controller print switch case

src/controller/controller_Geely_xingyueL/main.cpp

@@ -44,6 +44,7 @@ GearPrkgAssistReq lastgearSetVal= GearPrkgAssistReq::kNoRequest;
 const int gCommunctionNum = 10;
 int communicate_cnt=0; //判断decition中是否有决策，超过设定的数值以后认为没有决策退出控制车辆
 bool communicate_state=0;
+int  case_state=0;//记录switch  case的状态，调试用
 
 
 void quit_ctrl()  //退出车辆控制，cxw,20220622
@@ -240,24 +241,29 @@ void sendthread()
                 if (communicate_state!=0)
                 {
                     app_ctrl_car_sm_ = AppCtrlSm::kStartup;
+                    case_state=0;
                 }
                 else
                 {
                     quit_ctrl();
                     std::cout<<" no decition "<<std::endl;
+                    case_state=-1;
                 }
                 break;
             case AppCtrlSm::kStartup:
                 if (car_control_module.is_lat_lgt_ctrl_active()) //底盘控制状态反馈， true: 底盘可线控， false: 底盘不可控
                 {
                     app_ctrl_car_sm_ = AppCtrlSm::kActive;
+                    case_state=10;
                 }
                 else {
                     if (!communicate_state){//通讯失联
                         app_ctrl_car_sm_ = AppCtrlSm::kShutDown;
+                        case_state=11;
                     }
                     else {
                         car_control_module.set_lat_lgt_ctrl_req(true);
+                        case_state=12;
                     }
                     // app_ctrl_car_sm_ = AppCtrlSm::kStandby;
                     // quit_ctrl();
@@ -267,32 +273,37 @@ void sendthread()
                 if (!(communicate_state && car_control_module.is_lat_lgt_ctrl_active()))//通讯失联或底盘不可控
                 {
                     app_ctrl_car_sm_ = AppCtrlSm::kShutDown;
+                    case_state=30;
                     if(!car_control_module.is_lat_lgt_ctrl_active())
                     {
                         //ctrl_active_state_ =false;
                         quit_ctrl();
                         std::cout<<"quit ADAS "<<std::endl;
-                        //ROS_INFO("control exit ");
+                        case_state=31;
                     }
                 }
                 else
                 {
                     executeDecition(xdecition);
+                    case_state=32;
                 }
                 break;
             case AppCtrlSm::kShutDown:
                 if (car_control_module.get_chassis_statemachine_sts() != StsMach::kApaActive &&
                     car_control_module.get_chassis_statemachine_sts() != StsMach::kHwaActive)
                 {
+                    case_state=20;
                     app_ctrl_car_sm_ = AppCtrlSm::kStandby;
                 }
                 else
                 {
                     car_control_module.set_lat_lgt_ctrl_req(false);
+                    case_state=21;
                 }
                 break;
             default:
                 app_ctrl_car_sm_ = AppCtrlSm::kShutDown;
+                case_state=60;
                 break;
         }
 
@@ -327,16 +338,16 @@ void sendthread()
                        outfile <<dt2.time().hour()<<":"<<dt2.time().minute()<<":"<<dt2.time().second()<<":"<<dt2.time().msec()<<","
                               <<"time_cycle"<<","<< msec <<","
                               <<"chasis_status"  << ","  <<(int)car_control_module.get_chassis_err_state()<< ","
+                              <<"machine_state"<< ","<<(int)car_control_module.get_chassis_statemachine_sts()<< ","
                               <<"Decide_ACC"  << ","  <<lastspeedSetVal << ","
 //                              <<"Decide_gear"<< ","  <<lastgearSetVal << ","
 //                              <<"Vehicle_RealSpd"<< ","  <<setprecision(2)<<now_gps_ins.<< ","
                               <<"Decide_Angle"<< "," <<lastEpsSetVal << ","
-//                              <<"Vehicle_GPS_heading"<< ","<< setprecision(10)<<now_gps_ins.ins_heading_angle<< ","
-//                              <<"Vehicle_GPS_X"<< ","<< setprecision(10)<<now_gps_ins.gps_lat<< ","
-//                              <<"Vehicle_GPS_Y"<< ","<< setprecision(10)<<now_gps_ins.gps_lng<< ","
+                              <<"communicate_cnt"<< ","<<communicate_cnt<< ","
+                              <<"communicate_state"<< ","<<communicate_state<< ","
+                              <<"case_state"<< ","<< case_state<< ","
 //                              <<"Trace_Point"<< ","<<PathPoint<< ","
-//                              <<"OBS_Distance"<< ","<<obsDistance<< ","
-                              <<"machine_state"<< ","<<(int)car_control_module.get_chassis_statemachine_sts()<< ","
+//                              <<"OBS_Distance"<< ","<<obsDistance<< ","                            
                               <<endl;
                        outfile.close();