change decition_brain_sf. for add TracepointStation.h.

sh/tagv1.3/autogen.sh

@@ -133,12 +133,14 @@ cd ../../../
 
 controller_app_name=(
 controller_bus
+controller_hapo
 controller_jinlong_peisong
 controller_midcar
 controller_problue
 controller_ge3
 controller_vv7
 controller_tju_vv7
+controller_yuhesen
 )
 
 for x in ${controller_app_name[@]}
@@ -176,7 +178,7 @@ driver_camera_usb
 driver_can_kvaser
 driver_can_vci
 driver_can_nvidia_agx
-#driver_cloud_grpc_client
+driver_cloud_grpc_client
 #driver_cloud_grpc_pc
 #driver_cloud_grpc_server
 driver_gps_ins550d
@@ -197,6 +199,9 @@ driver_radio_p900
 #driver_rpc_client
 #driver_rpc_server
 driver_vbox_gaohong
+driver_ota_client
+driver_grpc_client
+driver_grpc_server
 )
 
 for x in ${driver_app_name[@]}
@@ -216,12 +221,12 @@ detect_app_name=(
 detection_chassis
 detection_gps_hcp2
 detection_gps_vtd
-#detection_lidar_cnn_segmentation
+detection_lidar_cnn_segmentation
 detection_lidar_cnntogrid
 detection_lidar_grid
 detection_lidar_ukf_pda
 detection_mobileye
-#detection_ndt_matching_gpu_multi
+detection_ndt_matching_gpu_multi
 detection_radar_delphi_esr
 detection_state_delphi_ins500d
 

src/decition/common/common/car_status.h

@@ -24,6 +24,8 @@
 
 #include "common/roadmode_type.h"
 
+#include "common/tracepointstation.h"
+
 #define RADAR_OBJ_NUM 64
 
 #ifdef linux

src/decition/common/common/common.pri

@@ -15,7 +15,8 @@ HEADERS += \
     $$PWD/fusion.h \
     $$PWD/gps_type.h \
     $$PWD/roadmode_type.h \
-    $$PWD/sysparam_type.h
+    $$PWD/sysparam_type.h \
+    $$PWD/tracepointstation.h
 
 SOURCES += \
     $$PWD/car_status.cpp \

src/decition/common/common/gps_type.h

@@ -80,24 +80,27 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
 
-     };
+    };
 
 
 

src/decition/common/common/tracepointstation.h

@@ -0,0 +1,74 @@
+#ifndef TRACEPOINTSTATION_H
+#define TRACEPOINTSTATION_H
+
+namespace iv {
+
+struct Station
+   {
+       int index;
+       GPS_INS station_location;
+       int map_index;
+   };
+
+class TracePoint
+        {
+      public:
+              double x = 0, y = 0, speed=0;
+             int v1 = 0, v2 = 0;
+             int roadMode = 0;
+
+             TracePoint()
+            {
+                x = y = v1 = 0;
+            }
+
+             TracePoint(double _x, double _y)
+            {
+                x = _x; y = _y;
+            }
+
+    };
+
+
+    class TrafficLight
+   {
+     public:
+        int leftColor = 0, rightColor = 0, straightColor=0, uturnColor=0;
+        int leftTime=0, rightTime=0 ,straightTime=0, uturnTime=0;
+
+        TrafficLight()
+       {
+           leftColor = 0, rightColor = 0, straightColor=0, uturnColor=0;
+           leftTime=0, rightTime=0 ,straightTime=0, uturnTime=0;
+       }
+
+    };
+
+    class StationCmd
+    {
+    public:
+        bool received;
+        uint32_t carID,carMode,emergencyStop,stationStop;
+        bool has_carID,has_carMode,has_emergencyStop,has_stationStop,mode_manual_drive;
+        uint32_t stationID[20];
+        GPS_INS  stationGps[20];
+        uint32_t stationTotalNum;
+        StationCmd()
+        {
+            received=false;
+            has_carID=false;
+            has_carMode=false;
+            has_emergencyStop=false;
+            has_stationStop=false;
+            mode_manual_drive=false;
+            carID=0;
+            carMode=0;
+            emergencyStop=0;
+            stationStop=0;
+            stationTotalNum=0;
+        }
+    };
+
+
+}
+#endif // TRACEPOINTSTATION_H

src/decition/decition_brain_sf/decition/adc_planner/lane_change_planner.cpp

@@ -2,6 +2,7 @@
 #include <decition/adc_tools/transfer.h>
 #include <decition/adc_tools/parameter_status.h>
 #include <common/constants.h>
+#include "common/tracepointstation.h"
 
 #include <math.h>
 

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -9,6 +9,8 @@
 #include <fstream>
 #include <control/can.h>
 
+#include "common/tracepointstation.h"
+
 #include "ivlog.h"
 extern iv::Ivlog * givlog;
 using namespace std;

src/decition/decition_brain_sf/decition/decide_gps_00.h

@@ -20,6 +20,8 @@
 #include "ivlog.h"
 #include <memory>
 
+#include "common/tracepointstation.h"
+
 namespace iv {
 namespace decition {
 //根据传感器传输来的信息作出决策

src/detection/detection_lidar_cnn_segmentation/detection_lidar_cnn_segmentation.pro

@@ -61,8 +61,13 @@ HEADERS += \
 
 INCLUDEPATH += $$PWD/caffe/proto/
 
-INCLUDEPATH += $$PWD/../../../include/
-LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault -livexit
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
 
 INCLUDEPATH += $$PWD/../../include/msgtype