add turn light

src/controller/controller_hapo/main.cpp

@@ -94,6 +94,7 @@ void executeDecition(const iv::brain::decition decition)
     gcontroller->control_home_light(decition.home_light());
     gcontroller->control_air_worktime(decition.air_worktime());
     gcontroller->control_air_offtime(decition.air_offtime());
+    gcontroller->control_turnsignals(decition.leftlamp(),decition.rightlamp());
 
     /*if(decition.has_door())
     {

src/decition/decition_brain/decition/adc_tools/compute_00.cpp

@@ -98,14 +98,14 @@ int iv::decition::Compute00::getDesiredSpeed(std::vector<GPSData> gpsMap)
                    if(fabs(FrontAveFive-BackAveFive)>4)
                    {
                         CurveContinue+=1;
-                        if(CurveContinue>=2)
+                        if(CurveContinue>=1)
                         {
                             MarkingCount=0;
                             for(MarkingIndex=CurrentIndex;MarkingIndex>=MarkedIndex;MarkingIndex--)
                             {
                                 if((*gpsMap[MarkingIndex]).roadMode!=6)
                                 {
-                                if(MarkingCount<100)
+                                if(MarkingCount<150)
                                 {
                                      if((BackAveFive-FrontAveFive)<4)
                                      {
@@ -116,11 +116,7 @@ int iv::decition::Compute00::getDesiredSpeed(std::vector<GPSData> gpsMap)
                                            (*gpsMap[MarkingIndex]).roadMode=15;
                                      }
 
-                                }
-                                else if((MarkingCount>=100)&&(MarkingCount<150))
-                                {
-                                     (*gpsMap[MarkingIndex]).roadMode=18;   //超低速，10米,1
-                                }
+                                } //else if((MarkingCount>=100)&&(MarkingCount<150)){(*gpsMap[MarkingIndex]).roadMode=18;   //超低速，10米,1}
                                 else if((MarkingCount>=150)&&(MarkingCount<320))
                                 {
                                      (*gpsMap[MarkingIndex]).roadMode=5;   //低速，20米,5

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -1188,12 +1188,12 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
             //dSpeed = 15;//////////////////////////////
 
-            if (parkDistance < 15 && parkDistance >= 4.5 && parkDis<20)
+            if (parkDistance < 15 && parkDistance >= 8.5 && parkDis<20)
             {
                 dSpeed = min(dSpeed, 8.0);
-            }else if (parkDistance < 4.5 && parkDistance >= 3.5 && parkDis<5.0){
+            }else if (parkDistance < 8.5 && parkDistance >= 5.5 && parkDis<9.0){
                 dSpeed = min(dSpeed, 5.0);
-            }else if(parkDistance < 3.5 && parkDis<4.0){
+            }else if(parkDistance < 5.5 && parkDis<6.0){
                 dSpeed = min(dSpeed, 3.0);
             }
 
@@ -1632,7 +1632,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
         if(finishPointNum<0||finishPointNum>=gpsMapLine.size()){
             parkMode=false;
-        }else if(GetDistance(now_gps_ins, *gpsMapLine[finishPointNum])>20){
+        }else if(GetDistance(now_gps_ins, *gpsMapLine[finishPointNum])>4){
             parkMode=false;
         }
 
@@ -2781,6 +2781,10 @@ void iv::decition::DecideGps00::computeObsOnRoad(iv::LidarGridPtr lidarGridPtr,
         obsDisVector[roadNum]=obs;
     }
 
+    givlog->debug("obs_distance","obs: %f, lidar_obs: %f, Radar_obs: %f",
+                  ServiceCarStatus.mObs, ServiceCarStatus.mLidarObs,
+                  ServiceCarStatus.mRadarObs);
+
     //   qDebug("time 3 is %d ",xTime.elapsed());
 
 }