add a07 s05 controller.

src/controller/controller_changan_a07/.gitignore

@@ -0,0 +1,74 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+CMakeLists.txt.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/controller/controller_changan_a07/a07.cpp

@@ -0,0 +1,3833 @@
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+  0x6e, 0x76, 0x61, 0x6c, 0x69, 0x64, 0x56, 0x61, 0x6c, 0x75, 0x65, 0x22,
+  0x20, 0x53, 0x47, 0x5f, 0x20, 0x36, 0x35, 0x36, 0x20, 0x42, 0x63, 0x6d,
+  0x50, 0x77, 0x72, 0x53, 0x74, 0x73, 0x46, 0x62, 0x20, 0x22, 0x2f, 0x22,
+  0x3b, 0x0d, 0x0a, 0x0d, 0x0a
+};
+unsigned int a07_dbc_len = 45953;

src/controller/controller_changan_a07/a07.h

@@ -0,0 +1,8 @@
+#ifndef A07_H
+#define A07_H
+
+extern unsigned char a07_dbc[];
+extern unsigned int a07_dbc_len;
+
+
+#endif

src/controller/controller_changan_a07/changan_a07.cpp

@@ -0,0 +1,41 @@
+#include "changan_a07.h"
+
+#include <iostream>
+#include <memory>
+#include <string.h>
+
+
+changan_a07::changan_a07(std::string strdbcname) {
+
+    mpdbcsigpacker = new dbcsigpacker(strdbcname);
+    // mpPacker =  new CANPacker(strdbcname);
+    // initsig();
+}
+
+changan_a07::changan_a07(std::string strdbcname,std::istringstream & strsteam)
+{
+    mpdbcsigpacker = new dbcsigpacker(strdbcname,strsteam);
+
+    // mpPacker = new CANPacker(strdbcname,strsteam);=
+    // initsig();
+}
+
+void changan_a07::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    mpdbcsigpacker->SetMsgSignal(strmsgname,strsigname,fvalue);
+}
+
+
+void changan_a07::GetData(unsigned char * pdata,std::string strmsgname,const int ndlc)
+{
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack(strmsgname);
+
+    if(xpack.size()<ndlc){
+        std::cout<<"GetData Msg "<<strmsgname<< " Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+    int i;
+    for(i=0;i<ndlc;i++)pdata[i] = xpack[i];
+}
+
+

src/controller/controller_changan_a07/changan_a07.h

@@ -0,0 +1,31 @@
+#ifndef CHANGAN_A07_H
+#define CHANGAN_A07_H
+
+#include <vector>
+#include "candbc.h"
+#include "dbcsigpacker.h"
+
+
+class changan_a07
+{
+public:
+    changan_a07(std::string strdbcname);
+    changan_a07(std::string strdbcname,std::istringstream & strsteam);
+
+
+private:
+    dbcsigpacker * mpdbcsigpacker;
+
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+
+
+public:
+    void GetData(unsigned char * pdata,std::string strmsgname,const int ndlc);
+
+
+
+};
+
+#endif // CHANGAN_A07_H

src/controller/controller_changan_a07/controller_changan_a07.pro

@@ -0,0 +1,56 @@
+QT = core
+
+CONFIG += c++17 cmdline
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        ../../include/msgtype/decitionext.pb.cc \
+        dbcsigpacker.cpp \
+        a07.cpp \
+        main.cpp \
+        changan_a07.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+#include($$PWD/control/control.pri)
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../controllercommon/controllercommon.pri ) {
+    error( "Couldn't find the controllercommon.pri.pri file!" )
+}
+
+#DEFINES += TESTBRAKE
+#DEFINES += PIDTEST
+
+INCLUDEPATH += $$PWD/../controllercommon
+
+
+LIBS += -livprotoif
+
+LIBS += -lcandbc
+
+HEADERS += \
+    ../../include/msgtype/decitionext.pb.h \
+    dbcsigpacker.h \
+    a07.h \
+    changan_a07.h
+
+RESOURCES += \
+    sterraes.qrc

src/controller/controller_changan_a07/dbcsigpacker.cpp

@@ -0,0 +1,80 @@
+#include "dbcsigpacker.h"
+
+#include <iostream>
+
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname){
+    mpPacker =  new CANPacker(strdbcname);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname,std::istringstream & strsteam){
+    mpPacker = new CANPacker(strdbcname,strsteam);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+void dbcsigpacker::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" SetMsgSignal no message "<<strmsgname<<std::endl;
+        return;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+
+    int i;
+    int nsize = static_cast<int>(xMsgSig.mvectorSPV.size());
+    for(i=0;i<nsize;i++){
+        if(xMsgSig.mvectorSPV[i].name == strsigname){
+            xMsgSig.mvectorSPV[i].value = fvalue;
+            return;
+        }
+    }
+
+    std::cout<<" Msg "<<strmsgname<<" no signal "<<strsigname<<std::endl;
+
+}
+
+void dbcsigpacker::InitSig()
+{
+    if(mpdbc == NULL){
+        std::cout<<"dbc is null"<<std::endl;
+        return;
+    }
+
+    unsigned int nMsgSize =  mpdbc->msgs.size();
+    unsigned int i;
+    for(i=0;i<nMsgSize;i++){
+        iv::MsgSig xmsgsig;
+        xmsgsig.mid = mpdbc->msgs[i].address;
+        xmsgsig.mstrmsgname = mpdbc->msgs[i].name;
+        unsigned int nSigSize = mpdbc->msgs[i].sigs.size();
+        unsigned int j;
+        for(j=0;j<nSigSize;j++){
+            SignalPackValue spv;
+            spv.name = mpdbc->msgs[i].sigs[j].name;
+            spv.value = 0;
+            xmsgsig.mvectorSPV.push_back(spv);
+        }
+        mmapMsgSig.insert(std::pair<std::string,iv::MsgSig>(xmsgsig.mstrmsgname,xmsgsig));
+    }
+
+
+}
+
+std::vector<uint8_t> dbcsigpacker::GetPack(std::string  strmsgname){
+    std::vector<uint8_t> xPack;
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" GetPack no message "<<strmsgname<<std::endl;
+        return xPack;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+    xPack = mpPacker->pack(xMsgSig.mid,xMsgSig.mvectorSPV);
+    return xPack;
+
+}

src/controller/controller_changan_a07/dbcsigpacker.h

@@ -0,0 +1,37 @@
+#ifndef DBCSIGPACKER_H
+#define DBCSIGPACKER_H
+
+#include <map>
+#include <vector>
+#include "candbc.h"
+
+namespace iv {
+struct MsgSig
+{
+    unsigned int mid;  //can message id
+    std::string mstrmsgname;  //can message name
+    std::vector<SignalPackValue> mvectorSPV;
+};
+
+}
+
+class dbcsigpacker
+{
+public:
+    dbcsigpacker(std::string strdbcname);
+    dbcsigpacker(std::string strdbcname,std::istringstream & strsteam);
+
+private:
+    CANPacker * mpPacker;
+    const DBC * mpdbc;
+    std::map<std::string,iv::MsgSig> mmapMsgSig;
+
+private:
+    void InitSig();
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+    std::vector<uint8_t> GetPack(std::string  strmsgname);
+};
+
+#endif // DBCSIGPACKER_H

src/controller/controller_changan_a07/jd03.cpp

@@ -0,0 +1,1535 @@
+char Yunle03CAN_dbc[] = {
+  0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x22, 0x48, 0x49, 0x50,
+  0x42, 0x4e, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59,
+  0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59,
+  0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59, 0x59,
+  0x59, 0x59, 0x59, 0x2f, 0x34, 0x2f, 0x25, 0x25, 0x25, 0x2f, 0x34, 0x2f,
+  0x27, 0x25, 0x2a, 0x2a, 0x34, 0x59, 0x59, 0x59, 0x2f, 0x2f, 0x2f, 0x22,
+  0x0d, 0x0a, 0x0d, 0x0a, 0x0d, 0x0a, 0x4e, 0x53, 0x5f, 0x20, 0x3a, 0x20,
+  0x0d, 0x0a, 0x09, 0x4e, 0x53, 0x5f, 0x44, 0x45, 0x53, 0x43, 0x5f, 0x0d,
+  0x0a, 0x09, 0x43, 0x4d, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x41, 0x5f, 0x44,
+  0x45, 0x46, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x41, 0x5f, 0x0d, 0x0a, 0x09,
+  0x56, 0x41, 0x4c, 0x5f, 0x0d, 0x0a, 0x09, 0x43, 0x41, 0x54, 0x5f, 0x44,
+  0x45, 0x46, 0x5f, 0x0d, 0x0a, 0x09, 0x43, 0x41, 0x54, 0x5f, 0x0d, 0x0a,
+  0x09, 0x46, 0x49, 0x4c, 0x54, 0x45, 0x52, 0x0d, 0x0a, 0x09, 0x42, 0x41,
+  0x5f, 0x44, 0x45, 0x46, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x0d, 0x0a, 0x09,
+  0x45, 0x56, 0x5f, 0x44, 0x41, 0x54, 0x41, 0x5f, 0x0d, 0x0a, 0x09, 0x45,
+  0x4e, 0x56, 0x56, 0x41, 0x52, 0x5f, 0x44, 0x41, 0x54, 0x41, 0x5f, 0x0d,
+  0x0a, 0x09, 0x53, 0x47, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x0d, 0x0a, 0x09,
+  0x53, 0x47, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x56, 0x41, 0x4c, 0x5f, 0x0d,
+  0x0a, 0x09, 0x42, 0x41, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x53, 0x47, 0x54,
+  0x59, 0x50, 0x45, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x41, 0x5f, 0x53, 0x47,
+  0x54, 0x59, 0x50, 0x45, 0x5f, 0x0d, 0x0a, 0x09, 0x53, 0x49, 0x47, 0x5f,
+  0x54, 0x59, 0x50, 0x45, 0x5f, 0x52, 0x45, 0x46, 0x5f, 0x0d, 0x0a, 0x09,
+  0x56, 0x41, 0x4c, 0x5f, 0x54, 0x41, 0x42, 0x4c, 0x45, 0x5f, 0x0d, 0x0a,
+  0x09, 0x53, 0x49, 0x47, 0x5f, 0x47, 0x52, 0x4f, 0x55, 0x50, 0x5f, 0x0d,
+  0x0a, 0x09, 0x53, 0x49, 0x47, 0x5f, 0x56, 0x41, 0x4c, 0x54, 0x59, 0x50,
+  0x45, 0x5f, 0x0d, 0x0a, 0x09, 0x53, 0x49, 0x47, 0x54, 0x59, 0x50, 0x45,
+  0x5f, 0x56, 0x41, 0x4c, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x0d, 0x0a, 0x09,
+  0x42, 0x4f, 0x5f, 0x54, 0x58, 0x5f, 0x42, 0x55, 0x5f, 0x0d, 0x0a, 0x09,
+  0x42, 0x41, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x52, 0x45, 0x4c, 0x5f, 0x0d,
+  0x0a, 0x09, 0x42, 0x41, 0x5f, 0x52, 0x45, 0x4c, 0x5f, 0x0d, 0x0a, 0x09,
+  0x42, 0x41, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x52,
+  0x45, 0x4c, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x55, 0x5f, 0x53, 0x47, 0x5f,
+  0x52, 0x45, 0x4c, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x55, 0x5f, 0x45, 0x56,
+  0x5f, 0x52, 0x45, 0x4c, 0x5f, 0x0d, 0x0a, 0x09, 0x42, 0x55, 0x5f, 0x42,
+  0x4f, 0x5f, 0x52, 0x45, 0x4c, 0x5f, 0x0d, 0x0a, 0x09, 0x53, 0x47, 0x5f,
+  0x4d, 0x55, 0x4c, 0x5f, 0x56, 0x41, 0x4c, 0x5f, 0x0d, 0x0a, 0x0d, 0x0a,
+  0x42, 0x53, 0x5f, 0x3a, 0x0d, 0x0a, 0x0d, 0x0a, 0x42, 0x55, 0x5f, 0x3a,
+  0x20, 0x49, 0x42, 0x43, 0x20, 0x41, 0x44, 0x41, 0x53, 0x20, 0x54, 0x50,
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+  0x3b, 0x0d, 0x0a, 0x42, 0x41, 0x5f, 0x20, 0x22, 0x56, 0x46, 0x72, 0x61,
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+};
+unsigned int Yunle03CAN_dbc_len = 18383;

src/controller/controller_changan_a07/jd03.h

@@ -0,0 +1,8 @@
+#ifndef JD03_H
+#define JD03_H
+
+extern char Yunle03CAN_dbc[];
+extern unsigned int Yunle03CAN_dbc_len;
+
+
+#endif

src/controller/controller_changan_a07/main.cpp

@@ -0,0 +1,769 @@
+#include <QCoreApplication>
+
+#include <QTime>
+
+#include <QMutex>
+
+#include "xmlparam.h"
+#include "modulecomm.h"
+#include "ivbacktrace.h"
+#include "ivversion.h"
+
+#include "canmsg.pb.h"
+#include "decition.pb.h"
+#include "chassis.pb.h"
+#include "decitionext.pb.h"
+
+#include "torquebrake.h"
+
+#include <thread>
+#include <math.h>
+
+#ifdef Q_OS_LINUX
+#include <signal.h>
+#endif
+
+#include "candbc.h"
+#include "a07.h"
+#include "changan_a07.h"
+#include "dbcsigpacker.h"
+
+std::string gstrdbcpath;
+bool gbUseOutDBC;
+
+changan_a07 * gpchangan_a07;
+
+static void * gpacansend;
+static void * gpadecition;
+static void * gpachassis;
+static void * gpadecitionext;
+
+static std::string gstrmemdecition;
+static std::string gstrmemcansend;
+static std::string gstrmemchassis;
+static bool gbSendRun = true;
+
+static bool gbChassisEPS = false;
+
+static iv::brain::decition gdecition_def;
+static iv::brain::decition gdecition;
+
+static QTime gTime;
+static int gnLastSendTime = 0;
+static int gnLastRecvDecTime = -1000;
+static int gnDecitionNum = 0; //when is zero,send default;
+const int gnDecitionNumMax = 100;
+static int gnIndex = 0;
+
+static bool gbHaveVehSpd = false;
+static double gfVehSpd = 0.0;  //km/h
+
+static bool gbHaveWheelAngle = false;
+static double gfWheelAngle = 0.0;
+
+static double gfWheelSpeedLim = 300; //300 degrees per second
+
+
+static QMutex gMutex;
+
+static std::thread * gpsendthread = NULL;
+
+unsigned char ECU_1B2[32];
+unsigned char ECU_23C[64];
+unsigned char ECU_30A[64];
+unsigned char ECU_2CA[64];
+
+static int gnState = 0; //0 not act  1 act
+
+
+double gfWheelReq = 0.0;
+double gfTorqueReq = 0.0;
+double gfBrakeReq = 0.0;
+
+
+static bool gbSendBrake = false;
+
+static double gfVehAcc = 0.0;
+
+static iv::brain::decitionext gdecitionext;
+static bool gbdecitionextupdate =  false;
+static int64_t gnchronodecitionext = 0;
+static std::mutex gmutexdecitionext;
+
+void SetMsgSignal(std::string strmsgname,std::string strsigname,double fvalue){
+    gpchangan_a07->SetMsgSignal(strmsgname,strsigname,fvalue);
+}
+
+
+void ExecSend();
+
+
+void executeDecition(const iv::brain::decition &decition)
+{
+
+    static int xieya = 50;
+
+    double fWheelAngleReq = decition.wheelangle();
+    if(fWheelAngleReq>430.0)fWheelAngleReq = 430.0;
+    if(fWheelAngleReq<(-430.0))fWheelAngleReq = -430.0;
+
+
+    SetMsgSignal("ECU_1B2","ACC_LatAngReq",fWheelAngleReq);
+    SetMsgSignal("ECU_1B2","ACC_MotorTorqueMinLimitRequest",-10.0);
+    SetMsgSignal("ECU_1B2","ACC_MotorTorqueMaxLimitRequest",10.0);
+    SetMsgSignal("ECU_1B2","ACC_LatAngReqActive",decition.angle_active());
+
+    //    std::cout<<" type: "<<(int)_m144.ACC_ADCReqType<<std::endl;
+
+
+    double ftorque = decition.torque();
+    SetMsgSignal("ECU_23C","ACC_AccTrqReq",ftorque);
+    SetMsgSignal("ECU_23C","ACC_AccTrqReqActive",decition.acc_active());
+
+    if(decition.brake()<(-5.0))
+    {
+        SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",-5.0);
+    }
+    else
+    {
+        SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",decition.brake());
+    }
+
+    if(decition.brake()>(-0.0000001))
+    {
+
+        if(xieya > 0)
+        {
+            SetMsgSignal("ECU_23C","ACC_CDDActive",1.0);
+            SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",0.5);
+            SetMsgSignal("ECU_23C","ACC_AccTrqReq",0.0);
+            SetMsgSignal("ECU_23C","ACC_AccTrqReqActive",0.0);
+            SetMsgSignal("ECU_23C","ACC_Driveoff_Request",1.0);
+            xieya--;
+            std::cout<<" xieya. now veh speed: "<<gfVehSpd<<std::endl;
+        }
+        else
+        {
+            SetMsgSignal("ECU_23C","ACC_CDDActive",0.0);
+            SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",0.0);
+            SetMsgSignal("ECU_23C","ACC_Driveoff_Request",0.0);
+        }
+    }
+    else
+    {
+        SetMsgSignal("ECU_23C","ACC_CDDActive",1.0);
+        SetMsgSignal("ECU_23C","ACC_Driveoff_Request",0.0);
+    }
+
+    if(decition.brake()>(-0.0000001))
+    {
+        SetMsgSignal("ECU_23C","ACC_CDDActive",0.0);
+        SetMsgSignal("ECU_23C","ACC_Driveoff_Request",1.0);
+        if(xieya > 0)
+        {
+            SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",0.5);
+            xieya--;
+        }
+        else
+        {
+            SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",0.0);
+        }
+        SetMsgSignal("ECU_23C","ACC_AccTrqReqActive",1.0);
+
+    }
+    else
+    {
+        SetMsgSignal("ECU_23C","ACC_CDDActive",1.0);
+        SetMsgSignal("ECU_23C","ACC_Driveoff_Request",0.0);
+        if(gbHaveVehSpd)
+        {
+            if(gfVehSpd < 0.01)
+            {
+                if(xieya != 50)std::cout<<"need xieya. "<<std::endl;
+                xieya = 50;
+
+            }
+        }
+
+        SetMsgSignal("ECU_23C","ACC_AccTrqReqActive",0.0);
+    }
+
+    SetMsgSignal("ECU_23C","ACC_ACCMode",decition.auto_mode());
+
+
+    if(gnState == 0)
+    {
+        SetMsgSignal("ECU_23C","ACC_CDDActive",0.0);
+        SetMsgSignal("ECU_23C","ACC_Driveoff_Request",0.0);
+        SetMsgSignal("ECU_23C","ACC_ACCMode",0.0);
+        SetMsgSignal("ECU_23C","ACC_ACCTargetAcceleration",0.0);
+        SetMsgSignal("ECU_23C","ACC_AccTrqReqActive",0.0);
+
+    }
+
+
+    if(decition.leftlamp() == true && decition.rightlamp() == false)
+        SetMsgSignal("ECU_30A","ADS_UDLCTurnLightReq",3.0);
+    else if(decition.leftlamp() == false && decition.rightlamp() == true)
+        SetMsgSignal("ECU_30A","ADS_UDLCTurnLightReq",4.0);
+    else
+        SetMsgSignal("ECU_30A","ADS_UDLCTurnLightReq",0.0);
+
+
+}
+
+void Activate()
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    iv::brain::decition xdecition;
+    xdecition.set_brake(0.0);
+    xdecition.set_torque(0.0);
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+        xdecition.set_auto_mode(0);
+        gnState = 0;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(1);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+        xdecition.set_auto_mode(3);
+        gnState = 1;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void UnAcitvate()
+{
+    iv::brain::decition xdecition;
+
+    xdecition.set_brake(0.0);
+    xdecition.set_torque(0.0);
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(1);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+        xdecition.set_auto_mode(3);
+        gnState = 1;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+        gnState = 0;
+        xdecition.set_auto_mode(0);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+
+}
+
+void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    iv::chassis xchassis;
+    //    static int ncount = 0;
+    if(!xchassis.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
+        return;
+    }
+
+    if(xchassis.has_epsmode())
+    {
+        if(xchassis.epsmode() == 0)
+        {
+            gbChassisEPS = true;
+        }
+    }
+
+    if(xchassis.has_vel())
+    {
+        gfVehSpd = xchassis.vel();
+        gbHaveVehSpd = true;
+        //      std::cout<<" gf Veh speed : "<<gfVehSpd<<std::endl;
+    }
+
+    if(xchassis.has_angle_feedback())
+    {
+        gfWheelAngle = xchassis.angle_feedback();
+        gbHaveWheelAngle = true;
+    }
+}
+
+
+void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    static qint64 oldtime = QDateTime::currentMSecsSinceEpoch();
+    iv::brain::decition xdecition;
+
+    if(!xdecition.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenDecition parse error."<<std::endl;
+        return;
+    }
+
+
+
+    //    if(xdecition.gear() != 4)
+    //    {
+    //        qDebug("not D");
+    //    }
+    xdecition.set_angle_mode(1);
+    xdecition.set_angle_active(1);
+    xdecition.set_acc_active(1);
+    xdecition.set_brake_active(1);
+    //    xdecition.set_brake_type(1);
+    xdecition.set_auto_mode(3);
+
+
+//    std::cout<<"decition acc: "<<xdecition.accelerator()<<std::endl;
+
+    //   xdecition.set_wheelangle(45.0);
+
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    oldtime = QDateTime::currentMSecsSinceEpoch();
+    gMutex.lock();
+    gdecition.CopyFrom(xdecition);
+    gMutex.unlock();
+    gnDecitionNum = gnDecitionNumMax;
+    gbChassisEPS = false;
+
+}
+
+
+void ListenDecitonExt(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)index;(void)dt;(void)strmemname;
+    iv::brain::decitionext xdecitionext;
+
+    if(!xdecitionext.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenDecitionExt parse error."<<std::endl;
+        return;
+    }
+
+    gmutexdecitionext.lock();
+    gdecitionext.CopyFrom(xdecitionext);
+    gbdecitionextupdate = true;
+    gnchronodecitionext = std::chrono::system_clock::now().time_since_epoch().count();
+    gmutexdecitionext.unlock();
+}
+
+void SetExtMsg(iv::brain::decitionext & xdecitionext)
+{
+    if(xdecitionext.has_ctrlacactive())
+    {
+        int temp = xdecitionext.actset();
+        int value = 1;
+        if((temp>=18) && (temp<=32))
+        {
+            value = 2 + (temp - 18)*2;
+        }
+        if(temp > 32)value = 31;
+        SetMsgSignal("ECU_2CA","CdcDrvrTSet",value);
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcDrvrTSet",0);
+    }
+
+    if(xdecitionext.has_ctrlremirrfold())
+    {
+        switch (xdecitionext.ctrlremirrfold()) {
+        case iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_NOREQFOLD:
+            SetMsgSignal("ECU_2CA","CdcReMirrFoldReq",0);
+            break;
+        case iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_EXPAND:
+            SetMsgSignal("ECU_2CA","CdcReMirrFoldReq",1);
+            break;
+        case iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_FOLD:
+            SetMsgSignal("ECU_2CA","CdcReMirrFoldReq",2);
+            break;
+        default:
+            SetMsgSignal("ECU_2CA","CdcReMirrFoldReq",0);
+            break;
+        }
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcReMirrFoldReq",0);
+    }
+
+    if(xdecitionext.has_ctrldriverwindowactive())
+    {
+        int value = xdecitionext.ctrldriverwindow()/10 + 1;
+        if(value<1)value = 1;
+        if(value > 11)value = 1;;
+        SetMsgSignal("ECU_2CA","CdcCentralCtrDriverWindow",value);
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcCentralCtrDriverWindow",0);
+    }
+
+    if(xdecitionext.has_ctrlpassengerwindowactive())
+    {
+        int value = xdecitionext.ctrlpassengerwindow()/10 + 1;
+        if(value<1)value = 1;
+        if(value > 11)value = 1;;
+        SetMsgSignal("ECU_2CA","CdcCentralCtrPassengerWindow",value);
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcCentralCtrPassengerWindow",0);
+    }
+
+    if(xdecitionext.has_ctrlleftrearwindow())
+    {
+        int value = xdecitionext.ctrlleftrearwindow()/10 + 1;
+        if(value<1)value = 1;
+        if(value > 11)value = 1;;
+        SetMsgSignal("ECU_2CA","CdcCentralCtrLeftRearWindow",value);
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcCentralCtrLeftRearWindow",0);
+    }
+
+    if(xdecitionext.has_ctrlrightrearwindow())
+    {
+        int value = xdecitionext.ctrlrightrearwindow()/10 + 1;
+        if(value<1)value = 1;
+        if(value > 11)value = 1;;
+        SetMsgSignal("ECU_2CA","CdcCentralCtrRightRearWindow",value);
+    }
+    else
+    {
+        SetMsgSignal("ECU_2CA","CdcCentralCtrRightRearWindow",0);
+    }
+}
+
+void PrepareMsg()
+{
+    gpchangan_a07->GetData(ECU_1B2,std::string("ECU_1B2"),32);
+    gpchangan_a07->GetData(ECU_23C,std::string("ECU_23C"),64);
+    gpchangan_a07->GetData(ECU_30A,std::string("ECU_30A"),64);
+}
+
+void ExecSend()
+{
+    static int ncount = 1;
+    PrepareMsg();
+
+    iv::can::canmsg xmsg;
+    iv::can::canraw xraw;
+
+    if(ncount%2 == 1)
+    {
+        xraw.set_id(0x23C);
+        xraw.set_data(ECU_23C,64);
+        xraw.set_bext(false);
+        xraw.set_bremote(false);
+        xraw.set_len(64);
+        iv::can::canraw * pxraw23C = xmsg.add_rawmsg();
+        pxraw23C->CopyFrom(xraw);
+    }
+    if(ncount >=10)
+    {
+        xraw.set_id(0x30A);
+        xraw.set_data(ECU_30A,64);
+        xraw.set_bext(false);
+        xraw.set_bremote(false);
+        xraw.set_len(64);
+        iv::can::canraw * pxraw30A = xmsg.add_rawmsg();
+        pxraw30A->CopyFrom(xraw);
+        ncount = 0;
+    }
+
+    xraw.set_id(0x1B2);
+    xraw.set_data(ECU_1B2,32);
+    xraw.set_bext(false);
+    xraw.set_bremote(false);
+    xraw.set_len(32);
+    iv::can::canraw * pxrawB2 = xmsg.add_rawmsg();
+    pxrawB2->CopyFrom(xraw);
+
+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    if((nnow - gnchronodecitionext)<1000)
+    {
+        if(gbdecitionextupdate)
+        {
+            iv::brain::decitionext xdecitionext;
+            gmutexdecitionext.lock();
+            xdecitionext.CopyFrom(gdecitionext);
+            gmutexdecitionext.unlock();
+
+            SetExtMsg(xdecitionext);
+
+            gpchangan_a07->GetData(ECU_2CA,std::string("ECU_2CA"),64);
+            xraw.set_id(0x2CA);
+            xraw.set_data(ECU_2CA,64);
+            xraw.set_bext(false);
+            xraw.set_bremote(false);
+            xraw.set_len(64);
+            iv::can::canraw * pxraw2CA = xmsg.add_rawmsg();
+            pxraw2CA->CopyFrom(xraw);
+
+            gbdecitionextupdate = false;
+        }
+    }
+
+
+    ncount++;
+
+
+
+    xmsg.set_channel(0);
+    xmsg.set_index(gnIndex);
+
+    gnIndex++;
+    xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
+    int ndatasize = static_cast<int>(xmsg.ByteSize());
+    char * strser = new char[ndatasize];
+    std::shared_ptr<char> pstrser;
+    pstrser.reset(strser);
+    if(xmsg.SerializeToArray(strser,ndatasize))
+    {
+        iv::modulecomm::ModuleSendMsg(gpacansend,strser,ndatasize);
+    }
+    else
+    {
+        std::cout<<"ExecSend serialize error."<<std::endl;
+    }
+
+
+}
+
+void initial()
+{
+    for (uint8_t i = 0; i < 24; i++) //CAN  to  canfd
+    {
+        //byte_36E[i] = 0;
+    }
+}
+
+
+void sendthread()
+{
+    initial();
+    iv::brain::decition xdecition;
+
+    UnAcitvate();
+    //   UnAcitvate();
+
+    int nstate = 0; //0 Un 1 Activate
+    //    Activate();
+    while(gbSendRun)
+    {
+        if(gnDecitionNum <= 0)
+        {
+            if(nstate == 1)
+            {
+                UnAcitvate();
+                nstate = 0;
+            }
+            xdecition.CopyFrom(gdecition_def);
+        }
+        else
+        {
+            if(nstate == 0)
+            {
+                Activate();
+                nstate = 1;
+            }
+            gMutex.lock();
+            xdecition.CopyFrom(gdecition);
+            gMutex.unlock();
+            gnDecitionNum--;
+        }
+
+        executeDecition(xdecition);
+        if(gbChassisEPS == false) ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    UnAcitvate();
+}
+
+#ifdef Q_OS_LINUX
+void sig_int(int signo)
+{
+    (void)signo;
+    gbSendRun = false;
+    gpsendthread->join();
+
+    iv::modulecomm::Unregister(gpacansend);
+    iv::modulecomm::Unregister(gpachassis);
+    iv::modulecomm::Unregister(gpadecition);
+    iv::modulecomm::Unregister(gpadecitionext);
+
+    std::cout<<" controller exit."<<std::endl;
+    exit(0);
+}
+#endif
+
+
+// void processStream(std::istream& stream) {
+
+//     std::string line;
+
+//     while (std::getline(stream, line)) {
+
+//         std::cout << "Read line: " << line << std::endl;
+
+//     }
+
+// }
+
+
+
+void LoadXML(std::string strxmlpath){
+    iv::xmlparam::Xmlparam xp(strxmlpath);
+    gbUseOutDBC = xp.GetParam("UseOutDBC",false);
+    gstrdbcpath = xp.GetParam("dbcpath","./ADCC_CH.dbc");
+}
+
+void Listencanrecv0()
+{
+    void * pblambda = iv::modulecomm::RegisterRecv("canrecv0",[](const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname){
+        (void)strdata;
+        (void)nSize;
+        (void)index;
+        (void)dt;
+        (void)strmemname;
+        iv::can::canmsg xmsg;
+        if(false == xmsg.ParseFromArray(strdata,nSize))
+        {
+            std::cout<<"controller Listencan0 fail."<<std::endl;
+            return;
+        }
+
+        int i;
+
+        for(i=0;i<xmsg.rawmsg_size();i++)
+        {
+            iv::can::canraw * praw = xmsg.mutable_rawmsg(i);
+            (void)praw;
+
+
+        }
+    });
+
+    (void)pblambda;
+
+
+}
+
+
+#include <QFile>
+#include <QTextStream>
+#include <strings.h>
+#include <streambuf>
+#include <sstream>
+
+#include <iostream>
+#include <istream>
+#include <fstream>
+int main(int argc, char *argv[])
+{
+
+ //    std::istringstream iss("First line.\nSecond line.\n");
+
+
+
+    // // 将 iss 传递给 processStream，这是合法的
+
+    // processStream(iss);
+
+    RegisterIVBackTrace();
+    showversion("controller_changan_shenlan");
+    QCoreApplication a(argc, argv);
+
+    QString strpath = QCoreApplication::applicationDirPath();
+
+    if(argc < 2)
+        strpath = strpath + "/controller_chery_sterra_es_fcm.xml";
+    else
+        strpath = argv[1];
+    std::cout<<strpath.toStdString()<<std::endl;
+
+    LoadXML(strpath.toStdString());
+
+
+    std::string str_fcm((char *)a07_dbc);
+    std::istringstream iss(str_fcm);
+    gpchangan_a07 = new changan_a07(std::string(":/a07.dbc"),iss);
+
+
+    //    gdecition_def.set_accelerator(-0.5);
+    gdecition_def.set_brake(-1.0);
+    gdecition_def.set_rightlamp(false);
+    gdecition_def.set_leftlamp(false);
+    gdecition_def.set_wheelangle(0);
+    gdecition_def.set_speed(0.0);
+
+    gdecition_def.set_angle_mode(0);
+    gdecition_def.set_angle_active(0);
+    gdecition_def.set_acc_active(0);
+    //    gdecition_def.set_brake_active(1);
+    gdecition_def.set_brake_type(0);
+    gdecition_def.set_auto_mode(0);
+
+
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    gstrmemcansend = xp.GetParam("cansend","cansend0");
+    gstrmemdecition = xp.GetParam("dection","deciton");
+    gstrmemchassis = xp.GetParam("chassismsgname","chassis");
+
+
+
+    gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,1);
+    gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
+    gpachassis = iv::modulecomm::RegisterRecv(gstrmemchassis.data(),UpdateChassis);
+    gpadecitionext = iv::modulecomm::RegisterRecv("decision_ext",ListenDecitonExt);
+
+#ifdef TORQUEBRAKETEST
+    EnableTorqueBrakeTest();
+#endif
+
+//    testes();
+//    return 0;
+
+    Listencanrecv0();
+
+    std::thread xthread(sendthread);
+
+    gpsendthread = &xthread;
+
+#ifdef Q_OS_LINUX
+    signal(SIGINT, sig_int);
+    signal(SIGTERM,sig_int);
+#endif
+
+    return a.exec();
+}

src/controller/controller_changan_a07/sterraes.qrc

@@ -0,0 +1,4 @@
+<RCC>
+    <qresource prefix="/">
+    </qresource>
+</RCC>

src/detection/detection_chassis/decodechassis.cpp

@@ -816,4 +816,138 @@ int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg)
     return 0;
 }
 
+int ProcShenLanS05Chassis(void * pa,iv::can::canmsg * pmsg)
+{
+    int i;
+    static iv::chassis xchassis;
+    for(i=0;i<pmsg->rawmsg_size();i++)
+    {
+
+        iv::can::canraw * praw =  pmsg->mutable_rawmsg(i);//&(pmsg->rawmsg(i));
+        //       qDebug("id: % 0x2x",praw->id());
+        //        unsigned char data[8];
+        //        memcpy(data,praw->data().data(),8);
+        if(praw->id() == 0x217)
+        {
+            unsigned char byte[64];
+            double vehspeed;
+            if(praw->len() == 64)
+            {
+                memcpy(byte,praw->data().data(),64);
+                unsigned int value;
+                value = byte[12]&0x1F;
+                value = (value<<8) +  static_cast<unsigned int >( byte[13]);
+                vehspeed = static_cast<double>(value) * 0.05625;
+
+
+                xchassis.set_vel(static_cast<float>(vehspeed));
+                xchassis.set_time(std::chrono::system_clock::now().time_since_epoch().count());
+
+                ShareChassis(pa,&xchassis);
+                //              xchassis.clear_angle_feedback();
+                //              std::cout<<"veh: "<<xchassis.vel()<<std::endl;
+            }
+            else
+            {
+                std::cout<<" 217 not 64 bytes. 217 bytes: "<<praw->len()<<std::endl;
+            }
+        }
+        if(praw->id() == 0x204)
+        {
+            unsigned char byte[64];
+            double ang;
+            if(praw->len() == 64)
+            {
+                memcpy(byte,praw->data().data(),64);
+                unsigned int value;
+                value = byte[8]&0xFF;
+                value = (value<<8) +  static_cast<unsigned int >( byte[9]);
+                if(value<32767)
+                    ang = static_cast<double>(value) * 0.1;
+                else
+                    ang=static_cast<double>(value) * 0.1-65536*0.1;
+
+                xchassis.set_angle_feedback(static_cast<float>(ang));
+                //           ShareChassis(pa,&xchassis);
+  //              if(ang<30)std::cout<<"ang: "<<xchassis.angle_feedback()<<std::endl;
+            }
+            else
+            {
+                std::cout<<" 204 not 64 bytes. 204 bytes: "<<praw->len()<<std::endl;
+            }
+        }
+
+    }
+
+
+    return 0;
+}
+
+int ProcChangAnA07Chassis(void * pa,iv::can::canmsg * pmsg)
+{
+    int i;
+    static iv::chassis xchassis;
+    for(i=0;i<pmsg->rawmsg_size();i++)
+    {
+
+        iv::can::canraw * praw =  pmsg->mutable_rawmsg(i);//&(pmsg->rawmsg(i));
+        //       qDebug("id: % 0x2x",praw->id());
+        //        unsigned char data[8];
+        //        memcpy(data,praw->data().data(),8);
+        if(praw->id() == 0x1CA)
+        {
+            unsigned char byte[64];
+            double vehspeed;
+            if(praw->len() == 64)
+            {
+                memcpy(byte,praw->data().data(),64);
+                unsigned int value;
+                value = byte[12]&0x1F;
+                value = (value<<8) +  static_cast<unsigned int >( byte[13]);
+                vehspeed = static_cast<double>(value) * 0.05625;
+
+
+                xchassis.set_vel(static_cast<float>(vehspeed));
+                xchassis.set_time(std::chrono::system_clock::now().time_since_epoch().count());
+
+                ShareChassis(pa,&xchassis);
+                //              xchassis.clear_angle_feedback();
+                //              std::cout<<"veh: "<<xchassis.vel()<<std::endl;
+            }
+            else
+            {
+                std::cout<<" 1CA not 64 bytes. 1CA bytes: "<<praw->len()<<std::endl;
+            }
+        }
+        if(praw->id() == 0x188)
+        {
+            unsigned char byte[64];
+            double ang;
+            if(praw->len() == 64)
+            {
+                memcpy(byte,praw->data().data(),64);
+                unsigned int value;
+                value = byte[8]&0xFF;
+                value = (value<<8) +  static_cast<unsigned int >( byte[9]);
+                if(value<32767)
+                    ang = static_cast<double>(value) * 0.1;
+                else
+                    ang=static_cast<double>(value) * 0.1-65536*0.1;
+
+                xchassis.set_angle_feedback(static_cast<float>(ang));
+                //           ShareChassis(pa,&xchassis);
+                //              if(ang<30)std::cout<<"ang: "<<xchassis.angle_feedback()<<std::endl;
+            }
+            else
+            {
+                std::cout<<" 188 not 64 bytes. 188 bytes: "<<praw->len()<<std::endl;
+            }
+        }
+
+    }
+
+
+    return 0;
+}
+
 

src/detection/detection_chassis/decodechassis.h

@@ -30,6 +30,10 @@ int ProcHunterChassis(void *pa, iv::can::canmsg *pmsg);
 
 int ProcSterraesChassis(void *pa, iv::can::canmsg *pmsg);
 
+int ProcShenLanS05Chassis(void * pa,iv::can::canmsg * pmsg);
+
+int ProcChangAnA07Chassis(void * pa,iv::can::canmsg * pmsg);
+
 void PrintCANRaw(const iv::can::canraw * praw );
 
 

src/detection/detection_chassis/main.cpp

@@ -29,7 +29,7 @@ bool gbPrintRaw = false;
 
 namespace  iv {
 
-enum VehicleTypeDef {GE3,VV7,MIDCAR,PROBLUE,MIDBUS,HAPO,UNKNOWN, YUHESEN,SHENLAN,SHENLAN_CANFD,HUNTER,STERRAES} gVehicleType;  //车辆类型
+enum VehicleTypeDef {GE3,VV7,MIDCAR,PROBLUE,MIDBUS,HAPO,UNKNOWN, YUHESEN,SHENLAN,SHENLAN_CANFD,HUNTER,STERRAES,SHENLAN_S05,CHANGAN_A07} gVehicleType;  //车辆类型
 
 
 }
@@ -107,6 +107,12 @@ void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int
     case iv::STERRAES:
         nRtn = ProcSterraesChassis(gpa,&xmsg);
         break;
+    case iv::SHENLAN_S05:
+        nRtn = ProcShenLanS05Chassis(gpa,&xmsg);
+        break;
+    case iv::CHANGAN_A07:
+        nRtn = ProcChangAnA07Chassis(gpa,&xmsg);
+        break;
     default:
         break;
     }
@@ -225,6 +231,15 @@ int main(int argc, char *argv[])
     {
         iv::gVehicleType = iv::STERRAES;
     }
+   if(strncmp(strvehicletype.data(),"SHENLAN_S05",255) == 0)
+    {
+        iv::gVehicleType = iv::SHENLAN_S05;
+    }
+   if(strncmp(strvehicletype.data(),"CAHNGAN_A07",255) == 0)
+    {
+        iv::gVehicleType = iv::CHANGAN_A07;
+    }
+
 
 //iv::gVehicleType = iv::MIDBUS;
 

src/include/proto/decitionext.proto

@@ -0,0 +1,38 @@
+syntax = "proto2";
+
+package iv.brain;
+
+message decitionext
+{
+	enum CtrlDoorType {
+		NOREQDOOR = 0; // 不请求
+		UNLOCK = 1;    // 开锁
+		LOCK =  2;    //闭锁
+	}
+	optional CtrlDoorType ctrldoor = 1;                
+	enum CtrlRemirrFoldType {
+    		NOREQFOLD = 0; //不请求
+    		EXPAND = 1;  //展开
+    		FOLD = 2; //折叠
+	}
+	optional CtrlRemirrFoldType ctrlRemirrFold = 2;          //后视镜折叠  0 不请求   1 展开  2 折叠
+	optional bool CtrlDriverWindowActive = 3;
+	optional int32 CtrlDriverWindow = 4;   //0 %0    100 %100
+	optional bool CtrlPassengerWindowActive = 5;
+	optional int32 CtrlPassengerWindow = 6;
+	optional bool CtrlLeftRearWindowActive = 7;
+	optional int32 CtrlLeftRearWindow = 8;
+	optional bool CtrlRightRearWindowActive = 9;
+	optional int32 CtrlRightRearWindow = 10;
+	optional bool CtrlACActive = 11;   //空调控制是否激活
+	optional int32 AcTSet = 12; //空调温度设置
+	optional int32 Reserver1 = 13;
+	optional int32 Reserver2 = 14;
+	optional int32 Reserver3 = 15;
+	optional int32 Reserver4 = 16;
+	optional int32 Reserver5 = 17;
+	optional int32 Reserver6 = 18;
+	optional int32 Reserver7 = 19;
+	optional int32 Reserver8 = 20;
+	optional int32 Reserver9 = 21;
+};

src/tool/tool_ctrlvehicleaccessories/.gitignore

@@ -0,0 +1,74 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+CMakeLists.txt.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/tool/tool_ctrlvehicleaccessories/main.cpp

@@ -0,0 +1,11 @@
+#include "mainwindow.h"
+
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    MainWindow w;
+    w.show();
+    return a.exec();
+}

src/tool/tool_ctrlvehicleaccessories/mainwindow.cpp

@@ -0,0 +1,256 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <iostream>
+
+#include "decitionext.pb.h"
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+
+    setWindowTitle(tr("车身附件控制"));
+
+    ui->comboBox_door->addItem(tr("不请求"));
+    ui->comboBox_door->addItem(tr("开锁"));
+    ui->comboBox_door->addItem(tr("闭锁"));
+
+    ui->comboBox_MirrFold->addItem(tr("不请求"));
+    ui->comboBox_MirrFold->addItem(tr("展开"));
+    ui->comboBox_MirrFold->addItem(tr("折叠"));
+
+    ui->horizontalSlider_AC->setRange(16,34);
+    ui->horizontalSlider_AC->setValue(22);
+
+    ui->horizontalSlider_Driver->setRange(0,100);
+    ui->horizontalSlider_Driver->setValue(100);
+    ui->horizontalSlider_Passenger->setRange(0,100);
+    ui->horizontalSlider_Passenger->setValue(100);
+    ui->horizontalSlider_LeftRear->setRange(0,100);
+    ui->horizontalSlider_LeftRear->setValue(100);
+    ui->horizontalSlider_RightRear->setRange(0,100);
+    ui->horizontalSlider_RightRear->setValue(100);
+
+    ui->lineEdit_AC->setReadOnly(true);
+    ui->lineEdit_AC->setText(QString::number(ui->horizontalSlider_AC->value()) + QString("°C"));
+
+    ui->lineEdit_Driver->setReadOnly(true);
+    ui->lineEdit_Driver->setText(QString::number(ui->horizontalSlider_Driver->value())+QString("%"));
+
+    ui->lineEdit_Passenger->setReadOnly(true);
+    ui->lineEdit_Passenger->setText(QString::number(ui->horizontalSlider_Passenger->value())+QString("%"));
+
+    ui->lineEdit_LeftRear->setReadOnly(true);
+    ui->lineEdit_LeftRear->setText(QString::number(ui->horizontalSlider_LeftRear->value())+QString("%"));
+
+    ui->lineEdit_RightRear->setReadOnly(true);
+    ui->lineEdit_RightRear->setText(QString::number(ui->horizontalSlider_RightRear->value())+QString("%"));
+
+    ui->checkBox_AC->setChecked(false);
+    ui->checkBox_Driver->setChecked(false);
+    ui->checkBox_Passenger->setChecked(false);
+    ui->checkBox_LeftRear->setChecked(false);
+    ui->checkBox_RightRear->setChecked(false);
+
+    ui->horizontalSlider_AC->setEnabled(false);
+    ui->horizontalSlider_Driver->setEnabled(false);
+    ui->horizontalSlider_Passenger->setEnabled(false);
+    ui->horizontalSlider_LeftRear->setEnabled(false);
+    ui->horizontalSlider_RightRear->setEnabled(false);
+
+    mpa = iv::modulecomm::RegisterSend("decision_ext",10000,1);
+
+
+}
+
+MainWindow::~MainWindow()
+{
+    iv::modulecomm::Unregister(mpa);
+    delete ui;
+}
+
+void MainWindow::on_pushButton_Send_clicked()
+{
+    iv::brain::decitionext xdecisionext;
+
+    switch (ui->comboBox_door->currentIndex()) {
+    case 0:
+        xdecisionext.set_ctrldoor(iv::brain::decitionext::CtrlDoorType::decitionext_CtrlDoorType_NOREQDOOR);
+        break;
+    case 1:
+        xdecisionext.set_ctrldoor(iv::brain::decitionext::CtrlDoorType::decitionext_CtrlDoorType_UNLOCK);
+        break;
+    case 2:
+        xdecisionext.set_ctrldoor(iv::brain::decitionext::CtrlDoorType::decitionext_CtrlDoorType_LOCK);
+        break;
+    default:
+        xdecisionext.set_ctrldoor(iv::brain::decitionext::CtrlDoorType::decitionext_CtrlDoorType_NOREQDOOR);
+        break;
+    }
+
+    switch(ui->comboBox_MirrFold->currentIndex()){
+    case 0:
+        xdecisionext.set_ctrlremirrfold(iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_NOREQFOLD);
+        break;
+    case 1:
+        xdecisionext.set_ctrlremirrfold(iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_EXPAND);
+        break;
+    case 2:
+        xdecisionext.set_ctrlremirrfold(iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_FOLD);
+        break;
+    default:
+        xdecisionext.set_ctrlremirrfold(iv::brain::decitionext::CtrlRemirrFoldType::decitionext_CtrlRemirrFoldType_NOREQFOLD);
+        break;
+    }
+
+    if(ui->checkBox_AC->isChecked())
+    {
+        xdecisionext.set_ctrlacactive(true);
+        xdecisionext.set_actset(ui->horizontalSlider_AC->value());
+    }
+    else
+    {
+        xdecisionext.set_ctrlacactive(false);
+    }
+
+    if(ui->checkBox_Driver->isChecked())
+    {
+        xdecisionext.set_ctrldriverwindowactive(true);
+        xdecisionext.set_ctrldriverwindow(ui->horizontalSlider_Driver->value());
+    }
+    else
+    {
+        xdecisionext.set_ctrldriverwindowactive(false);
+    }
+
+    if(ui->checkBox_Passenger->isChecked())
+    {
+        xdecisionext.set_ctrlpassengerwindowactive(true);
+        xdecisionext.set_ctrlpassengerwindow(ui->horizontalSlider_Passenger->value());
+    }
+    else
+    {
+        xdecisionext.set_ctrlpassengerwindowactive(false);
+    }
+
+    if(ui->checkBox_LeftRear->isChecked())
+    {
+        xdecisionext.set_ctrlleftrearwindowactive(true);
+        xdecisionext.set_ctrlleftrearwindow(ui->horizontalSlider_LeftRear->value());
+    }
+    else
+    {
+        xdecisionext.set_ctrlleftrearwindowactive(false);
+    }
+
+    if(ui->checkBox_RightRear->isChecked())
+    {
+        xdecisionext.set_ctrlrightrearwindowactive(true);
+        xdecisionext.set_ctrlrightrearwindow(ui->horizontalSlider_RightRear->value());
+    }
+    else
+    {
+        xdecisionext.set_ctrlrightrearwindowactive(false);
+    }
+
+    int ndatasize = static_cast<int>(xdecisionext.ByteSizeLong());
+    char * pstr_data = new char[ndatasize];
+    if(xdecisionext.SerializeToArray(pstr_data,ndatasize))
+    {
+        iv::modulecomm::ModuleSendMsg(mpa,pstr_data,ndatasize);
+    }
+    else
+    {
+        std::cout<<" decisionext Serialize Fail."<<std::endl;
+    }
+
+    delete pstr_data;
+}
+
+
+void MainWindow::on_horizontalSlider_AC_valueChanged(int value)
+{
+    ui->lineEdit_AC->setText(QString::number(value) + QString("°C"));
+}
+
+
+void MainWindow::on_horizontalSlider_Driver_valueChanged(int value)
+{
+    ui->lineEdit_Driver->setText(QString::number(value)+QString("%"));
+}
+
+
+void MainWindow::on_horizontalSlider_Passenger_valueChanged(int value)
+{
+    ui->lineEdit_Passenger->setText(QString::number(value)+QString("%"));
+}
+
+
+void MainWindow::on_horizontalSlider_LeftRear_valueChanged(int value)
+{
+    ui->lineEdit_LeftRear->setText(QString::number(value)+QString("%"));
+}
+
+
+void MainWindow::on_horizontalSlider_RightRear_valueChanged(int value)
+{
+    ui->lineEdit_RightRear->setText(QString::number(value)+QString("%"));
+}
+
+
+void MainWindow::on_checkBox_AC_stateChanged(int arg1)
+{
+    (void)arg1;
+    if(ui->checkBox_AC->isChecked())ui->horizontalSlider_AC->setEnabled(true);
+    else
+    {
+        ui->horizontalSlider_AC->setEnabled(false);
+    }
+}
+
+
+void MainWindow::on_checkBox_Driver_stateChanged(int arg1)
+{
+    (void)arg1;
+    if(ui->checkBox_Driver->isChecked())ui->horizontalSlider_Driver->setEnabled(true);
+    else
+    {
+        ui->horizontalSlider_Driver->setEnabled(false);
+    }
+}
+
+
+void MainWindow::on_checkBox_Passenger_stateChanged(int arg1)
+{
+    (void)arg1;
+    if(ui->checkBox_Passenger->isChecked())ui->horizontalSlider_Passenger->setEnabled(true);
+    else
+    {
+        ui->horizontalSlider_Passenger->setEnabled(false);
+    }
+}
+
+
+void MainWindow::on_checkBox_LeftRear_stateChanged(int arg1)
+{
+    (void)arg1;
+    if(ui->checkBox_LeftRear->isChecked())ui->horizontalSlider_LeftRear->setEnabled(true);
+    else
+    {
+        ui->horizontalSlider_LeftRear->setEnabled(false);
+    }
+}
+
+
+void MainWindow::on_checkBox_RightRear_stateChanged(int arg1)
+{
+    (void)arg1;
+    if(ui->checkBox_RightRear->isChecked())ui->horizontalSlider_RightRear->setEnabled(true);
+    else
+    {
+        ui->horizontalSlider_RightRear->setEnabled(false);
+    }
+}
+

src/tool/tool_ctrlvehicleaccessories/mainwindow.h

@@ -0,0 +1,51 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+#include "modulecomm.h"
+
+QT_BEGIN_NAMESPACE
+namespace Ui {
+class MainWindow;
+}
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+private slots:
+    void on_pushButton_Send_clicked();
+
+    void on_horizontalSlider_AC_valueChanged(int value);
+
+    void on_horizontalSlider_Driver_valueChanged(int value);
+
+    void on_horizontalSlider_Passenger_valueChanged(int value);
+
+    void on_horizontalSlider_LeftRear_valueChanged(int value);
+
+    void on_horizontalSlider_RightRear_valueChanged(int value);
+
+    void on_checkBox_AC_stateChanged(int arg1);
+
+    void on_checkBox_Driver_stateChanged(int arg1);
+
+    void on_checkBox_Passenger_stateChanged(int arg1);
+
+    void on_checkBox_LeftRear_stateChanged(int arg1);
+
+    void on_checkBox_RightRear_stateChanged(int arg1);
+
+private:
+    Ui::MainWindow *ui;
+
+    void * mpa;
+
+};
+#endif // MAINWINDOW_H

src/tool/tool_ctrlvehicleaccessories/mainwindow.ui

@@ -0,0 +1,284 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>837</width>
+    <height>611</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>60</y>
+      <width>111</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>车门</string>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="comboBox_door">
+    <property name="geometry">
+     <rect>
+      <x>230</x>
+      <y>55</y>
+      <width>141</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="comboBox_MirrFold">
+    <property name="geometry">
+     <rect>
+      <x>230</x>
+      <y>120</y>
+      <width>141</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>120</y>
+      <width>111</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>后视镜</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="checkBox_AC">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>190</y>
+      <width>92</width>
+      <height>24</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>空调温度</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_AC">
+    <property name="geometry">
+     <rect>
+      <x>390</x>
+      <y>190</y>
+      <width>81</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QGroupBox" name="groupBox">
+    <property name="geometry">
+     <rect>
+      <x>60</x>
+      <y>240</y>
+      <width>691</width>
+      <height>221</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>车窗</string>
+    </property>
+    <widget class="QCheckBox" name="checkBox_Driver">
+     <property name="geometry">
+      <rect>
+       <x>30</x>
+       <y>60</y>
+       <width>91</width>
+       <height>41</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>驾驶位</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_Driver">
+     <property name="geometry">
+      <rect>
+       <x>265</x>
+       <y>69</y>
+       <width>61</width>
+       <height>31</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QCheckBox" name="checkBox_Passenger">
+     <property name="geometry">
+      <rect>
+       <x>346</x>
+       <y>60</y>
+       <width>91</width>
+       <height>41</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>副驾驶位</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_Passenger">
+     <property name="geometry">
+      <rect>
+       <x>606</x>
+       <y>71</y>
+       <width>61</width>
+       <height>31</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QCheckBox" name="checkBox_RightRear">
+     <property name="geometry">
+      <rect>
+       <x>346</x>
+       <y>125</y>
+       <width>91</width>
+       <height>41</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>右后</string>
+     </property>
+    </widget>
+    <widget class="QCheckBox" name="checkBox_LeftRear">
+     <property name="geometry">
+      <rect>
+       <x>30</x>
+       <y>125</y>
+       <width>91</width>
+       <height>41</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>左后</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_LeftRear">
+     <property name="geometry">
+      <rect>
+       <x>264</x>
+       <y>130</y>
+       <width>61</width>
+       <height>31</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_RightRear">
+     <property name="geometry">
+      <rect>
+       <x>606</x>
+       <y>131</y>
+       <width>61</width>
+       <height>31</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QSlider" name="horizontalSlider_Driver">
+     <property name="geometry">
+      <rect>
+       <x>100</x>
+       <y>78</y>
+       <width>160</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+    <widget class="QSlider" name="horizontalSlider_Passenger">
+     <property name="geometry">
+      <rect>
+       <x>435</x>
+       <y>80</y>
+       <width>160</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+    <widget class="QSlider" name="horizontalSlider_LeftRear">
+     <property name="geometry">
+      <rect>
+       <x>99</x>
+       <y>138</y>
+       <width>160</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+    <widget class="QSlider" name="horizontalSlider_RightRear">
+     <property name="geometry">
+      <rect>
+       <x>434</x>
+       <y>140</y>
+       <width>160</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QPushButton" name="pushButton_Send">
+    <property name="geometry">
+     <rect>
+      <x>595</x>
+      <y>104</y>
+      <width>151</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>发送</string>
+    </property>
+   </widget>
+   <widget class="QSlider" name="horizontalSlider_AC">
+    <property name="geometry">
+     <rect>
+      <x>230</x>
+      <y>200</y>
+      <width>141</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="orientation">
+     <enum>Qt::Horizontal</enum>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>837</width>
+     <height>27</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/tool/tool_ctrlvehicleaccessories/tool_ctrlvehicleaccessories.pro

@@ -0,0 +1,34 @@
+QT       += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+CONFIG += c++17
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    ../../include/msgtype/decitionext.pb.cc \
+    main.cpp \
+    mainwindow.cpp
+
+HEADERS += \
+    ../../include/msgtype/decitionext.pb.h \
+    mainwindow.h
+
+FORMS += \
+    mainwindow.ui
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}