//
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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 "test_common/Geometry.h"
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#include "rtk_module/rtk.h"
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#include "test_items2/dummy_light.h"
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#include <vector>
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#include <string>
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#include <list>
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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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#define MAP_TYPE_PARK_BUTTOM 1
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#define MAP_TYPE_STOP_START 2
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#define MAP_TYPE_PART_EDGE 3
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#define MAP_TYPE_CURVE 4
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#define MAP_TYPE_TURN_90 5
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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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struct RtkTime {
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int YY; // 2位数
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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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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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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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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 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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#define LINE_DOTTED 0
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#define LINE_SOLID 1
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#define LINE_HALF_SOLID_LEFT 2
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#define LINE_HALF_SOLID_RIGHT 3
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#define LINE_BOUNDARY 4
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//车道方向（按位组合）,如果为0，则表无车道方向说明；
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#define LANE_FORWARD 0x01
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#define LANE_LEFT 0x02
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#define LANE_RIGHT 0x04
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#define LANE_BACKWARD 0x08
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#define ZEBRA_CROSSING 0
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#define SCHOOL_AREA 1
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#define BUS_STATION_AREA 2
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#define GRID_AREA 3
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#define ROAD_ACTIVE_FORWARD LANE_FORWARD
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#define ROAD_ACTIVE_TURN_LEFT LANE_LEFT
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#define ROAD_ACTIVE_TURN_RIGHT LANE_RIGHT
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#define ROAD_ACTIVE_TURN_BACKWARD LANE_BACKWARD
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typedef struct {
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int character; // 属性（实线、虚线，有些可以掉头的路段）
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std::vector<PointF> points; //
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} edge_t;
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typedef struct {
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int character; // 属性《实线、虚线、半实半虚线》
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std::vector<PointF> points;
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} segment_t;
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typedef struct {
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PointF start;
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PointF end;
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std::vector<int> direct;
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} lane_direct_t;
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// 一组平行的分道线
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typedef struct {
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std::vector<lane_direct_t> lane_direct; // 一组导向线的配置
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std::vector<std::vector<segment_t>> lines; // 每段域下的平行的一组线
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} separate_t;
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typedef struct {
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bool stopFlag;
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Line line;
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bool centrePointValid;
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PointF centrePoint;
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} stop_line_t;
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typedef struct {
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int id;
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// Line stopLine;
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// int active; // 到达路口尾部的行进方向
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bool activeBreak; // 路口刹车减速
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bool activeStop; // 路口停车瞭望
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bool errorLane; // 错误车道
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int targetRoad;
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// int stopFlag;
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// string tts;
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// bool arrivedTail;
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Polygon area; // 整个道路区域
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std::vector<stop_line_t> stopLine;
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std::vector<edge_t> leftEdge;
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std::vector<edge_t> rightEdge;
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std::vector<separate_t> separate;
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} road_t;
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typedef struct {
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int id;
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int road;
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int type;
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bool activeBreak;
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bool overSpeed;
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std::vector<PointF> area; // 人行道等右侧2点，网格线4点
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std::vector<PointF> leftPoints; // 对应到道路左侧的点
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} special_area_t;
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typedef struct {
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int road;
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int active;
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std::vector<PointF> points;
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} trigger_line_t;
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typedef struct {
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int id;
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int type;
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std::vector<PointF> points;
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} forbid_line_t;
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typedef struct {
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int road_id;
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int index;
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int active;
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} crossing_active_t;
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typedef struct {
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std::string name;
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std::vector<crossing_active_t> crossingActive;
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std::vector<trigger_line_t> triggerLines;
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} scheme_t;
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struct road_exam_map {
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int calibrate;
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std::vector<road_t> roads;
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std::vector<special_area_t> specialAreas;
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// std::vector<trigger_line_t> triggerLines;
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std::vector<forbid_line_t> forbidLines;
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std::vector<scheme_t> examScheme;
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};
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struct area_exam_map {
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int id;
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int type;
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Polygon map;
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Polygon map2;
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};
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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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vector<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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string prepare_tts;
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string touch_leftfront_tts;
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string touch_leftrear_tts;
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string touch_rightfront_tts;
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string touch_rightrear_tts;
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string start_engine_tts;
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string start_car_begin_tts;
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string start_car_end_tts;
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int change_lane_limit_distance;
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string change_lane_begin_tts;
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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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string shift_begin_tts;
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string shift_end_tts;
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string shift_up_tts;
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string shift_down_tts;
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string straight_begin_tts;
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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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string overtake_begin_tts;
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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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string stop_car_begin_tts;
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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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string crossing_go_straight_tts;
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string crossing_turn_left_tts;
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string crossing_turn_right_tts;
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string crossing_turn_back_tts;
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string crossing_turn_unknown_tts;
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} exam_param_t;
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extern exam_param_t examParam;
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typedef vector<struct area_exam_map> LIST_AREA_MAP;
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typedef list<car_model *> LIST_CAR_MODEL;
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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 AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
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void CleanRoadMap(void);
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void SetRoadMap(road_exam_map &map, vector<scheme_t> &scheme);
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void SetRoadExamScheme(vector<scheme_t> &scheme);
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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 UpdateRTKInfo(const rtk_info *s);
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void AddExamFault(int wrong, const struct RtkTime *rtkTime);
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void RoadChange(int road, int status);
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void CrossingChange(int road, int crossing, int status);
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void SystemShutdown(int event, int timeout);
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void SetDummyLightExam(int n, struct dummy_light_exam *cfg);
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uint32_t TimeGetDiff(const struct RtkTime *rtkTime1, const struct RtkTime *rtkTime2);
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void MasterInqRoadStatus(void);
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int CorrectPauseCriteria(int src);
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void SensorXChanged(uint16_t id, int value);
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#endif //RTKDRIVERTEST_DRIVER_TEST_H
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