change apollocontroller_shenlanfd. add some contoller test code.

src/apollo/code/apollocontroller_shenlanfd/main.cpp

@@ -176,6 +176,20 @@ void RecvController(const std::shared_ptr<apollo::control::ControlCommand> &xcmd
     gpShenlanfd->SetDecision(xdcs);   
 }
 
+void testthread()
+{
+    while(gbthreadrun)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        iv::dcs xdcs;
+        xdcs.mfBrake = 0;
+        xdcs.mfTorque = 0;
+        xdcs.mfWheel = 300;
+        xdcs.mblampleft = false; xdcs.mblampright = false;
+        gpShenlanfd->SetDecision(xdcs);   
+    }
+}
+
 
 int main(int argc, char *argv[])
 {
@@ -213,10 +227,13 @@ int main(int argc, char *argv[])
     gpShenlanfd = new Shenlanfd();
     gpthreadsend = new std::thread(threadsend);
 
+//    std::thread * ptestthread = new std::thread(testthread);
+
     apollo::cyber::WaitForShutdown();
 
     gbthreadrun = false;
     gpthreadsend->join();
+//    ptestthread->join();
     delete gpShenlanfd;
     std::cout<<" Shut Down."<<std::endl;