修改适配代码逻辑

src/decition/decition_brain_sf_Jeely_xingyueL/decition/adc_adapter/jeely_xingyueL_adapter.cpp

@@ -11,17 +11,17 @@ extern iv::Ivlog * givlog;
 using namespace std;
 
 
-iv::decition::Jeely_xingyueL_Adapter::Jeely_xingyueL_Adapter(){
+iv::decition::Jeely_xingyueL_adapter::Jeely_xingyueL_adapter(){
     adapter_id=5;
-    adapter_name="hapo";
+    adapter_name="Jeely_xingyueL";
 }
-iv::decition::Jeely_xingyueL_Adapter::~Jeely_xingyueL_Adapter(){
+iv::decition::Jeely_xingyueL_adapter::~Jeely_xingyueL_adapter(){
 
 }
 
 
 
-iv::decition::Decition iv::decition::Jeely_xingyueL_Adapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+iv::decition::Decition iv::decition::Jeely_xingyueL_adapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
                                                                         float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
     accAim=min(0.7f,accAim);
 
@@ -97,27 +97,6 @@ iv::decition::Decition iv::decition::Jeely_xingyueL_Adapter::getAdapterDeciton(G
             controlSpeed= ServiceCarStatus.torque_st+((0-u)-ServiceCarStatus.mfCalAcc)*20;//1115    *10
         }
 
-        //        if(((gpsIns.ins_pitch_angle>-2.5 && ServiceCarStatus.daocheMode)||
-        //            (gpsIns.ins_pitch_angle<2.5 && !ServiceCarStatus.daocheMode))){
-        //            if(realSpeed<5  ){
-        //                controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
-        //            }else if(realSpeed<10){
-        //                controlSpeed=min((float)25.0,controlSpeed);  //40
-        //            }
-        //        }
-
-
-        //   controlSpeed = min((float)(ServiceCarStatus.torque_st+1.0),controlSpeed); //1115 5.0
-
-//        if(accAim>0 && ServiceCarStatus.mfCalAcc>0  && realSpeed>1 ){
-//            if(controlSpeed>0){
-//                controlSpeed = ServiceCarStatus.torque_st;
-//            }
-//        }else if(accAim<0 && ServiceCarStatus.mfCalAcc<0 && dSpeed>0){
-//            if(controlSpeed>0 ){
-//                controlSpeed = ServiceCarStatus.torque_st;
-//            }
-//        }
 
 
         if(controlSpeed>ServiceCarStatus.torque_st){
@@ -325,7 +304,7 @@ iv::decition::Decition iv::decition::Jeely_xingyueL_Adapter::getAdapterDeciton(G
 
 
 
-float iv::decition::Jeely_xingyueL_Adapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+float iv::decition::Jeely_xingyueL_adapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
 
     //刹车限制
 
@@ -361,7 +340,7 @@ float iv::decition::Jeely_xingyueL_Adapter::limitBrake(float realSpeed, float co
 
 }
 
-float iv::decition::Jeely_xingyueL_Adapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+float iv::decition::Jeely_xingyueL_adapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
 
     controlSpeed=min((float)100.0,controlSpeed);
     controlSpeed=max((float)0.0,controlSpeed);

src/decition/decition_brain_sf_Jeely_xingyueL/decition/adc_adapter/jeely_xingyueL_adapter.h

@@ -14,7 +14,7 @@
 
 namespace iv {
      namespace decition {
-         class Jeely_xingyueL_Adapter: public BaseAdapter {
+         class Jeely_xingyueL_adapter: public BaseAdapter {
                     public:
 
                         float lastTorque;
@@ -22,8 +22,8 @@ namespace iv {
                         int lastDangWei=0;
 
 
-                        Jeely_xingyueL_Adapter();
-                        ~Jeely_xingyueL_Adapter();
+                        Jeely_xingyueL_adapter();
+                        ~Jeely_xingyueL_adapter();
 
                         iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
                                                                                  float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);

src/decition/decition_brain_sf_Jeely_xingyueL/decition/decide_gps_00.cpp

@@ -2443,6 +2443,7 @@ void iv::decition::DecideGps00::initMethods(){
     bus_Adapter = new BusAdapter();
     hapo_Adapter = new HapoAdapter();
     sightseeing_Adapter = new SightseeingAdapter();
+    jeely_xingyueL_adapter = new Jeely_xingyueL_adapter();
 
 
     mpid_Controller.reset(pid_Controller);
@@ -2453,6 +2454,7 @@ void iv::decition::DecideGps00::initMethods(){
     mbus_Adapter.reset(bus_Adapter);
     mhapo_Adapter.reset(hapo_Adapter);
     msightseeing_Adapter.reset(sightseeing_Adapter);
+    mjeely_xingyueL_adapter.reset(jeely_xingyueL_adapter);
 
     frenetPlanner = new FrenetPlanner();
     //    laneChangePlanner = new LaneChangePlanner();
@@ -2489,6 +2491,8 @@ void iv::decition::DecideGps00::phaseSpeedDecition(iv::decition::Decition  decit
         hapo_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
     }else if(ServiceCarStatus.msysparam.mvehtype=="sightseeing"){
         sightseeing_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if(ServiceCarStatus.msysparam.mvehtype=="Jeely_xingyueL"){
+        jeely_xingyueL_adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
     }
 }
 

src/decition/decition_brain_sf_Jeely_xingyueL/decition/decide_gps_00.h

@@ -16,6 +16,7 @@
 #include <decition/adc_adapter/bus_adapter.h>
 #include <decition/adc_adapter/hapo_adapter.h>
 #include <decition/adc_adapter/sightseeing_adapter.h>
+#include <decition/adc_adapter/jeely_xingyueL_adapter.h>
 #include "perception/perceptionoutput.h"
 #include "ivlog.h"
 #include <memory>
@@ -154,6 +155,7 @@ public:
     BaseAdapter *bus_Adapter;
     BaseAdapter *hapo_Adapter;
     BaseAdapter *sightseeing_Adapter;
+    BaseAdapter *jeely_xingyueL_adapter;
 
     std::shared_ptr<BaseController> mpid_Controller;
     std::shared_ptr<BaseAdapter> mge3_Adapter;
@@ -163,6 +165,7 @@ public:
     std::shared_ptr<BaseAdapter> mbus_Adapter;
     std::shared_ptr<BaseAdapter> mhapo_Adapter;
     std::shared_ptr<BaseAdapter> msightseeing_Adapter;
+    std::shared_ptr<BaseAdapter> mjeely_xingyueL_adapter;
 
 	FrenetPlanner *frenetPlanner;
     SplinePlanner *splinePlanner;