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@@ -401,19 +401,15 @@ int Canbus::read_data(TPCANMsg *pMsgBuff)
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//通过读取车辆OBD的数据,赋值给OBD的变量 原始代码 结束
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//通过读取车辆OBD的数据,赋值给OBD的变量 原始代码 结束
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//通过设置相关变量,赋值给OBD的变量 测试版代码 开始
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//通过设置相关变量,赋值给OBD的变量 测试版代码 开始
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- if(pMsgBuff->ID == robot::common::Car1)
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+ if(pMsgBuff->ID == robot::common::ObdAccPsng)
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{
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{
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- T_VEHICLE_STATUS_1 tVehicle1 = *((T_VEHICLE_STATUS_1*)MessageCoder::CanMsgAnalyse(robot::common::VehicleStatus1,pMsgBuff->DATA));
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- status1.uiAccPsng = tVehicle1.uiAccPsng;
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- status1.uiBrkPsng = tVehicle1.uiBrkPsng;
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- obd.AccPsng = tVehicle1.uiAccPsng * 0.1;
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- obd.BrkPsng = tVehicle1.uiBrkPsng * 0.1;
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- }
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- else if(pMsgBuff->ID == robot::common::Car2)
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- {
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- T_VEHICLE_STATUS_2 tVehicle2 = *((T_VEHICLE_STATUS_2*)MessageCoder::CanMsgAnalyse(robot::common::VehicleStatus2,pMsgBuff->DATA));
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- status2.iStrAng = tVehicle2.iStrAng;
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- obd.StrAng = tVehicle2.iStrAng * 0.01;
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+ T_OBD_ACC_PSNG tOBDAccPsng = *((T_OBD_ACC_PSNG*)MessageCoder::CanMsgAnalyse(robot::common::ObdAccPsng,pMsgBuff->DATA));
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+ status1.uiAccPsng = tOBDAccPsng.obdAccPsng;
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+ status1.uiBrkPsng = 0;
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+ obd.AccPsng = tOBDAccPsng.obdAccPsng;
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+ obd.BrkPsng = 0;
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+ status2.iStrAng = 0;
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+ obd.StrAng = 0;
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}
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}
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else if((pMsgBuff->ID >= robot::common::RobotWorkMd && pMsgBuff->ID <= robot::common::ICUMonitor) ||
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else if((pMsgBuff->ID >= robot::common::RobotWorkMd && pMsgBuff->ID <= robot::common::ICUMonitor) ||
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(pMsgBuff->ID >= robot::common::BrkPedalActCtrReq && pMsgBuff->ID <= robot::common::IOMode) ||
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(pMsgBuff->ID >= robot::common::BrkPedalActCtrReq && pMsgBuff->ID <= robot::common::IOMode) ||
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