add door control

src/decition/common/common/car_status.h

@@ -42,6 +42,8 @@ namespace iv {
          float torque_st=0;
         bool mbRunPause = false;
         bool mbBrainCtring = false;
+        bool mbdoor=false,has_mbdoor=false;//false: door close    true:door open
+        bool mbjinguang=false,has_mbjinguang=false;//false: off    true:on
         bool status[6] = { true, false, false, false, true, false };	//bool arrive = false;	//  x4:是否到达站点（0:未到 1:到达）
                                                                 //bool people = false;	//	x3:车上是否有人（0:无人 1:有人）
                                                                 //bool stop = false;	    //	x2:是否停车（0:否   1:是）

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

@@ -262,8 +262,13 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
      (*decition)->farLight=0;
 
 
-
-     (*decition)->door=3;
+     if(ServiceCarStatus.has_mbdoor){
+         if(ServiceCarStatus.mbdoor){
+             (*decition)->door=true;
+         }else{
+             (*decition)->door=false;
+         }
+     }
 
 //std::cout<<"==========================================="<<std::endl;
 //     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim<<"  torque_st:"<<ServiceCarStatus.torque_st

src/decition/decition_brain_sf/decition/brain.cpp

@@ -1292,6 +1292,18 @@ void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasi
 
     //    mpasd->SaveState("runstate",(char *)&bRun,sizeof(bool));
 
+
+
+    ServiceCarStatus.has_mbdoor = xhmimsg.has_mbchemen();
+    if(ServiceCarStatus.has_mbdoor){
+        ServiceCarStatus.mbdoor = xhmimsg.mbchemen();
+    }
+    ServiceCarStatus.has_mbjinguang = xhmimsg.has_mbjinguang();
+    if(ServiceCarStatus.has_mbjinguang){
+        ServiceCarStatus.mbjinguang = xhmimsg.mbjinguang();
+    }
+
+
 }
 
 void iv::decition::BrainDecition::UpdatePlatform(const char *pdata, const int ndatasize)