.gitignore

@@ -37,3 +37,7 @@ packages/
 *.dll
 终端/ct_terminal/ct_terminal/Resource*
 管理节点/*
+cmake-build-debug/**
+plc调度节点/build/**
+测量节点/build/**
+.vscode

测量节点/setting/velodyne_manager.prototxt

@@ -232,7 +232,7 @@ region
 	maxx:1.5
 	miny:-2.6
 	maxy:2.3
-	minz:0.03
+	minz:0.031
 	maxz:0.5
     region_id:4
     turnplate_cx:0.0

测量节点/setting/wanji_manager.prototxt

@@ -623,7 +623,7 @@ regions
     # -1.8683
     plc_offsetx:-1.865
     plc_offsety:-6.11489
-    plc_offset_degree:-89.1
+    plc_offset_degree:-89.8
     plc_border_miny:-7.51
     car_min_width:1.55
     car_max_width:1.92

测量节点/system/system_executor.cpp

@@ -613,7 +613,9 @@ Error_manager System_executor::encapsulate_send_mq_status()
 			}else
 			{
 				LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<
-					"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb;
+					"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb << std::endl 
+					<< t_car_wheel_information.to_string() << std::endl
+					<< t_wj_car_wheel_information.to_string() << std::endl;
 			}
 
 		}else{
@@ -679,7 +681,7 @@ Error_manager System_executor::encapsulate_send_mq_status()
 		if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
 		{
 			// LOG(WARNING) << t_car_wheel_information.range_status<<std::endl;
-			std::cout << t_multi_status_msg.DebugString() << std::endl
+			LOG(INFO) << t_multi_status_msg.DebugString() << std::endl
 						<< std::endl;
 		}
 	}
@@ -989,15 +991,16 @@ Error_manager System_executor::encapsulate_send_status()
 			double dang = t_car_wheel_information.car_angle - t_wj_car_wheel_information.car_angle;
 			double dwb = t_car_wheel_information.car_wheel_base - t_wj_car_wheel_information.car_wheel_base;
 
+			// 使用rabbit mq 中函数计算偏差与提示，此处不处理!!
 			if(fabs(dx) < 0.03 && fabs(dy) < 0.06 && fabs(dang) < 0.6 && fabs(dwb) < 0.055)
 			{
-				t_car_wheel_information.car_wheel_base = t_car_wheel_information.car_wheel_base*0.3 + t_car_wheel_information.car_wheel_base*0.7;
+				// t_car_wheel_information.car_wheel_base = t_car_wheel_information.car_wheel_base*0.3 + t_car_wheel_information.car_wheel_base*0.7;
 			}else
 			{
-				LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<
-					"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb << std::endl 
-					<< t_car_wheel_information.to_string() << std::endl
-					<< t_wj_car_wheel_information.to_string() << std::endl;
+				// LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<
+				// 	"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb << std::endl 
+				// 	<< t_car_wheel_information.to_string() << std::endl
+				// 	<< t_wj_car_wheel_information.to_string() << std::endl;
 			}
 
 		}else{

测量节点/tool/region_status_checker.h

@@ -309,8 +309,8 @@ public:
         return ERROR;
     }
 
-    // 显著性判断，平移x方向速度0.02m/s,y方向速度0.02m/s误差，角度3deg/s误差
-    bool is_significant(Eigen::Matrix4f trans, double dtime, double vx_eps = 0.02, double vy_eps = 0.02, double omega_eps = 0.051)
+    // 显著性判断，平移x方向速度0.02m/s,y方向速度0.03m/s误差，角度3deg/s误差
+    bool is_significant(Eigen::Matrix4f trans, double dtime, double vx_eps = 0.03, double vy_eps = 0.03, double omega_eps = 0.051)
     {
         // 间隔时间为负数，或间隔超过0.5s则手动赋值
         if(dtime<0 || dtime>0.5)

测量节点/velodyne_lidar/ground_region.cpp

@@ -568,8 +568,8 @@ Error_manager Ground_region::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, d
     //        center_z, last_result.theta, last_result.front_theta, last_result.wheel_base, last_result.width,
     //        min_mean_loss);
     // std::cout << "\n-------- final z: " << chassis_z << std::endl;
-    std::cout << "cx: " << last_result.cx << ", cy: " << last_result.cy << ", theta: " << last_result.theta
-              << ", front: " << last_result.front_theta << ", wheelbase: " << last_result.wheel_base << ", width: " << last_result.width << std::endl << std::endl;
+    // std::cout << "cx: " << last_result.cx << ", cy: " << last_result.cy << ", theta: " << last_result.theta
+    //           << ", front: " << last_result.front_theta << ", wheelbase: " << last_result.wheel_base << ", width: " << last_result.width << std::endl << std::endl;
 
     // last_result.cx -= x;
     // last_result.cy -= y;
@@ -1046,7 +1046,7 @@ void Ground_region::thread_measure_func()
                 {
                     // 20221208 added by yct, use avg car angle and width data.
                     // LOG(WARNING)<<m_region.region_id()<<" angles: "<<m_car_wheel_information.car_angle<<", "<<t_wheel_info_stamped.wheel_data.car_angle;
-                    LOG(WARNING)<<m_region.region_id()<<" filter res: "<<t_wheel_info_stamped.wheel_data.to_string()<<std::endl;
+                    // LOG(WARNING)<<m_region.region_id()<<" filter res: "<<t_wheel_info_stamped.wheel_data.to_string()<<std::endl;
 
                     // m_car_wheel_information.car_angle = t_wheel_info_stamped.wheel_data.car_angle;
                     // m_car_wheel_information.car_wheel_width = t_wheel_info_stamped.wheel_data.car_wheel_width;