//
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// Created by YY on 2019/10/21.
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// Units note: distance - metre
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// speed - metre per second
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// angle - DEGREES
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//
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#include <cstdlib>
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#include <cmath>
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#include <semaphore.h>
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#include <mutex>
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#include <cstring>
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#include <vector>
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#include <list>
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#include <numeric>
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#include <algorithm>
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#include <string>
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#include <tuple>
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#include "driver_test.h"
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#include "defs.h"
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#include "test_common/Geometry.h"
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#include "common/apptimer.h"
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#include "jni_log.h"
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#include "test_items/park_edge.h"
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#include "native-lib.h"
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#include "test_items/park_bottom.h"
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#include "test_items/park_edge.h"
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#include "test_items/error_list.h"
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#include "test_items/right_corner.h"
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#include "test_items/driving_curve.h"
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#include "test_items/uphill.h"
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#include "master/comm_if.h"
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#include "utils/xconvert.h"
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#include "utils/num.h"
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#include "test_common/car_sensor.h"
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#include "mcu/mcu_if.h"
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#include "test_common/car_sensor.h"
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#include "test_items/area_exam.h"
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#include "test_common/odo_graph.h"
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#include "map.h"
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#include "common/semaphore.h"
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#include "common/string_util.h"
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#define DEBUG(fmt, args...) LOGD("<driver_test> <%s>: " fmt, __func__, ##args)
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using namespace std;
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#define RTK_INVALID 0
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#define RTK_SINGLE_POINT 1
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#define RTK_DIFF 2
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#define RTK_FIX 3
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#define RTK_FLOAT 4
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#define CAR_MODEL_POINT_NUM 32
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#define MAP_LIST_SIZE 32
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enum {
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TEST_TYPE_AREA = 2,
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TEST_TYPE_ROAD_DUMMY_LIGHT,
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TEST_TYPE_ROAD_TRUE_LIGHT,
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TEST_TYPE_ROAD_CALIBRATE
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};
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static const int DEFAULT_START_KEY_HOLD_TIME = D_SEC(2);
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static const int DEFAULT_CURVE_PAUSE_TIME = D_SEC(2);
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static const int DEFAULT_PARK_BOTTOM_PAUSE_TIME = D_SEC(2);
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static const int DEFAULT_PARK_BOTTOM_FINISH_TIME = D_SEC(210);
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static const int DEFAULT_PART_EDGE_PAUSE_TIME = D_SEC(2);
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static const int DEFAULT_PARK_EDGE_FINISH_TIME = D_SEC(90);
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static const int DEFAULT_TURN_A90_PAUSE_TIME = D_SEC(2);
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static const int DEFAULT_RAMP_FINISH_TIME = D_SEC(30);
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static const double DEFAULT_RAMP_STOPPOINT_RED_DISTANCE = 0.5;
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static const double DEFAULT_RAMP_EDGE_YELLOW_DISTANCE = 0.3;
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static const double DEFAULT_RAMP_EDGE_RED_DISTANCE = 0.5;
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static const double DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE = 0.1;
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static const double DEFAULT_RAMP_SLIDE_RED_DISTANCE = 0.3;
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static const double DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE = 0.1;
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static const double DEFAULT_ROAD_SLIDE_RED_DISTANCE = 0.3;
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static const int DEFAULT_ROAD_MAX_DISTANCE = 3000;
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static const int DEFAULT_ROAD_MAX_SPEED = 60;
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static const int DEFAULT_GEAR_N_TIME = D_SEC(5);
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static const int DEFAULT_SAME_GEAR_HOLD_TIME = D_SEC(5);
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static const int DEFAULT_GEAR_SPEED_ERROR_MAX_TIME = D_SEC(15);
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static const int DEFAULT_ROAD_PAUSE_TIME = D_SEC(2);
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static const int DEFAULT_CHANGE_LANE_MIN_TIME = D_SEC(10);
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static const int DEFAULT_CRASH_DOTTED_LINE_MAX_TIME = D_SEC(10);
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static const int DEFAULT_TURN_SIGNAL_MIN_ADVANCE = D_SEC(3);
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static const int DEFAULT_START_CAR_MAX_RMP = 2500;
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static const int DEFAULT_START_CAR_DISTANCE = 10;
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static const double DEFAULT_START_CAR_OPEN_DOOR_DISTANCE = 1.0;
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static const char DEFAULT_PREPARE_TTS[] = "请开始上车准备";
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static const char DEFAULT_TOUCH_LEFT_FRONT[] = "学员通过左前方";
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static const char DEFAULT_TOUCH_LEFT_REAR[] = "学员通过左后方";
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static const char DEFAULT_TOUCH_RIGHT_FRONT[] = "学员通过右前方";
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static const char DEFAULT_TOUCH_RIGHT_REAR[] = "学员通过右后方";
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static const char DEFAULT_START_ENGINE[] = "请启动发动机";
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static const char DEFAULT_START_CAR_BEGIN_TTS[] = "请起步，继续完成考试";
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static const char DEFAULT_START_CAR_END_TTS[] = "起步完成";
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static const int CHANGE_LANE_MAX_DISTANCE = 100;
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static const char DEFAULT_CHANGE_LANE_BEGIN_TTS[] = "前方请变更车道";
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static const char DEFAULT_CHANGE_LANE_END_TTS[] = "变道完成";
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static const int DEFAULT_SHIFT_MAX_DISTANCE = 120;
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static const int DEFAULT_SHIFT_HOLD_TIME = D_SEC(3);
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static const char DEFAULT_SHIFT_BEGIN_TTS[] = "请进行加减挡位操作";
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static const char DEFAULT_SHIFT_END_TTS[] = "加减挡位完成";
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static const char DEFAULT_STRAIGHT_BEGIN_TTS[] = "请保持直线行驶";
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static const char DEFAULT_STRAIGHT_END_TTS[] = "直线行驶完成";
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static const int DEFAULT_STRAIGHT_MAX_DISTANCE = 100;
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static const double DEFAULT_STRAIGHT_MAX_OFFSET = 0.3;
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static const int DEFAULT_OVERTAKE_MAX_DISTANCE = 150;
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static const char DEFAULT_OVERTAKE_BEGIN_TTS[] = "请超越前方车辆";
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static const char DEFAULT_OVERTAKE_END_TTS[] = "超车完成";
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static const int DEFAULT_STOP_CAR_MAX_DISTANCE = 150;
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static const int DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME = D_SEC(15);
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static const double DEFAULT_STOP_CAR_EDGE_RED_DISTANCE = 0.5;
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static const double DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE = 0.5;
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static const char DEFAULT_STOP_CAR_BEGIN_TTS[] = "请靠边停车";
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static const char DEFAULT_STOP_CAR_END_TTS[] = "靠边停车完成";
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static const double DEFAULT_CROSSING_STOP_VALID_DISTANCE = 3.0;
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static const int DEFAULT_CROSS_SCHOOL_MAX_SPEED = 30;
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static const int DEFAULT_CROSS_BREAK_VALID_DISTANCE = 30;
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static const char DEFAULT_CROSSING_GO_STRAIGHT_TTS[] = "前方路口直行";
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static const char DEFAULT_CROSSING_TURN_LEFT_TTS[] = "前方路口左转";
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static const char DEFAULT_CROSSING_TURN_RIGHT_TTS[] = "前方路口右转";
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static const char DEFAULT_CROSSING_TURN_BACK_TTS[] = "前方选择合适地点掉头";
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static const char DEFAULT_CROSSING_TURN_UNKNOWN_TTS[] = "前方路口听从教练指示";
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static int ExamType;
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static bool reportSeatbeltEject;
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vector<ExamFault> ExamFaultList;
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static int examFaultIndex = 0;
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ilovers::semaphore sem(0);
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static int exam_dummy_light;
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static car_model_t CarModel;
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//static LIST_CAR_MODEL CarModelList; // 一段时间的车辆轨迹集合
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static struct dummy_light_exam *DummyLightContent;
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static int DummyLightContentSize;
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static bool engineRuning = false;
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const int ENGINE_MIN_ROTATE = 200;
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static bool engineStart = false;
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#define MOV_AVG_SIZE 1
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#define RTK_BUFFER_SIZE 100
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#define CAR_MODEL_CACHE_SIZE 10
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static std::list<rtk_info_t> RtkInfoList;
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// 存入前后2组建模数据
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static modeling_t realtimeBodyModeling[2];
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static motion_t realtimeMotionStatus;
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static prime_t prime;
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static void SetExamParamDefault(void);
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static void EngineStartHold(apptimer_var_t val);
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static motion_t CalcMotionState(std::list<rtk_info_t> &s);
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static void ExecuteExam(prime_t &prime);
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static void ReadDriverExamPrimerTimeout(apptimer_var_t val);
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static void CalcBodyModeling(modeling_t &car, car_model_t &carModel, rtk_info_t &rtk);
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static void work_thread(void);
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static void UploadModeling(motion_t &motion, modeling_t &modeling);
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prime_t& GetPrime(void)
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{
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return prime;
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}
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void DriverTestInit(void)
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{
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prime.examing = false;
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prime.pMotion = &realtimeMotionStatus;
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prime.pModeling = realtimeBodyModeling;
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prime.pModel = &CarModel;
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SetExamParamDefault();
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// CarModelList.clear();
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// AreaMapList.clear();
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CarSensorInit();
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DummyLightContentSize = 0;
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DummyLightContent = NULL;
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std::thread(work_thread).detach();
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}
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static void SetExamParamDefault(void)
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{
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prime.examParam.hold_start_key_limit_time = DEFAULT_START_KEY_HOLD_TIME;
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prime.examParam.curve_pause_criteria = DEFAULT_CURVE_PAUSE_TIME;
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prime.examParam.park_bottom_pause_criteria = DEFAULT_PARK_BOTTOM_PAUSE_TIME;
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prime.examParam.park_bottom_limit_time = DEFAULT_PARK_BOTTOM_FINISH_TIME;
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prime.examParam.park_edge_pause_criteria = DEFAULT_PART_EDGE_PAUSE_TIME;
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prime.examParam.park_edge_limit_time = DEFAULT_PARK_EDGE_FINISH_TIME;
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prime.examParam.turn_a90_pause_criteria = DEFAULT_TURN_A90_PAUSE_TIME;
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prime.examParam.ramp_stoppoint_red_distance = DEFAULT_RAMP_STOPPOINT_RED_DISTANCE;
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prime.examParam.ramp_edge_yellow_distance = DEFAULT_RAMP_EDGE_YELLOW_DISTANCE;
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prime.examParam.ramp_edge_red_distance = DEFAULT_RAMP_EDGE_RED_DISTANCE;
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prime.examParam.ramp_slide_yellow_distance = DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE;
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prime.examParam.ramp_slide_red_distance = DEFAULT_RAMP_SLIDE_RED_DISTANCE;
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prime.examParam.ramp_start_car_limit_time = DEFAULT_RAMP_FINISH_TIME;
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prime.examParam.road_slide_yellow_distance = DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE;
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prime.examParam.road_slide_red_distance = DEFAULT_ROAD_SLIDE_RED_DISTANCE;
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prime.examParam.road_total_distance = DEFAULT_ROAD_MAX_DISTANCE;
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prime.examParam.road_max_speed = DEFAULT_ROAD_MAX_SPEED;
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prime.examParam.gear_speed_table.resize(6);
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for (int i = 0; i < prime.examParam.gear_speed_table.size(); ++i) {
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prime.examParam.gear_speed_table[i].resize(2);
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}
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prime.examParam.gear_speed_table[0][0] = 0;
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prime.examParam.gear_speed_table[0][1] = 20;
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prime.examParam.gear_speed_table[1][0] = 5;
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prime.examParam.gear_speed_table[1][1] = 30;
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prime.examParam.gear_speed_table[2][0] = 15;
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prime.examParam.gear_speed_table[2][1] = 40;
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prime.examParam.gear_speed_table[3][0] = 25;
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prime.examParam.gear_speed_table[3][1] = 10000;
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prime.examParam.gear_speed_table[4][0] = 35;
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prime.examParam.gear_speed_table[4][1] = 10000;
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prime.examParam.gear_speed_table[5][0] = 45;
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prime.examParam.gear_speed_table[5][1] = 10000;
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prime.examParam.gear_n_allow_time = DEFAULT_GEAR_N_TIME;
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prime.examParam.same_gear_min_time = DEFAULT_SAME_GEAR_HOLD_TIME; // x秒内，不允许N->X->N->X置同一挡位
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prime.examParam.gear_speed_error_cumulative_time = DEFAULT_GEAR_SPEED_ERROR_MAX_TIME;
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prime.examParam.road_pause_criteria = DEFAULT_ROAD_PAUSE_TIME;
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prime.examParam.continuous_change_lane_min_time = DEFAULT_CHANGE_LANE_MIN_TIME;
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prime.examParam.crash_dotted_line_cumulative_time = DEFAULT_CRASH_DOTTED_LINE_MAX_TIME;
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prime.examParam.turn_signal_min_advance = DEFAULT_TURN_SIGNAL_MIN_ADVANCE;
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prime.examParam.start_car_max_rpm = DEFAULT_START_CAR_MAX_RMP;
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prime.examParam.start_car_limit_distance = DEFAULT_START_CAR_DISTANCE;
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prime.examParam.open_door_drive_allow_distance = DEFAULT_START_CAR_OPEN_DOOR_DISTANCE;
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prime.examParam.prepare_tts = DEFAULT_PREPARE_TTS;
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prime.examParam.touch_leftfront_tts = DEFAULT_TOUCH_LEFT_FRONT;
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prime.examParam.touch_leftrear_tts = DEFAULT_TOUCH_LEFT_REAR;
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prime.examParam.touch_rightfront_tts = DEFAULT_TOUCH_RIGHT_FRONT;
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prime.examParam.touch_rightrear_tts = DEFAULT_TOUCH_RIGHT_REAR;
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prime.examParam.start_engine_tts = DEFAULT_START_ENGINE;
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prime.examParam.start_car_begin_tts = DEFAULT_START_CAR_BEGIN_TTS;
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prime.examParam.start_car_end_tts = DEFAULT_START_CAR_END_TTS;
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prime.examParam.change_lane_limit_distance = CHANGE_LANE_MAX_DISTANCE;
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prime.examParam.change_lane_begin_tts = DEFAULT_CHANGE_LANE_BEGIN_TTS;
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prime.examParam.change_lane_end_tts = DEFAULT_CHANGE_LANE_END_TTS;
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prime.examParam.shift_limit_distance = DEFAULT_SHIFT_MAX_DISTANCE;
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prime.examParam.shift_hold_time = DEFAULT_SHIFT_HOLD_TIME;
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prime.examParam.shift_begin_tts = DEFAULT_SHIFT_BEGIN_TTS;
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prime.examParam.shift_end_tts = DEFAULT_SHIFT_END_TTS;
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prime.examParam.shift_up_tts = "";
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prime.examParam.shift_down_tts = "";
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prime.examParam.straight_begin_tts = DEFAULT_STRAIGHT_BEGIN_TTS;
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prime.examParam.straight_end_tts = DEFAULT_STRAIGHT_END_TTS;
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prime.examParam.straight_limit_distance = DEFAULT_STRAIGHT_MAX_DISTANCE;
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prime.examParam.straight_max_offset = DEFAULT_STRAIGHT_MAX_OFFSET;
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prime.examParam.overtake_limit_distance = DEFAULT_OVERTAKE_MAX_DISTANCE;
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prime.examParam.overtake_begin_tts = DEFAULT_OVERTAKE_BEGIN_TTS;
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prime.examParam.overtake_end_tts = DEFAULT_OVERTAKE_END_TTS;
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prime.examParam.stop_car_limit_distance = DEFAULT_STOP_CAR_MAX_DISTANCE;
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prime.examParam.stop_car_open_door_allow_time = DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME;
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prime.examParam.stop_car_edge_red_distance = DEFAULT_STOP_CAR_EDGE_RED_DISTANCE;
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prime.examParam.stop_car_edge_yellow_distance = DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE;
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prime.examParam.stop_car_begin_tts = DEFAULT_STOP_CAR_BEGIN_TTS;
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prime.examParam.stop_car_end_tts = DEFAULT_STOP_CAR_END_TTS;
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prime.examParam.crossing_stop_valid_distance = DEFAULT_CROSSING_STOP_VALID_DISTANCE;
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prime.examParam.cross_school_max_speed = DEFAULT_CROSS_SCHOOL_MAX_SPEED;
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prime.examParam.crossing_break_valid_distance = DEFAULT_CROSS_BREAK_VALID_DISTANCE;
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prime.examParam.crossing_go_straight_tts = DEFAULT_CROSSING_GO_STRAIGHT_TTS;
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prime.examParam.crossing_turn_left_tts = DEFAULT_CROSSING_TURN_LEFT_TTS;
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prime.examParam.crossing_turn_right_tts = DEFAULT_CROSSING_TURN_RIGHT_TTS;
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prime.examParam.crossing_turn_back_tts = DEFAULT_CROSSING_TURN_BACK_TTS;
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prime.examParam.crossing_turn_unknown_tts = DEFAULT_CROSSING_TURN_UNKNOWN_TTS;
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}
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static void ReadDriverExamPrimerTimeout(apptimer_var_t val)
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{
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ReadDriverExamPrimer();
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}
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void ReadDriverExamPrimer(void)
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{
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MA_ReadMap();
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MA_ReadCar();
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MA_ReadSensor();
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}
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void ClearAreaMap(void)
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{
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if (!prime.examing) {
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DEBUG("清除所有地图");
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vector<curve_map_t>().swap(std::get<MAP_TYPE_CURVE>(prime.maps));
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vector<park_button_map_t>().swap(std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps));
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vector<park_edge_map_t>().swap(std::get<MAP_TYPE_PARK_EDGE>(prime.maps));
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vector<turn_a90_map_t>().swap(std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps));
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vector<uphill_map_t>().swap(std::get<MAP_TYPE_UPHILL>(prime.maps));
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}
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}
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void AddCurveMap(curve_map_t &map)
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{
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DEBUG("添加曲线行驶地图");
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if (prime.examing) {
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return;
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}
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for (auto m: std::get<MAP_TYPE_CURVE>(prime.maps)) {
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if (m.id == map.id) {
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return;
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}
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}
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std::get<MAP_TYPE_CURVE>(prime.maps).push_back(map);
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}
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// 如果未采集车位口虚线内侧，则需要计算出来
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void AddParkButtonMap(park_button_map_t &map)
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{
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DEBUG("添加倒车入库地图");
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if (prime.examing) {
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return;
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}
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for (auto m: std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)) {
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if (m.id == map.id) {
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return;
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}
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}
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if (map.points.size() == 8) {
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PointF p8 = PointExtend(map.points[2], map.line_width, YawOf(map.points[2], map.points[3]));
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PointF p9 = PointExtend(map.points[5], map.line_width, YawOf(map.points[5], map.points[4]));
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map.points.push_back(p8);
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map.points.push_back(p9);
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}
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).push_back(map);
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DEBUG("倒库地图点数：%d", map.points.size());
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DEBUG("倒库地图点数 %d",std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points.size());
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}
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// 如果未采集车位口虚线内侧，则需要计算出来
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void AddParkEdgeMap(park_edge_map_t &map)
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{
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DEBUG("添加侧方停车地图");
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if (prime.examing) {
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return;
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}
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for (auto m: std::get<MAP_TYPE_PARK_EDGE>(prime.maps)) {
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if (m.id == map.id) {
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return;
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}
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}
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if (map.points.size() == 8) {
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PointF p8 = PointExtend(map.points[2], map.line_width, YawOf(map.points[2], map.points[3]));
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PointF p9 = PointExtend(map.points[5], map.line_width, YawOf(map.points[5], map.points[4]));
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map.points.push_back(p8);
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map.points.push_back(p9);
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}
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps).push_back(map);
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}
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// 坡道起步地图要把左下角和左上角计算出来，方便场地的进入和退出判断
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void AddUphillMap(uphill_map_t &map)
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{
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DEBUG("添加上坡起步地图");
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if (prime.examing) {
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return;
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}
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for (auto m: std::get<MAP_TYPE_UPHILL>(prime.maps)) {
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if (m.id == map.id) {
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return;
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}
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}
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if (map.points.size() != 10)
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return;
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PointF bottom_left = Calc3Point(map.points[1], map.points[0], DistanceOf(map.points[1], map.points[2]), 'R');
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PointF top_left = Calc3Point(map.points[8], map.points[9], DistanceOf(map.points[8], map.points[7]), 'L');
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map.points.push_back(bottom_left); // 作为10号点
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map.points.push_back(top_left); // 作为11号点
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std::get<MAP_TYPE_UPHILL>(prime.maps).push_back(map);
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}
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void AddTurnA90Map(turn_a90_map_t &map)
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{
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DEBUG("添加直角转弯地图");
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if (prime.examing) {
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return;
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}
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for (auto m: std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)) {
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if (m.id == map.id) {
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return;
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}
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}
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps).push_back(map);
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}
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void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
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int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
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int *body, int bodyNum, double (*point)[2], int pointNum, double antPitch, double antHeight, double groundHeight)
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{
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DEBUG("加入车辆信息 pointNum %d", pointNum);
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if (point == NULL || pointNum == 0 || prime.examing) return;
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vector<int>().swap(CarModel.body);
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vector<car_desc_t>().swap(CarModel.carDesc);
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CarModel.basePoint.X = basePoint[0];
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CarModel.basePoint.Y = basePoint[1];
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CarModel.axial[0] = axial[0];
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CarModel.axial[1] = axial[1];
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CarModel.left_front_tire[0] = left_front_tire[0];
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CarModel.left_front_tire[1] = left_front_tire[1];
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CarModel.right_front_tire[0] = right_front_tire[0];
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CarModel.right_front_tire[1] = right_front_tire[1];
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CarModel.left_rear_tire[0] = left_rear_tire[0];
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CarModel.left_rear_tire[1] = left_rear_tire[1];
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CarModel.right_rear_tire[0] = right_rear_tire[0];
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CarModel.right_rear_tire[1] = right_rear_tire[1];
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if (bodyNum == 0 || body == NULL) {
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for (int i = 0; i < 6; ++i) {
|
CarModel.body.push_back(i);
|
}
|
} else {
|
for (int i = 0; i < bodyNum; ++i) {
|
CarModel.body.push_back(body[i]);
|
}
|
}
|
|
CarModel.antPitch = antPitch;
|
CarModel.antHeight = antHeight;
|
CarModel.groundHeight = groundHeight;
|
|
CarModel.carDesc.resize(pointNum);
|
// 测量坐标转换为距离-角度形式
|
double C02 = (point[0][0]-basePoint[0])*(point[0][0]-basePoint[0]) +
|
(point[0][1]-basePoint[1])*(point[0][1]-basePoint[1]);
|
double C0 = sqrt(C02);
|
|
CarModel.carDesc[0].distance = sqrt(C02);
|
CarModel.carDesc[0].angle = 0.0;
|
|
for (int i = 1; i < pointNum; ++i) {
|
double dis2 = (point[i][0]-basePoint[0])*(point[i][0]-basePoint[0]) +
|
(point[i][1]-basePoint[1])*(point[i][1]-basePoint[1]);
|
double dis = sqrt(dis2);
|
|
CarModel.carDesc[i].distance = dis;
|
|
CarModel.carDesc[i].angle = 180 * acos((dis2 + C02 - ((point[i][0]-point[0][0])*(point[i][0]-point[0][0]) +
|
(point[i][1]-point[0][1])*(point[i][1]-point[0][1])))/(2*C0*dis)) / M_PI;
|
|
if (i > axial[1])
|
CarModel.carDesc[i].angle = 360.0 - CarModel.carDesc[i].angle;
|
|
DEBUG("加入点<%d> 距离 %f 角度 %f", i, CarModel.carDesc[i].distance, CarModel.carDesc[i].angle);
|
}
|
|
// CarModel->carDesc[0].distance = 0.2465;
|
// CarModel->carDesc[0].angle = 0;
|
//
|
// CarModel->carDesc[1].distance = 0.2635;
|
// CarModel->carDesc[1].angle = 20.7;
|
//
|
// CarModel->carDesc[2].distance = 0.14;
|
// CarModel->carDesc[2].angle = 138.9;
|
//
|
// CarModel->carDesc[3].distance = 0.1055;
|
// CarModel->carDesc[3].angle = 180.0;
|
//
|
// CarModel->carDesc[4].distance = 0.14;
|
// CarModel->carDesc[4].angle = 221.1;
|
//
|
// CarModel->carDesc[5].distance = 0.2635;
|
// CarModel->carDesc[5].angle = 339.3;
|
|
DEBUG("SetCarMeasurePoint Calc Over");
|
}
|
|
|
void StartDriverExam(int start, int type)
|
{
|
bool err = false;
|
DEBUG("++++++++++++考试启动 start %d type %d+++++++++++++", start, type);
|
|
if (start == 0) {
|
DEBUG("结束考试");
|
|
TerminateAreaExam();
|
|
prime.examing = false;
|
MA_SendExamStatus(0, 0);
|
return;
|
}
|
|
// type = TEST_TYPE_ROAD_CALIBRATE;
|
|
if (std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size() == 0 && type == TEST_TYPE_AREA) {
|
DEBUG("没有场考地图");
|
err = true;
|
MA_SendExamStatus(0, -1);
|
}
|
if (prime.pModel->carDesc.size() == 0) {
|
DEBUG("没有车模");
|
err = true;
|
MA_SendExamStatus(0, -2);
|
}
|
if (DummyLightContent == NULL && type == TEST_TYPE_ROAD_DUMMY_LIGHT) {
|
DEBUG("没有模拟灯光");
|
// err = true;
|
// MA_SendExamStatus(0, -3);
|
}
|
|
if (!err) {
|
if (!prime.examing) {
|
DEBUG("启动考试");
|
ExamFaultList.clear();
|
examFaultIndex = 0;
|
|
prime.examing = true;
|
ExamType = type;
|
reportSeatbeltEject = false;
|
|
if (type == TEST_TYPE_AREA) {
|
DEBUG("倒库地图数目：%d", std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size());
|
DEBUG("侧方地图数目：%d", std::get<MAP_TYPE_PARK_EDGE>(prime.maps).size());
|
DEBUG("曲线地图数目：%d", std::get<MAP_TYPE_CURVE>(prime.maps).size());
|
DEBUG("坡道地图数目：%d", std::get<MAP_TYPE_UPHILL>(prime.maps).size());
|
DEBUG("直角地图数目：%d", std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps).size());
|
|
InitAreaExam();
|
}
|
}
|
MA_SendExamStatus(1, 0);
|
}
|
}
|
|
/***************************************
|
* 触发考试评判
|
*/
|
static void work_thread(void)
|
{
|
while (true) {
|
sem.wait();
|
|
// 计算当前车速，前进后退或停止
|
realtimeMotionStatus = CalcMotionState(RtkInfoList);
|
// 累加里程
|
UpdataOdo(realtimeMotionStatus);
|
prime.odo = ReadOdo();
|
// 计算当前车辆点坐标值
|
if (CarModel.carDesc.size() > 0) {
|
prime.prev_modeling_index = prime.curr_modeling_index;
|
DEBUG("缓存坐标 %d", prime.prev_modeling_index);
|
prime.curr_modeling_index = (prime.curr_modeling_index + 1) %
|
(sizeof(realtimeBodyModeling) /
|
sizeof(realtimeBodyModeling[0]));
|
DEBUG("当前坐标 %d", prime.curr_modeling_index);
|
CalcBodyModeling(realtimeBodyModeling[prime.curr_modeling_index], CarModel,
|
RtkInfoList.front());
|
DEBUG("当前坐标 点数 %d", realtimeBodyModeling[prime.curr_modeling_index].points.size());
|
// 向UI上报车辆点坐标
|
UploadModeling(realtimeMotionStatus, realtimeBodyModeling[prime.curr_modeling_index]);
|
}
|
// 触发考试项目
|
ExecuteExam(prime);
|
}
|
}
|
|
static motion_t CalcMotionState(std::list<rtk_info_t> &s)
|
{
|
motion_t motion;
|
|
double speed;
|
move_status_t move;
|
|
if (s.size() < 2) {
|
return motion;
|
}
|
|
auto curr = s.begin();
|
|
motion.timestamp = curr->utc_time;
|
|
// 查找1秒前的点,如果找不到则视为停车
|
auto prev = s.begin();
|
|
std::advance(prev, 1);
|
|
for (; prev != s.end(); ++prev) {
|
if (curr->utc_time - prev->utc_time > 3000) {
|
return motion;
|
}
|
if (curr->utc_time - prev->utc_time >= 1000) {
|
break;
|
}
|
}
|
|
if (prev == s.end()) {
|
return motion;
|
}
|
|
// 计算速度(米/秒)、前进后退
|
speed = sqrt(pow(curr->x - prev->x, 2) + pow(curr->y - prev->y, 2)) * 1000 /
|
static_cast<double>(curr->utc_time - prev->utc_time);
|
|
double deg = 0.0;
|
|
if (speed < 0.05) {
|
// 停车
|
move = STOP;
|
} else {
|
// 判断前进还是后退
|
if (fabs(curr->y - prev->y) <= GLB_EPSILON) {
|
if (curr->x > prev->x) {
|
deg = 90;
|
} else {
|
deg = 270;
|
}
|
} else if (fabs(curr->x - prev->x) <= GLB_EPSILON) {
|
if (curr->y > prev->y) {
|
deg = 0;
|
} else {
|
deg = 180;
|
}
|
} else {
|
deg = toDegree(atan(fabs(curr->x - prev->x) /
|
fabs(curr->y - prev->y)));
|
|
if (curr->x > prev->x &&
|
curr->y > prev->y) {
|
|
} else if (curr->x < prev->x &&
|
curr->y > prev->y) {
|
deg = 360 - deg;
|
} else if (curr->x < prev->x &&
|
curr->y < prev->y) {
|
deg = 180 + deg;
|
} else if (curr->x > prev->x &&
|
curr->y < prev->y) {
|
deg = 180 - deg;
|
}
|
}
|
|
deg = fabs(curr->heading - deg);
|
if (deg > 180) {
|
deg = 360 - deg;
|
}
|
if (deg < 90) {
|
// 前进
|
move = FORWARD;
|
} else {
|
// 后退
|
move = BACKWARD;
|
}
|
}
|
|
motion.speed = speed;
|
motion.move = move;
|
|
return motion;
|
}
|
|
void UpdateSensor(int id, int value)
|
{
|
switch (id) {
|
case OBD_SPEED:
|
prime.sensor.speed = value;
|
break;
|
case ENGINE_RPM:
|
prime.sensor.rpm = value;
|
break;
|
case GEAR:
|
prime.sensor.gear = value;
|
break;
|
case TURN_SIGNAL_LAMP:
|
prime.sensor.turn_signal_lamp = value;
|
break;
|
case DIPPED_BEAM_LAMP:
|
prime.sensor.dipped_beam_lamp = value;
|
break;
|
case FOG_LAMP:
|
prime.sensor.fog_lamp = value;
|
break;
|
case CLEARANCE_LAMP:
|
prime.sensor.clearance_lamp = value;
|
break;
|
case FLASH_BEAM_LAMP:
|
prime.sensor.flash_beam_lamp = value;
|
break;
|
case MAIN_BEAM_LAMP:
|
prime.sensor.main_beam_lamp = value;
|
break;
|
case SEATBELT:
|
prime.sensor.seatbelt = value;
|
break;
|
case ENGINE_START:
|
prime.sensor.engine_start = value;
|
break;
|
case BRAKE:
|
prime.sensor.brake = value;
|
break;
|
case HAND_BRAKE:
|
prime.sensor.hand_brake = value;
|
break;
|
case SECOND_BRAKE:
|
prime.sensor.second_brake = value;
|
break;
|
case DOOR:
|
prime.sensor.door = value;
|
break;
|
case SURROUND_CAR_1:
|
prime.sensor.surround_car_1 = value;
|
break;
|
case SURROUND_CAR_2:
|
prime.sensor.surround_car_2 = value;
|
break;
|
case SURROUND_CAR_3:
|
prime.sensor.surround_car_3 = value;
|
break;
|
case SURROUND_CAR_4:
|
prime.sensor.surround_car_4 = value;
|
break;
|
default:break;
|
}
|
}
|
|
void UpdateRTKInfo(const rtk_info_t *s)
|
{
|
RtkInfoList.push_front(*s);
|
|
while (RtkInfoList.size() > 100) {
|
RtkInfoList.pop_back();
|
}
|
sem.signal();
|
}
|
|
static void UploadModeling(motion_t &motion, modeling_t &modeling)
|
{
|
struct carBrief brief;
|
|
struct TimeStructure ts;
|
|
TimeBreakdown(modeling.utc_time / 1000, &ts);
|
|
sprintf(brief.utc, "%04d%02d%02d%02d%02d%02d.%02d", ts.Year, ts.Month, ts.Day,
|
ts.Hour, ts.Minute, ts.Second, (modeling.utc_time % 1000) / 10);
|
|
brief.qf = 3;
|
brief.map_id = -1;//GetMapId(CurrExamMapIndex, MapList, MapNum);
|
brief.move = motion.move;
|
brief.speed = ConvertMs2KMh(motion.speed);
|
brief.heading = modeling.yaw;
|
brief.main_ant[0] = modeling.base_point.X;
|
brief.main_ant[1] = modeling.base_point.Y;
|
|
brief.axial[0] = CarModel.axial[0];
|
brief.axial[1] = CarModel.axial[1];
|
brief.left_front_tire[0] = CarModel.left_front_tire[0];
|
brief.left_front_tire[1] = CarModel.left_front_tire[1];
|
brief.right_front_tire[0] = CarModel.right_front_tire[0];
|
brief.right_front_tire[1] = CarModel.right_front_tire[1];
|
brief.left_rear_tire[0] = CarModel.left_rear_tire[0];
|
brief.left_rear_tire[1] = CarModel.left_rear_tire[1];
|
brief.right_rear_tire[0] = CarModel.right_rear_tire[0];
|
brief.right_rear_tire[1] = CarModel.right_rear_tire[1];
|
|
brief.body.assign(CarModel.body.begin(), CarModel.body.end());
|
|
for (auto po: modeling.points) {
|
brief.point.push_back({round(po.X, 4), round(po.Y, 4)});
|
}
|
|
MA_SendCarPosition(&brief);
|
}
|
|
static void ExecuteExam(prime_t &prime)
|
{
|
static bool rec = false;
|
static bool handBreakActive = false, handBreakActive2 = false;
|
static double startCarMoveDistance;
|
static move_status_t prevMove = STOP;
|
|
// 更新车辆传感器数据
|
DEBUG("GEAR = %d", ReadCarStatus(GEAR));
|
DEBUG("RPM = %d", ReadCarStatus(ENGINE_RPM));
|
DEBUG("TURN_SIGNAL_LAMP = %d", ReadCarStatus(TURN_SIGNAL_LAMP));
|
DEBUG("DIPPED_BEAM_LAMP = %d", ReadCarStatus(DIPPED_BEAM_LAMP));
|
DEBUG("FOG_LAMP = %d", ReadCarStatus(FOG_LAMP));
|
DEBUG("CLEARANCE_LAMP = %d", ReadCarStatus(CLEARANCE_LAMP));
|
DEBUG("FLASH_BEAM_LAMP = %d", ReadCarStatus(FLASH_BEAM_LAMP));
|
DEBUG("MAIN_BEAM_LAMP = %d", ReadCarStatus(MAIN_BEAM_LAMP));
|
DEBUG("SEATBELT = %d", ReadCarStatus(SEATBELT));
|
DEBUG("BRAKE = %d", ReadCarStatus(BRAKE));
|
DEBUG("HAND_BRAKE = %d", ReadCarStatus(HAND_BRAKE));
|
DEBUG("SECOND_BRAKE = %d", ReadCarStatus(SECOND_BRAKE));
|
DEBUG("DOOR = %d", ReadCarStatus(DOOR));
|
|
if (!prime.examing) {
|
return;
|
}
|
|
if (prime.pMotion->move != STOP) {
|
if (prime.sensor.seatbelt == EJECT && !reportSeatbeltEject) {
|
DEBUG("不系安全带");
|
reportSeatbeltEject = true;
|
AddExamFault(ExamType == TEST_TYPE_AREA? 10101: 30101);
|
}
|
if (rec) {
|
if (!handBreakActive2 && prime.odo - startCarMoveDistance >= prime.examParam.start_car_limit_distance) {
|
handBreakActive2 = true;
|
|
if (ExamType == TEST_TYPE_ROAD_DUMMY_LIGHT || ExamType == TEST_TYPE_ROAD_TRUE_LIGHT) {
|
if (prime.sensor.hand_brake == ACTIVE) {
|
DEBUG("Handbreak active move over 10m");
|
// 手刹拉起状态下，行驶了10米以上，不合格
|
AddExamFault(40205);
|
} else if (handBreakActive) {
|
// 手刹拉起状态下，行驶了1米以上，扣10分
|
DEBUG("Handbreak active move over 1M");
|
AddExamFault(40206);
|
}
|
}
|
} else if (!handBreakActive && prime.odo - startCarMoveDistance >= prime.examParam.open_door_drive_allow_distance && prime.sensor.hand_brake == ACTIVE) {
|
handBreakActive = true;
|
|
if (ExamType == TEST_TYPE_AREA) {
|
DEBUG("Handbreak active move over 1M");
|
AddExamFault(10107);
|
}
|
}
|
}
|
} else if (!rec || prevMove != STOP) { // 记录停车点
|
rec = true;
|
handBreakActive = handBreakActive2 = false;
|
startCarMoveDistance = prime.odo;
|
}
|
|
prevMove = prime.pMotion->move;
|
|
AreaExam(prime);
|
}
|
|
static void EngineStartHold(apptimer_var_t val) {
|
DEBUG("点火超时");
|
if (ReadCarStatus(ENGINE_START) == ACTIVE) {
|
// 不及时松开启动开关，扣10分
|
if (ExamType == TEST_TYPE_AREA) {
|
AddExamFault(10201);
|
} else if (ExamType != TEST_TYPE_ROAD_CALIBRATE) {
|
AddExamFault(40207);
|
}
|
}
|
}
|
|
void AddExamFault(int wrong)
|
{
|
struct ExamFault fault;
|
|
fault.sn = examFaultIndex++;
|
|
//strcpy(fault.utc, StringUtil::FormatUTCTime(AppTimer_GetGmtTickCount()).c_str());
|
strcpy(fault.utc, "20230413172712.20");
|
|
fault.wrong_id = wrong;
|
|
DEBUG("考试发生错误 code = %d %s", wrong, fault.utc);
|
|
ExamFaultList.push_back(fault);
|
|
MA_SendExamWrong(ExamFaultList);
|
|
ExamFaultList.clear();
|
}
|
|
/***************************************************************
|
* 车速判断需要1秒前后的对比，实测停车确认需要1.5秒左右，固减去这个时间
|
* @param src
|
* @return
|
*/
|
int CorrectPauseCriteria(int src)
|
{
|
return src;
|
// return (src > 500) ? src - 500 : 500;
|
}
|
|
/*******************************************************************
|
* @brief 由主天线坐标计算车身点坐标
|
* @param azimuth
|
* @param coord
|
*/
|
static void CalcBodyModeling(modeling_t &car, car_model_t &carModel, rtk_info_t &rtk)
|
{
|
car.utc_time = rtk.utc_time;
|
car.yaw = rtk.heading;
|
car.pitch = rtk.pitch;
|
car.roll = rtk.roll;
|
// 俯仰角修正
|
double pitch = rtk.pitch - carModel.antPitch;
|
double azimuth = rtk.heading;
|
// DEBUG("yaw = %f 修正俯仰角 %f", azimuth, pitch);
|
|
// 主天线投影修正
|
car.base_point.X = rtk.x + fabs(carModel.antHeight - carModel.groundHeight) * sin(toRadians(pitch)) * sin(toRadians(azimuth));
|
car.base_point.Y = rtk.y + fabs(carModel.antHeight - carModel.groundHeight) * sin(toRadians(pitch)) * cos(toRadians(azimuth));
|
|
// 首次计算
|
if (car.points.size() != carModel.carDesc.size()) {
|
car.points.resize(carModel.carDesc.size());
|
}
|
|
for (int i = 0; i < carModel.carDesc.size(); ++i) {
|
double qrx = carModel.carDesc[i].distance * sin(toRadians(carModel.carDesc[i].angle));
|
double qry = carModel.carDesc[i].distance * cos(toRadians(carModel.carDesc[i].angle)) *
|
cos(toRadians(pitch));
|
|
double projectDistance = sqrt(pow(qrx, 2) + pow(qry, 2));
|
double projectAngle = toDegree(acos(qry / projectDistance));
|
|
if (carModel.carDesc[i].angle > 180) {
|
projectAngle = 360 - projectAngle;
|
}
|
|
// double tx = projectDistance*sin(toRadians(azimuth));
|
// double ty = projectDistance*cos(toRadians(azimuth));
|
|
car.points[i].X = projectDistance * sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
|
projectDistance * cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
|
car.base_point.X;
|
car.points[i].Y = projectDistance * sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
|
projectDistance * cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) +
|
car.base_point.Y;
|
// DEBUG("<%d>. 标距 %f 标角 %f X = %f Y = %f", i, carModel->carDesc[i].distance, carModel->carDesc[i].angle,
|
// carModel->carXY[i].X, carModel->carXY[i].Y);
|
}
|
}
|
|
void SystemShutdown(int event, int timeout)
|
{
|
// 关机
|
if (event == 1) {
|
|
}
|
// 重启
|
if (event == 0) {
|
|
}
|
}
|
