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@@ -78,9 +78,9 @@ void Radio::sendProto(iv::v2r::v2r_send radio_protobuf_send)
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strser = new char[nbytesize];
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bser = radio_protobuf_send.SerializeToArray(strser,nbytesize);
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if(bser) {
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- qDebug()<<"[Radio]:ready send protobuffer"<<endl;
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+ //qDebug()<<"[Radio]:ready send protobuffer"<<endl;
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iv::modulecomm::ModuleSendMsg(mpmem_radio_send_addr,strser,nbytesize);
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- qDebug()<<"[Radio]:has sended protobuffer"<<endl;
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+ //qDebug()<<"[Radio]:has sended protobuffer"<<endl;
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} else {
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//mivlog->error("sendData","[%s:] radio serialize error.",__func__);
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// gfault->SetFaultState(1, 0, "radio serialize err");
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@@ -100,18 +100,18 @@ void Radio::setGpsImuMemory(gpsImuM m)
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void Radio::sendResponseMessage(int type)
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{
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- m_responseType=type&0xFF;
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- upRespondMessageRealtimeTraffic();
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+ if(m_bEnTrafficBroadcast) {
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+ m_responseType=type&0xFF;
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+ upRespondMessageRealtimeTraffic();
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+ }
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+
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}
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void Radio::outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic)
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{
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if(m_bEnTrafficBroadcast) {
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iv::v2r::v2r_send protobuf;
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double lat=((double)realtimeTraffic.lat)/1000000.0;
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- double lon=((double)realtimeTraffic.lng)/1000000.0;
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- qDebug()<<"[Radio]:real time traffic lat is "<<lat<<". lng is "<<lon
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- <<".scope is "<<realtimeTraffic.scope<<".traffic info is "<<realtimeTraffic.trafficInfo
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- <<". speed limit is "<<realtimeTraffic.speedLimit<<endl;
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+ double lon=((double)realtimeTraffic.lng)/1000000.0;
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protobuf.set_radiobroadcastgpslat(lat);
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protobuf.set_radiobroadcastgpslon(lon);
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protobuf.set_radiobroadcastrange(realtimeTraffic.scope);
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@@ -127,7 +127,7 @@ void Radio::outCollisionWarning(collisionEarlyWarningMessage collisionWarning)
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iv::v2r::v2r_send protobuf;
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protobuf.set_radiowarningtype(collisionWarning.warningType);
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protobuf.set_radiowarningspeedlimit(collisionWarning.speedLimit);
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- qDebug()<<"[Radio]:warning type is "<<collisionWarning.warningType<<".speed limit is:"<<collisionWarning.speedLimit<<endl;
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+ //qDebug()<<"[Radio]:warning type is "<<collisionWarning.warningType<<".speed limit is:"<<collisionWarning.speedLimit<<endl;
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sendProto(protobuf);
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}
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}
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@@ -137,7 +137,7 @@ void Radio::outCongestionIdenti(congestionIdentificationMessage congestionIdenti
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if(m_bEnBusyRoad) {
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iv::v2r::v2r_send protobuf;
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protobuf.set_radioidentistart(congestionIdenti.openCommand);
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- qDebug()<<"[Radio]:congestion identi open command is "<<congestionIdenti.openCommand<<endl;
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+ //qDebug()<<"[Radio]:congestion identi open command is "<<congestionIdenti.openCommand<<endl;
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sendProto(protobuf);
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}
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}
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@@ -189,7 +189,7 @@ void Radio::heartBeat()
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openSerial();
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} else {
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decodeData();
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- testWarningSpeedLimit();
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+ //testWarningSpeedLimit();
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upDataStream();
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//if no answer,shake hands three times
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if(m_iResponse!=-1) {
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@@ -286,14 +286,14 @@ void Radio::upDataStream()
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m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
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m_serialPort_Radio->flush();
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//m_serialPort_Radio->write("sendBuf");
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- qDebug() << "[RADIO]:up vehicle message "<<endl;
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+ //qDebug() << "[RADIO]:up vehicle message "<<endl;
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}
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void Radio::upVirtualVehicle(virtualVehicleM virtualVehicle)
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{
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m_iVirtualVehicle=0;
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m_structMVirtualVehicle=virtualVehicle;
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upVirtualVehicleRaw();
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- qDebug() << "[RADIO]:up virtual vehicle message "<<endl;
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+ //qDebug() << "[RADIO]:up virtual vehicle message "<<endl;
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}
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void Radio::upVirtualVehicleRaw()
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{
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@@ -339,13 +339,13 @@ void Radio::upVirtualVehicleRaw()
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}
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void Radio::upRespondMessage()
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{
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- qDebug() << "[RADIO]:up response message "<<endl;
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+ //qDebug() << "[RADIO]:up response message "<<endl;
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m_iResponse=0;
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upRespondMessageRaw(0x02);
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}
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void Radio::upRespondMessageRealtimeTraffic()
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{
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- qDebug() << "[RADIO]:up response real time traffic message "<<endl;
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+ // qDebug() << "[RADIO]:up response real time traffic message "<<endl;
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m_iResponseRealtimeTraffic=0;
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upRespondMessageRaw(0x01);
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}
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@@ -477,8 +477,8 @@ void Radio::decodeData()
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if(m_data.size()>= BATH_LENTH) {
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// 防包太大
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- if (m_data.size() > 2048) {
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- qDebug() << "size too large";
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+ if (m_data.size() > 512) {
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+ //qDebug() << "size too large";
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m_data.clear();
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return;
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}
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@@ -501,10 +501,10 @@ void Radio::decodeData()
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int high = m_data.at(16);
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int low = m_data.at(17);
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int dataLen = (high << 8) | low;
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- qDebug() << "dataLen:" << dataLen;
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+ //qDebug() << "dataLen:" << dataLen;
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// 长度不对
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if ((dataLen + sizeof(packageDataHead)) > m_data.size()) {
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- qDebug() << "message len error";
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+ //qDebug() << "message len error";
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return;
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}
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QByteArray temp = m_data.left(sizeof(packageDataHead) + dataLen + 1);
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@@ -559,86 +559,93 @@ void Radio::replyMessage()
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char *recvBuf = data.data();
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if(len < 21 || recvBuf == NULL)
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{
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- qDebug() << "len error";
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+ //qDebug() << "len error";
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return;
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}
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- qDebug() <<"len:"<<len;
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- qDebug() <<"recvBuf: "<<recvBuf;
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+ //qDebug() <<"len:"<<len;
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+ //qDebug() <<"recvBuf: "<<recvBuf;
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bool is_checkok = false;
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is_checkok = BCCDecode(recvBuf,len);
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if(is_checkok==false) {
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- qDebug() << "check error";
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+ //qDebug() << "check error";
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return;
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} else {
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- qDebug() << "check ok";
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- }
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- switch(recvBuf[5]) {
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+ //qDebug() << "check ok";
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+ }
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+ switch(recvBuf[5]) {
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case TrafficLight: {
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lightMessage light;
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light.lightType=recvBuf[18];
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light.timeRemaining=(((recvBuf[19]<<8)&0xFF00)|((recvBuf[20])&0xFF));
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- qDebug() << "[RADIO]:receive light type is "<<int(light.lightType)<<" and remaining is "<<light.timeRemaining;
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+ //qDebug() << "[RADIO]:receive light type is "<<int(light.lightType)<<" and remaining is "<<light.timeRemaining;
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outLight(light);
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break;
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}
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- case RealtimeTraffic: {
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- realtimeTrafficMessage realtimeTraffic;
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- realtimeTraffic.lng=(((recvBuf[18]<<24)&0xFF000000)|((recvBuf[19]<<16)&0xFF0000)|((recvBuf[20]<<8)&0xFF00)|((recvBuf[21])&0xFF));
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- realtimeTraffic.lat=(((recvBuf[22]<<24)&0xFF000000)|((recvBuf[23]<<16)&0xFF0000)|((recvBuf[24]<<8)&0xFF00)|((recvBuf[25])&0xFF));
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- realtimeTraffic.scope=(((recvBuf[26]<<8)&0xFF00)|((recvBuf[27])&0xFF));
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- realtimeTraffic.trafficInfo=recvBuf[28];
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- realtimeTraffic.speedLimit=(recvBuf[29]&0xFF);
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- qDebug() << "[RADIO]:receive real time traffic message "<<endl;
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- outRealtimeTraffic(realtimeTraffic);
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+ case RealtimeTraffic: {
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+ if((recvBuf[4]==0x01)&&(recvBuf[3]==0x00)&&(recvBuf[2]==0x01)&&(recvBuf[1]=0x24)&&(recvBuf[0]==0x24)) {
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+ realtimeTrafficMessage realtimeTraffic;
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+ realtimeTraffic.lng=(((recvBuf[18]<<24)&0xFF000000)|((recvBuf[19]<<16)&0xFF0000)|((recvBuf[20]<<8)&0xFF00)|((recvBuf[21])&0xFF));
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+ realtimeTraffic.lat=(((recvBuf[22]<<24)&0xFF000000)|((recvBuf[23]<<16)&0xFF0000)|((recvBuf[24]<<8)&0xFF00)|((recvBuf[25])&0xFF));
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+ realtimeTraffic.scope=(((recvBuf[26]<<8)&0xFF00)|((recvBuf[27])&0xFF));
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+ realtimeTraffic.trafficInfo=recvBuf[28];
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+ realtimeTraffic.speedLimit=(recvBuf[29]&0xFF);
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+ //qDebug() << "[RADIO]:receive real time traffic message "<<endl;
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+ outRealtimeTraffic(realtimeTraffic);
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+ }
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break;
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}
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case CollisionEarlyWarning: {
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- collisionEarlyWarningMessage collisionWarning;
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- char *str=new char[17];
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- memcpy(str, recvBuf+18, 17);
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- collisionWarning.isEnable=true;
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- collisionWarning.vin=str;
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- delete []str;
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- collisionWarning.warningType=recvBuf[35];
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- collisionWarning.speedLimit=recvBuf[36];
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- if(collisionWarning.vin==m_sVin) {
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- qDebug() << "[RADIO]:receive collisionEarlyWarning message "<<endl;
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- outCollisionWarning(collisionWarning);
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- responseCollisionEarlyWarning(collisionWarning);
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- m_responseType=collisionWarning.warningType;
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- m_bEnUpRespond=true;
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- //upRespondMessage();
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- } else {
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- qDebug()<<"[CollisionEarlyWarning] vin error"<<endl;
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+ qDebug()<<"[JLLTest]:INTO WARNING"<<recvBuf[0]<<recvBuf[1]<<recvBuf[2]<<recvBuf[3]<<recvBuf[4]<<recvBuf[5]<<recvBuf[35]<<recvBuf[36]<<endl;
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+ if(recvBuf[4]==0x02) {
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+ collisionEarlyWarningMessage collisionWarning;
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+ char *str=new char[17];
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+ memcpy(str, recvBuf+18, 17);
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+ collisionWarning.isEnable=true;
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+ collisionWarning.vin=str;
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+ delete []str;
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+ collisionWarning.warningType=recvBuf[35];
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+ collisionWarning.speedLimit=recvBuf[36];
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+ if(collisionWarning.vin==m_sVin) {
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+ //qDebug() << "[RADIO]:receive collisionEarlyWarning message "<<endl;
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+ outCollisionWarning(collisionWarning);
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+ responseCollisionEarlyWarning(collisionWarning);
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+ m_responseType=collisionWarning.warningType;
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+ m_bEnUpRespond=true;
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+ //upRespondMessage();
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+ } else {
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+ //qDebug()<<"[CollisionEarlyWarning] vin error"<<endl;
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+ }
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}
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break;
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}
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case CongestionIdentification: {
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- congestionIdentificationMessage congestionIdenti;
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- char *str=new char[17];
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- memcpy(str, recvBuf+18, 17);
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- congestionIdenti.isEnable=true;
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- congestionIdenti.vin=str;
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- delete []str;
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- congestionIdenti.openCommand=recvBuf[35];
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- if(congestionIdenti.vin==m_sVin) {
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- qDebug() << "[RADIO]:receive congestion identification message "<<endl;
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- responseCongestionIdentification(congestionIdenti);
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- outCongestionIdenti(congestionIdenti);
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- } else {
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- qDebug()<<"[CongestionIdentification] vin error"<<endl;
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+ if(recvBuf[4]==0x03) {
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+ congestionIdentificationMessage congestionIdenti;
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+ char *str=new char[17];
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+ memcpy(str, recvBuf+18, 17);
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+ congestionIdenti.isEnable=true;
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+ congestionIdenti.vin=str;
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+ delete []str;
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+ congestionIdenti.openCommand=recvBuf[35];
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+ if(congestionIdenti.vin==m_sVin) {
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+ //qDebug() << "[RADIO]:receive congestion identification message "<<endl;
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+ responseCongestionIdentification(congestionIdenti);
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+ outCongestionIdenti(congestionIdenti);
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+ } else {
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+ // qDebug()<<"[CongestionIdentification] vin error"<<endl;
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+ }
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}
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break;
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}
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case ResponseMessage: {
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- qDebug() << "[RADIO]:receive answer Response Message "<<endl;
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+ //qDebug() << "[RADIO]:receive answer Response Message "<<endl;
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m_iResponse = -1;
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break;
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}
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case VirtualVehicle: {
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- qDebug() << "[RADIO]:receive answer VirtualVehicle "<<endl;
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+ //qDebug() << "[RADIO]:receive answer VirtualVehicle "<<endl;
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m_iVirtualVehicle = -1;
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break;
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}
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@@ -688,7 +695,7 @@ void Radio::ReceiveDecode(QByteArray &data)
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static int BATH_LENTH = 22;
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// 防包太大
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if (data.size() > 2048) {
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- qDebug() << "size too large";
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+ //qDebug() << "size too large";
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return;
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}
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// ##
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@@ -710,10 +717,10 @@ void Radio::ReceiveDecode(QByteArray &data)
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int high = data.at(16);
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int low = data.at(17);
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int dataLen = (high << 8) | low;
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- qDebug() << "dataLen:" << dataLen;
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+ //qDebug() << "dataLen:" << dataLen;
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// 长度不对
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if ((dataLen + sizeof(packageDataHead)) > data.size()) {
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- qDebug() << "message len error";
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+ //qDebug() << "message len error";
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return;
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}
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QByteArray temp = data.left(sizeof(packageDataHead) + dataLen + 1);
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HAPO-9#