speed control

src/decition/decition_brain_sf/decition/adc_adapter/hapo_adapter.cpp

@@ -283,8 +283,7 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
              (*decition)->door=0;
      else
               (*decition)->door=door;
-     givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",
-                     DoorTimeStart,QDateTime::currentSecsSinceEpoch());
+
 
      if(ServiceCarStatus.has_mbjinguang){
          if(ServiceCarStatus.mbjinguang){

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

@@ -198,6 +198,7 @@ int iv::decition::Compute00::getMapDelta(std::vector<GPSData> MapTrace){
     doubledata.clear();
     for (int i = 0; i < MapTrace.size(); i++) {   //                                       1225/14:25
                  std::vector<double> temp;
+                 temp.clear();
                  temp.push_back(0);temp.push_back(0);temp.push_back(0);temp.push_back(0);temp.push_back(0);//先push四个空量，然后就可以给量赋值了
                  doubledata.push_back(temp);
                  doubledata[i][0] = MapTrace.at(i)->gps_x;
@@ -341,15 +342,15 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                     }
                 }
 
-                for(int i=0;i<MapTrace.size();i++){
-                    //将数据写入文件开始
-                    ofstream outfile;
-                    outfile.open("ctr0108003.txt", ostream::app);
-                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
-                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
-                    outfile.close();
-                    //将数据写入文件结束
-                }
+//                for(int i=0;i<MapTrace.size();i++){
+//                    //将数据写入文件开始
+//                    ofstream outfile;
+//                    outfile.open("ctr0108003.txt", ostream::app);
+//                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
+//                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
+//                    outfile.close();
+//                    //将数据写入文件结束
+//                }
 
 }
 

src/decition/decition_brain_sf/decition/brain.cpp

@@ -1165,8 +1165,10 @@ void iv::decition::BrainDecition::UpdateMap(const char *mapdata, const int mapda
 
         mmpcapi.SetMAP(xvectorMAP);
 
-        if(ServiceCarStatus.speed_control==true){
-        Compute00().getDesiredSpeed(navigation_data);}
+//        if(ServiceCarStatus.speed_control==true){
+//        Compute00().getDesiredSpeed(navigation_data);
+//            Compute00().getPlanSpeed(navigation_data);
+//        }
         mMutexMap.unlock();
         //        mpasd->SaveState("map",mapdata,mapdatasize);
     }

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -278,6 +278,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         roadNowStart=true;
         isFirstRun = false;
         obstacle_avoid_flag=0;
+
+        givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",
+                        0,0);
     }