Upload files to 'src/v2x/v2xpc5'

src/v2x/v2xpc5/mainwindow.cpp

@@ -186,25 +186,25 @@ void MainWindow::heartBeat()
     }
     if (visionflag)
     {
-    onelightMessage onelight;
-    onelight.lightType= camera_trafficlight_type;
-    if(onelight.lightType==2)
-    {
-        onelight.timeRemaining=5;
-    }
-    else if(onelight.lightType==3)
-    {
-        onelight.timeRemaining=3;
-    }
-    else if(onelight.lightType==1)
-    {
-        onelight.timeRemaining = 5;
-    }
+        onelightMessage onelight;
+        onelight.lightType= camera_trafficlight_type;
+        if(onelight.lightType==2)
+        {
+            onelight.timeRemaining=5;
+        }
+        else if(onelight.lightType==3)
+        {
+            onelight.timeRemaining=3;
+        }
+        else if(onelight.lightType==1)
+        {
+            onelight.timeRemaining = 5;
+        }
 
-    std::cout<<"######################: "<<camera_trafficlight_type<<" "<<onelight.timeRemaining<<std::endl;
-    //onelight.timeRemaining= camera_trafficlight_time;
-    outLight(onelight);
-    sendProto_flag=true;
+        //std::cout<<"######################: "<<camera_trafficlight_type<<" "<<onelight.timeRemaining<<std::endl;
+        //onelight.timeRemaining= camera_trafficlight_time;
+        outLight(onelight);
+        sendProto_flag=true;
     }
 //-----------------------------------------获取连接状态---------------------------------------------------------
     if(mobuEn)
@@ -662,17 +662,20 @@ void MainWindow::outLight(onelightMessage light1)
 {
     //iv::v2r::v2r_send protobuf;
     protobuf.set_radiolighttype(light1.lightType);
-    if(light1.lightType==2)
-    {
-        light1.timeRemaining=5;
-    }
-    else if(light1.lightType==3)
-    {
-        light1.timeRemaining=3;
-    }
-    else if(light1.lightType==1)
+    if (visionflag)
     {
-        light1.timeRemaining = 5;
+        if(light1.lightType==2)
+        {
+            light1.timeRemaining=5;
+        }
+        else if(light1.lightType==3)
+        {
+            light1.timeRemaining=3;
+        }
+        else if(light1.lightType==1)
+        {
+            light1.timeRemaining = 5;
+        }
     }
     protobuf.set_radiolightremain(light1.timeRemaining);
     if(visionflag)