更改超差逻辑bug，添加日志打印

src/canbus/canbus.cpp

@@ -2554,6 +2554,7 @@ void Canbus::RackTestReplyOnTimer(const ros::TimerEvent &event)
       publish_rack_speed();
       return;
     }
+    rack_test_send_count ++;
     double set_speed_over = 0;
     double set_speed_over_front = 0;
     double set_speed_over_back = 0;
@@ -2566,21 +2567,21 @@ void Canbus::RackTestReplyOnTimer(const ros::TimerEvent &event)
     }
     else  //规范文件模式
     {
-      if(nedc_speed_count > 0)
+      if(rack_test_send_count > 0)
       {
-        set_speed_over = nedc_speeds[nedc_speed_count-1];
+        set_speed_over = nedc_speeds[rack_test_send_count-1];
       }
-      if(nedc_speed_count == nedc_speed_number)
+      if(rack_test_send_count == nedc_speed_number)
       {
-        set_speed_over_back = nedc_speeds[nedc_speed_count-1];
+        set_speed_over_back = nedc_speeds[rack_test_send_count-1];
       }
       else
       {
-        set_speed_over_back = nedc_speeds[nedc_speed_count];
+        set_speed_over_back = nedc_speeds[rack_test_send_count];
       }
-      if(nedc_speed_count -1 > 0)
+      if(rack_test_send_count -1 > 0)
       {
-        set_speed_over_front = nedc_speeds[nedc_speed_count-2];
+        set_speed_over_front = nedc_speeds[rack_test_send_count-2];
       }
       delta_over_value_max =
           set_speed_over >= set_speed_over_front ? set_speed_over : set_speed_over_front;
@@ -2610,6 +2611,15 @@ void Canbus::RackTestReplyOnTimer(const ros::TimerEvent &event)
       {
         over_speed_flag = true;
         over_speed_num ++;
+        LOG(INFO)<< "over speed actual speed:"<<rack_actual_speed;
+        LOG(INFO)<< "over speed Index:"<<nedc_speed_count;
+        LOG(INFO)<< "over speed second:"<<rack_test_send_count;
+        LOG(INFO)<< "over speed set speed:"<<nedc_speeds[nedc_speed_count];
+        LOG(INFO)<< "over speed set_speed_over_front:"<<set_speed_over_front;
+        LOG(INFO)<< "over speed set_speed_over:"<<set_speed_over;
+        LOG(INFO)<< "over speed set_speed_over_back:"<<set_speed_over_back;
+        LOG(INFO)<< "over speed set max:"<<over_max;
+        LOG(INFO)<< "over speed set min:"<<over_min;
       }
     }
     else
@@ -2627,7 +2637,7 @@ void Canbus::RackTestReplyOnTimer(const ros::TimerEvent &event)
 
     // 发布消息，rackTestReplyState,actual_speed 1s回复前端一次消息
     publish_rack_speed();
-    rack_test_send_count ++;
+ //   rack_test_send_count ++;
   }
   catch (ros::Exception ex)
   {