adjust traffic light module

src/decition/decition_brain/decition/adc_adapter/hapo_adapter.cpp

@@ -187,7 +187,7 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
 
    // (*decition)->brake = controlBrake*10;
-      (*decition)->brake = controlBrake*7;
+      (*decition)->brake = controlBrake*6;
 
     (*decition)->torque=controlSpeed;
       lastBrake= (*decition)->brake;
@@ -303,6 +303,9 @@ std::cout<<"========================================="<<std::endl;
    (*decition)->accelerator=  (*decition)->torque ;
 
 
+givlog->debug("obs_distance","dSpeed: %f, realSpeed: %f, brake: %f",
+              dSpeed, realSpeed,(*decition)->brake);
+
     return *decition;
 }
 

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -3659,7 +3659,7 @@ void iv::decition::DecideGps00::getEsrObsDistanceByFrenet(const std::vector<Poin
 void iv::decition::DecideGps00::getV2XTrafficPositionVector(const std::vector<GPSData> gpsMapLine){
     v2xTrafficVector.clear();
     for (int var = 0; var < gpsMapLine.size(); var++) {
-        if(gpsMapLine[var]->roadMode==6){
+        if(gpsMapLine[var]->roadMode==6 || gpsMapLine[var]->mode2==10000001){
             v2xTrafficVector.push_back(var);
         }
     }

src/detection/detection_radar_delphi_esr_send/main.cpp

@@ -135,13 +135,14 @@ void signalHandler(int num)
     canData4f0.bit.canYawRateL = yawRate & 0xFF;
     canData4f0.bit.canRadiusCurvatureH = CAN_Radius_Curvature >> 8;
     canData4f0.bit.canRadiusCurvatureL = CAN_Radius_Curvature & 0x3F;
-    ExecSend1(0x4f0,canData4f0.byte,8);
+    ExecSend1(0x4F0,canData4f0.byte,8);
 
     canData4f1.bit.canScanIndexAckH = CAN_Scan_Index >> 8;
     canData4f1.bit.canScanIndexAckL = CAN_Scan_Index & 0xFF;
-    ExecSend1(0x4f1,canData4f1.byte,8);
-    ExecSend1(0x5f2,canData5f2.byte,8);
-    ExecSend1(0x5f4,canData5f4.byte,8);
+    ExecSend1(0x4F1,canData4f1.byte,8);
+    ExecSend1(0x5F2,canData5f2.byte,8);
+    ExecSend1(0x5F4,canData5f4.byte,8);
+    qDebug()<<QTime::currentTime();
 }
 
 /*****************************************/
@@ -312,7 +313,7 @@ void DecodeRadar(iv::can::canmsg xmsg)
                     iv::radar::radarobject * pobj = gobj.mutable_obj(i + group_id * 7);
                     int8_t power = cdata[i+1] & 0x1F;
                     pobj->set_power(power - 10);
-                    qDebug()<<power;
+//                    qDebug()<<power;
                     pobj->set_moving((cdata[i+1] >> 5) & 0x01);
                     pobj->set_fast_movable((cdata[i+1] >> 7) & 0x01);
                     pobj->set_slow_movable((cdata[i+1] >> 6) & 0x01);
@@ -423,7 +424,7 @@ void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int
 
     DecodeRadar(xmsg);
 
-    qDebug("can size is %d",xmsg.rawmsg_size());
+//    qDebug("can size is %d",xmsg.rawmsg_size());
 //    xt = QDateTime::currentMSecsSinceEpoch();
 //    qDebug("latence = %ld ",xt-pic.time());
 

src/tool/data_serials/mainwindow.cpp

@@ -61,7 +61,7 @@ void MainWindow::on_updataDecision()
         mf_speed    = mp_dataParser->mf_speed;
         mf_acc      = mp_dataParser->mf_acc;
         mf_brake    = mp_dataParser->mf_brake;
-        mf_brake    = mp_dataParser->mf_wheel;
+        mf_wheel    = mp_dataParser->mf_wheel;
         mf_obsDis   = mp_dataParser->mf_obsDis;
         mi_lidarObs = mp_dataParser->mi_lidarObs;
         mi_radarObs = mp_dataParser->mi_radarObs;