change controller_changan_shenlan.

autodeploy_ok.sh

@@ -29,10 +29,10 @@ detection_chassis
 #lidar_radar_fusion_cnn
 
 ######controller######
-controller_hapo
+controller_changan_shenlan
 
 ######decition######
-decition_brain_sf
+decition_brain_sf_changan_shenlan
 
 ######tools########
 view_pointcloud

autogen_ok.sh

@@ -200,7 +200,7 @@ rm .qmake.stash
 cd ../../../
 
 controller_app_name=(
-    controller_hapo
+    controller_changan_shenlan
 )
 
 for x in ${controller_app_name[@]}
@@ -219,7 +219,7 @@ do
 	cd ../../../
 done
 decition_app_name=(
-	decition_brain_sf
+	decition_brain_sf_changan_shenlan
 	#decition_brain_ge3
 	#decition_brain_qingyuan
 	#decition_brain_vv7

src/controller/controller_changan_shenlan/main.cpp

@@ -114,27 +114,33 @@ ECU_144_t _m144 = {0,0,0,0,0,0};
 ECU_24B_t _m24B = {0,0,0,0,0,0,0,0,0,0,0};
 ECU_36E_t _m36E = {0};
 
+void ExecSend();
 
 void executeDecition(const iv::brain::decition &decition)
 {
-     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
-     std::cout<<"angle_mode is "<<decition.angle_mode()<<" angle_active is "<<decition.angle_active()<<std::endl;
-     std::cout<<"brake_type is "<<decition.brake_type()<<" acc_active is "<<decition.acc_active()<<std::endl;
-     std::cout<<"brake is "<<decition.brake()<<" brake_active is "<<decition.brake_active()<<std::endl;
-     std::cout<<"auto_mode is "<<decition.auto_mode()<<" rightlamp is "<<decition.rightlamp()<<std::endl;
+//     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
+//     std::cout<<"angle_mode is "<<decition.angle_mode()<<" angle_active is "<<decition.angle_active()<<std::endl;
+//     std::cout<<"brake_type is "<<decition.brake_type()<<" acc_active is "<<decition.acc_active()<<std::endl;
+//     std::cout<<"brake is "<<decition.brake()<<" brake_active is "<<decition.brake_active()<<std::endl;
+//     std::cout<<"auto_mode is "<<decition.auto_mode()<<" rightlamp is "<<decition.rightlamp()<<std::endl;
     _m144.ACC_LatAngReq = ECU_144_ACC_LatAngReq_toS(decition.wheelangle());
     _m144.ADS_Reqmode = decition.angle_mode();
     _m144.ACC_MotorTorqueMaxLimitRequest = ECU_144_ACC_MotorTorqueMaxLimitRequest_toS(10);
     _m144.ACC_LatAngReqActive = decition.angle_active();
     _m144.ACC_MotorTorqueMinLimitRequest = ECU_144_ACC_MotorTorqueMinLimitRequest_toS(-10);
-    _m144.ACC_ADCReqType = decition.brake_type();//ADC请求类型（制动时为1，其余情况为0）
+//    _m144.ACC_ADCReqType = decition.brake_type();//ADC请求类型（制动时为1，其余情况为0）
+    _m144.ACC_ADCReqType = 0;//ADC请求类型（制动时为1，其余情况为0）
 
-    byte_144[0] |= ((_m144.ACC_LatAngReq >> 9) & (0x1FU)) | ((_m144.ADS_Reqmode & (0x07U)) << 5);
-    byte_144[1] |= ((_m144.ACC_LatAngReq >> 1) & (0xFFU));
-    byte_144[2] |= ((_m144.ACC_LatAngReq & (0x01U)) << 7) | ((_m144.ACC_MotorTorqueMaxLimitRequest >> 5) & (0x3FU)) | ((_m144.ACC_LatAngReqActive & (0x01U)) << 6);
-    byte_144[3] |= ((_m144.ACC_MotorTorqueMaxLimitRequest & (0x1FU)) << 3) | ((_m144.ACC_MotorTorqueMinLimitRequest >> 8) & (0x07U));
-    byte_144[4] |= (_m144.ACC_MotorTorqueMinLimitRequest & (0xFFU));
-    byte_144[5] |= ((_m144.ACC_ADCReqType & (0x03U)) << 6);
+
+
+//    std::cout<<" req mode: "<<_m144.ADS_Reqmode<<std::endl;
+    byte_144[0] = ((_m144.ACC_LatAngReq >> 9) & (0x1FU)) | ((_m144.ADS_Reqmode & (0x07U)) << 5);
+    qDebug(" req mode: %d byte: %02X  ",_m144.ADS_Reqmode, byte_144[0]);
+    byte_144[1] = ((_m144.ACC_LatAngReq >> 1) & (0xFFU));
+    byte_144[2] = ((_m144.ACC_LatAngReq & (0x01U)) << 7) | ((_m144.ACC_MotorTorqueMaxLimitRequest >> 5) & (0x3FU)) | ((_m144.ACC_LatAngReqActive & (0x01U)) << 6);
+    byte_144[3] = ((_m144.ACC_MotorTorqueMaxLimitRequest & (0x1FU)) << 3) | ((_m144.ACC_MotorTorqueMinLimitRequest >> 8) & (0x07U));
+    byte_144[4] = (_m144.ACC_MotorTorqueMinLimitRequest & (0xFFU));
+    byte_144[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);
 
     /*制动过程用的减速度，加速用扭矩*/
     _m24B.ACC_AccTrqReq = ECU_24B_ACC_AccTrqReq_toS(decition.torque());
@@ -149,14 +155,14 @@ void executeDecition(const iv::brain::decition &decition)
     _m24B.ACC_CDDActive = decition.brake_active();
     _m24B.ACC_ACCMode = decition.auto_mode();
 
-    byte_24B[0] |= ((_m24B.ACC_AccTrqReq >> 7) & (0xFFU));
-    byte_24B[1] |= ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
-    byte_24B[2] |= ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
-    byte_24B[3] |= ((_m24B.ACC_ACCTargetAcceleration & (0x07U)) << 5) | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
-    byte_24B[4] |= ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
-    byte_24B[5] |= ((_m24B.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24B.ACC_AEBVehilceHoldReq & (0x01U));
-    byte_24B[6] |= ((_m24B.ADCReqMode & (0x03U)) << 1) | ((_m24B.ACC_AEBActive & (0x01U)) << 3) | ((_m24B.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24B.ACC_DecToStop & (0x01U)) << 6) | ((_m24B.ACC_CDDActive & (0x01U)) << 7);
-    byte_24B[7] |= (_m24B.ACC_ACCMode & (0x07U));
+    byte_24B[0] = ((_m24B.ACC_AccTrqReq >> 7) & (0xFFU));
+    byte_24B[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
+    byte_24B[2] = ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
+    byte_24B[3] = ((_m24B.ACC_ACCTargetAcceleration & (0x07U)) << 5) | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
+    byte_24B[4] = ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
+    byte_24B[5] = ((_m24B.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24B.ACC_AEBVehilceHoldReq & (0x01U));
+    byte_24B[6] = ((_m24B.ADCReqMode & (0x03U)) << 1) | ((_m24B.ACC_AEBActive & (0x01U)) << 3) | ((_m24B.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24B.ACC_DecToStop & (0x01U)) << 6) | ((_m24B.ACC_CDDActive & (0x01U)) << 7);
+    byte_24B[7] = (_m24B.ACC_ACCMode & (0x07U));
 
     if(decition.leftlamp() == true && decition.rightlamp() == false)
         _m36E.ADS_UDLCTurnLightReq = 3;
@@ -165,10 +171,73 @@ void executeDecition(const iv::brain::decition &decition)
     else
         _m36E.ADS_UDLCTurnLightReq = 0;
 
-    byte_36E[0] |= ((_m36E.ADS_UDLCTurnLightReq & (0x07U)) << 5);
+    byte_36E[0] = ((_m36E.ADS_UDLCTurnLightReq & (0x07U)) << 5);
 
 }
 
+void Activate()
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    iv::brain::decition xdecition;
+//    for(int j=0;j<100000;j++)
+//    {
+        std::cout<<" run "<<std::endl;
+    for(int i = 0; i < 10; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+//        xdecition.set_brake_type(0);
+        xdecition.set_auto_mode(0);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 10; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(2);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+//        xdecition.set_brake_type(1);
+        xdecition.set_auto_mode(3);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+//    }
+}
+
+void UnAcitvate()
+{
+    iv::brain::decition xdecition;
+    for(int i = 0; i < 10; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(2);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+//        xdecition.set_brake_type(1);
+        xdecition.set_auto_mode(3);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 10; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+//        xdecition.set_brake_type(0);
+        xdecition.set_auto_mode(0);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
 void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
     (void)index;
@@ -211,7 +280,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
     xdecition.set_angle_active(1);
     xdecition.set_acc_active(1);
     xdecition.set_brake_active(1);
-    xdecition.set_brake_type(1);
+//    xdecition.set_brake_type(1);
     xdecition.set_auto_mode(3);
 
     if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
@@ -240,6 +309,8 @@ void ExecSend()
     xraw.set_len(8);
     iv::can::canraw * pxraw144 = xmsg.add_rawmsg();
     pxraw144->CopyFrom(xraw);
+    qDebug(" 0x144: %02X %02X %02X %02X %02X %02X %02X %02X",byte_144[0],byte_144[1],byte_144[2],byte_144[3],
+            byte_144[4],byte_144[5],byte_144[6],byte_144[7]);
     xmsg.set_channel(0);
     xmsg.set_index(gnIndex);
 
@@ -294,7 +365,6 @@ void initial()
         byte_24B[i] = 0;
         byte_36E[i] = 0;
     }
-
 }
 
 void sendthread()
@@ -302,38 +372,29 @@ void sendthread()
     initial();
     iv::brain::decition xdecition;
 
-    for(int i = 0; i < 30; i++){
-        xdecition.set_angle_mode(0);
-        xdecition.set_angle_active(0);
-        xdecition.set_acc_active(0);
-        xdecition.set_brake_active(0);
-        xdecition.set_brake_type(0);
-        xdecition.set_auto_mode(0);
-        executeDecition(xdecition);
-        ExecSend();
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    }
-    for(int i = 0; i < 30; i++){
-        xdecition.set_angle_mode(2);
-        xdecition.set_angle_active(1);
-        xdecition.set_acc_active(1);
-        xdecition.set_brake_active(1);
-        xdecition.set_brake_type(1);
-        xdecition.set_auto_mode(3);
-        executeDecition(xdecition);
-        ExecSend();
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    }
-
+    UnAcitvate();
+ //   UnAcitvate();
 
+    int nstate = 0; //0 Un 1 Activate
+//    Activate();
     while(gbSendRun)
     {
         if(gnDecitionNum <= 0)
         {
+            if(nstate == 1)
+            {
+                UnAcitvate();
+                nstate = 0;
+            }
             xdecition.CopyFrom(gdecition_def);
         }
         else
         {
+            if(nstate == 0)
+            {
+                Activate();
+                nstate = 1;
+            }
             gMutex.lock();
             xdecition.CopyFrom(gdecition);
             gMutex.unlock();
@@ -360,15 +421,24 @@ int main(int argc, char *argv[])
     std::cout<<strpath.toStdString()<<std::endl;
 
 //    gdecition_def.set_accelerator(-0.5);
-    gdecition_def.set_brake(-0.5);
-    gdecition_def.set_rightlamp(true);
+    gdecition_def.set_brake(0);
+    gdecition_def.set_rightlamp(false);
+    gdecition_def.set_leftlamp(false);
     gdecition_def.set_wheelangle(0);
-    gdecition_def.set_angle_mode(2);
-    gdecition_def.set_angle_active(1);
-    gdecition_def.set_acc_active(1);
-    gdecition_def.set_brake_active(1);
-    gdecition_def.set_brake_type(1);
-    gdecition_def.set_auto_mode(3);
+
+    gdecition_def.set_angle_mode(0);
+    gdecition_def.set_angle_active(0);
+    gdecition_def.set_acc_active(0);
+//    gdecition_def.set_brake_active(1);
+    gdecition_def.set_brake_type(0);
+    gdecition_def.set_auto_mode(0);
+
+//    gdecition_def.set_angle_mode(0);
+//    gdecition_def.set_angle_active(0);
+//    gdecition_def.set_acc_active(0);
+//    gdecition_def.set_brake_active(0);
+//    gdecition_def.set_brake_type(0);
+//    gdecition_def.set_auto_mode(0);
 
     gTime.start();