HAPO v2x & brain

src/decition/common/common/car_status.h

@@ -51,6 +51,7 @@ namespace iv {
  //       int carState = 0;	// 0:停车	1:正常循迹	2:前往站点
 
         int carState = 0;	// 0:停车	1:正常循迹	2:前往站点
+        int emergencyStop=0;
                 int istostation = 0;
                 //int ctostation = 0;
                 int currentstation = 0;

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -320,7 +320,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     ///////////////////////////////////////////////////
 
 
-    busMode = ServiceCarStatus.busmode;
+    //busMode = ServiceCarStatus.busmode;
     nearStation=false;
 
     gps_decition->leftlamp = false;
@@ -1731,13 +1731,15 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         {
             if(ServiceCarStatus.stationCmd.emergencyStop==0x01)
             {
-                ServiceCarStatus.carState = 0;
-                busMode=true;
+                //ServiceCarStatus.carState = 0;
+                //busMode=true;
+                ServiceCarStatus.emergencyStop=1;
             }
             else
             {
-                ServiceCarStatus.carState = 1;
-                busMode=false;
+                //ServiceCarStatus.carState = 1;
+                //busMode=false;
+                ServiceCarStatus.emergencyStop=0;
             }
         }
 
@@ -1790,7 +1792,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
     //carState == 0，紧急停车
-    if (ServiceCarStatus.carState == 0 && busMode)
+    if (ServiceCarStatus.emergencyStop==1)
     {
 
         minDecelerate=-1.0;
@@ -1829,7 +1831,6 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             ServiceCarStatus.istostation=1;
             minDecelerate=-1.0;
         }
-
         else if (dis<20 && pt.y<15 && abs(pt.x)<3)
         {
             nearStation=true;
@@ -1839,7 +1840,6 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         {
             dSpeed = min(15.0, dSpeed);
         }
-
         else if (dis<50 && abs(pt.x)<3)
         {
             dSpeed = min(20.0, dSpeed);

src/v2x/v2xTcpClient/mainwindow.cpp

@@ -46,12 +46,13 @@ MainWindow::MainWindow(QWidget *parent) :
     {
         std::string strLatName = "lat" + std::to_string(i);
         std::string strLonName = "lon" + std::to_string(i);
-        std::cout<<strLatName<<strLonName<<std::endl;
         std::string strLatValue = xp.GetParam(strLatName,"0");
         std::string strLonValue = xp.GetParam(strLonName,"0");
 
-        location.lat = std::stof(strLatValue,0);
-        location.lon = std::stof(strLonValue,0);
+        location.lat = std::stod(strLatValue,0);
+        location.lon = std::stod(strLonValue,0);
+
+        std::cout<<strLatName<<strLonName<<" lat:"<<strLatValue<<" lon:"<<strLonValue<<location.lat<<" "<<location.lon<<std::endl;
         mstationGps.append(location);
     }//END get init param
 
@@ -197,12 +198,12 @@ void MainWindow::ProAutoPilotControl(QStringList list)
             QStringList tmp_list1=list[length-1].split("]]");
             list[length-1]=tmp_list1[0];
             for(int i=4;i<length;i++) {
-                stationId = list[i].toInt();
+                stationId = list[i].toInt() - 1;
                 msgV2xProto.add_stationid(stationId);
 
                 stGps=msgV2xProto.add_stgps();
-                stGps->set_lat(mstationGps.at(i-4).lat);
-                stGps->set_lon(mstationGps.at(i-4).lon);
+                stGps->set_lat(mstationGps.at(stationId).lat);
+                stGps->set_lon(mstationGps.at(stationId).lon);
                 ui->textEdit_messages->insertPlainText("服务器消息：car station has "+list[i]+"\n");
             }
         } else {

src/v2x/v2xTcpClient/v2xTcpClient.xml

@@ -4,45 +4,45 @@
 		<param name="hostIP" value="47.95.196.28" />
 		<param name="hostPort" value="12123" />
 		<param name="stationCount" value="20" />
-		<param name="lat0" value="" />
-		<param name="lon0" value="" />
-		<param name="lat1" value="" />
-		<param name="lon1" value="" />
-		<param name="lat2" value="" />
-		<param name="lon2" value="" />
-		<param name="lat3" value="" />
-		<param name="lon3" value="" />
-		<param name="lat4" value="" />
-		<param name="lon4" value="" />
-		<param name="lat5" value="" />
-		<param name="lon5" value="" />
-		<param name="lat6" value="" />
-		<param name="lon6" value="" />
-		<param name="lat7" value="" />
-		<param name="lon7" value="" />
-		<param name="lat8" value="" />
-		<param name="lon8" value="" />
-		<param name="lat9" value="" />
-		<param name="lon9" value="" />
-		<param name="lat10" value="" />
-		<param name="lon10" value="" />
-		<param name="lat11" value="" />
-		<param name="lon11" value="" />
-		<param name="lat12" value="" />
-		<param name="lon12" value="" />
-		<param name="lat13" value="" />
-		<param name="lon13" value="" />
-		<param name="lat14" value="" />
-		<param name="lon14" value="" />
-		<param name="lat15" value="" />
-		<param name="lon15" value="" />
-		<param name="lat16" value="" />
-		<param name="lon16" value="" />
-		<param name="lat17" value="" />
-		<param name="lon17" value="" />
-		<param name="lat18" value="" />
-		<param name="lon18" value="" />
-		<param name="lat19" value="" />
-		<param name="lon19" value="" />
+		<param name="lat0" value="0" />
+		<param name="lon0" value="0" />
+		<param name="lat1" value="0" />
+		<param name="lon1" value="0" />
+		<param name="lat2" value="39.1221963" />
+		<param name="lon2" value="117.0272492" />
+		<param name="lat3" value="39.1216422" />
+		<param name="lon3" value="117.0272508" />
+		<param name="lat4" value="39.1209112" />
+		<param name="lon4" value="117.0272539" />
+		<param name="lat5" value="0" />
+		<param name="lon5" value="0" />
+		<param name="lat6" value="0" />
+		<param name="lon6" value="0" />
+		<param name="lat7" value="0" />
+		<param name="lon7" value="0" />
+		<param name="lat8" value="0" />
+		<param name="lon8" value="0" />
+		<param name="lat9" value="0" />
+		<param name="lon9" value="0" />
+		<param name="lat10" value="0" />
+		<param name="lon10" value="0" />
+		<param name="lat11" value="0" />
+		<param name="lon11" value="0" />
+		<param name="lat12" value="0" />
+		<param name="lon12" value="0" />
+		<param name="lat13" value="0" />
+		<param name="lon13" value="0" />
+		<param name="lat14" value="0" />
+		<param name="lon14" value="0" />
+		<param name="lat15" value="0" />
+		<param name="lon15" value="0" />
+		<param name="lat16" value="0" />
+		<param name="lon16" value="0" />
+		<param name="lat17" value="0" />
+		<param name="lon17" value="0" />
+		<param name="lat18" value="0" />
+		<param name="lon18" value="0" />
+		<param name="lat19" value="0" />
+		<param name="lon19" value="0" />
 	</node>
 </xml>