change controller_chery_stery_es test code.

src/controller/controller_chery_sterra_es/main.cpp

@@ -263,8 +263,8 @@ void ExecSend()
     xraw.set_bext(false);
     xraw.set_bremote(false);
     xraw.set_len(24);
-    // iv::can::canraw * pxraw195 = xmsg.add_rawmsg();
-    // pxraw195->CopyFrom(xraw);
+    iv::can::canraw * pxraw195 = xmsg.add_rawmsg();
+    pxraw195->CopyFrom(xraw);
     //    qDebug(" 0x144: %02X %02X %02X %02X %02X %02X %02X %02X",byte_144[0],byte_144[1],byte_144[2],byte_144[3],
     //            byte_144[4],byte_144[5],byte_144[6],byte_144[7]);
     xmsg.set_channel(0);
@@ -276,8 +276,8 @@ void ExecSend()
     xraw.set_bremote(false);
     xraw.set_len(24);
     xmsg.set_channel(0);
-    iv::can::canraw * pxraw1BC = xmsg.add_rawmsg();
-    pxraw1BC->CopyFrom(xraw);
+ //   iv::can::canraw * pxraw1BC = xmsg.add_rawmsg();
+//    pxraw1BC->CopyFrom(xraw);
 
     xraw.set_id(0x159);
     xraw.set_data(ADS_ONEBOX_1,24);
@@ -323,6 +323,26 @@ void initial()
     }
 }
 
+void SendEPS3()
+{
+    static int rollcouter = 0;
+    gpsterraes->GetEPS3Data(ADS_EPS_3);
+    ExecSend();
+    rollcouter++;
+    if(rollcouter>14)rollcouter = 0;
+}
+
+void SendEPS1()
+{
+    static int rollcouter = 0;
+    set_EPS1_signal("ADS_1_RollgCntr1",rollcouter);
+    set_EPS1_signal("ADS_1_Resd1",0.0);
+    gpsterraes->GetEPS3Data(ADS_EPS_1);
+    ExecSend();
+    rollcouter++;
+    if(rollcouter>14)rollcouter = 0;
+}
+
 void testes()
 {
     int i = 0;
@@ -333,7 +353,7 @@ void testes()
     set_EPS1_signal("ADS_1_Resd1",0.0);
     set_EPS1_signal("ADS_1_SteerAgReq",fwheelang);
     set_EPS1_signal("ADS_1_SteerAgVld",1.0);
-    set_EPS1_signal("ADS_1_SteerPilotAgEna",2.0);
+    set_EPS1_signal("ADS_1_SteerPilotAgEna",0.0);
     set_EPS1_signal("ADS_1_RollgCntr2",rollcouter);
     set_EPS1_signal("ADS_1_Resd2",0.0);
     set_EPS1_signal("ADS_1_SteerTqEna",1.0);
@@ -357,45 +377,33 @@ void testes()
 
     for(i=0;i<10;i++)
     {
-        set_EPS3_signal("ADS_3_SteerParkAgEna",0.0);
-        gpsterraes->GetEPS3Data(ADS_EPS_3);
-        ExecSend();
-        rollcouter++;
-        if(rollcouter>14)rollcouter = 0;
+        set_EPS1_signal("ADS_1_SteerPilotAgEna",0.0);
+        SendEPS1();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
 
-    for(i=0;i<10;i++)
-    {
-        set_EPS3_signal("ADS_3_SteerParkAgEna",1.0);
-        set_EPS3_signal("ADS_3_SteerParkAgReq",0.0);
-        set_EPS3_signal("ADS_3_SteerParkAgVld",0.0);
-        gpsterraes->GetEPS3Data(ADS_EPS_3);
-        ExecSend();
-        rollcouter++;
-        if(rollcouter>14)rollcouter = 0;
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    }
+    // for(i=0;i<10;i++)
+    // {
+    //     set_EPS3_signal("ADS_3_SteerParkAgEna",1.0);
+    //     set_EPS3_signal("ADS_3_SteerParkAgReq",0.0);
+    //     set_EPS3_signal("ADS_3_SteerParkAgVld",0.0);
+    //     SendEPS3();
+    //     std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    // }
 
     for(i=0;i<3000;i++)
     {
-        set_EPS3_signal("ADS_3_SteerParkAgEna",2.0);
-        set_EPS3_signal("ADS_3_SteerParkAgReq",fwheelang);
-        set_EPS3_signal("ADS_3_SteerParkAgVld",1.0);
-        gpsterraes->GetEPS3Data(ADS_EPS_3);
-        ExecSend();
-        rollcouter++;
-        if(rollcouter>14)rollcouter = 0;
+        set_EPS1_signal("ADS_1_SteerPilotAgEna",0.0);
+        set_EPS1_signal("ADS_1_SteerAgReq",fwheelang);
+        set_EPS1_signal("ADS_1_SteerAgVld",1.0);
+        SendEPS1();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
 
     for(i=0;i<10;i++)
     {
-        set_EPS3_signal("ADS_3_SteerParkAgEna",0.0);
-        gpsterraes->GetEPS3Data(ADS_EPS_3);
-        ExecSend();
-        rollcouter++;
-        if(rollcouter>14)rollcouter = 0;
+        set_EPS1_signal("ADS_1_SteerPilotAgEna",0.0);
+        SendEPS1();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
 }
@@ -535,6 +543,9 @@ int main(int argc, char *argv[])
     EnableTorqueBrakeTest();
 #endif
 
+    testes();
+    return 0;
+
     std::thread xthread(sendthread);
 
     gpsendthread = &xthread;