modify decision adapter

src/decition/decition_brain_sf/decition/adc_adapter/sightseeing_adapter.cpp

@@ -177,14 +177,21 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
         }
     }
 
+    //rubbish add  2022.3.23
+    if(dSpeed>0){
+        controlBrake=0;
+    }
+
+    //rubbish end  2022.3.23
+
     if(DecideGps00::minDecelerate<0){
         controlBrake = max((0-DecideGps00::minDecelerate),controlBrake);
         controlSpeed=0;
     }
 
 
-    controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
-    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+    //controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
+    //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)){
@@ -200,7 +207,7 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
 
 
     (*decition)->brake = controlBrake*9;//9     zj-6
-    (*decition)->torque=controlSpeed;
+    (*decition)->torque=dSpeed;
     lastBrake= (*decition)->brake;
     lastTorque=(*decition)->torque;
 
@@ -222,16 +229,14 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
 //    givlog->debug("brain_decition","brake: %f,obsDistance: %f,obsSpeed: %f,reverse_speed: %f",
 //                            (*decition)->brake,obsDistance,obsSpeed,reverse_speed);
 
-//    givlog->debug("brain_decition","dSpeed: %f,realspeed: %f,brake: %f,torque: %f",
-//                            dSpeed,realSpeed,(*decition)->brake,(*decition)->torque);
+
 
     (*decition)->grade=1;
     (*decition)->mode=1;
     (*decition)->speak=0;
-    (*decition)->handBrake=1;  // 0: laqi 1: shifang
+
     (*decition)->bright=false;
     (*decition)->engine=0;
-
     (*decition)->dangweiEnable=true;
     (*decition)->angleEnable=true;
     (*decition)->speedEnable=true;
@@ -242,18 +247,19 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
     (*decition)->angSpeed=60;
     (*decition)->topLight=0;
 
-
+    (*decition)->handBrake=0;  // 0: shifang 1: laqi
     if(ServiceCarStatus.bocheMode ||ServiceCarStatus.daocheMode){
-        (*decition)->dangWei=2;
+        (*decition)->dangWei=4;
         (*decition)->backLight=1;
     }
     //1220
     else{
-        (*decition)->dangWei=4;
+        (*decition)->dangWei=2;
         (*decition)->backLight=0;
     }
 
-
+    givlog->debug("brain_decition","dSpeed: %f,realspeed: %f,brake: %f,torque: %f,accAim: %f,handBrake: %d,dangWei: %d",
+                            dSpeed,realSpeed,(*decition)->brake,(*decition)->torque,accAim,(*decition)->handBrake,(*decition)->dangWei);
 
     if((*decition)->brake>0){
         (*decition)->brakeLight=1;

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -2287,7 +2287,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             minDecelerate=min(-0.6f,minDecelerate); //1.0f    zj-0.6
     }
 
-    gps_decition->wheel_angle = 0.0 - controlAng;
+    //gps_decition->wheel_angle = 0.0 - controlAng;
+    gps_decition->wheel_angle = controlAng;
     if((ServiceCarStatus.table_look_up_on==true)&&(hapo_Adapter->IsINterpolationOK()))
     {
         if(acc_end<0)