commit

aarch64/topic_echo/main/main.go

@@ -429,6 +429,7 @@ func main() {
 				}})
 		}
 		//37
+		// 自动驾驶状态 0 人工 1 自动
 		if topic == "/pj_vehicle_fdb_pub" {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,

trigger/pjisuv/pj_vehicle_fdb_pub/DriverTakeOver/main/DriverTakeOver.go

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/common/entity"
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 )
 
 /*
@@ -29,6 +30,7 @@ func Rule(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string {
 	if data.Automode == 0 && param.AutomodeOfPjVehicleFdbPub == 1 {
 		label = "DriverTakeOver"
 	}
+	fmt.Println("当前自动驾驶状态为：", data.Automode, "上一个自动驾驶状态为：", param.AutomodeOfPjVehicleFdbPub)
 	param.AutomodeOfPjVehicleFdbPub = data.Automode
 	return label
 }