fix(grps_BS,decide_gps_00):change min distance to move.change arrived-judging distance.

deploy-agx.sh

@@ -2,7 +2,7 @@
 
 Qtgccdir='/usr/lib/aarch64-linux-gnu/qt5'
 QtPlatformdir=$Qtgccdir/plugins/platforms
-QtLibDir=$Qtgccdir/lib
+QtLibDir=$Qtgccdir/../
 
 if [ "$#" -lt 1 ]; then
 	echo "没有输入"

src/decition/decition_brain_sf_jsguide/decition/decide_gps_00.cpp

@@ -2524,12 +2524,12 @@ std::vector<iv::Point2D> iv::decition::DecideGps00::getGpsTrace(iv::GPS_INS now_
     traceOriLeft.clear();
     traceOriRight.clear();
 
-    if (gpsMapLine.size() > 800 && PathPoint >= 0) {
+    if (gpsMapLine.size() > 200 && PathPoint >= 0) {
         int aimIndex;
         if(circleMode){
-            aimIndex=PathPoint+800;
+            aimIndex=PathPoint+200;
         }else{
-            aimIndex=min((PathPoint+800),(int)gpsMapLine.size());
+            aimIndex=min((PathPoint+200),(int)gpsMapLine.size());
         }
 
         for (int i = PathPoint; i < aimIndex; i++)

src/driver/driver_cloud_grpc_client_BS/fsm_unit.cpp

@@ -305,7 +305,7 @@ void FSMUnit::refreshFSMStatus_Slot(void)
         break;
     case 2: ///< 2人工接管
         if(remoteCtrlCMD == iv::brain::RemoteCtrlCMD::REMOTE_CTRL_ENTER)
-        {void sendPathPlanRequest(void);
+        {
             remoteCtrlCMD = iv::brain::RemoteCtrlCMD::REMOTE_CTRL_RESERVED;
         }
         emit setAllowPlan(false);
@@ -370,7 +370,7 @@ void FSMUnit::arriveCheckLoop_Timeout(void)
         deltaY = localPositionNextY - localPositionY;
         distance = sqrt(deltaX*deltaX + deltaY*deltaY);
 
-        if(distance < 2.0 && currentSpeed < 0.1)
+        if(distance < 5.0 && currentSpeed < 0.1)
         {
             waitingStationArrived = true;
         }
@@ -397,7 +397,7 @@ void FSMUnit::arriveCheckLoop_Timeout(void)
         deltaY = localPositionNextY - localPositionY;
         distance = sqrt(deltaX*deltaX + deltaY*deltaY);
 
-        if(distance < 2.0 && currentSpeed < 0.1)
+        if(distance < 5.0 && currentSpeed < 0.1)
         {
             maintainStationArrived = true;
         }

src/driver/driver_cloud_grpc_client_BS/vehicle_upload.cpp

@@ -765,8 +765,8 @@ void DataExchangeClient::updateData(uint64_t timeInterval_ms)
         double deltaX = localPositionNextX - localPositionX;
         double deltaY = localPositionNextY - localPositionY;
         double distance = sqrt(deltaX*deltaX + deltaY*deltaY);
-        if(distance < 20.0)
-            std::cout<<"distance: "<<distance<<std::endl;
+//        if(distance < 20.0)
+//            std::cout<<"distance: "<<distance<<std::endl;
         if(distance < 1.5)
         {
             isArrived = 2;