#include?“StdAfx.h“
#include?“RadarAnalys.h“
#include?“Radar.H“
#include?
#include?“canlib.h“

int?flagnum=0;

CRadarAnalys::CRadarAnalys（void）
{
	for?（int?i=0;i<3;i++）
	{
		for?（int?j=0;j<64;j++）
		{

			Original_Data[i][j].angle=0;
			Original_Data[i][j].range=0;
			Original_Data[i][j].speed=0;
			Original_Data[i][j].position_x=0;
			Original_Data[i][j].position_y=0;

		}
	
	}
	Quiet?=?0;?????????????????//?Defines?the?verbosity.
	seq?=0;
}

CRadarAnalys::~CRadarAnalys（void）
{
}
void?CRadarAnalys::Initialize（）
{
	Source=0;
	Bitrate=BAUD_1M;

	canInitializeLibrary（）;?
	hnd?=?canOpenChannel（Source??0）;??//??Channel?#?
	stat?=?canSetBusParams（hnd?Bitrate?0?0?0?0?0）;?//?Selected?bit?rate.
	stat?=?canBusOn（hnd）;?

}
void?CRadarAnalys::GetRadarData_Online（CString?FilePath）
{
	int?Overrun;

	long?id;
	unsigned?int?dlc?flags;
	unsigned?char?msg[8];

	unsigned?long?rawdata;
	unsigned?long?rawdatahigh;
	unsigned?long?rawdatalow;
	unsigned?long?rawdata1;
	unsigned?long?rawdata2;
	unsigned?long?rawdata2temp;
	unsigned?long?rawdata3;
	unsigned?long?yawrate_temp1;
	unsigned?long?speed_temp1;
	unsigned?long?speed_temp2;
	long?yawrate_temp2;

	DWORD?time;
	long?t?timeFrac?timeInt;
	unsigned?int?i;


	double?ANGLE;
	double?RANGE;
	double?RANGE_RATE;
	double?speed;
	double?yawrate;


	rawdata=0x0;
	rawdatalow=0x0;
	rawdatahigh=0x0;
	rawdata1=0x0;
	rawdata2=0x0;
	rawdata3=0x0;

	ANGLE=0;
	RANGE=0;
	RANGE_RATE=0;	

	DWORD?timeold;
	CFile?file;
	CFileException?ex;

	int?f_run?=?1;
	timeOffset?=?canReadTimer（hnd）;
	seq=seq+1;
	SYSTEMTIME?st;
	GetSystemTime（&st）;
	CString?str;
	CString?filename;
	str.Format（“Radar_%05d_%02d%02d%02d_%03d.txt“?seq?st.wHour?st.wMinute?st.wSecond?st.wMilliseconds）;?//設置文件名
//此處需要處理下文件名??將文件名與文件夾名拼接起來
	filename=FilePath+str;
	
	if?（!file.Open（filename.operator?LPCTSTR（）?CFile::modeCreate?|?CFile::modeWrite???&ex））
	{
		AfxMessageBox（“Can‘t?create?log?file?.\n“）;
		canClose（hnd）;
		exit（1）;
	}
	else
	{
		CString?str;
		str.Format（“Logging?to?（candump?-h?for?help;?ESC?to?quit.）\n“）;
	}


	do																					//獲得車速信號
	{
		stat?=?canReadWait（hnd?&id?msg?&dlc?&flags?&time50）;
	}?while?（id!=1024）;

	for?（int?k=1;k<=（64*RADAR_NUM+1）;k++）									//雷達數為3
	{
		if?（stat?==?canOK?&&?（Quiet?<=?1））
		{
			if?（（flags?&?canMSG_ERROR_frame）?==?0）
			{
				//?A?message.
				//?Print?identifier?and?flags.
				CString?str;
				str.Format（“%8lu%c%c%c%c??%02lu?“
					id
					flags?&?canMSG_EXT??????????‘x‘?:?‘?‘
					flags?&?canMSG_RTR??????????‘R‘?:?‘?‘
					flags?&?canMSGERR_OVERRUN???‘o‘?:?‘?‘
					flags?&?canMSG_NERR?????????‘N‘?:?‘?‘?//?TJA?1053/1054?transceivers?only
					dlc）;
				file.Write（str.operator?LPCTSTR（）?str.GetLength（））;
			}?
			else
			{
				//?An?error?frame.
				//?CANLIB?will?set?the?id?to?something?controller
				//?dependent.
				CString?str;
				str.For