change ADCIntelligentShow_grpc.

src/common/modulecomm/modulecomm_android.pro

@@ -0,0 +1,110 @@
+QT -= gui
+
+#QT += dbus
+QT += xml
+
+
+TEMPLATE = lib
+DEFINES += MODULECOMM_LIBRARY
+
+unix:DEFINES += RUNSYSTEMTEST
+
+if(contains(DEFINES,RUNSYSTEMTEST)){
+unix:system("./../../../include/linuxsystemtest.sh ")
+}
+
+unix:include(./../../../include/systemdef.pri)
+win32: DEFINES += SYSTEM_WIN
+
+DEFINES += MODULECOMM_NO_FASTRTPS
+
+DEFINES += USE_GROUPUDP
+
+if(contains(DEFINES,USE_GROUPUDP)){
+QT += network
+} else {
+QT += dbus
+DEFINES += USEDBUS
+}
+
+
+
+CONFIG += c++11
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    modulecomm.cpp \
+    modulecomm_base.cpp
+
+HEADERS += \
+    ivmodulemsg_type.h \
+    modulecomm.h \
+    modulecomm_base.h \
+    ivstdcolorout.h
+
+CONFIG += plugin
+
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+}
+!isEmpty(target.path): INSTALLS += target
+
+
+
+!include(./shm/modulecomm_shm.pri ) {
+    error( "Couldn't find the modulecomm_shm.pri file!" )
+}
+
+!include(./inter/modulecomm_inter.pri ) {
+    error( "Couldn't find the modulecomm_inter.pri file!" )
+}
+
+
+if(contains(DEFINES,MODULECOMM_NO_FASTRTPS)){
+DEFINES += NOT_USEFASTRTPS
+}else{
+
+if(contains(DEFINES,SYSTEM_AGX)){
+DEFINES += USE_FASTRTPS
+LIBS += -L$$PWD/../../../thirdpartylib/FastRTPS/lib/libarm64
+system("cd ./../../../thirdpartylib/FastRTPS/lib ; unzip -x -n libarm64.zip ; cd ../../../include ; echo $PWD")
+}
+
+if(contains(DEFINES,SYSTEM_UBUNTU1804)){
+DEFINES += USE_FASTRTPS
+LIBS += -L$$PWD/../../../thirdpartylib/FastRTPS/lib/libamd64
+system("cd ./../../../thirdpartylib/FastRTPS/lib ; unzip -x -n libamd64.zip ; cd ../../../include ; echo $PWD")
+}
+
+}
+
+
+
+if(contains(DEFINES,USE_FASTRTPS)){
+!include(./fastrtps/modulecomm_fastrtps.pri ) {
+    error( "Couldn't find the modulecomm_fastrtps.pri file!" )
+}
+}
+
+
+INCLUDEPATH += $$PWD/shm
+INCLUDEPATH += $$PWD/fastrtps
+INCLUDEPATH += $$PWD/inter
+
+
+if(contains(DEFINES,USE_FASTRTPS)){
+LIBS +=  -lfastcdr -lfastrtps
+}
+

src/common/modulecomm/testmodulecomm_android.pro

@@ -1,4 +1,4 @@
-QT       += core gui
+QT       += core gui xml
 
 #QT += dbus
 
@@ -12,7 +12,7 @@ CONFIG += c++11
 # deprecated API in order to know how to port your code away from it.
 DEFINES += QT_DEPRECATED_WARNINGS
 
-DEFINES += USE_FASTRTPS
+#DEFINES += USE_FASTRTPS
 #DEFINES += USEDBUS
 
 DEFINES += Module1
@@ -77,7 +77,7 @@ contains(ANDROID_TARGET_ARCH,arm64-v8a) {
     ANDROID_PACKAGE_SOURCE_DIR = \
         $$PWD/android
 
-    ANDROID_EXTRA_LIBS = \
-        $$PWD/androidlib/libfastcdr.so \
-        $$PWD/androidlib/libfastrtps.so
+#    ANDROID_EXTRA_LIBS = \
+#        $$PWD/androidlib/libfastcdr.so \
+#        $$PWD/androidlib/libfastrtps.so
 }

src/common/xmlparam/xmlparam_android.pro

@@ -0,0 +1,40 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2018-11-22T13:22:50
+#
+#-------------------------------------------------
+
+QT       += xml
+
+QT       -= gui
+
+CONFIG += plugin
+
+TARGET = xmlparam
+TEMPLATE = lib
+
+DEFINES += XMLPARAM_LIBRARY
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which has been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        xmlparam.cpp \
+    xmlparamimpl.cpp
+
+HEADERS += \
+        xmlparam.h \
+    xmlparamimpl.h
+
+unix {
+    target.path = /usr/lib
+    INSTALLS += target
+}

src/controller/controller_changan_shenlan/main.cpp

@@ -118,6 +118,7 @@ void ExecSend();
 
 void executeDecition(const iv::brain::decition &decition)
 {
+
 //     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
 //     std::cout<<"angle_mode is "<<decition.angle_mode()<<" angle_active is "<<decition.angle_active()<<std::endl;
 //     std::cout<<"brake_type is "<<decition.brake_type()<<" acc_active is "<<decition.acc_active()<<std::endl;
@@ -129,7 +130,20 @@ void executeDecition(const iv::brain::decition &decition)
     _m144.ACC_LatAngReqActive = decition.angle_active();
     _m144.ACC_MotorTorqueMinLimitRequest = ECU_144_ACC_MotorTorqueMinLimitRequest_toS(-10);
 //    _m144.ACC_ADCReqType = decition.brake_type();//ADC请求类型（制动时为1，其余情况为0）
-    _m144.ACC_ADCReqType = 0;//ADC请求类型（制动时为1，其余情况为0）
+    if(decition.brake()>(-0.0000001))
+    {
+        _m144.ACC_ADCReqType = 0;//ADC请求类型（制动时为1，其余情况为0）
+        _m24B.ADCReqMode = 0;
+        _m24B.ACC_DecToStop =0;
+    }
+    else
+    {
+        _m144.ACC_ADCReqType = 1;
+        _m24B.ADCReqMode = 1;
+         _m24B.ACC_DecToStop =1;
+    }
+
+    std::cout<<" type: "<<(int)_m144.ACC_ADCReqType<<std::endl;
 
 
 
@@ -152,8 +166,20 @@ void executeDecition(const iv::brain::decition &decition)
     //    _m24B.ACC_AEBActive = 0;
     //    _m24B.ACC_Driveoff_Request = 0;
     //    _m24B.ACC_DecToStop = 0;
-    _m24B.ACC_CDDActive = decition.brake_active();
+    std::cout<<" brake : "<<decition.brake()<<std::endl;
+    std::cout<<"brake acctive. "<<decition.brake_active()<<std::endl;
+    if(decition.brake()>(-0.0000001))
+    {
+        _m24B.ACC_CDDActive = 0;
+    }
+    else
+    {
+        _m24B.ACC_CDDActive = 1;
+    }
+ //       _m24B.ACC_CDDActive = decition.brake_active();
     _m24B.ACC_ACCMode = decition.auto_mode();
+//    std::cout<<"acc mode: "<<(int)_m24B.ACC_ACCMode<<std::endl;
+
 
     byte_24B[0] = ((_m24B.ACC_AccTrqReq >> 7) & (0xFFU));
     byte_24B[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));

src/ui/ADCIntelligentShow_grpc/ADCIntelligentShow_grpc.pro

@@ -23,7 +23,7 @@ DEFINES += PROTOBUF_USE_DLLS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-
+system("cd ./../../driver/driver_grpc_client ; protoc *.proto -I=./ --cpp_out=./ ; echo $PWD")
 SOURCES += \
     ../../driver/driver_grpc_client/grpcclientthread.cpp \
     ../../driver/driver_grpc_client/ivgrpc.grpc.pb.cc \

src/ui/ADCIntelligentShow_grpc/ADCIntelligentShow_grpc_android.pro

@@ -29,17 +29,17 @@ DEFINES += PROTOBUF_USE_DLLS
 
 
 SOURCES += \
-    ../../driver/driver_grpc_client/grpcclientthread.cpp \
-    ../../driver/driver_grpc_client/ivgrpc.grpc.pb.cc \
-    ../../driver/driver_grpc_client/ivgrpc.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/gps.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/hmi.pb.cc \
-    ../../include/msgtype/imu.pb.cc \
-    ../../include/msgtype/radarobject.pb.cc \
-    ../../include/msgtype/radarobjectarray.pb.cc \
+    ./proto1804/grpcclientthread.cpp \
+    ./proto1804/ivgrpc.grpc.pb.cc \
+    ./proto1804/ivgrpc.pb.cc \
+    ./proto1804/msgtype/brainstate.pb.cc \
+    ./proto1804/msgtype/decition.pb.cc \
+    ./proto1804/msgtype/gps.pb.cc \
+    ./proto1804/msgtype/gpsimu.pb.cc \
+    ./proto1804/msgtype/hmi.pb.cc \
+    ./proto1804/msgtype/imu.pb.cc \
+    ./proto1804/msgtype/radarobject.pb.cc \
+    ./proto1804/msgtype/radarobjectarray.pb.cc \
     dialogsetting.cpp \
     ivmapview.cpp \
     ivview.cpp \
@@ -49,17 +49,17 @@ SOURCES += \
 
 HEADERS += \
 #        ../../decition/common/common/gps_type.h \
-        ../../driver/driver_grpc_client/grpcclientthread.h \
-        ../../driver/driver_grpc_client/ivgrpc.grpc.pb.h \
-        ../../driver/driver_grpc_client/ivgrpc.pb.h \
-        ../../include/msgtype/brainstate.pb.h \
-        ../../include/msgtype/decition.pb.h \
-        ../../include/msgtype/gps.pb.h \
-        ../../include/msgtype/gpsimu.pb.h \
-        ../../include/msgtype/hmi.pb.h \
-        ../../include/msgtype/imu.pb.h \
-        ../../include/msgtype/radarobject.pb.h \
-        ../../include/msgtype/radarobjectarray.pb.h \
+        ./proto1804/grpcclientthread.h \
+        ./proto1804/ivgrpc.grpc.pb.h \
+        ./proto1804/ivgrpc.pb.h \
+        ./proto1804/msgtype/brainstate.pb.h \
+        ./proto1804/msgtype/decition.pb.h \
+        ./proto1804/msgtype/gps.pb.h \
+        ./proto1804/msgtype/gpsimu.pb.h \
+        ./proto1804/msgtype/hmi.pb.h \
+        ./proto1804/msgtype/imu.pb.h \
+        ./proto1804/msgtype/radarobject.pb.h \
+        ./proto1804/msgtype/radarobjectarray.pb.h \
         dialogsetting.h \
         adcintelligentshow.h \
         gps_nbtype.h \
@@ -92,7 +92,7 @@ INCLUDEPATH += $$PWD/../../../include/
 LIBS += -L$$PWD/../bin/ -lmodulecomm   -lxmlparam  #-livlog -livfault -livexit
 
 
-INCLUDEPATH += $$PWD/../../../src/include/msgtype
+INCLUDEPATH += $$PWD/./proto1804/msgtype
 
 #LIBS += -lboost_system-clang-mt-a64-1_73  -lboost_serialization-clang-mt-a64-1_73   -lboost_thread-clang-mt-a64-1_73
 
@@ -125,17 +125,24 @@ INCLUDEPATH += $$PWD/../src/include/msgtype
 INCLUDEPATH += $$PWD/../../decition/common
 INCLUDEPATH += $$PWD/../../decition/common/common
 
-INCLUDEPATH += $$PWD/../../driver/driver_grpc_client
+INCLUDEPATH += $$PWD/proto1804
 
 #DISTFILES +=
 
 DISTFILES += \
     android/AndroidManifest.xml \
+    android/AndroidManifest.xml \
+    android/build.gradle \
     android/build.gradle \
     android/gradle/wrapper/gradle-wrapper.jar \
+    android/gradle/wrapper/gradle-wrapper.jar \
     android/gradle/wrapper/gradle-wrapper.properties \
+    android/gradle/wrapper/gradle-wrapper.properties \
+    android/gradlew \
     android/gradlew \
     android/gradlew.bat \
+    android/gradlew.bat \
+    android/res/values/libs.xml \
     android/res/values/libs.xml
 
 contains(ANDROID_TARGET_ARCH,arm64-v8a) {

src/ui/ADCIntelligentShow_grpc/adcintelligentshow.cpp

@@ -304,6 +304,12 @@ ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
 //    ui->checkBox_2->hide();
 //    ui->park->hide();
     ///////////////////////////////////////////////////////////////////////
+
+#ifdef ANDROID
+
+    ui->run->setStyleSheet("color: rgb(220, 220, 220);font: 10pt 'Arial';");
+    ui->label_9->setStyleSheet("color: rgb(220, 220, 220);font: 10pt 'Arial';");
+#endif
 }
 
 ADCIntelligentShow::~ADCIntelligentShow()

src/ui/ADCIntelligentShow_grpc/adcintelligentshow.ui

@@ -109,6 +109,15 @@ font: 15pt &quot;Arial&quot;;</string>
       <height>61</height>
      </rect>
     </property>
+    <property name="font">
+     <font>
+      <family>Arial</family>
+      <pointsize>15</pointsize>
+      <weight>50</weight>
+      <italic>false</italic>
+      <bold>false</bold>
+     </font>
+    </property>
     <property name="styleSheet">
      <string notr="true">color: rgb(220, 220, 220);
 font: 15pt &quot;Arial&quot;;</string>