1、添加规范文件选择

2、修改超差逻辑

src/canbus/canbus.cpp

@@ -130,7 +130,6 @@ int Canbus::Start() {
         LOG(INFO)<<Name()<<": can't open ."<<szDevNode;
     }
   }
-
   ros::Rate loop_rate(1/rate);
   // 5. set timer to triger publish info periodly
   timer_ = CreateTimer(ros::Duration(duration), &Canbus::OnTimer, this);
@@ -1668,7 +1667,7 @@ int Canbus::read_txt(string &path,int flag)
   }
   else if(flag == 6)
   {
-    for (int i = 0; i < 1190; i++)
+    for (int i = 0; i < 1900; i++)
     {
         if(myfile.eof())
         {
@@ -2126,8 +2125,23 @@ bool Canbus::RackTestReq(canbus::RackTestReq::Request &req,
       return true;
     }
     rackTestState = true;
-    nedc_speeds[1182] = {0};
-    string str = "/home/madesheng/publish/wwwroot/Upload/File/NEDC Speed.txt";
+    nedc_speeds[1810] = {0};
+    string str = "/home/madesheng/publish/wwwroot/Upload/File/CLTC Speed.txt";
+    if(req.uiStandard == 1)
+    {
+      standard_name = "NEDC";
+      str = "/home/madesheng/publish/wwwroot/Upload/File/NEDC Speed.txt";
+    }
+    else if(req.uiStandard == 2)
+    {
+      standard_name = "WLTC";
+      str = "/home/madesheng/publish/wwwroot/Upload/File/WLTC Speed.txt";
+    }
+    else if(req.uiStandard == 3)
+    {
+      standard_name = "CLTC";
+      str = "/home/madesheng/publish/wwwroot/Upload/File/CLTC Speed.txt";
+    }
     int flag = Canbus::read_txt(str,6);
     if(flag != ROBOT_SUCCESS)
     {
@@ -2213,6 +2227,7 @@ void Canbus::RackTestOnTimer(const ros::TimerEvent &event)
 
     float set_speed = 0;
     float actual_speed = msg_RTK.Speed;
+    float set_speed_1s = 0;
     if(!rackTestState)
     {
       if(actual_speed == 0)
@@ -2293,6 +2308,34 @@ void Canbus::RackTestOnTimer(const ros::TimerEvent &event)
         set_speed = 0;
       }
 
+      float set_speed1_1s = 0;
+      float set_speed2_1s = 0;
+      if(nedc_speed_count > 0)
+      {
+        set_speed1_1s = nedc_speeds[nedc_speed_count-1];
+      }
+      if(nedc_speed_count-1 == nedc_speed_number - 2)
+      {
+        set_speed2_1s = nedc_speeds[nedc_speed_count-1];
+      }
+      else
+      {
+        set_speed2_1s = nedc_speeds[nedc_speed_count];
+      }
+
+      if(set_speed1_1s == 0 && set_speed2_1s ==0)
+      {
+        set_speed_1s = 0;
+      }
+      else
+      {
+        set_speed_1s = set_speed_last_1s + (set_speed2_1s - set_speed1_1s) * delta_time;
+      }
+      if(set_speed_1s < 0)
+      {
+        set_speed_1s = 0;
+      }
+
     }
     LOG(INFO)<< "RackTestOnTimer Start FUZZY PID";
 
@@ -2418,11 +2461,9 @@ void Canbus::RackTestOnTimer(const ros::TimerEvent &event)
     }
     set_speed_last = set_speed;
     nedc_speed_count = rack_test_send_count;
+    set_speed_last_1s = set_speed_1s;
 
-    rack_set_speed = set_speed;
-    rack_actual_speed = actual_speed;
-
-    if(set_speed - actual_speed > over_threshold_value || set_speed - actual_speed < -over_threshold_value)
+    if(set_speed_1s - actual_speed > over_threshold_value || set_speed_1s - actual_speed < -over_threshold_value)
     {
       if(!over_speed_flag)
       {
@@ -2434,6 +2475,8 @@ void Canbus::RackTestOnTimer(const ros::TimerEvent &event)
     {
       over_speed_flag = false;
     }
+    rack_set_speed = set_speed_1s;
+    rack_actual_speed = actual_speed;
     //插入测试任务数据采集表
     int data_task_already_num = task_already_num + 1;
     long result = CanbusMySqlDataBase::InsertTaskData(task_id,set_speed,actual_speed,
@@ -2453,6 +2496,18 @@ void Canbus::RackTestReplyOnTimer(const ros::TimerEvent &event)
 {
   try
   {
+    if(rack_set_speed - rack_actual_speed > over_threshold_value || rack_set_speed - rack_actual_speed < -over_threshold_value)
+    {
+      if(!over_speed_flag)
+      {
+        over_speed_flag = true;
+        over_speed_num ++;
+      }
+    }
+    else
+    {
+      over_speed_flag = false;
+    }
     if(rackTestSendTimerState)
     {
        rackTestReplyState = 1;
@@ -2605,6 +2660,7 @@ void Canbus::RTKLocationCallback(const localization::localMsg::ConstPtr& msg)
 
     float set_speed = 0;
     float actual_speed = msg_RTK.Speed;
+    float set_speed_1s = 0;
     if(!rackTestState)
     {
       if(!rackTestSendTimerState)
@@ -2689,6 +2745,34 @@ void Canbus::RTKLocationCallback(const localization::localMsg::ConstPtr& msg)
         set_speed = 0;
       }
 
+      float set_speed1_1s = 0;
+      float set_speed2_1s = 0;
+      if(nedc_speed_count > 0)
+      {
+        set_speed1_1s = nedc_speeds[nedc_speed_count-1];
+      }
+      if(nedc_speed_count-1 == nedc_speed_number - 2)
+      {
+        set_speed2_1s = nedc_speeds[nedc_speed_count-1];
+      }
+      else
+      {
+        set_speed2_1s = nedc_speeds[nedc_speed_count];
+      }
+
+      if(set_speed1_1s == 0 && set_speed2_1s ==0)
+      {
+        set_speed_1s = 0;
+      }
+      else
+      {
+        set_speed_1s = set_speed_last_1s + (set_speed2_1s - set_speed1_1s) * delta_time;
+      }
+      if(set_speed_1s < 0)
+      {
+        set_speed_1s = 0;
+      }
+
     }
     LOG(INFO)<< "delta time:"<<std::setprecision(10)<<delta_time<<" s";
     LOG(INFO)<< "RTKLocationCallback Start FUZZY PID";
@@ -2816,21 +2900,11 @@ void Canbus::RTKLocationCallback(const localization::localMsg::ConstPtr& msg)
     set_speed_last = set_speed;
     nedc_speed_count = rack_test_send_count;
 
-    rack_set_speed = set_speed;
+    rack_set_speed = set_speed_1s;
     rack_actual_speed = actual_speed;
+    set_speed_last_1s = set_speed_1s;
+
 
-    if(set_speed - actual_speed > over_threshold_value || set_speed - actual_speed < -over_threshold_value)
-    {
-      if(!over_speed_flag)
-      {
-        over_speed_flag = true;
-        over_speed_num ++;
-      }
-    }
-    else
-    {
-      over_speed_flag = false;
-    }
     //插入测试任务数据采集表
     int data_task_already_num = task_already_num + 1;
     long result = CanbusMySqlDataBase::InsertTaskData(task_id,set_speed,actual_speed,

src/canbus/canbus.h

@@ -368,7 +368,7 @@ private:
    bool rackTestSendTimerState = false;  //台架测试任务发送数据定时器标志位
    int rackTestReplyState = 0;   //台架测试任务回复消息标志位  0表示前端界面不显示回复，1表示前端界面显示回复
   // double nedc_speeds[1182] = {0};  //TXT文件中的速度值
-   double nedc_speeds[1182] = {0};  //TXT文件中的速度值
+   double nedc_speeds[1810] = {0};  //TXT文件中的速度值
    int nedc_speed_count = 0;   //TXT文件中的速度值的编号
    int nedc_speed_number = 0; //TXT文件中的速度值的数量
    int rack_test_send_count = 0; //台架测试任务发送数据计数器，1s一个速度数据
@@ -379,6 +379,7 @@ private:
    int fuzzy_pid_number = 0;
    double fuzzy_pid[8] = {0};
    float set_speed_last = 0;
+   float set_speed_last_1s = 0;
 
    const double duration_rack_reply_detail = 0.1;//100ms //台架测试任务细节图所用数据回复时间
    ros::Timer rack_reply_detail_timer_;  //台架测试任务细节图所用数据回复定时器
@@ -393,8 +394,9 @@ private:
    int brk_factor = 0;
    int brk_max = 0;
    long task_id = 0;    //任务ID
-   std::string standard_name = "NEDC" ;  //规范名称
-   double over_threshold_value = 0.1;  //超差阈值
+   int standard_ID = 0;    //规范ID
+   std::string standard_name = "" ;  //规范名称
+   double over_threshold_value = 2;  //超差阈值
    int task_num = 0;     //规范执行次数
    int task_already_num= 0;   //当前任务已经执行规范次数
    double task_time_stamp = 0;  //时间戳

src/canbus/srv/RackTestReq.srv

@@ -1,5 +1,6 @@
 uint32 uiStart                   #启动标志位
 uint32 uiCarId                   #车型ID
 int32 iTaskNum                   #规范文件执行次数
+uint32 uiStandard
 ---
 uint32 uiReturn