trafficlight receive change

src/decition/decition_brain_sf_changan_shenlan/decition/brain.cpp

@@ -1207,7 +1207,12 @@ void iv::decition::BrainDecition::UpdateV2r(const char *pdata, const int ndatasi
     if(group_message.has_radiolightremain())
     {
         ServiceCarStatus.iTrafficeLightTime = group_message.radiolightremain();
+        if(group_message.has_trafficlightstoplat())
+            ServiceCarStatus.iTrafficeLightLat = group_message.trafficlightstoplat();
+        if(group_message.has_trafficlightstoplon())
+            ServiceCarStatus.iTrafficeLightLon = group_message.trafficlightstoplon();
         ServiceCarStatus.milightCheckTimer.start();
+
     }
     if(group_message.has_radiobroadcastrange())
     {
@@ -1216,10 +1221,7 @@ void iv::decition::BrainDecition::UpdateV2r(const char *pdata, const int ndatasi
     if(group_message.has_radiobroadcasttraffictype())
     {
         ServiceCarStatus.rsu_traffic_type = group_message.radiobroadcasttraffictype();
-        if(group_message.has_trafficlightstoplat())
-            ServiceCarStatus.iTrafficeLightLat = group_message.trafficlightstoplat();
-        if(group_message.has_trafficlightstoplon())
-            ServiceCarStatus.iTrafficeLightLon = group_message.trafficlightstoplon();
+
         ServiceCarStatus.mRSUTrafficUpdateTimer.start();
     }
     if(group_message.has_radiobroadcastspeedlimit())

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -2171,8 +2171,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         ServiceCarStatus.rsu_traffic_type=200;//lvdeng
         ServiceCarStatus.rsu_trafficelimit_spd=200;
 
-        ServiceCarStatus.iTrafficeLightLon=0;//20230310
-        ServiceCarStatus.iTrafficeLightLat=0;//20230310
+//        ServiceCarStatus.iTrafficeLightLon=0;//20230310
+//        ServiceCarStatus.iTrafficeLightLat=0;//20230310
 
  //       ServiceCarStatus.rsu_warning_type=200;
  //       ServiceCarStatus.rsu_gps_lat = 0.0;  //路况信息或预警信息有效的时候才会使用到这写变量，所以这些变量的信息可不清除
@@ -2300,7 +2300,7 @@ else
         dSpeed = min((double)traffic_speed,dSpeed);
         if(traffic_speed==0)
         {
-            minDecelerate=-1.0; //-2.0 ,深蓝车速比较小将减速度改小一些
+            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);
@@ -4149,17 +4149,17 @@ float  iv::decition::DecideGps00::ComputeTrafficLightSpeed(int traffic_light_col
 //    }
 
     if(traffic_light_color==2 && traffic_dis<10){  //cxw,1xhonglvdeng gaibian
-//        traffic_speed=0;
+        traffic_speed=0;
 //        return  traffic_speed;
-        if(traffic_dis>3.0)
-        {
-            traffic_speed=sqrt(traffic_dis*2.0*9.8*0.5);
-        }
-        else
-        {
-           //minDecelerate=-0.7;
-           traffic_speed=0;
-        }
+//        if(traffic_dis>3.0)
+//        {
+//            traffic_speed=sqrt(traffic_dis*2.0*9.8*0.5);
+//        }
+//        else
+//        {
+//           //minDecelerate=-0.7;
+//           traffic_speed=0;
+//        }
         return  traffic_speed;
     }
     //    else   //20200108