//
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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 "Geometry.h"
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#include "rtk_module/rtk.h"
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#include <vector>
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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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using namespace std;
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struct car_desc_ {
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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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};
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typedef struct {
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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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int *body;
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int pointNum;
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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;
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// 总数
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// 中轴线前点,id 0，中轴线后点id
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// 左包围， 右包围
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// 左前轮，外内
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typedef struct {
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int body_num;
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int body[64];
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int front_left_tire[2];
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int front_right_tire[2];
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int rear_left_tire[2];
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int rear_right_tire[2];
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} carModelDesc_t;
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typedef struct {
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uint32_t uptime;
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int point_num;
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PointF *points;
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carModelDesc_t *desc;
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} car_model_cache_t;
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struct RtkTime {
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int YY;
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int MM;
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int DD;
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int hh;
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int mm;
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int ss;
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int mss;
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};
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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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//vector<ExamFault> ExamFaultList;
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void DriverTestInit(void);
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void ReadDriverExamPrimer(void);
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void ClearMap(void);
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void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
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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);
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void SetSensorCfg(int (*sensor)[3], int sensorNum);
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int GetSensorValidLevel(void);
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void GetSensorCfg(int gpio, int &func, bool &lvl);
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void FindSensorCfg(int func, int &gpio, bool &lvl);
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void StartDriverExam(int start);
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void StartMapExam(int map_id, int exam);
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void GetRtkClock(struct RtkTime *s);
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void UpdateRTKInfo(const rtk_info *s);
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void AddExamFault(int wrong, const struct RtkTime *rtkTime);
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car_model_cache_t *GetCarModelCache(int node);
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void SystemShutdown(int event, int timeout);
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#endif //RTKDRIVERTEST_DRIVER_TEST_H
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