change proto receive

src/v2x/CommunicatePlatform/mainwindow.cpp

@@ -278,7 +278,11 @@ void MainWindow::UpdateGPSIMU(const char * strdata,const unsigned int nSize,cons
     }
     if(xgpsimu.has_heading()) {
         isSend=true;
-        m_structMGpsImu.yaw=float(xgpsimu.heading()+180.0);
+        heading = xgpsimu.heading();
+        if(heading<0) {
+            heading = heading+360.0;
+        }
+        m_structMGpsImu.yaw=float(heading);
     }
     if((xgpsimu.has_ve())&&(xgpsimu.has_vn())) {
         isSend = true;
@@ -326,52 +330,66 @@ void MainWindow::UpdateUI(const char * strdata,const unsigned int nSize,const un
     }
     if(xhmi.has_vin()) {
         std::string str=xhmi.vin();
-        ui->lineEdit_VIN->setText(QString::fromStdString(str));
+        //ui->lineEdit_VIN->setText(QString::fromStdString(str));
+        qDebug()<<"[HMI]:get vin "<<QString::fromStdString(str);
         m_tbox->setTboxNewVin(str);
         m_radio->setVin(str);
     }
     if(xhmi.has_rodeinfoen()) {
         bool enRadioBroadcast = xhmi.rodeinfoen();
         m_radio->getTrafficBroadcast(enRadioBroadcast);
-        ui->checkBox_trafficBroadcast->setChecked(enRadioBroadcast);
+        //ui->checkBox_trafficBroadcast->setChecked(enRadioBroadcast);
+        qDebug()<<"[HMI]:get enRadioBroadcast is  "<<enRadioBroadcast;
     }
     if(xhmi.has_rodefcwen()) {
         bool enRadioWarning = xhmi.rodefcwen();
         m_radio->getCollisonWarning(enRadioWarning);
-        ui->checkBox_collisionWarning->setChecked(enRadioWarning);
+        //ui->checkBox_collisionWarning->setChecked(enRadioWarning);
+        qDebug()<<"[HMI]:get enRadioWarning is  "<<enRadioWarning;
     }
     if(xhmi.has_roadjamsen()) {
         bool enRadioIdenti = xhmi.roadjamsen();
         m_radio->getBusyRoad(enRadioIdenti);
-        ui->checkBox_busyRoad->setChecked(enRadioIdenti);
+        //ui->checkBox_busyRoad->setChecked(enRadioIdenti);
+        qDebug()<<"[HMI]:get enRadioIdenti is  "<<enRadioIdenti;
     }
     if(xhmi.has_roaddricrimsen()) {
         bool enRadioDanger =xhmi.roaddricrimsen();
         m_radio->getDangerDrive(enRadioDanger);
-        ui->checkBox_dangerousDrive->setChecked(enRadioDanger);
+        //ui->checkBox_dangerousDrive->setChecked(enRadioDanger);
+        qDebug()<<"[HMI]:get enRadioDanger is  "<<enRadioDanger;
     }
     if((xhmi.has_carcount())&&(xhmi.has_latup())&&(xhmi.has_latlow())
             &&(xhmi.has_lonup())&&(xhmi.has_lonlow())
             &&(xhmi.has_headingup())&&(xhmi.has_headinglow())
             &&(xhmi.has_speedlow())&&(xhmi.has_speedup())) {
         int virtualVehicleNum= int(xhmi.carcount());
-        ui->lineEdit_virtualVehicleNum->setText(QString::number(virtualVehicleNum));
+        //ui->lineEdit_virtualVehicleNum->setText(QString::number(virtualVehicleNum));
+        qDebug()<<"[HMI]:get virtualVehicleNum is  "<<virtualVehicleNum;
         double latMax = xhmi.latup();
-        ui->lineEdit_latMax->setText(QString("%1").arg(latMax));
+        //ui->lineEdit_latMax->setText(QString("%1").arg(latMax));
+        qDebug()<<"[HMI]:get latMax is  "<<latMax;
         double latMin= xhmi.latlow();
-        ui->lineEdit_latMin->setText(QString("%1").arg(latMin));
+        //ui->lineEdit_latMin->setText(QString("%1").arg(latMin));
+        qDebug()<<"[HMI]:get latMin is  "<<latMin;
         double lngMax= xhmi.lonup();
-        ui->lineEdit_lngMax->setText(QString("%1").arg(lngMax));
+        //ui->lineEdit_lngMax->setText(QString("%1").arg(lngMax));
+        qDebug()<<"[HMI]:get lngMax is  "<<lngMax;
         double lngMin= xhmi.lonlow();
-        ui->lineEdit_lngMin->setText(QString("%1").arg(lngMin));
+        //ui->lineEdit_lngMin->setText(QString("%1").arg(lngMin));
+        qDebug()<<"[HMI]:get lngMin is  "<<lngMin;
         float speedMax= xhmi.speedup();
-        ui->lineEdit_speedMax->setText(QString("%1").arg(speedMax));
+        //ui->lineEdit_speedMax->setText(QString("%1").arg(speedMax));
+        qDebug()<<"[HMI]:get speedMax is  "<<speedMax;
         float speedMin= xhmi.speedlow();
-        ui->lineEdit_speedMin->setText(QString("%1").arg(speedMin));
+        //ui->lineEdit_speedMin->setText(QString("%1").arg(speedMin));
+        qDebug()<<"[HMI]:get speedMin is  "<<speedMin;
         float yawMax=xhmi.headingup();
-        ui->lineEdit_yawMax->setText(QString("%1").arg(yawMax));
+        //ui->lineEdit_yawMax->setText(QString("%1").arg(yawMax));
+        qDebug()<<"[HMI]:get yawMax is  "<<yawMax;
         float yawMin=xhmi.headinglow();
-        ui->lineEdit_yawMin->setText(QString("%1").arg(yawMin));
+        //ui->lineEdit_yawMin->setText(QString("%1").arg(yawMin));
+        qDebug()<<"[HMI]:get yawMin is  "<<yawMin;
         int randId=qrand()%10000;
         m_vectorRandom.push_back(randId);
         virtualVehicleM structVirtualVehicle;
@@ -407,88 +425,49 @@ void MainWindow::UpdateControl(const char *strdata, const unsigned int nSize, co
         isSend=true;
         float soc = xcontrol.soc();
         m_structChassisRaw.soc=soc;
-        ui->textEdit->append(QString("[chassis]:Memory control get soc: %1\n").arg(soc));
+        //ui->textEdit->append(QString("[chassis]:Memory control get soc: %1\n").arg(soc));
+        qDebug()<<"[chassis]:Memory control get soc: "<<soc;
     }
     if(xcontrol.has_driver_error()) {
         isSend=true;
         bool error=xcontrol.driver_error();
         m_structChassisRaw.driver_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get driver_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get driver_error false!\n");
-        }
     }
     if(xcontrol.has_swj_error()) {
         isSend=true;
         bool error = xcontrol.swj_error();
         m_structChassisRaw.swj_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get swj_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get swj_error false!\n");
-        }
     }
     if(xcontrol.has_battery_error()) {
         isSend=true;
         bool error=xcontrol.battery_error();
         m_structChassisRaw.battery_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get battery_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get battery_error false!\n");
-        }
     }
     if(xcontrol.has_remote_error()) {
         isSend=true;
         bool error = xcontrol.remote_error();
         m_structChassisRaw.remote_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get remote_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get remote_error false!\n");
-        }
     }
     if(xcontrol.has_steer_motor_error()) {
         isSend  = true;
         bool error= xcontrol.steer_motor_error();
         m_structChassisRaw.steer_motor_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get steer_motor_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get steer_motor_error false!\n");
-        }
     }
     if(xcontrol.has_rrmotor_error()) {
         isSend = true;
         bool error=xcontrol.rrmotor_error();
         m_structChassisRaw.rrmotor_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get rrmotor_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get rrmotor_error false!\n");
-        }
     }
     if(xcontrol.has_rlmotor_error()) {
         isSend=true;
         bool error = xcontrol.rlmotor_error();
-        m_structChassisRaw.rlmotor_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get rlmotor_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get rlmotor_error false!\n");
-        }
+        m_structChassisRaw.rlmotor_error=error;        
 
     }
     if(xcontrol.has_fsteer_code_error()) {
         isSend  = true;
         bool error=xcontrol.fsteer_code_error();
-        m_structChassisRaw.fsteer_code_error=error;
-        if(error) {
-            ui->textEdit->append("[chassis]:Memory control get fsteer_error true!\n");
-        } else {
-            ui->textEdit->append("[chassis]:Memory control get fsteer_error false!\n");
-        }
+        m_structChassisRaw.fsteer_code_error=error;        
     }
     if(isSend) {
         setRadioControlMemory();
@@ -510,9 +489,11 @@ void MainWindow::UpdateState(const char *strdata, const unsigned int nSize, cons
     if(xstate.has_vehicle_state()) {
         int type = xstate.vehicle_state();
         if(type==1) {
-            ui->textEdit->setText("[brainstate]: get vehicle stat is speed limit!");
+            //ui->textEdit->setText("[brainstate]: get vehicle stat is speed limit!");
+            qDebug()<<"[brainstate]: get vehicle stat is speed limit!";
         } else if(type==2) {
-            ui->textEdit->setText("[brainstate]: get vehicle stat is stop!");
+            //ui->textEdit->setText("[brainstate]: get vehicle stat is stop!");
+            qDebug()<<"[brainstate]: get vehicle stat is stop!";
         }
         if((type==1)||(type==2)) {
             m_radio->sendResponseMessage(type);
@@ -535,8 +516,10 @@ unsigned char MainWindow::getError()
                     m_structChassisRaw.steer_motor_error|m_structChassisRaw.swj_error);
     if(error) {
         return 0x01;
+        qDebug()<<"[chassis]:Memory control get error true!";
     } else {
         return 0x02;
+        qDebug()<<"[chassis]:Memory control get error false!";
     }
 }