From 6962b2fd988944117eec3eba33887f6f1c9d5eba Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Mon, 28 Jul 2025 10:57:55 +0800
Subject: [PATCH] Auto commit at 2025-07-28 10:57:55

---
 .../include/mqtt_report/report_struct.h           | 15 ++++++++-------
 src/mqtt_report/src/mqtt_report.cpp               |  6 +++++-
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/mqtt_report/include/mqtt_report/report_struct.h b/src/mqtt_report/include/mqtt_report/report_struct.h
index d854452..73d3bc0 100644
--- a/src/mqtt_report/include/mqtt_report/report_struct.h
+++ b/src/mqtt_report/include/mqtt_report/report_struct.h
@@ -13,13 +13,14 @@ int64_t getCurrentTimestampMs()
 
 struct GeneralMsg
 {
-    float power = 0.0f;        // 电量 %
-    bool chargeStatus = false; // 是否在充电
-    int gear = 0;              // 档位
-    float speed = 0.0f;        // 当前速度 km/h
-    int waterLevel = 0;        // 水位
-    int motorTemp = 0;         // 电机温度 °C
-    int64_t timestamp = 0;     // 时间戳
+    float power = 0.0f;         // 电量 %
+    bool chargeStatus = false;  // 是否在充电
+    int gear = 0;               // 档位
+    float speed = 0.0f;         // 当前速度 km/h
+    float steeringAngle = 0.0f; // 转向角度
+    int waterLevel = 0;         // 水位
+    int motorTemp = 0;          // 电机温度 °C
+    int64_t timestamp = 0;      // 时间戳
 };
 
 struct BMSFault
diff --git a/src/mqtt_report/src/mqtt_report.cpp b/src/mqtt_report/src/mqtt_report.cpp
index 39dd236..3f114d7 100644
--- a/src/mqtt_report/src/mqtt_report.cpp
+++ b/src/mqtt_report/src/mqtt_report.cpp
@@ -126,6 +126,9 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
 
     case 0x401:
     {
+        int16_t angle = (msg->data[3] * 256 + msg->data[4]) - 1024;
+        info_report.steeringAngle = angle / 5.0f;
+
         // 清空所有 EPS 错误码
         for (int code = 1201; code <= 1218; ++code)
         {
@@ -133,7 +136,7 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
         }
 
         // 添加当前报文中的错误码（最多2个）
-        uint8_t data_bytes[2] = {msg->data[3], msg->data[7]};
+        uint8_t data_bytes[2] = {msg->data[2], msg->data[6]};
         for (uint8_t byte : data_bytes)
         {
             for (int i = 0; i < 18; ++i)
@@ -210,6 +213,7 @@ std::string pack_general_info_to_json(const GeneralMsg &msg)
     j["chargeStatus"] = msg.chargeStatus;
     j["gear"] = msg.gear;
     j["speed"] = msg.speed;
+    j["steeringAngle"] = msg.steeringAngle;
     j["waterLevel"] = msg.waterLevel;
     j["motorTemp"] = msg.motorTemp;
     j["timestamp"] = msg.timestamp;