radio data slow

src/v2x/CommunicatePlatform/radio.cpp

@@ -21,6 +21,7 @@ Radio::Radio()
     //shareMem:send
     mpmem_radio_send_addr = iv::modulecomm::RegisterSend("v2r_send",100,1);
     m_sVin="A1000000CATARCS02";
+    m_bEnReceive=false;
     /////////////////////////////
 }
 Radio::~Radio()
@@ -179,11 +180,12 @@ void Radio::closeSerial()
 }
 void Radio::heartBeat()
 {
+    m_bEnReceive=true;
     if(m_bEnConnect) {
         if(m_bSerialOpen==false) {
             openSerial();
         } else {
-            //upDataStream();
+            upDataStream();
             //if no answer,shake hands three times
             if(m_iResponse!=-1) {
                 m_iResponse++;
@@ -224,6 +226,7 @@ void Radio::heartBeat()
             closeSerial();
         }
     }
+    m_bEnReceive=false;
 }
 void Radio::upDataStream()
 {
@@ -392,18 +395,51 @@ int Radio::PackagetHeadInfo( unsigned char featureID,unsigned char commendID, un
 }
 void Radio::receiveData()
 {
+
+
     qint64 rLen = m_serialPort_Radio->bytesAvailable();
+
+    if (rLen < 50) {
+            return;
+    }
     qDebug() << "rLen:"<<rLen;
-    if (rLen <= 38) {
+    char *headdata = new char[1];
+    if (headdata == NULL) {
         return;
     }
-    char *_data = new char[rLen + 1];
+    memset(headdata, 0, 1);
+    int ret;
+    char first;
+
+    for(int i=0;i++;i<rLen-4)
+    {
+        ret= m_serialPort_Radio->read(headdata, 1);
+        if(ret <= 0)
+        {
+            qDebug() << "read error";
+            return;
+        }
+        QByteArray data(headdata, ret);
+        first = data[i];
+        if (first == '$') {
+            delete [] headdata;
+            break;
+        }
+
+    }
+    rLen = m_serialPort_Radio->bytesAvailable();
+    if (rLen < 40) {
+            return;
+    }
+
+    char *_data = new char[rLen + 2];
     if (_data == NULL) {
         return;
     }
-    memset(_data, 0, rLen + 1);
+    memset(_data, 0, rLen + 2);
+    _data[0]=0x24;
     //socket_mutex.lock();
-    int ret = m_serialPort_Radio->read(_data, rLen);
+    ret = m_serialPort_Radio->read(_data+1, rLen);
     //socket_mutex.unlock();
     if(ret <= 0)
     {
@@ -416,6 +452,7 @@ void Radio::receiveData()
     // 数据拆开
     ReceiveDecode(data);
     replyMessage();
+
 }
 
 char Radio::BCCEncode(char sbuf[],int len)//计算校验
@@ -497,10 +534,11 @@ void Radio::replyMessage()
         }
         case CollisionEarlyWarning: {
             collisionEarlyWarningMessage collisionWarning;
-            std::string *str;
+            char *str=new char[17];
             memcpy(str, recvBuf+18, 17);
             collisionWarning.isEnable=true;
-            collisionWarning.vin=*str;
+            collisionWarning.vin=str;
+            delete []str;
             collisionWarning.warningType=recvBuf[35];
             collisionWarning.speedLimit=recvBuf[36];
             if(collisionWarning.vin==m_sVin) {
@@ -517,10 +555,11 @@ void Radio::replyMessage()
         }
         case CongestionIdentification: {
             congestionIdentificationMessage congestionIdenti;
-            std::string *str;
+            char *str=new char[17];
             memcpy(str, recvBuf+18, 17);
             congestionIdenti.isEnable=true;
-            congestionIdenti.vin=*str;
+            congestionIdenti.vin=str;
+            delete []str;
             congestionIdenti.openCommand=recvBuf[35];
             if(congestionIdenti.vin==m_sVin) {
                 qDebug() << "[RADIO]:receive congestion identification message "<<endl;

src/v2x/CommunicatePlatform/radio.h

@@ -159,6 +159,7 @@ public:
 private:
     QSerialPort *m_serialPort_Radio;
     bool m_bSerialOpen;
+    bool m_bEnReceive;
     QTimer *timer;
     bool m_bEnConnect;
     QQueue<QByteArray> readData;