modify ui decition_brain controller

src/controller/controller_hunter/control/control_status.cpp

@@ -85,9 +85,11 @@ void iv::control::ControlStatus::set_aeb(float aeb)
 //    ServiceControlStatus.command11.bit.aeb_L = (aebBrake)  % 256;
 }
 
-void iv::control::ControlStatus::set_torque(float troque)
+void iv::control::ControlStatus::set_torque(float torque)
 {
-    int spd=torque/3.6*1000;//决策的速度单位是km/h，线控的速度单位mm/s
+//    int spd=torque/3.6*1000;//决策的速度单位是km/h，线控的速度单位mm/s
+    int spd=int((torque*1000.0)/3.6);
+
     if(spd>1500)  //zuoxiansu
         spd=1500;
     if(spd<-1500)

src/controller/controller_hunter/main.cpp

@@ -177,6 +177,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
 //    {
 //        qDebug("not D");      //20210903，cxw,hunter没有档位，速度大于0前进，速度小于0后退
 //    }
+    qDebug("Li");
     if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %ld diff is %ld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
     oldtime = QDateTime::currentMSecsSinceEpoch();
     gMutex.lock();
@@ -276,7 +277,7 @@ void sendthread()
         }
         executeDecition(xdecition);
         if(gbChassisEPS == false) ExecSend();
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
     }
 }
 
@@ -312,7 +313,7 @@ int main(int argc, char *argv[])
 
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-    gstrmemcansend = xp.GetParam("cansend","cansend0");
+    gstrmemcansend = xp.GetParam("cansend","cansend0_31510000E80");
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmemchassis = xp.GetParam("chassismsgname","chassis");
 

src/decition/common/main.cpp

@@ -42,7 +42,7 @@ int main(int argc, char *argv[])
  //   givlog->info("brain.");
 
     gstrmemradar = xp.GetParam("radar","radar");
-    gstrmemgps = xp.GetParam("gps","hcp2_gpsimu");
+    gstrmemgps = xp.GetParam("gps","ins550d_gpsimu");
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmembrainstate = xp.GetParam("brainstate","brainstate");
     gstrmemchassis = xp.GetParam("chassismsgname","chassis");

src/decition/decition_brain_sf_1x/decition/adc_adapter/hunter_adapter.cpp

@@ -98,16 +98,16 @@ iv::decition::Decition iv::decition::HunterAdapter::getAdapterDeciton(GPS_INS no
     {
         controlBrake = 0;
 
-        if(abs(dSpeed-realSpeed)<=2.0)
-        {
-            controlSpeed= dSpeed;
-        }
-        else if(abs(dSpeed-realSpeed)>2.0)
-        {
-             controlSpeed = min(realSpeed+1,dSpeed);
-        }
-
+//        if(abs(dSpeed-realSpeed)<=2.0)
+//        {
+//            controlSpeed= dSpeed;
+//        }
+//        else if(abs(dSpeed-realSpeed)>2.0)
+//        {
+//             controlSpeed = min(realSpeed+1,dSpeed);
+//        }
 
+        controlSpeed= dSpeed;
 
         // 斜坡加大油门   0217 lsn//斜坡的hunter 不考虑，20210913，cxw
 
@@ -149,10 +149,10 @@ iv::decition::Decition iv::decition::HunterAdapter::getAdapterDeciton(GPS_INS no
     controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
 
     double reverse_speed=-(realSpeed+8)/3.6;//avoid veh in the reverse road
-    if((obsDistance>8.0)&&(obsSpeed<reverse_speed)){
-        controlBrake =0;
-        controlSpeed =0;
-    }
+//    if((obsDistance>8.0)&&(obsSpeed<reverse_speed)){
+//        controlBrake =0;
+//        controlSpeed =0;
+//    }
 
 
     (*decition)->brake = controlBrake*9;//9     zj-6

src/detection/detection_chassis_hunter/main.cpp

@@ -144,8 +144,8 @@ int main(int argc, char *argv[])
 
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-    std::string strmemcan = xp.GetParam("canrecv","canrecv0");
-    std::string strvehicletype = xp.GetParam("vehicletype","GE3");
+    std::string strmemcan = xp.GetParam("canrecv","canrecv0_31510000E80");
+    std::string strvehicletype = xp.GetParam("vehicletype","HUNTER");
     std::string strmodulename = xp.GetParam("modulename","chassis"); //chassismsgname
     std::string strchassismsgname = xp.GetParam("chassismsgname","chassis");
 

src/driver/driver_can_vci/main.cpp

@@ -48,7 +48,7 @@ int main(int argc, char *argv[])
     std::cout<<strpath.toStdString()<<std::endl;
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-    std::string strmemsend0 = xp.GetParam("cansend0_vci","cansend0");
+    std::string strmemsend0 = xp.GetParam("cansend0_vci","cansend0");//31510000E80
     std::string strmemsend1 = xp.GetParam("cansend1_vci","cansend1");
     std::string strmemrecv0 = xp.GetParam("canrecv0_vci","canrecv0");
     std::string strmemrecv1 = xp.GetParam("canrecv1_vci","canrecv1");
@@ -56,8 +56,6 @@ int main(int argc, char *argv[])
     std::string strmembaud0 = xp.GetParam("baud0","500k");
     std::string strmembaud1 = xp.GetParam("baud0","500k");
 
-
-
     canctrl * pcanctrl = new canctrl(strmemsend0.data(),strmemsend1.data(),strmemrecv0.data(),strmemrecv1.data(),strmemdevnum.data(),
                                      strmembaud0.data(),strmembaud1.data());
     pcanctrl->start();

src/driver/driver_map_xodrload/main.cpp

@@ -865,7 +865,7 @@ int main(int argc, char *argv[])
     std::string strlon0 = xp.GetParam("lon0","117.0");
     std::string strhdg0 = xp.GetParam("hdg0","360.0");
 
-    std::string strgpsmsg = xp.GetParam("gpsmsg","hcp2_gpsimu");
+    std::string strgpsmsg = xp.GetParam("gpsmsg","ins550d_gpsimu");
 
     std::string strv2xmsg = xp.GetParam("v2xmsg","v2x");
 

src/tool/tool_xodrobj/mainwindow.cpp

@@ -215,7 +215,7 @@ MainWindow::MainWindow(QWidget *parent) :
     mpatrace = iv::modulecomm::RegisterRecvPlus("tracemap",funmap);
 
     ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGPSIMU,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
-    mpagpsimu = iv::modulecomm::RegisterRecvPlus("hcp2_gpsimu",fungpsimu);
+    mpagpsimu = iv::modulecomm::RegisterRecvPlus("ins550d_gpsimu",fungpsimu);
 
 }
 

src/tool/view_gps/main.cpp

@@ -83,8 +83,8 @@ int main(int argc, char *argv[])
     showversion("view_gps");
     QApplication a(argc, argv);
 
-    //snprintf(gstr_memname,255,"ins550d_gpsimu");
-    snprintf(gstr_memname,255,"hcp2_gpsimu");
+    snprintf(gstr_memname,255,"ins550d_gpsimu");
+    //snprintf(gstr_memname,255,"hcp2_gpsimu");
     MainWindow w;
     w.show();
 

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.cpp

@@ -471,6 +471,10 @@ void ADCIntelligentVehicle::timeoutslot()
     else
         ui->button_INS_st->setStyleSheet("background-color: red");
 
+    ui->lineEdit_lon->setText(QString::number(ServiceCarStatus.location->gps_lng,'f',7));
+    ui->lineEdit_lat->setText(QString::number(ServiceCarStatus.location->gps_lat,'f',7));
+    ui->lineEdit_heading->setText(QString::number(ServiceCarStatus.location->ins_heading_angle,'f',1));
+
     is_ok = (ServiceCarStatus.mLidarS>0)?QStringLiteral("ok"):QStringLiteral("error");
     ui->lineEdit_lidar->setText(is_ok);//激光雷达状态
     if(ServiceCarStatus.mLidarS>0)
@@ -1621,9 +1625,6 @@ void ADCIntelligentVehicle::UpdateGPSIMU(const char * strdata,const unsigned int
     ServiceCarStatus.location->ins_status = data->ins_status;
 
     ServiceCarStatus.speed = sqrt(pow(data->vel_E,2)+pow(data->vel_N,2)) * 3.6;  //double pow(double x, double y) 返回 x 的 y 次幂，即 xy。
-    ui->lineEdit_lon->setText(QString::number(ServiceCarStatus.location->gps_lng,'f',7));
-    ui->lineEdit_lat->setText(QString::number(ServiceCarStatus.location->gps_lat,'f',7));
-    ui->lineEdit_heading->setText(QString::number(ServiceCarStatus.location->ins_heading_angle,'f',1));
     mnTimeUpdateGPS = mTimeState.elapsed();
 }
 

src/ui/ui_ads_hmi_1px/main.cpp

@@ -36,7 +36,7 @@ int main(int argc, char *argv[])
 //   givlog->info("brain.");
 
    gstrmemradar = xp.GetParam("radar","radar");
-   gstrmemgps = xp.GetParam("gps","hcp2_gpsimu");
+   gstrmemgps = xp.GetParam("gps","ins550d_gpsimu");
    gstrmemdecition = xp.GetParam("dection","deciton");
    gstrmembrainstate = xp.GetParam("brainstate","brainstate");
    gstrmemchassis = xp.GetParam("chassismsgname","chassis");