modularization/src/v2x/pc5.h

#ifndef PC5_H
#define PC5_H
//#include <QWidget>
//#include <QAbstractSocket>
//#include <QDialog>
#include <QTimer>
#include <QDateTime>
#include <QQueue>
//#include <QUdpSocket>
#include <QTcpServer>
#include <QSerialPort>
#include "ivlog.h"
//std::string VIN="A1000000CATARCS01";

#define TrafficLight (0x01)
#define RealtimeTraffic (0x02)
#define CollisionEarlyWarning (0x03)
#define CongestionIdentification (0x04)
#define AutoDriveSystemOpenFlag (0x21)
#define VehicleBaseInfo (0x80)
#define ResponseMessage (0x81)
#define VirtualVehicle (0x82)
#define commentsend (0xFE)//命令
#define resuccess (0x01)//成功
#define reerror (0x02)//错误
#define periodic_send (0x00)

struct realtimeTrafficMessage
{
    bool isEnable=false;
    double lng;
    double lat;
    int scope;
    int trafficInfo;//0x01：塌方；0x02：施工；0x03：道路结冰；0x04：前方限速；“0xFE”表示异常，“0xFF”表示无效
    int speedLimit;
};

struct upResponseInfo
{
    char vin[17];//车辆识别码
    unsigned char reponseType;//0x01：减速；0x02：停车；“0xFE”表示异常，“0xFF”表示无效
};

struct collisionEarlyWarningMessage
{
    bool isEnable=false;
    std::string vin;//17位vin码
    unsigned char warningType;//0x01：减速；0x02：停车；“0xFE”表示异常，“0xFF”表示无效
    int speedLimit;
};

struct congestionIdentificationMessage
{
    bool isEnable=false;
    std::string vin;//17位vin码
    unsigned char openCommand;//0x01：开启；“0xFE”表示异常，“0xFF”表示无效
};

struct lightMessage//红绿灯状态
{
    bool isEnable=false;
    unsigned char myface=0;
    unsigned char light1face;//0x01横向 0x02纵向
    float light1head=0;//面朝方向
    unsigned char light1Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
    int light1timeRemaining=200;//红绿灯时间

    unsigned char light2face;//0x01横向 0x02纵向
    float light2head=0;//面朝方向
    unsigned char light2Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
    int light2timeRemaining=200;//红绿灯时间

    unsigned char light3face;//0x01横向 0x02纵向
    float light3head=0;//面朝方向
    unsigned char light3Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
    int light3timeRemaining=200;//红绿灯时间

    unsigned char light4face;//0x01横向 0x02纵向
    float light4head=0;//面朝方向
    unsigned char light4Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
    int light4timeRemaining=200;//红绿灯时间
};

struct gpsImuM//车辆状态传输
{
    float gps_lng;//real value
    float gps_lat;
    float speed;//real value
    float yaw;//real value
    float accx;//real value
    float accy;
};

//struct responseCollisionEarlyWarningInfo
//{
//    char vin[17];//车辆识别码
//    unsigned char warningType;
//    unsigned char speedLimit;
//};

struct DataPackageHead//数据包结构
{
    unsigned char startSymbol1;//起始符1
    unsigned char startSymbol2;//起始符2
    char RSU_Vin[2];//路测系统编码
    unsigned char featureSymbol;//功能识别码
    unsigned char commentSymbol;//命令标识
    unsigned char responseSymbol;//应答标识
    unsigned char encryptionType;//数据加密方式
    unsigned char time[8];//本报文时间戳。格林威治时间1970年01月01日00时00分00秒(北京时间1970年01月01日08时00分00秒)起至现在的总秒数。
    char dataLength[2];//数据单元长度
    // unsigned char *data;//数据单元
    // unsigned char verifyCode;//校验码
};

struct CarFormationInfoData  //车况数据
{
    char vin[17];//车辆识别码
    unsigned char type;//0A
    unsigned char gps_lng[4];//经度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
    unsigned char gps_lat[4];//维度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
    unsigned char car_speed;//车速 有效值范围：0～200（表示0km/h～200km/h）,最小计量单元：1km/h；“0xFE”表示异常，“0xFF”表示无效
    unsigned char car_yaw[4];//航向角 有效值范围：0～360(表示0°～360°)；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
    unsigned char electricalVoltage;
    unsigned char acc_x;//-6.0～6.0(表示0m/s2～4m/s2)，最小计量单元：0.1 m/s2；
    unsigned char acc_y;
    unsigned char error;
};

struct ui_set_virtualVehicleM//虚拟车范围设置
{
    double lngMax;
    double lngMin;
    double latMax;
    double latMin;
    float yawMax;
    float yawMin;
    int virtualVehicleNum;//虚拟车数量
    float speedMax;
    float speedMin;
};

struct virtualVehicleM
{
    std::string vin;
    double gps_lng;//real value
    double gps_lat;
    float speed;//real value
    float yaw;//real value
};

struct  upVirtualVehicleInfo
{
    char vin[17];//车辆识别码
    unsigned char lng[4];//*1000000
    unsigned char lat[4];
    unsigned char speed;
    unsigned char yaw[4];
};

class PC5:public QObject
{
    Q_OBJECT
public:
    PC5();
    ~PC5();

    void connectPlatform();
    void disconnectPlatform();
    void setobu(QString str,int port);
    void serialPortInit();//串口初始化
    void openSerial();//打开串口
    void closeSerial();//关闭串口
    void setSerial(QString str1,int num1);//串口设置
    void setConnectEnable(bool isEnable);//主界面调用以开关串口
    bool isLinked();//返回连接状态
    void setVin(std::string vin);//设置车辆vin
    void setobuNewVin(int vin);//设置obu编号
    void initRadio();//随机虚拟车vin
    void getRandomNum();//抽取虚拟vin

    void sendData();//车况数据发送
    void replyMessage();//接受数据解析
    QByteArray show_error();//主界面调用显示错误信息
    QByteArray show_readdata();//主界面调用显示收到数据

    int PackagetHeadInfo( unsigned char featureID,unsigned char commendID, unsigned char respondID,int dataLen);//包头写入
    void upVirtualVehicleRaw();//发送虚拟车数据
    void setGpsImuMemory(gpsImuM m);//接收车辆状态信息
    char BCCEncode(char sbuf[],int len);//计算校验
    bool BCCDecode(char sbuf[], int len);//核实校验位
    void upVirtualVehicle(ui_set_virtualVehicleM ui_set);//生成虚拟车信息
    ui_set_virtualVehicleM my_ui_set;
    void upRespondMessage(unsigned char featureId);//发送应答回复

    realtimeTrafficMessage ui_RealtimeTraffic();//主界面调用显示车况
    lightMessage ui_Light();//主界面调用显示红绿灯
    collisionEarlyWarningMessage ui_Warning();//主界面调用显示碰撞预警
    congestionIdentificationMessage ui_identification();//主界面调用显示交通拥堵
    bool show_warn_driver();//主界面调用显示危险驾驶
    bool upRunMod();
    bool m_runmod=false;
    bool eth_enable = false;
private:
    QByteArray error_data;//程序状态
    QByteArray datahex;//接收数据显示
    QSerialPort *m_serialPort_Radio;
    QString portname;//串口号
    int Baud;//波特率
    int obuport;
    QString obuip;
    QTcpServer *server;
    QTcpSocket *client;
    QTimer *timer;
    bool isConnected=false;//连接状态
    std::string m_strVin;//车辆vin
    int m_obuVin;//路测编号

    gpsImuM m_structMGpsImu;

    DataPackageHead packageDataHead;
    realtimeTrafficMessage realtimeTraffic;
    lightMessage light;
    collisionEarlyWarningMessage collisionWarning;
    congestionIdentificationMessage congestionIdenti;
    virtualVehicleM m_structMVirtualVehicle;
    int m_iVirtualVehicle;
    std::vector<std::string> m_vectorVin;
    std::vector<int> m_vectorRandom;

    QByteArray m_data;
    QQueue<QByteArray> readData;

    bool m_bIsConnect;
    bool m_bEnableRadio;
    bool m_bEnConnect;

    int m_traffic_heart;
    int m_light_heart;
    int m_WarningMessage_heart;
    int m_IdentificationMessage_heart;
    int m_warndriver_heart;

    unsigned char m_responseType;
    bool warn_driver;

private slots:

    void recvData();
//    void newConnectionSlot();
    void readDataSlot();
//    void disconnectedSlot();
    void heartBeat();
};

#endif // PC5_H