#include <QCoreApplication>

#include <QTime>

#include <QMutex>

#include "control/control_status.h"
#include "control/controller.h"

#include "xmlparam.h"
#include "modulecomm.h"
#include "ivbacktrace.h"
#include "ivversion.h"

#include "canmsg.pb.h"
#include "decition.pb.h"
#include "chassis.pb.h"

#include "torquebrake.h"

#include <thread>

void * gpacansend;
void * gpadecition;
void * gpachassis;

std::string gstrmemdecition;
std::string gstrmemcansend;
std::string gstrmemchassis;
bool gbSendRun = true;

bool gbChassisEPS = false;

iv::brain::decition gdecition_def;
iv::brain::decition gdecition;

QTime gTime;
int gnLastSendTime = 0;
int gnLastRecvDecTime = -1000;
int gnDecitionNum = 0; //when is zero,send default;
const int gnDecitionNumMax = 100;
int gnIndex = 0;

static bool gbHaveVehSpd = false;
static double gfVehSpd = 0.0;

boost::shared_ptr<iv::control::Controller> gcontroller;	//实际车辆控制器

static QMutex gMutex;


// signal: @ACC_LatAngReq    //更改CANid
#define ECU_1C4_ACC_LatAngReq_CovFactor (0.1)
// conversion value to CAN signal
#define ECU_1C4_ACC_LatAngReq_toS(x) ((int16_t)((x) / 0.1 + 7200))

// signal: @ACC_MotorTorqueMaxLimitRequest
#define ECU_1C4_ACC_MotorTorqueMaxLimitRequest_CovFactor (0.02)
// conversion value to CAN signal
#define ECU_1C4_ACC_MotorTorqueMaxLimitRequest_toS(x) ((int16_t)((x) / 0.02 + 1024))

// signal: @ACC_MotorTorqueMinLimitRequest
#define ECU_1C4_ACC_MotorTorqueMinLimitRequest_CovFactor (0.02)
// conversion value to CAN signal
#define ECU_1C4_ACC_MotorTorqueMinLimitRequest_toS(x) ((int16_t)((x) / 0.02 + 1024))

typedef struct
{
    int16_t ACC_LatAngReq;
    //uint8_t ADS_Reqmode;  //20221102， 新车没有此信号
    int16_t ACC_MotorTorqueMaxLimitRequest;
    uint8_t ACC_LatAngReqActive;
    int16_t ACC_MotorTorqueMinLimitRequest;
    //uint8_t ACC_ADCReqType; //20221102， 新车没有此信号
} ECU_1C4_t;

// signal: @ACC_AccTrqReq
#define ECU_24E_ACC_AccTrqReq_CovFactor (1)
// conversion value to CAN signal
#define ECU_24E_ACC_AccTrqReq_toS(x) ((int16_t)((x) + 16384))

// signal: @ACC_ACCTargetAcceleration
#define ECU_24E_ACC_ACCTargetAcceleration_CovFactor (0.05)
// conversion value to CAN signal
#define ECU_24E_ACC_ACCTargetAcceleration_toS(x) ((int16_t)((x) / 0.05 + 200))

// signal: @ACC_AEBTargetDeceleration
#define ECU_24E_ACC_AEBTargetDeceleration_CovFactor (0.0005)
// conversion value to CAN signal
#define ECU_24E_ACC_AEBTargetDeceleration_toS(x) ((int32_t)((x) / 0.0005 + 32000))

typedef struct
{
    int16_t ACC_AccTrqReq;
    uint8_t ACC_AccTrqReqActive;
    int16_t ACC_ACCTargetAcceleration;
    int32_t ACC_AEBTargetDeceleration;
    uint8_t ACC_AEBVehilceHoldReq;
    uint8_t ADCReqMode;
    uint8_t ACC_AEBActive;
    uint8_t ACC_Driveoff_Request;
    uint8_t ACC_DecToStop;
    uint8_t ACC_CDDActive;
    uint8_t ACC_ACCMode;
} ECU_24E_t;

typedef struct
{
    uint8_t ADS_UDLCTurnLightReq;
} ECU_36E_t;

unsigned char byte_1C4[64];//byte_144[8];
unsigned char byte_24E[64];
unsigned char byte_36E[64];

ECU_1C4_t _m1C4 = {0,0,0,0};
ECU_24E_t _m24E = {0,0,0,0,0,0,0,0,0,0,0};
ECU_36E_t _m36E = {0};

void ExecSend();

void executeDecition(const iv::brain::decition &decition)
{

    static int xieya = 50;
//     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
//     std::cout<<"angle_mode is "<<decition.angle_mode()<<" angle_active is "<<decition.angle_active()<<std::endl;
//     std::cout<<"brake_type is "<<decition.brake_type()<<" acc_active is "<<decition.acc_active()<<std::endl;
//     std::cout<<"brake is "<<decition.brake()<<" brake_active is "<<decition.brake_active()<<std::endl;
//     std::cout<<"auto_mode is "<<decition.auto_mode()<<" rightlamp is "<<decition.rightlamp()<<std::endl;
    _m1C4.ACC_LatAngReq = ECU_1C4_ACC_LatAngReq_toS(decition.wheelangle());
    //_m1C4.ADS_Reqmode = decition.angle_mode(); //20221102,新车没有此信号
    _m1C4.ACC_MotorTorqueMaxLimitRequest = ECU_1C4_ACC_MotorTorqueMaxLimitRequest_toS(10);
    _m1C4.ACC_LatAngReqActive = decition.angle_active();
    _m1C4.ACC_MotorTorqueMinLimitRequest = ECU_1C4_ACC_MotorTorqueMinLimitRequest_toS(-10);
//    _m144.ACC_ADCReqType = decition.brake_type();//ADC请求类型（制动时为1，其余情况为0）
    if(decition.brake()>(-0.0000001))
    {
        //_m144.ACC_ADCReqType = 0;//ADC请求类型（制动时为1，其余情况为0）//20221102,新车没有此信号
       // _m24B.ADCReqMode = 0;//20221102,新车没有此信号
        _m24E.ACC_DecToStop =0;
    }
    else
    {
        //_m144.ACC_ADCReqType = 1;//20221102,新车没有此信号
       // _m24B.ADCReqMode = 1;//20221102,新车没有此信号
         _m24E.ACC_DecToStop =1;
    }

//    std::cout<<" type: "<<(int)_m144.ACC_ADCReqType<<std::endl;


    /*制动过程用的减速度，加速用扭矩*/
    _m24E.ACC_AccTrqReq = ECU_24E_ACC_AccTrqReq_toS(decition.torque());
    _m24E.ACC_AccTrqReqActive = decition.acc_active();
    if(decition.brake()<(-0.5))
    {
        _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(-0.5);
    }
    else
        _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(decition.brake());


 //   std::cout<<" brake : "<<decition.brake()<<std::endl;
 //   std::cout<<"brake acctive. "<<decition.brake_active()<<std::endl;
    if(decition.brake()>(-0.0000001))
    {

        if(xieya > 0)
        {
            _m24E.ACC_CDDActive = 1;
            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0.5);
            _m24E.ACC_AccTrqReq = ECU_24E_ACC_AccTrqReq_toS(0);
            _m24E.ACC_Driveoff_Request = 1;

            //_m144.ACC_ADCReqType = 1;//20221102,新车没有此信号
            //_m24B.ADCReqMode = 1;   //20221102,新车没有此信号
             _m24E.ACC_DecToStop =1;
            xieya--;
            std::cout<<" xieya. now veh speed: "<<gfVehSpd<<std::endl;
        }
        else
        {
            _m24E.ACC_CDDActive = 0;
            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0);
            _m24E.ACC_Driveoff_Request = 0;
        }
    }
    else
    {
        _m24E.ACC_CDDActive = 1;

        _m24E.ACC_Driveoff_Request = 0;


    }
 //       _m24B.ACC_CDDActive = decition.brake_active();



//    std::cout<<" req mode: "<<_m144.ADS_Reqmode<<std::endl;
    //byte_144[0] = ((_m144.ACC_LatAngReq >> 9) & (0x1FU)) | ((_m144.ADS_Reqmode & (0x07U)) << 5);
 //   qDebug(" req mode: %d byte: %02X  ",_m144.ADS_Reqmode, byte_144[0]);
   // byte_144[1] = ((_m144.ACC_LatAngReq >> 1) & (0xFFU));
    //byte_144[2] = ((_m144.ACC_LatAngReq & (0x01U)) << 7) | ((_m144.ACC_MotorTorqueMaxLimitRequest >> 5) & (0x3FU)) | ((_m144.ACC_LatAngReqActive & (0x01U)) << 6);
    //byte_144[3] = ((_m144.ACC_MotorTorqueMaxLimitRequest & (0x1FU)) << 3) | ((_m144.ACC_MotorTorqueMinLimitRequest >> 8) & (0x07U));
    //byte_144[4] = (_m144.ACC_MotorTorqueMinLimitRequest & (0xFFU));
    //byte_144[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);


    byte_1C4[0] = ((_m1C4.ACC_MotorTorqueMaxLimitRequest >> 3) & (0xFFU));
 //   qDebug(" req mode: %d byte: %02X  ",_m144.ADS_Reqmode, byte_144[0]);
    byte_1C4[1] = ((_m1C4.ACC_MotorTorqueMaxLimitRequest & (0x07U)) << 5) | ((_m1C4.ACC_MotorTorqueMinLimitRequest >> 6) & (0x1FU));
    byte_1C4[2] = ((_m1C4.ACC_MotorTorqueMinLimitRequest & (0x3FU)) << 2) | ((_m1C4.ACC_LatAngReq >> 12) & (0x03U));
    byte_1C4[3] = (((_m1C4.ACC_LatAngReq>>4 )& (0xFFU)));
   // byte_1C4[4] = (((_m1C4.ACC_LatAngReq<<4) & (0xF0U)))|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
    byte_1C4[4] = (((_m1C4.ACC_LatAngReq)& (0x0fU))<<4)|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
    //byte_1C4[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);

    //    _m24B.ACC_AEBTargetDeceleration = 0;
    //    _m24B.ACC_AEBVehilceHoldReq = 0;
    //    _m24B.ADCReqMode = 0;
    //    _m24B.ACC_AEBActive = 0;
    //    _m24B.ACC_Driveoff_Request = 0;
    //    _m24B.ACC_DecToStop = 0;
//    std::cout<<" brake : "<<decition.brake()<<std::endl;
//    std::cout<<"brake acctive. "<<decition.brake_active()<<std::endl;
    if(decition.brake()>(-0.0000001))
    {
        _m24E.ACC_CDDActive = 0;
        _m24E.ACC_Driveoff_Request = 1;
        if(xieya > 0)
        {
            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0.5);
            xieya--;
        }
        else
        {
            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0);
        }
    }
    else
    {
        _m24E.ACC_CDDActive = 1;

        _m24E.ACC_Driveoff_Request = 0;

        if(gbHaveVehSpd)
        {
            if(gfVehSpd < 0.01)
            {
                if(xieya != 50)std::cout<<"need xieya. "<<std::endl;
                xieya = 50;

            }
        }
    }
 //       _m24B.ACC_CDDActive = decition.brake_active();
    _m24E.ACC_ACCMode = decition.auto_mode();
//    std::cout<<"acc mode: "<<(int)_m24B.ACC_ACCMode<<std::endl;


   // byte_24B[0] = ((_m24B.ACC_AccTrqReq >> 7) & (0xFFU));
    //byte_24B[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
    //byte_24B[2] = ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
    //byte_24B[3] = ((_m24B.ACC_ACCTargetAcceleration & (0x07U)) << 5) | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
    //byte_24B[4] = ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
    //byte_24B[5] = ((_m24B.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24B.ACC_AEBVehilceHoldReq & (0x01U));
    //byte_24B[6] = ((_m24B.ADCReqMode & (0x03U)) << 1) | ((_m24B.ACC_AEBActive & (0x01U)) << 3) | ((_m24B.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24B.ACC_DecToStop & (0x01U)) << 6) | ((_m24B.ACC_CDDActive & (0x01U)) << 7);
    //byte_24B[7] = (_m24B.ACC_ACCMode & (0x07U));


    byte_24E[0] = ((_m24E.ACC_ACCTargetAcceleration) & (0xFFU));
    //byte_24E[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
    //byte_24E[2] = ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
    byte_24E[3] = ((_m24E.ACC_DecToStop & (0x01U)) << 7);// | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
    //byte_24E[4] = ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
    byte_24E[5] = ((_m24E.ACC_CDDActive & (0x01U)) << 4);//((_m24E.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24E.ACC_AEBVehilceHoldReq & (0x01U));
    byte_24E[6] = ((_m24E.ACC_Driveoff_Request & (0x01U)) << 7)|((_m24E.ACC_ACCMode & (0x07U))<<4);//((_m24E.ADCReqMode & (0x03U)) << 1) | ((_m24E.ACC_AEBActive & (0x01U)) << 3) | ((_m24E.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24E.ACC_DecToStop & (0x01U)) << 6) | ((_m24E.ACC_CDDActive & (0x01U)) << 7);
    byte_24E[8] = ((_m24E.ACC_AEBTargetDeceleration>>8) & (0xFFU));
    byte_24E[9] = ((_m24E.ACC_AEBTargetDeceleration) & (0xFFU));
    byte_24E[10] = ((_m24E.ACC_AEBActive & (0x01U)) << 7);
    byte_24E[11] = ((_m24E.ACC_AccTrqReq>>13 )& (0x03U));
    byte_24E[12] = ((_m24E.ACC_AccTrqReq>>5 )& (0xFFU));
    //byte_24E[13] = ((_m24E.ACC_AccTrqReq & (0x1FU)<<3))| ((_m24E.ACC_AccTrqReqActive & (0x01U)) << 2);
    byte_24E[13] = (((_m24E.ACC_AccTrqReq & (0x1FU))<<3))| ((_m24E.ACC_AccTrqReqActive & (0x01U)) << 2);

//    if(decition.leftlamp() == true && decition.rightlamp() == false)
//        _m36E.ADS_UDLCTurnLightReq = 3;
//    else if(decition.leftlamp() == false && decition.rightlamp() == true)
//        _m36E.ADS_UDLCTurnLightReq = 4;
//    else
//        _m36E.ADS_UDLCTurnLightReq = 0;

//    byte_36E[0] = ((_m36E.ADS_UDLCTurnLightReq & (0x07U)) << 5);

}

void Activate()
{
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    iv::brain::decition xdecition;
//    for(int j=0;j<100000;j++)
//    {
        std::cout<<" run "<<std::endl;
    for(int i = 0; i < 10; i++){
        xdecition.set_wheelangle(0.0);
        xdecition.set_angle_mode(0);
        xdecition.set_angle_active(0);
        xdecition.set_acc_active(0);
        xdecition.set_brake_active(0);
//        xdecition.set_brake_type(0);
        xdecition.set_auto_mode(0);
        executeDecition(xdecition);
        ExecSend();
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
    for(int i = 0; i < 10; i++){
        xdecition.set_wheelangle(0.0);
        xdecition.set_angle_mode(1);
        xdecition.set_angle_active(1);
        xdecition.set_acc_active(1);
        xdecition.set_brake_active(1);
//        xdecition.set_brake_type(1);
        xdecition.set_auto_mode(3);
        executeDecition(xdecition);
        ExecSend();
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
//    }
}

void UnAcitvate()
{
    iv::brain::decition xdecition;
    for(int i = 0; i < 10; i++){
        xdecition.set_wheelangle(0);
        xdecition.set_angle_mode(1);
        xdecition.set_angle_active(1);
        xdecition.set_acc_active(1);
        xdecition.set_brake_active(1);
//        xdecition.set_brake_type(1);
        xdecition.set_auto_mode(3);
        executeDecition(xdecition);
        ExecSend();
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
    for(int i = 0; i < 10; i++){
        xdecition.set_wheelangle(0);
        xdecition.set_angle_mode(0);
        xdecition.set_angle_active(0);
        xdecition.set_acc_active(0);
        xdecition.set_brake_active(0);
//        xdecition.set_brake_type(0);
        xdecition.set_auto_mode(0);
        executeDecition(xdecition);
        ExecSend();
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
}

void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    (void)index;
    (void)dt;
    (void)strmemname;
    iv::chassis xchassis;
    //    static int ncount = 0;
    if(!xchassis.ParseFromArray(strdata,nSize))
    {
        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
        return;
    }

    if(xchassis.has_epsmode())
    {
    if(xchassis.epsmode() == 0)
    {
        gbChassisEPS = true;
    }
    }

    if(xchassis.has_vel())
    {
        gfVehSpd = xchassis.vel();
        gbHaveVehSpd = true;
  //      std::cout<<" gf Veh speed : "<<gfVehSpd<<std::endl;
    }
}


void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    (void)index;
    (void)dt;
    (void)strmemname;
    static qint64 oldtime = QDateTime::currentMSecsSinceEpoch();
    iv::brain::decition xdecition;

    if(!xdecition.ParseFromArray(strdata,nSize))
    {
        std::cout<<"ListenDecition parse error."<<std::endl;
        return;
    }

    //    if(xdecition.gear() != 4)
    //    {
    //        qDebug("not D");
    //    }
    xdecition.set_angle_mode(1);
    xdecition.set_angle_active(1);
    xdecition.set_acc_active(1);
    xdecition.set_brake_active(1);
//    xdecition.set_brake_type(1);
    xdecition.set_auto_mode(3);

    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
    oldtime = QDateTime::currentMSecsSinceEpoch();
    gMutex.lock();
    gdecition.CopyFrom(xdecition);
    gMutex.unlock();
    gnDecitionNum = gnDecitionNumMax;
    gbChassisEPS = false;

}

void ExecSend()
{
    static int nCount = 0;
    nCount++;
    iv::can::canmsg xmsg;
    iv::can::canraw xraw;
    //    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
    //    qDebug("%02x %02x %02x %02x %02x %02x %02x %02x",strp[0],strp[1],strp[2],strp[3],strp[4],strp[5],strp[6],strp[7]);

    xraw.set_id(0x1C4);
    xraw.set_data(byte_1C4,64);
    xraw.set_bext(false);
    xraw.set_bremote(false);
    xraw.set_len(64);
    iv::can::canraw * pxraw1C4 = xmsg.add_rawmsg();
    pxraw1C4->CopyFrom(xraw);
//    qDebug(" 0x144: %02X %02X %02X %02X %02X %02X %02X %02X",byte_144[0],byte_144[1],byte_144[2],byte_144[3],
//            byte_144[4],byte_144[5],byte_144[6],byte_144[7]);
    xmsg.set_channel(0);
    xmsg.set_index(gnIndex);

    xraw.set_id(0x24E);
    xraw.set_data(byte_24E,64);
    xraw.set_bext(false);
    xraw.set_bremote(false);
    xraw.set_len(64);
    if(nCount%2 == 1)
    {
        iv::can::canraw * pxraw24E = xmsg.add_rawmsg();
        pxraw24E->CopyFrom(xraw);
    }
    xmsg.set_channel(0);
    xmsg.set_index(gnIndex);

//    xraw.set_id(0x36E);
//    xraw.set_data(byte_36E,8);
//    xraw.set_bext(false);
//    xraw.set_bremote(false);
//    xraw.set_len(8);
//    if(nCount == 10)
//    {
//        iv::can::canraw * pxraw36E = xmsg.add_rawmsg();
//        pxraw36E->CopyFrom(xraw);
//        nCount = 0;
//    }
//    xmsg.set_channel(0);
//    xmsg.set_index(gnIndex);

    gnIndex++;
    xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
    int ndatasize = xmsg.ByteSize();
    char * strser = new char[ndatasize];
    std::shared_ptr<char> pstrser;
    pstrser.reset(strser);
    if(xmsg.SerializeToArray(strser,ndatasize))
    {
        iv::modulecomm::ModuleSendMsg(gpacansend,strser,ndatasize);
    }
    else
    {
        std::cout<<"MainWindow::onTimer serialize error."<<std::endl;
    }
}

void initial()
{
    for (uint8_t i = 0; i < 64; i++) //CAN  to  canfd
    {
        byte_1C4[i] = 0;
        byte_24E[i] = 0;
        //byte_36E[i] = 0;
    }
}

void sendthread()
{
    initial();
    iv::brain::decition xdecition;

    UnAcitvate();
 //   UnAcitvate();

    int nstate = 0; //0 Un 1 Activate
//    Activate();
    while(gbSendRun)
    {
        if(gnDecitionNum <= 0)
        {
            if(nstate == 1)
            {
                UnAcitvate();
                nstate = 0;
            }
            xdecition.CopyFrom(gdecition_def);
        }
        else
        {
            if(nstate == 0)
            {
                Activate();
                nstate = 1;
            }
            gMutex.lock();
            xdecition.CopyFrom(gdecition);
            gMutex.unlock();
            gnDecitionNum--;
        }
        executeDecition(xdecition);
        if(gbChassisEPS == false) ExecSend();
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
}

int main(int argc, char *argv[])
{
    RegisterIVBackTrace();
    showversion("controller_changan_shenlan");
    QCoreApplication a(argc, argv);

    QString strpath = QCoreApplication::applicationDirPath();

    if(argc < 2)
        strpath = strpath + "/controller_changan_shenlan.xml";
    else
        strpath = argv[1];
    std::cout<<strpath.toStdString()<<std::endl;

//    gdecition_def.set_accelerator(-0.5);
    gdecition_def.set_brake(0);
    gdecition_def.set_rightlamp(false);
    gdecition_def.set_leftlamp(false);
    gdecition_def.set_wheelangle(0);

    gdecition_def.set_angle_mode(0);
    gdecition_def.set_angle_active(0);
    gdecition_def.set_acc_active(0);
//    gdecition_def.set_brake_active(1);
    gdecition_def.set_brake_type(0);
    gdecition_def.set_auto_mode(0);

//    gdecition_def.set_angle_mode(0);
//    gdecition_def.set_angle_active(0);
//    gdecition_def.set_acc_active(0);
//    gdecition_def.set_brake_active(0);
//    gdecition_def.set_brake_type(0);
//    gdecition_def.set_auto_mode(0);

    gTime.start();

    gcontroller = boost::shared_ptr<iv::control::Controller>(new iv::control::Controller());

    iv::xmlparam::Xmlparam xp(strpath.toStdString());

    gstrmemcansend = xp.GetParam("cansend","cansend0");
    gstrmemdecition = xp.GetParam("dection","deciton");
    gstrmemchassis = xp.GetParam("chassismsgname","chassis");

    gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,1);
    gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
    gpachassis = iv::modulecomm::RegisterRecv(gstrmemchassis.data(),UpdateChassis);

#ifdef TORQUEBRAKETEST
    EnableTorqueBrakeTest();
#endif

    std::thread xthread(sendthread);

    return a.exec();
}