add gps updatetime log

src/decition/decition_brain/decition/brain.cpp

@@ -9,7 +9,9 @@
 #include <iostream>
 #include "xmlparam.h"
 #include "qcoreapplication.h"
+#include <QTime>
 
+QTime  gps_update_times,gps_last_to_current;
 
 extern std::string gstrmemdecition;
 extern std::string gstrmembrainstate;
@@ -496,9 +498,17 @@ void iv::decition::BrainDecition::run() {
 
         obs_camera_ = NULL;
 
+        int gps_update_period=0,gps_last_to_current_times=0;
 
-
+        gps_update_times.start();
         eyes->getSensorObstacle(obs_radar_, obs_camera_,gps_data_, obs_lidar_grid_);	//从传感器线程临界区交换数据
+        if(gps_data_!=NULL)
+        {
+           gps_update_period=gps_update_times.elapsed();
+           gps_last_to_current.start();
+        }
+        gps_last_to_current_times=gps_last_to_current.elapsed();
+
 
 
 
@@ -523,26 +533,6 @@ void iv::decition::BrainDecition::run() {
         iv::ObsRadar obs_radar_tmp(new std::vector<iv::ObstacleBasic>);
         iv::decition::Decition decition_final(new iv::decition::DecitionBasic);
 
-        //		if ((ServiceCarStatus.status[0] == true && ServiceCarStatus.status[1] == false && ServiceCarStatus.status[2] == false && ServiceCarStatus.status[3] == false && ServiceCarStatus.status[4] == true) ||
-        //			(ServiceCarStatus.status[0] == true && ServiceCarStatus.status[1] == false && ServiceCarStatus.status[2] == false && ServiceCarStatus.status[3] == true && ServiceCarStatus.status[4] == true) ||
-        //			(ServiceCarStatus.status[0] == true && ServiceCarStatus.status[1] == true && ServiceCarStatus.status[2] == true && ServiceCarStatus.status[3] == true && ServiceCarStatus.status[4] == true))
-        //		{
-        //			//停车
-        //			ServiceCarStatus.carState = 0;
-        //		}
-        //		else if ((ServiceCarStatus.status[0] == false && ServiceCarStatus.status[1] == false && ServiceCarStatus.status[2] == false && ServiceCarStatus.status[3] == false && ServiceCarStatus.status[4] == true) ||
-        //				 (ServiceCarStatus.status[0] == false && ServiceCarStatus.status[1] == true && ServiceCarStatus.status[2] == false && ServiceCarStatus.status[3] == true && ServiceCarStatus.status[4] == true))
-        //		{
-        //			//正常循迹
-        //			ServiceCarStatus.carState = 1;
-        //		}
-        //		else if ((ServiceCarStatus.status[0] == false && ServiceCarStatus.status[1] == false && ServiceCarStatus.status[2] == false && ServiceCarStatus.status[3] == true && ServiceCarStatus.status[4] == true) ||
-        //				 (ServiceCarStatus.status[0] == false && ServiceCarStatus.status[1] == true && ServiceCarStatus.status[2] == true && ServiceCarStatus.status[3] == true && ServiceCarStatus.status[4] == true))
-        //		{
-        //			//前往站点
-        //			ServiceCarStatus.carState = 2;
-        //		}
-
         if (obs_lidar_) {	//激光雷达有障碍物
             //          std::cout<<"obs lidar size = "<<obs_lidar_->size()<<std::endl;
             //std::cout << "大脑处理激光雷达:" << obs_lidar_->at(0).nomal_x << " " << obs_lidar_->at(0).nomal_y << " " << obs_lidar_->at(0).nomal_z << std::endl;
@@ -578,30 +568,12 @@ void iv::decition::BrainDecition::run() {
         }
         //useMobileEye chuku end;
 
-        if (gps_data_  &&!handPark && !ServiceCarStatus.m_bOutGarage){// && obs_lidar_grid_) {	//处理GPS数据
-            //todo gps_data_为当前读到的gps位置信息
-            //decition_gps = iv::decition::Decition(new iv::decition::DecitionBasic);
-            //ODS("接收GPS数据:%f\t\t%f\n", gps_data_->gps_x, gps_data_->gps_y);
-            //	decition_gps = decitionMaker->getDecideForGPS(*gps_data_,navigation_data);
+        givlog->debug("GPS","gps_data_ is: %d,gps_update_period is: %d,gps_last_to_current_times is: %d",gps_data_,gps_update_period,gps_last_to_current_times);
 
-            //ODS("\n接收到的实时GPS数据:%f\t%f\t%f\n", gps_data_->gps_x, gps_data_->gps_y, gps_data_->ins_heading_angle);
+        if (gps_data_  &&!handPark && !ServiceCarStatus.m_bOutGarage){// && obs_lidar_grid_) {	//处理GPS数据
 
-            //以下为正常用
-            //         if (gps_data_->valid == RTK_IMU_OK)
-            //        {
             double start = GetTickCount();
 
-            //				decitionGps00->aim_gps_ins.gps_lat = carcall->lat;
-            //				decitionGps00->aim_gps_ins.gps_lng = carcall->lon;
-            /*iv::ObsRadar obs_radar_tmp(new std::vector<iv::ObstacleBasic>);
-                if(obs_radar_){
-                    obs_radar_tmp = NULL;
-                    obs_radar_tmp.swap(obs_radar_);
-                }*/
-            //decition_gps = decitionGpsUnit->getDecideFromGPS(*gps_data_, navigation_data, *obs_radar_tmp, obs_lidar_grid_);
-            //		decition_gps = decitionGpsUnit->getDecideFromGPS(*gps_data_, navigation_data, obs_lidar_grid_);     // 新的
-
-
             if ( ServiceCarStatus.epsMode==0 && ServiceCarStatus.receiveEps) {
                 ServiceCarStatus.mbRunPause=true;
 
@@ -1361,7 +1333,7 @@ void iv::decition::BrainDecition::Updatev2x(const char *pdata, const int ndatasi
                            v2x_message.stationid(i),ServiceCarStatus.stationCmd.stationGps[i].gps_lat,
                           ServiceCarStatus.stationCmd.stationGps[i].gps_lng);
         }
-        //ServiceCarStatus.mbRunPause=false;
+        ServiceCarStatus.mbRunPause=false;
     }
 
 }

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -1794,7 +1794,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
     //carState == 0，紧急停车
-    if ((ServiceCarStatus.emergencyStop==1)||(adjuseultra()==true))
+    if ((ServiceCarStatus.emergencyStop==1))  //||(adjuseultra()==true))
     {
         minDecelerate=-1.0;
     }