1.add ReadWriteLock 2.Remove timer

src/detection/detection_radar_delphi_esr_send/main.cpp

@@ -5,6 +5,7 @@
 #include <math.h>
 #include <thread>
 #include <QDebug>
+#include <QReadWriteLock>
 
 #include <signal.h>
 #include <stdlib.h>
@@ -40,12 +41,12 @@ static uint16_t Radar_to_Rear_Axle = 370;//< 0-710 cm
 static uint16_t Car_Wheel_Base = 270;//< 0-710 cm
 static uint8_t Car_Steering_Gear_Ratio = 18;//< 0-31.875
 /******************************************/
-
+QReadWriteLock *wrLock = new QReadWriteLock();
 canSend4F0 canData4f0;
 canSend4F1 canData4f1;
 canSend5F2 canData5f2;
 canSend5F4 canData5f4;
-
+int canChannel = 0;
 /******************************************/
 
 iv::Ivlog * givlog;
@@ -69,7 +70,6 @@ void ExecSend()
 {
     iv::can::canmsg xmsg;
     iv::can::canraw xraw;
-qDebug()<<QTime::currentTime();
     xraw.set_id(0x4F0);
     xraw.set_data(canData4f0.byte,8);
     xraw.set_bext(false);
@@ -136,8 +136,10 @@ void Listengpsimu(const char * strdata,const unsigned int nSize,const unsigned i
         givlog->warn("detection_radar_delphi_esr_send--Listengpsimu parse errror. nSize is %d",nSize);
         return;
     }
+    wrLock->lockForWrite();
     Vehicle_Yaw_Rate = xgpsimu.gyro_z() * -1;
     Vehicle_Speed = sqrt(xgpsimu.vn()*xgpsimu.vn() + xgpsimu.ve()*xgpsimu.ve() + xgpsimu.vd()*xgpsimu.vd());
+    wrLock->unlock();
 }
 
 void Listencancar(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
@@ -158,10 +160,12 @@ void Listencancar(const char * strdata,const unsigned int nSize,const unsigned i
 
 /****************timer*********************/
 
-void signalHandler(int num)
+void signalHandler()
 {
+    wrLock->lockForRead();
     unsigned int speed = (unsigned int)(Vehicle_Speed / 0.0625);
     int yawRate = (int)(Vehicle_Yaw_Rate / 0.0625);
+    wrLock->unlock();
 
     canData4f0.bit.canVehicleSpeedH = speed >> 8;
     canData4f0.bit.canVehicleSpeedL = speed & 0xFF;
@@ -489,7 +493,7 @@ void threadstate()
 {
     while(1)
     {
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
         if(gnRadarState > -100)gnRadarState--;
         if(gnRadarState > 0)
         {
@@ -506,7 +510,8 @@ void threadstate()
                 givfault->SetFaultState(2,2,"无CAN数据");
             }
         }
-
+        signalHandler();
+        qDebug()<<QTime::currentTime();
     }
 }
 
@@ -514,6 +519,42 @@ int main(int argc, char *argv[])
 {
     QCoreApplication a(argc, argv);
 
+    QString strpath = QCoreApplication::applicationDirPath();
+    if(argc < 2)
+        strpath = strpath + "/detection_radar_esr.xml";
+    else
+        strpath = argv[1];
+    std::cout<<strpath.toStdString()<<std::endl;
+
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    std::string strmemcan = xp.GetParam("canrecv","canrecv1");
+    std::string strmemsend = xp.GetParam("cansend","cansend1");
+    std::string strmemradar = xp.GetParam("radar","radar");
+    std::string strmodulename = xp.GetParam("modulename","detection_radar_delphi_esr");
+#ifdef fujiankuan
+    gstrmemgpsimu = xp.GetParam("gpsimu_name","hcp2_gpsimu");
+    gstrmemcancar = xp.GetParam("cancar","can_car");
+#endif
+    givlog = new iv::Ivlog(strmodulename.data());
+    givfault = new iv::Ivfault(strmodulename.data());
+
+    givfault->SetFaultState(1,1,"初始化");
+    givlog->info("Initialized");
+
+    if(strmemsend.compare("cansend0") == 0){
+        canChannel = 0;
+        givlog->info("ESR","set ESR can send channel to 0");
+    }
+    if(strmemsend.compare("cansend1") == 0){
+        canChannel = 1;
+        givlog->info("ESR","set ESR can send channel to 1");
+}
+    else {
+        givlog->info("ESR","Not agx can,set default ESR can send channel to 0");
+        canChannel = 0;
+    }
+
     iv::radar::radarobjectarray x;
     x.set_mstime(0);
     int i;
@@ -542,31 +583,6 @@ int main(int argc, char *argv[])
     memset(canData5f2.byte,0,8);
     memset(canData5f4.byte,0,8);
 
-    QString strpath = QCoreApplication::applicationDirPath();
-    if(argc < 2)
-        strpath = strpath + "/detection_radar_esr.xml";
-    else
-        strpath = argv[1];
-    std::cout<<strpath.toStdString()<<std::endl;
-
-    iv::xmlparam::Xmlparam xp(strpath.toStdString());
-
-    std::string strmemcan = xp.GetParam("canrecv","canrecv1");
-    std::string strmemsend = xp.GetParam("cansend","cansend1");
-    std::string strmemradar = xp.GetParam("radar","radar");
-    std::string strmodulename = xp.GetParam("modulename","detection_radar_delphi_esr");
-#ifdef fujiankuan
-    gstrmemgpsimu = xp.GetParam("gpsimu_name","hcp2_gpsimu");
-    gstrmemcancar = xp.GetParam("cancar","can_car");
-#endif
-
-
-    givlog = new iv::Ivlog(strmodulename.data());
-    givfault = new iv::Ivfault(strmodulename.data());
-
-    givfault->SetFaultState(1,1,"初始化");
-    givlog->info("Initialized");
-
     gpa = iv::modulecomm::RegisterSend(strmemradar.data(),100000,3);
     gpb = iv::modulecomm::RegisterSend(strmemsend.data(),100000,1);
     void * pa = iv::modulecomm::RegisterRecv(strmemcan.data(),Listencan0);
@@ -580,13 +596,13 @@ int main(int argc, char *argv[])
 //    signal(SIGALRM, signalHandler);
 //    ualarm(2000,2000);
 
-    signal(SIGALRM, signalHandler);
+//    signal(SIGALRM, signalHandler);
 
-    struct itimerval new_value, old_value;
-    new_value.it_value.tv_sec = 0;
-    new_value.it_value.tv_usec = 1;
-    new_value.it_interval.tv_sec = 0;
-    new_value.it_interval.tv_usec = 20000;
-    setitimer(ITIMER_REAL, &new_value, NULL);
+//    struct itimerval new_value, old_value;
+//    new_value.it_value.tv_sec = 0;
+//    new_value.it_value.tv_usec = 1;
+//    new_value.it_interval.tv_sec = 0;
+//    new_value.it_interval.tv_usec = 20000;
+//    setitimer(ITIMER_REAL, &new_value, NULL);
     return a.exec();
 }