From 64237aebe754c3f0e083238840544c893e205422 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Wed, 29 Apr 2026 13:09:30 +0800
Subject: [PATCH] debug-7

---
 .../src/pbox_node/src/protocol/decode_04.cpp   | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/perception/pbox_node_dirve/src/pbox_node/src/protocol/decode_04.cpp b/src/perception/pbox_node_dirve/src/pbox_node/src/protocol/decode_04.cpp
index 0438472..a1d676f 100644
--- a/src/perception/pbox_node_dirve/src/pbox_node/src/protocol/decode_04.cpp
+++ b/src/perception/pbox_node_dirve/src/pbox_node/src/protocol/decode_04.cpp
@@ -27,10 +27,16 @@ public:
 
     void subData(const uint8_t* sub_address, int& index)
     {
+        int dataLength = getLength(m_type);
 
-        uint32_t dataSize = getDataSize() - index;
-        uint32_t protocolSize = checkXor(&sub_address[index] , dataSize);
-        if(protocolSize == 44)
+        // 简单的XOR校验
+        uint8_t check_sum = 0;
+        for (int i = 0; i < dataLength - 1; ++i)
+        {
+            check_sum ^= sub_address[i];
+        }
+
+        if (check_sum == sub_address[dataLength - 1])
         {
             int16_t middle;
             uint32_t tmpU32;
@@ -49,9 +55,7 @@ public:
             m_pubAsensingMsg.temperature = middle * 200.0 / 32768;
             // time
             tmpU32 = toValue<uint32_t>(sub_address, sub_index);
-            m_pubAsensingMsg.imu_time_stamp = (double)tmpU32 / 4000;
-            // status
-            m_pubAsensingMsg.status = toValue<uint8_t>(sub_address, sub_index);
+            m_pubAsensingMsg.time = (double)tmpU32 / 4000;
 
             /* msg header */
             m_pubAsensingMsg.header.frame_id = m_frameId;
@@ -102,7 +106,7 @@ public:
                     isPrint = true;
                 }
             }
-            index += protocolSize;
+            index += dataLength;
         }
         else
         {