modify start&stop function ; modify map load function

src/decition/common/common/car_status.h

@@ -45,7 +45,7 @@ namespace iv {
         std::int16_t wheel_angle;		//方向盘转角
         std::uint8_t braking_pressure;	//刹车压力
          float torque_st=0;
-        bool mbRunPause = false;
+        bool mbRunPause = true;//20211102,false;
         bool mbBrainCtring = false;
         bool mbdoor=false,has_mbdoor=false;//false: door close    true:door open
         bool mbjinguang=false,has_mbjinguang=false;//false: off    true:on

src/decition/decition_brain_sf_1x/decition/brain.cpp

@@ -494,14 +494,16 @@ void iv::decition::BrainDecition::run() {
         }
         if((ServiceCarStatus.mbRunPause)||(navigation_data.size()<1)||(ServiceCarStatus.mnBocheComplete>0))
         {
+            bool rundebug = ServiceCarStatus.mbRunPause;
             ServiceCarStatus.mbBrainCtring = false;
+            std::cout<<"enter mbRunPause for butn %d"<<rundebug<<std::endl;
             decition_gps->brake = 6;
             decition_gps->accelerator = -0.5;
             decition_gps->wheel_angle = 0;
             decition_gps->torque = 0;
-            decition_gps->mode = 0;
+            decition_gps->mode = 1;//0;//20211102,cxw
             //decitionExecuter->executeDecition(decition_gps);
-                   ShareDecition(decition_gps);  //apollo_fu 20200413 qudiaozhushi
+            ShareDecition(decition_gps);  //apollo_fu 20200413 qudiaozhushi
             ServiceCarStatus.mfAcc = decition_gps->accelerator;
             ServiceCarStatus.mfWheel = decition_gps->wheel_angle;
             ServiceCarStatus.mfBrake = decition_gps->brake;
@@ -1309,7 +1311,8 @@ void iv::decition::BrainDecition::ShareBrainstate(iv::brain::brainstate xbs)
 
 void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasize)
 {
-    if(ndatasize < sizeof(iv::hmi::HMIBasic))return;
+//    if(ndatasize < sizeof(iv::hmi::hmimsg))
+//        return;
 
     iv::hmi::hmimsg xhmimsg;
     if(!xhmimsg.ParseFromArray(pdata,ndatasize))
@@ -1322,6 +1325,8 @@ void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasi
     if(xhmimsg.has_mbpause())
     {
        ServiceCarStatus.mbRunPause = xhmimsg.mbpause();
+
+//      std::cout<<"enter  for butn %d  "<<ServiceCarStatus.mbRunPause <<std::endl;
     }
 //    ServiceCarStatus.mbRunPause = xhmimsg.mbpause();
 

src/driver/driver_map_xodrload/main.cpp

@@ -773,7 +773,7 @@ void ListenCmd(const char * strdata,const unsigned int nSize,const unsigned int
     xodrobj xo;
     memcpy(&xo,strdata,sizeof(xodrobj));
 
-    givlog->debug("lat is %f", xo.flat);
+    givlog->debug("mapLoad","lat is %f, lon is %f", xo.flat, xo.flon);
 
     xo.fhgdsrc = gsrc.fhgdsrc;
     xo.flatsrc = gsrc.flatsrc;
@@ -832,8 +832,8 @@ void ListenSrc(const char * strdata,const unsigned int nSize,const unsigned int
 
     memcpy(&gsrc,strdata,sizeof(xodrobj));
 
-    givlog->debug("src hdg is %f", gsrc.fhgdsrc);
-    std::cout<<"src hdg is "<<gsrc.fhgdsrc<<std::endl;
+//    givlog->debug("src hdg is %f", gsrc.fhgdsrc);
+//    std::cout<<"src hdg is "<<gsrc.fhgdsrc<<std::endl;
 
 }
 
@@ -854,8 +854,8 @@ void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned i
 
     gsrc = xo;
 
-    givlog->debug("src hdg is %f", gsrc.fhgdsrc);
-    std::cout<<"src hdg is "<<gsrc.fhgdsrc<<std::endl;
+//    givlog->debug("src hdg is %f", gsrc.fhgdsrc);
+//    std::cout<<"src hdg is "<<gsrc.fhgdsrc<<std::endl;
 }
 
 void ExitFunc()

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.cpp

@@ -360,7 +360,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     mpaDecition = iv::modulecomm::RegisterRecvPlus("deciton",fundecition);
     mpaLidar = iv::modulecomm::RegisterRecv("lidar_obs",ListenOBS);
     mpaObu = iv::modulecomm::RegisterRecv("v2r_send",ListenObu);
-    mpaHMI = iv::modulecomm::RegisterSend("hmi",10*sizeof(iv::hmi::HMIBasic),10);
+    mpaHMI = iv::modulecomm::RegisterSend("hmi",10*sizeof(iv::hmi::hmimsg),10);
     mpadst = iv::modulecomm::RegisterSend("xodrreq",1000,1);//地图站点gps信息
 
     iv::modulecomm::RegisterRecv("v2xStReq", ListenV2xStReq);
@@ -2182,8 +2182,12 @@ void ADCIntelligentVehicle::on_button_map_set_clicked()
         //发送地图文件名到driver_map_xodrload
         iv::hmi::hmimsg hmi;
         hmi.set_mapname(fileName.toStdString());
+        gIvlog->info("mapLoad","send map name");
         ShareHMIMsgPro(hmi);
-
+//        for(int i = 0; i < 10; i++)
+//        {for(int j = 0; j < 99999;j++){;}}
+        QThread::sleep(2);
+        gIvlog->info("mapLoad","send des gps");
         //发送站点gps信息
         xodrobj xo;
         xo.flon = mdLon;

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.ui

@@ -110,7 +110,7 @@
      </rect>
     </property>
     <property name="currentIndex">
-     <number>1</number>
+     <number>0</number>
     </property>
     <widget class="QWidget" name="page_0">
      <widget class="QGroupBox" name="groupBox_2">
@@ -137,48 +137,6 @@
        <string>系统功能</string>
       </property>
       <layout class="QGridLayout" name="gridLayout_8">
-       <item row="0" column="1">
-        <widget class="QPushButton" name="button_obu_en">
-         <property name="font">
-          <font>
-           <family>AR PL UKai CN</family>
-          </font>
-         </property>
-         <property name="text">
-          <string>路测开关</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
-        <widget class="QPushButton" name="button_map_set">
-         <property name="font">
-          <font>
-           <family>AR PL UKai CN</family>
-          </font>
-         </property>
-         <property name="statusTip">
-          <string/>
-         </property>
-         <property name="whatsThis">
-          <string extracomment="请在配置文件中设置终点信息"/>
-         </property>
-         <property name="text">
-          <string>地图设置</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="0">
-        <widget class="QPushButton" name="button_exit">
-         <property name="font">
-          <font>
-           <family>AR PL UKai CN</family>
-          </font>
-         </property>
-         <property name="text">
-          <string>退出自动驾驶</string>
-         </property>
-        </widget>
-       </item>
        <item row="0" column="0">
         <widget class="QPushButton" name="button_start">
          <property name="enabled">
@@ -206,18 +164,15 @@
          </property>
         </widget>
        </item>
-       <item row="1" column="0">
-        <widget class="QPushButton" name="button_pause">
-         <property name="enabled">
-          <bool>true</bool>
-         </property>
+       <item row="0" column="1">
+        <widget class="QPushButton" name="button_obu_en">
          <property name="font">
           <font>
            <family>AR PL UKai CN</family>
           </font>
          </property>
          <property name="text">
-          <string>暂停自动驾驶</string>
+          <string>路测开关</string>
          </property>
         </widget>
        </item>
@@ -245,19 +200,22 @@
          </property>
         </widget>
        </item>
-       <item row="2" column="2">
-        <widget class="QPushButton" name="button_v2xEn_9">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
+       <item row="1" column="0">
+        <widget class="QPushButton" name="button_map_set">
          <property name="font">
           <font>
            <family>AR PL UKai CN</family>
           </font>
          </property>
-         <property name="text">
+         <property name="statusTip">
           <string/>
          </property>
+         <property name="whatsThis">
+          <string extracomment="请在配置文件中设置终点信息"/>
+         </property>
+         <property name="text">
+          <string>地图设置</string>
+         </property>
         </widget>
        </item>
       </layout>