From b4dfdf17984816f65937bef1f557f082c6508a41 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Wed, 29 Apr 2026 10:32:04 +0800
Subject: [PATCH] debug-3

---
 .../rtk_asensing/asensing_protocol.hpp        | 28 ++++++++++++++-----
 1 file changed, 21 insertions(+), 7 deletions(-)

diff --git a/src/perception/rtk_asensing/include/rtk_asensing/asensing_protocol.hpp b/src/perception/rtk_asensing/include/rtk_asensing/asensing_protocol.hpp
index 6ab377d..79d47ff 100644
--- a/src/perception/rtk_asensing/include/rtk_asensing/asensing_protocol.hpp
+++ b/src/perception/rtk_asensing/include/rtk_asensing/asensing_protocol.hpp
@@ -4,6 +4,7 @@
 #include <cmath>
 #include <cstdint>
 #include <cstring>
+
 #include "logger/logger.h"
 
 // Asensing协议4数据帧定义
@@ -118,11 +119,24 @@ class AsensingProtocol
                 // 所以完整帧长 = 63字节
                 if (frame_index_ >= 63)
                 {
+                    // 打印完整帧数据用于调试
+                    LOG_INFO("[DEBUG-PROTO] 完整帧数据(%d字节):", frame_index_);
+                    std::string frame_hex;
+                    for (int j = 0; j < 63 && j < frame_index_; j++)
+                    {
+                        char hex[4];
+                        snprintf(hex, sizeof(hex), "%02X ", frame_buf_[j]);
+                        frame_hex += hex;
+                        if ((j + 1) % 16 == 0) frame_hex += "\n";
+                    }
+                    LOG_INFO("[DEBUG-PROTO] HEX:\n%s", frame_hex.c_str());
+
                     // 检查帧类型
                     if (frame_buf_[2] != 0x0B)
                     {
                         total_frame_type_fail++;
-                        LOG_INFO("[DEBUG-PROTO] 帧类型不匹配: 0x%02X (期望 0x0B), 累计失败: %d", frame_buf_[2], total_frame_type_fail);
+                        LOG_INFO("[DEBUG-PROTO] 帧类型不匹配: 0x%02X (期望 0x0B), 累计失败: %d", frame_buf_[2],
+                                 total_frame_type_fail);
                         // 帧类型不匹配，重新同步
                         is_synced_ = false;
                         frame_index_ = 0;
@@ -139,8 +153,8 @@ class AsensingProtocol
                     if (xor_check1 != frame_buf_[57])
                     {
                         total_checksum1_fail++;
-                        LOG_INFO("[DEBUG-PROTO] 校验位1失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
-                                  xor_check1, frame_buf_[57], total_checksum1_fail);
+                        LOG_INFO("[DEBUG-PROTO] 校验位1失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d", xor_check1,
+                                 frame_buf_[57], total_checksum1_fail);
                         // 校验失败，重新同步
                         is_synced_ = false;
                         frame_index_ = 0;
@@ -157,16 +171,16 @@ class AsensingProtocol
                     if (xor_check2 != frame_buf_[62])
                     {
                         total_checksum2_fail++;
-                        LOG_INFO("[DEBUG-PROTO] 校验位2失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
-                                  xor_check2, frame_buf_[62], total_checksum2_fail);
+                        LOG_INFO("[DEBUG-PROTO] 校验位2失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d", xor_check2,
+                                 frame_buf_[62], total_checksum2_fail);
                         // 校验失败，重新同步
                         is_synced_ = false;
                         frame_index_ = 0;
                         continue;
                     }
 
-                    LOG_INFO("[DEBUG-PROTO] 解析成功! 帧头: %02X %02X, 类型: %02X",
-                              frame_buf_[0], frame_buf_[1], frame_buf_[2]);
+                    LOG_INFO("[DEBUG-PROTO] 解析成功! 帧头: %02X %02X, 类型: %02X", frame_buf_[0], frame_buf_[1],
+                             frame_buf_[2]);
 
                     // 校验通过，复制数据到结构体
                     memcpy(&raw_data_, frame_buf_, sizeof(AsensingInsData));