//
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// Created by YY on 2019/10/21.
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//
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#ifndef RTKDRIVERTEST_DRIVER_TEST_H
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#define RTKDRIVERTEST_DRIVER_TEST_H
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#include <vector>
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#include <string>
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#include <list>
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#include <map>
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#include <tuple>
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#include <atomic>
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#include "test_common/Geometry.h"
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#include "rtk_module/rtk.h"
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#include "map.h"
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#define EXAM_AREA_NONE 0
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#define EXAM_AREA_START 1
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#define EXAM_AREA_RUN 2
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#define EXAM_AREA_END 3
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#define TIRE_OUTSIDE 0
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#define TIRE_INSIDE 1
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#define AXIAL_FRONT 0
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#define AXIAL_REAR 1
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typedef enum {
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MAP_TYPE_NONE,
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MAP_TYPE_PARK_BUTTOM,
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MAP_TYPE_UPHILL,
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MAP_TYPE_PARK_EDGE,
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MAP_TYPE_CURVE,
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MAP_TYPE_RIGHT_CORNER
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} map_type_t;
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typedef struct {
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double distance; // 距离主天线的距离
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double angle; // 从中轴线逆时针形成的角度
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} car_desc_t;
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typedef struct {
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// struct RtkTime tm;
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PointF basePoint; // 现场测量的主天线坐标
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int axial[2];
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int left_front_tire[2];
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int right_front_tire[2];
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int left_rear_tire[2];
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int right_rear_tire[2];
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// int bodyNum;
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std::vector<int> body;
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// int pointNum;
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double antPitch; // 前后天线因安装位置之固有pitch角
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double antHeight; // 车顶天线高程
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double groundHeight; // 大地高程
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double yaw;
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double pitch;
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std::vector<car_desc_t> carDesc;
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// struct car_desc_ *carDesc; // 经现场测量点计算后的值
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// PointF *carXY; // 计算后的车身各点坐标
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} car_model_t;
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typedef struct {
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int64_t utc_time = 0;
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double yaw;
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double pitch;
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double roll;
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PointF base_point;
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std::vector<PointF> points;
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} modeling_t;
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typedef enum {
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BACKWARD = -1,
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STOP = 0,
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FORWARD = 1
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} move_status_t;
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typedef struct {
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int64_t timestamp = 0;
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double speed = 0;
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move_status_t move = STOP;
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} motion_t;
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typedef struct {
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map_type_t type;
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int idx; // 对应科目地图集合中的序号
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int stage; // 对于倒车入库等项目会有多个操作阶段
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} map_t;
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typedef struct {
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std::atomic_int speed;
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std::atomic_int rpm;
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std::atomic_int gear;
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std::atomic_int turn_signal_lamp;
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std::atomic_int dipped_beam_lamp;
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std::atomic_int fog_lamp;
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std::atomic_int clearance_lamp;
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std::atomic_int flash_beam_lamp;
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std::atomic_int main_beam_lamp;
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std::atomic_int seatbelt;
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std::atomic_int engine_start;
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std::atomic_int brake;
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std::atomic_int hand_brake;
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std::atomic_int second_brake;
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std::atomic_int door;
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std::atomic_int surround_car_1;
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std::atomic_int surround_car_2;
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std::atomic_int surround_car_3;
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std::atomic_int surround_car_4;
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} sensor_t;
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typedef struct {
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int hold_start_key_limit_time; // 点火保持，毫秒
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int curve_pause_criteria; // 停车断定，豪秒
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int park_bottom_pause_criteria; // 豪秒
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int park_bottom_limit_time; // 秒
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int park_edge_pause_criteria; // MSec
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int park_edge_limit_time; // Sec
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int turn_a90_pause_criteria; // MSec
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double ramp_stoppoint_red_distance; // 米
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double ramp_edge_yellow_distance;
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double ramp_edge_red_distance;
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double ramp_slide_yellow_distance;
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double ramp_slide_red_distance;
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int ramp_start_car_limit_time; // Sec
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double road_slide_yellow_distance;
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double road_slide_red_distance;
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int road_total_distance;
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int road_max_speed; // Km per hour
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std::vector<std::vector<int>> gear_speed_table;
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int gear_n_allow_time; // Sec
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int same_gear_min_time; // Sec, x秒内，不允许N->X->N->X置同一挡位
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int gear_speed_error_cumulative_time; // Sec
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int road_pause_criteria; // MSec
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int continuous_change_lane_min_time; // Sec
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int crash_dotted_line_cumulative_time; // Sec
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int turn_signal_min_advance; // Sec
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int start_car_max_rpm;
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int start_car_limit_distance;
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double open_door_drive_allow_distance;
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std::string prepare_tts;
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std::string touch_leftfront_tts;
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std::string touch_leftrear_tts;
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std::string touch_rightfront_tts;
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std::string touch_rightrear_tts;
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std::string start_engine_tts;
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std::string start_car_begin_tts;
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std::string start_car_end_tts;
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int change_lane_limit_distance;
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std::string change_lane_begin_tts;
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std::string change_lane_end_tts;
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int shift_limit_distance;
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int shift_hold_time; // Sec
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std::string shift_begin_tts;
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std::string shift_end_tts;
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std::string shift_up_tts;
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std::string shift_down_tts;
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std::string straight_begin_tts;
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std::string straight_end_tts;
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int straight_limit_distance;
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double straight_max_offset;
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int overtake_limit_distance;
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std::string overtake_begin_tts;
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std::string overtake_end_tts;
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int stop_car_limit_distance;
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int stop_car_open_door_allow_time;
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double stop_car_edge_red_distance;
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double stop_car_edge_yellow_distance;
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std::string stop_car_begin_tts;
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std::string stop_car_end_tts;
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double crossing_stop_valid_distance;
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int cross_school_max_speed;
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int crossing_break_valid_distance;
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std::string crossing_go_straight_tts;
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std::string crossing_turn_left_tts;
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std::string crossing_turn_right_tts;
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std::string crossing_turn_back_tts;
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std::string crossing_turn_unknown_tts;
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} exam_param_t;
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typedef struct {
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bool examing = false;
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int curr_modeling_index = -1;
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int prev_modeling_index = -1;
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int arriving_map = -1;
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std::tuple<int, std::vector<park_button_map_t>, std::vector<uphill_map_t>, std::vector<park_edge_map_t>, std::vector<curve_map_t>, std::vector<turn_a90_map_t>> maps;
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car_model_t *pModel;
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modeling_t *pModeling;
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motion_t *pMotion;
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map_t examing_area;
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sensor_t sensor;
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exam_param_t examParam;
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double odo; // 用RTK定位计算的行驶里程
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} prime_t;
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struct ExamFault {
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int sn;
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char utc[32];
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int wrong_id;
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};
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prime_t& GetPrime(void);
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void DriverTestInit(void);
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void ReadDriverExamPrimer(void);
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void ClearAreaMap(void);
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void AddCurveMap(curve_map_t &map);
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void AddParkButtonMap(park_button_map_t &map);
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void AddParkEdgeMap(park_edge_map_t &map);
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void AddUphillMap(uphill_map_t &map);
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void AddTurnA90Map(turn_a90_map_t &map);
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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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void StartDriverExam(int start, int type);
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void UpdateSensor(int id, int value);
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void UpdateRTKInfo(const rtk_info_t *s);
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void AddExamFault(int wrong);
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void SystemShutdown(int event, int timeout);
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int CorrectPauseCriteria(int src);
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#endif //RTKDRIVERTEST_DRIVER_TEST_H
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