From ad47895b1cb779472b459972cd9a36f36ea1e8e7 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Wed, 6 May 2026 15:17:22 +0800
Subject: [PATCH] filters

---
 src/perception/uss/src/uss.cpp | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/perception/uss/src/uss.cpp b/src/perception/uss/src/uss.cpp
index 0115228..c21ec82 100644
--- a/src/perception/uss/src/uss.cpp
+++ b/src/perception/uss/src/uss.cpp
@@ -2,9 +2,9 @@
 
 #include <iostream>
 
-// 超声波传感器的CAN ID定义 (J1939格式: 0x18EC5700) 18EC0057
-// Priority: 0x18, PGN: 0xEC00 (60416), Device ID: 0x57 (87)
-constexpr uint32_t USS_CAN_ID = 0x18EC0057;
+// 超声波传感器的CAN ID定义 (J1939格式: 0x18EC5700)
+// Priority: 6(0x18), PF: 0xEC, PS: 0x57, SA: 0x00, PGN: 60416(0xEC00)
+constexpr uint32_t USS_CAN_ID = 0x18EC5700;
 constexpr uint32_t USS_CAN_MASK = 0xFFFFFFFF;  // 精确匹配
 UssDriver::UssDriver() : print_debug_(false), initialized_(false)
 {
@@ -39,18 +39,18 @@ bool UssDriver::init(const std::string& can_interface)
     }
 
     // 设置CAN过滤器，只接收超声波的CAN数据
-    // struct can_filter filter;
-    // filter.can_id = USS_CAN_ID | CAN_EFF_FLAG;
-    // filter.can_mask = USS_CAN_MASK;
-    // std::vector<struct can_filter> filters;
-    // filters.push_back(filter);
+    struct can_filter filter;
+    filter.can_id = USS_CAN_ID | CAN_EFF_FLAG;
+    filter.can_mask = USS_CAN_MASK;
+    std::vector<struct can_filter> filters;
+    filters.push_back(filter);
 
-    // if (!can_driver_.setFilter(filters))
-    // {
-    //     std::cerr << "Failed to set CAN filter for USS" << std::endl;
-    //     can_driver_.close();
-    //     return false;
-    // }
+    if (!can_driver_.setFilter(filters))
+    {
+        std::cerr << "Failed to set CAN filter for USS" << std::endl;
+        can_driver_.close();
+        return false;
+    }
 
     can_driver_.setReceiveCallback(canReceiveCallback, this);
     initialized_ = true;
@@ -58,7 +58,7 @@ bool UssDriver::init(const std::string& can_interface)
     if (print_debug_)
     {
         std::cout << "USS driver initialized successfully on " << can_interface << std::endl;
-        // std::cout << "CAN filter set for ID: 0x" << std::hex << USS_CAN_ID << std::dec << std::endl;
+        std::cout << "CAN filter set for ID: 0x" << std::hex << USS_CAN_ID << std::dec << std::endl;
     }
 
     return true;