change python candbc. complete logic, need add cansend code.

src/controller/controller_chery_sterra_es/main.cpp

@@ -218,7 +218,7 @@ void UnAcitvate()
         ADS_1_DrvTarTqVld = 0.0;
         ADS_1_DrvTarTqEnable = 0.0;
         ADS_1_DrvTarTq = 0.0;
-        ADS_1_TarGearReq = 1.0;
+ //       ADS_1_TarGearReq = 1.0;
         ADS_1_TarGearReqVld = 0.0;
         ADS_1_GearCtrlEnable = 1.0;
 

src/python/candbc/cansend.py

@@ -1,4 +1,4 @@
 
 def sendcandata(addr,msg,bus):
-	print("can send.")
+#	print("can send.")
 	pass

src/python/candbc/cheryes.py

@@ -136,9 +136,9 @@ def wheel_task():
 	part2 = FillCheck_Chery(msg[8:16],iddata[1].to_bytes(2,byteorder="little"))
 	part3 = bytearray(msg[16:24])
 	msgdata = part1 + part2 + part3
-	print("fwheel: ",fwheel)
+#	print("fwheel: ",fwheel)
 	hex_str = msgdata.hex().upper()  
-	print(hex_str)  
+#	print(hex_str)  
 	sendcandata(addr,bytes(msgdata),bus)
 	if (keyexit == False):
 		threading.Timer(0.01, wheel_task).start()
@@ -174,9 +174,9 @@ def drive_task():
 	part2 = FillCheck_Chery(msg[8:16],iddata[1].to_bytes(2,byteorder="little"))
 	part3 = bytearray(msg[16:24])
 	msgdata = part1 + part2 + part3
-	print("DRIVE: ",fwheel)
+#	print("DRIVE: ",fwheel)
 	hex_str = msgdata.hex().upper()  
-	print(hex_str)  
+#	print(hex_str)  
 	sendcandata(addr,bytes(msgdata),bus)
 #	print("drive task.")
 	if (keyexit == False):
@@ -213,9 +213,9 @@ def brake_task():
 	part2 = bytearray(msg[8:16])
 	part3 = bytearray(msg[16:24])
 	msgdata = part1 + part2 + part3
-	print("BRAKE: ",fwheel)
+#	print("BRAKE: ",fwheel)
 	hex_str = msgdata.hex().upper()  
-	print(hex_str)  
+#	print(hex_str)  
 	sendcandata(addr,bytes(msgdata),bus)
 #	print("brake task.");
 	if (keyexit == False):
@@ -256,6 +256,30 @@ print("wheel value: ",parser1.vl["ADS_EPS_1"]["ADS_1_SteerAgReq"])
 
 print("msg len : ",len(dbcmsgs))
 
+print("方向盘步进: ",fwheelstep)
+print("方向盘最大值: ",fmaxwheel)
+print("方向盘最小值: ",fminwheel)
+print("加速度步进: ",faccstep)
+print("加速度最大值: ",fmaxacc)
+print("加速度最小值: ",fminacc)
+print("")
+
+print("a: 增加方向盘角度")
+print("d: 减少方向盘角度")
+print("w: 增加加速度")
+print("s: 减少加速度")
+print("z: 方向盘归零")
+print("b: 加速度至最小值")
+print("Space: 方向盘归零 加速度值归零")
+
+print("i: 激活转向")
+print("o: 激活加速")
+print("p: 激活制动")
+print("j: 无效转向")
+print("k: 无效加速")
+print("l: 无效制动")
+
+print("输完命令回车执行")
 
 try: 
 	while True:
@@ -293,12 +317,36 @@ try:
 				fwheel = 0.0
 				print("wheel: ",fwheel)
 				print("acc = ",facc)
-			if(userinput[0] == 'i'):
+			if(userinput[0] == 'i'): 
 				ADS_1_SteerPilotAgEna = 2.0  # 2 activate
 				ADS_1_SteerAgVld = 1.0
 			if(userinput[0] == 'j'):
 				ADS_1_SteerPilotAgEna = 0.0  # 2 activate
 				ADS_1_SteerAgVld = 0.0
+			if(userinput[0] == 'o'):
+				ADS_1_DrvCtrlReq = 1.0
+				ADS_1_CtrlReqMod = 2.0  #1 Pilot  2 Park
+				ADS_1_DrvTarTqVld = 1.0
+				ADS_1_DrvTarTqEnable = 1.0
+				ADS_1_DrvTarTq = 0.0
+				ADS_1_TarGearReq = 4.0  #1 P 4 D
+				ADS_1_TarGearReqVld = 1.0
+				ADS_1_GearCtrlEnable = 0.0
+			if(userinput[0] == 'k'):
+				ADS_1_DrvCtrlReq = 0.0
+				ADS_1_CtrlReqMod = 0.0
+				ADS_1_DrvTarTqVld = 0.0
+				ADS_1_DrvTarTqEnable = 0.0
+				ADS_1_DrvTarTq = 0.0
+				#       ADS_1_TarGearReq = 1.0;
+				ADS_1_TarGearReqVld = 0.0
+				ADS_1_GearCtrlEnable = 1.0
+			if(userinput[0] == 'p'):
+				ADS_1_PilotParkDec2StpReq = 1.0
+				ADS_1_ParkCtrlMod = 1.0
+			if(userinput[0] == 'l'):
+				ADS_1_PilotParkDec2StpReq = 0.0
+				ADS_1_ParkCtrlMod = 0.0