printf V2R message when log is true

src/decition/decition_brain_sf_changan_shenlan/decition/brain.cpp

@@ -388,6 +388,10 @@ void iv::decition::BrainDecition::run() {
                 std::cout<<"iv::map::mapreq serialize error."<<std::endl;
             }
             delete str;
+            if(ServiceCarStatus.txt_log_on==true)
+            {
+                givlog->debug("decition_brain","no plan");
+            }
         }
 
 
@@ -417,16 +421,22 @@ void iv::decition::BrainDecition::run() {
 //            decition_gps->mode = 0;
             if(ServiceCarStatus.msysparam.mvehtype=="shenlan")
             {
-                decition_gps->brake = 6;//保证在进入自动驾驶的时候车辆能够泄压,否则进入自动驾驶车辆无法加速
+                if(ServiceCarStatus.speed>0.1)
+                {
+                    decition_gps->brake = -2;  //当车辆进入自动驾驶以后，如果平台直接发送停止自动驾驶，保证车辆能够减速停止，需要测试下车辆能否泄压
+                }
+                else
+                {
+                    decition_gps->brake = 6;//保证在进入自动驾驶的时候车辆能够泄压,否则进入自动驾驶车辆无法加速
+                }
                 decition_gps->torque=0.0;
-                decition_gps->acc_active = 0;//ACC扭矩请求激活（为1激活，为0不激活），不激活后不执行扭矩请求
+                decition_gps->acc_active = 0;//ACC扭矩请求激活（为1激活，为0不激活），不激活后不执行扭矩请求，对于深蓝没什么用，因为控制模块直接给的1
                 decition_gps->brake_active = 0;//ACC减速激活（为1制动激活，为0制动不激活）
                 decition_gps->brake_type = 0;//ADC请求类型（制动时为1，其余情况为0）
                 decition_gps->angle_active = 0;//横向控制激活模式
                 decition_gps->angle_mode = 0; //横向控制激活，和上一条同时满足才执行横向请求角度
                 decition_gps->auto_mode = 0; //3为自动控制模式
                 decition_gps->wheel_angle = 0;
-
             }
             else
             {

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -267,8 +267,11 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             front_car.obs_distance=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mobsdistance();
             front_car.obs_speed=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mobsspeed();
         }
-        givlog->debug("decition_brain","front_car_id: %d,FrontState: %d,FrontAvoidX: %d,FrontDis: %f,FrontObs: %f",
+        if(ServiceCarStatus.txt_log_on==true)
+        {
+            givlog->debug("decition_brain","front_car_id: %d,FrontState: %d,FrontAvoidX: %d,FrontDis: %f,FrontObs: %f",
                       front_car_id,front_car.vehState,front_car.avoidX,front_car.front_car_dis,front_car.obs_distance);
+        }
     }
 
     if(front_car_id>0){
@@ -334,7 +337,11 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         avoidXNewPreFilter=0;
         gpsMapLine[gpsMapLine.size()-1]->frenet_s=0;
 
-        givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",0,0);
+        if((ServiceCarStatus.txt_log_on==true)&&(ServiceCarStatus.msysparam.mvehtype=="hapo"))
+        {
+
+            givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",0,0);
+        }
     }
     ServiceCarStatus.mvehState=vehState;
     ServiceCarStatus.mavoidX=avoidXNew;
@@ -965,7 +972,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             if(PathPoint+forecast_final_point>gpsMapLine.size())
             {
                 distance_to_end=computeDistToEnd(gpsMapLine,PathPoint);
-                givlog->debug("decition_brain","distoend: %f",distance_to_end);
+                if(ServiceCarStatus.txt_log_on==true)
+                {
+                    givlog->debug("decition_brain","distoend: %f",distance_to_end);
+                }
                 if((forecast_final>=distance_to_end)&&(realspeed>3))
                 {
                     final_brake=true;
@@ -2221,13 +2231,16 @@ if((traffic_type==0x01)||(traffic_type==0x02)||(traffic_type==0x03)||(traffic_ty
        }
        else
        {}
-//       givlog->debug("decition_brain","traffic_center_gps.gps_lat is : %f",traffic_center_gps.gps_lat);
-//       givlog->debug("decition_brain","traffic_center_gps.gps_lng is : %f",traffic_center_gps.gps_lng);
-//       givlog->debug("decition_brain","distance_to_center is : %f",distance_to_center);
-//       givlog->debug("decition_brain","radiation_distance is : %f",radiation_distance);
-//       givlog->debug("decition_brain","dSpeedd is : %f",dSpeed);
-//       givlog->debug("decition_brain","minDecelerate is : %f",minDecelerate);
-//       givlog->debug("decition_brain","traffic_type is : %d",traffic_type);
+       if(ServiceCarStatus.txt_log_on==true)
+       {
+           givlog->debug("decition_brain","traffic_center_gps.gps_lat is : %f",traffic_center_gps.gps_lat);
+           givlog->debug("decition_brain","traffic_center_gps.gps_lng is : %f",traffic_center_gps.gps_lng);
+           givlog->debug("decition_brain","distance_to_center is : %f",distance_to_center);
+           givlog->debug("decition_brain","radiation_distance is : %f",radiation_distance);
+           givlog->debug("decition_brain","dSpeedd is : %f",dSpeed);
+           givlog->debug("decition_brain","minDecelerate is : %f",minDecelerate);
+           givlog->debug("decition_brain","traffic_type is : %d",traffic_type);
+       }
     }
    else if(traffic_type==0x04)//如果事件类型是限速，则在辐射范围内限速，辐射范围外正常行驶
     {
@@ -2250,10 +2263,13 @@ if((traffic_type==0x01)||(traffic_type==0x02)||(traffic_type==0x03)||(traffic_ty
        }
        else
        {}
-//       givlog->debug("decition_brain","distance_to_center is : %f",distance_to_center);
-//       givlog->debug("decition_brain","radiation_distance is : %f",radiation_distance);
-//       givlog->debug("decition_brain","dSpeed is : %f",dSpeed);
-//       givlog->debug("decition_brain","traffic_type is : %d",traffic_type);
+       if(ServiceCarStatus.txt_log_on==true)
+       {
+           givlog->debug("decition_brain","distance_to_center is : %f",distance_to_center);
+           givlog->debug("decition_brain","radiation_distance is : %f",radiation_distance);
+           givlog->debug("decition_brain","dSpeed is : %f",dSpeed);
+           givlog->debug("decition_brain","traffic_type is : %d",traffic_type);
+       }
     }
     else
     {}
@@ -2302,12 +2318,15 @@ else
         {
             minDecelerate=-2.0; //-2.0 ,深蓝车速比较小将减速度改小一些
         }
-       // givlog->debug("decition_brain","traffic_light_pathpoint is : %d",traffic_light_pathpoint);
-   //        givlog->debug("decition_brain","traffic_speed is : %f",traffic_speed);
-   //        givlog->debug("decition_brain","traffic_light_gps.gps_lat is : %f",traffic_light_gps.gps_lat);
-   //        givlog->debug("decition_brain","traffic_light_gps.gps_lng is : %f",traffic_light_gps.gps_lng);
-   //        givlog->debug("decition_brain","ServiceCarStatus.iTrafficeLightColor is : %d",ServiceCarStatus.iTrafficeLightColor);
-   //        givlog->debug("decition_brain","ServiceCarStatus.iTrafficeLightTime is : %d",ServiceCarStatus.iTrafficeLightTime);
+        if(ServiceCarStatus.txt_log_on==true)
+        {
+           givlog->debug("decition_brain","traffic_light_pathpoint is : %d",traffic_light_pathpoint);
+           givlog->debug("decition_brain","traffic_speed is : %f",traffic_speed);
+           givlog->debug("decition_brain","traffic_light_gps.gps_lat is : %f",traffic_light_gps.gps_lat);
+           givlog->debug("decition_brain","traffic_light_gps.gps_lng is : %f",traffic_light_gps.gps_lng);
+           givlog->debug("decition_brain","ServiceCarStatus.iTrafficeLightColor is : %d",ServiceCarStatus.iTrafficeLightColor);
+           givlog->debug("decition_brain","ServiceCarStatus.iTrafficeLightTime is : %d",ServiceCarStatus.iTrafficeLightTime);
+        }
     }
     //-------------------------------traffic light  end-----------------------------------------------------------------------------------------------