From 882f8c6bfd3470144a5fbde5c622e1e0a57e4244 Mon Sep 17 00:00:00 2001
From: luoqi06 <luoqi06@baidu.com>
Date: Fri, 29 Jun 2018 12:01:23 -0700
Subject: [PATCH] Canbus : update ultrasonic

---
 modules/canbus/vehicle/lincoln/lincoln_controller.cc | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/modules/canbus/vehicle/lincoln/lincoln_controller.cc b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
index 62dec698f80..2f8cd9c0dcf 100644
--- a/modules/canbus/vehicle/lincoln/lincoln_controller.cc
+++ b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
@@ -351,6 +351,9 @@ Chassis LincolnController::chassis() {
     }
   }
 
+  if (chassis_detail.has_surround()) {
+    chassis_.mutable_surround()->CopyFrom(chassis_detail.surround());
+  }
   // give engage_advice based on error_code and canbus feedback
   if (chassis_error_mask_ || (chassis_.throttle_percentage() == 0.0) ||
       (chassis_.brake_percentage() == 0.0)) {
@@ -788,8 +791,8 @@ void LincolnController::SecurityDogThreadFunc() {
     std::chrono::duration<double, std::micro> elapsed{end - start};
     if (elapsed < default_period) {
       std::this_thread::sleep_for(default_period - elapsed);
-      start =
-        common::time::AsInt64<common::time::micros>(common::time::Clock::Now());
+      start = common::time::AsInt64<common::time::micros>(
+          common::time::Clock::Now());
     } else {
       AERROR_EVERY(100)
           << "Too much time consumption in LincolnController looping process:"