}
+
+

src/detection/detection_chassis/decodechassis.h

@@ -26,4 +26,6 @@ int ProcShenLanChassis(void * pa, iv::can::canmsg * pmsg);
 
 int ProcShenLanCANFDChassis(void *pa, iv::can::canmsg *pmsg);
 
+int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg);
+
 #endif // DECODECHASSIS_H

src/detection/detection_chassis/main.cpp

@@ -27,7 +27,7 @@ QTime gTime;
 
 namespace  iv {
 
-enum VehicleTypeDef {GE3,VV7,MIDCAR,PROBLUE,MIDBUS,HAPO,UNKNOWN, YUHESEN,SHENLAN,SHENLAN_CANFD} gVehicleType;  //车辆类型
+enum VehicleTypeDef {GE3,VV7,MIDCAR,PROBLUE,MIDBUS,HAPO,UNKNOWN, YUHESEN,SHENLAN,SHENLAN_CANFD,HUNTER} gVehicleType;  //车辆类型
 
 
 }
@@ -89,6 +89,9 @@ void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int
     case iv::SHENLAN_CANFD:
         nRtn = ProcShenLanCANFDChassis(gpa,&xmsg);
         break;
+    case iv::HUNTER:
+        nRtn = ProcHunterChassis(gpa,&xmsg);
+        break;
     default:
         break;
     }
@@ -197,6 +200,11 @@ int main(int argc, char *argv[])
         iv::gVehicleType = iv::SHENLAN_CANFD;
     }
 
+   if(strncmp(strvehicletype.data(),"HUNTER",255) == 0)
+    {
+        iv::gVehicleType = iv::HUNTER;
+    }
+
 //iv::gVehicleType = iv::MIDBUS;
 
     givlog = new iv::Ivlog(strmodulename.data());