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