change src1/decision/decision_brain. add ivdecision.pri.

src1/decision/common/adc_adapter/base_adapter.cpp

@@ -1,6 +1,6 @@
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/base_adapter.h

@@ -5,7 +5,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 

src1/decision/common/adc_adapter/bus_adapter.h

@@ -4,7 +4,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/ge3_adapter.h

@@ -5,7 +5,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/hapo_adapter.h

@@ -4,7 +4,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/qingyuan_adapter.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/vv7_adapter.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/yuhesen_adapter.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_adapter/zhongche_adapter.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_adapter/base_adapter.h>

src1/decision/common/adc_controller/base_controller.cpp

@@ -1,6 +1,6 @@
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_controller/base_controller.h>

src1/decision/common/adc_controller/base_controller.h

@@ -4,7 +4,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include<vector>
 #include <gnss_coordinate_convert.h>
 

src1/decision/common/adc_controller/pid_controller.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include<vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_controller/base_controller.h>

src1/decision/common/adc_planner/base_planner.cpp

@@ -1,6 +1,6 @@
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <vector>
 #include <gnss_coordinate_convert.h>
 #include <adc_tools/transfer.h>

src1/decision/common/adc_planner/base_planner.h

@@ -3,7 +3,7 @@
 
 #include <gps_type.h>
 #include <decition_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include<vector>
 #include <gnss_coordinate_convert.h>
 //#include "perception/perceptionoutput.h"

src1/decision/common/adc_tools/compute_00.h

@@ -3,7 +3,7 @@
 #define _IV_DECITION_COMPUTE_00_
 
 #include <gps_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <decition_type.h>
 #include <vector>
 //#include <decision/decide_gps_00.h>

src1/decision/common/common/car_status.h

@@ -5,7 +5,7 @@
 #include <common/boost.h>
 #include <boost/serialization/singleton.hpp>
 #include <gps_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <time.h>
 #include <common/mobileye.h>
 #include <QTime>

src1/decision/common/common/obs_predict.h

@@ -2,7 +2,7 @@
 #define OBS_PREDICT_H
 
 #include <gps_type.h>
-#include <common/obstacle_type.h>
+#include <obstacle_type.h>
 #include <decition_type.h>
 #include <vector>
 //#include <decision/decide_gps_00.h>

src1/decision/decision_brain/decision_brain.pro

@@ -105,3 +105,8 @@ HEADERS += \
     $$PWD/../common/platform/dataformat.h \
     $$PWD/../common/platform/platform.h \
     ivdecision_brain.h
+
+INCLUDEPATH += $$PWD/../common
+INCLUDEPATH += $$PWD/../common/common
+INCLUDEPATH += $$PWD/../../types
+INCLUDEPATH += $$PWD/../../math

src1/decision/interface/ivdecision.pri

@@ -0,0 +1,54 @@
+HEADERS += \
+    $$PWD/../../../src/include/msgtype/brainstate.pb.h \
+    $$PWD/../../../src/include/msgtype/chassis.pb.h \
+    $$PWD/../../../src/include/msgtype/decition.pb.h \
+    $$PWD/../../../src/include/msgtype/gps.pb.h \
+    $$PWD/../../../src/include/msgtype/gpsimu.pb.h \
+    $$PWD/../../../src/include/msgtype/hmi.pb.h \
+    $$PWD/../../../src/include/msgtype/imu.pb.h \
+    $$PWD/../../../src/include/msgtype/radarobject.pb.h \
+    $$PWD/../../../src/include/msgtype/radarobjectarray.pb.h \
+    $$PWD/../../../src/include/msgtype/radio_send.pb.h \
+    $$PWD/../../../src/include/msgtype/ultrasonic.pb.h \
+    $$PWD/../../../src/include/msgtype/v2x.pb.h \
+    $$PWD/../../../src/include/msgtype/vbox.pb.h \
+    $$PWD/../../interface/ivmodule.h \
+    $$PWD/ivdecision.h
+
+SOURCES += \
+    $$PWD/../../../src/include/msgtype/brainstate.pb.cc \
+    $$PWD/../../../src/include/msgtype/chassis.pb.cc \
+    $$PWD/../../../src/include/msgtype/decition.pb.cc \
+    $$PWD/../../../src/include/msgtype/gps.pb.cc \
+    $$PWD/../../../src/include/msgtype/gpsimu.pb.cc \
+    $$PWD/../../../src/include/msgtype/hmi.pb.cc \
+    $$PWD/../../../src/include/msgtype/imu.pb.cc \
+    $$PWD/../../../src/include/msgtype/radarobject.pb.cc \
+    $$PWD/../../../src/include/msgtype/radarobjectarray.pb.cc \
+    $$PWD/../../../src/include/msgtype/radio_send.pb.cc \
+    $$PWD/../../../src/include/msgtype/ultrasonic.pb.cc \
+    $$PWD/../../../src/include/msgtype/v2x.pb.cc \
+    $$PWD/../../../src/include/msgtype/vbox.pb.cc \
+    $$PWD/../../interface/ivmodule.cpp \
+    $$PWD/ivdecision.cpp
+
+INCLUDEPATH += $$PWD/../interface
+INCLUDEPATH += $$PWD/../../interface
+
+INCLUDEPATH += $$PWD/../../common/modulecomm
+
+INCLUDEPATH += $$PWD/../../common/modulecomm_shm
+INCLUDEPATH += $$PWD/../../common/modulecomm_fastrtps
+INCLUDEPATH += $$PWD/../../common/modulecomm_inter
+
+LIBS += -L$$PWD/../../common/build-modulecomm-Debug -lmodulecomm
+LIBS += -L$$PWD/../../common/build-modulecomm_fastrtps-Debug -lmodulecomm_fastrtps
+LIBS += -L$$PWD/../../common/build-modulecomm_shm-Debug -lmodulecomm_shm
+LIBS += -L$$PWD/../../common/build-modulecomm_inter-Debug -lmodulecomm_inter
+
+
+INCLUDEPATH += $$PWD/../../../src/common/xmlparam
+LIBS += -L$$PWD/../../../bin/ -lxmlparam
+
+INCLUDEPATH += $$PWD/../../../src/include/msgtype
+