Upload files to 'src/v2x/v2xpc5'

src/v2x/v2xpc5/mainwindow.cpp

@@ -569,12 +569,21 @@ void MainWindow::UpdateGps(const char *strdata, const unsigned int nSize, const
         isSend=true;
         m_structMGpsImu.accy = float(xgpsimu.acce_y());
     }
+    if (xgpsimu.has_rtk_state())
+    {
+
+        if (xgpsimu.rtk_state()==6)
+        {
+            seneor_m.gps_flag=0x01;
+            mGPSs=3;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
     if(isSend)
     {
-        seneor_m.gps_flag=0x01;
-        mGPSs=3;
+
         setTboxMemoryRaw();
-        m_tbox->setSensorMemmory(seneor_m);
+
         m_pc5->setGpsImuMemory(m_structMGpsImu);
     }
 }
@@ -618,10 +627,11 @@ void MainWindow::UpdateLIDAR(const char *strdata, const unsigned int nSize, cons
 
 void MainWindow::UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
+    qDebug()<<'recve radar';
     iv::radar::radarobject xradarobject;
     if(!xradarobject.ParseFromArray(strdata,nSize))
     {
-        return;
+        std::cout<<"radar data is small headsize ="<<std::endl;
     }
     seneor_m.radar=0x01;
     mRADARs=3;

src/v2x/v2xpc5/v2xTcpClient.xml

@@ -10,7 +10,7 @@
 		<param name="gps" value="hcp2_gpsimu" />
 		<param name="camera" value="image00" />
 		<param name="lidar" value="lidar_pc" />
-		<param name="radar" value="radarobject" />
+		<param name="radar" value="radar4" />
 		<param name="vision_light" value="lightarray" />
 
 		<param name="light1Stophead" value="278.74" />