//
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// Created by YY on 2020/4/3.
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//
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#include <cstdlib>
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#include <tuple>
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#include <map>
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#include "area_exam.h"
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#include "../test_common/car_sensor.h"
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#include "../driver_test.h"
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#include "../jni_log.h"
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#include "park_bottom.h"
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#include "uphill.h"
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#include "park_edge.h"
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#include "driving_curve.h"
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#include "right_corner.h"
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#include "../utils/xconvert.h"
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#include "../common/apptimer.h"
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#include "../test_common/odo_graph.h"
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#include "../test_common/Geometry.h"
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#include "../common/observer.h"
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#include "../native-lib.h"
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#define DEBUG(fmt, args...) LOGD("<area_exam> <%s>: " fmt, __func__, ##args)
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enum class ProximityStatus {
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Near,
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Bounce,
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Far
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};
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ilovers::Observer<std::function<void(move_status_t, move_status_t, double)>> CarMoveEvent;
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ilovers::Observer<std::function<void(int, int, double)>> ShiftEvent;
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static void CheckProximity(prime_t &prime, Line &base_line, Line &line, int this_id);
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static bool CrossingStartLine(Line &trace, Line &start_line);
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static void ProximityReminders(prime_t &prime);
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static void DetectCarMove(prime_t &prime);
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static void DetectShift(prime_t &prime);
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static void EnterMap(prime_t &prime);
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static void ExitMap(prime_t &prime);
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void AreaExam(prime_t &prime)
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{
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if (prime.prev_modeling_index == -1 || prime.curr_modeling_index == -1) {
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return;
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}
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DEBUG("--------------> %d", __LINE__);
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DetectShift(prime);
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DEBUG("--------------> %d", __LINE__);
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DetectCarMove(prime);
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DEBUG("--------------> %d", __LINE__);
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ProximityReminders(prime);
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DEBUG("--------------> %d", __LINE__);
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EnterMap(prime);
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DEBUG("--------------> %d", __LINE__);
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TestDrivingCurve(prime);
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DEBUG("--------------> %d", __LINE__);
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TestParkBottom(prime);
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DEBUG("--------------> %d", __LINE__);
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TestParkEdge(prime);
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DEBUG("--------------> %d", __LINE__);
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TestUphill(prime);
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DEBUG("--------------> %d", __LINE__);
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TestRightCorner(prime);
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DEBUG("--------------> %d", __LINE__);
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ExitMap(prime);
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DEBUG("--------------> %d", __LINE__);
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}
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// 检查换挡，如停车入库、倒车开始等动作，需要在挡位变换时检测，同时需考虑驾驶员一次换挡不进，停在原地再次操作的情况
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static void DetectShift(prime_t &prime)
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{
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static int prevGear = prime.sensor.gear;
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static double odo = prime.odo; // 记录这个挡位下行驶的距离
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if (prime.sensor.gear != prevGear) {
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if (prime.odo - odo > 1) {
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}
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ShiftEvent.Notify(prime.sensor.gear, prevGear, prime.odo - odo);
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prevGear = prime.sensor.gear;
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odo = prime.odo;
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}
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}
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static bool stopTimeout = false;
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static void StoppedTimeout(apptimer_var_t val) {
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stopTimeout = true;
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}
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// 处理各个项目的超时停车（停下时和再次启动时，挡位是一致的）
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static void DetectCarMove(prime_t &prime)
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{
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static double odo = prime.odo;
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static int gearWhenStop = GEAR_N;
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static move_status_t prevMove = prime.pMotion->move;
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if (prime.pMotion->move != prevMove) {
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// Notify
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DEBUG("行驶状态改变 %d", prime.pMotion->move);
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CarMoveEvent.Notify(prime.pMotion->move, prevMove, prime.odo - odo);
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AppTimer_delete(StoppedTimeout);
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if (prime.pMotion->move == STOP) {
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gearWhenStop = prime.sensor.gear;
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switch (prime.examing_area.type) {
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case MAP_TYPE_PARK_BUTTOM:
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AppTimer_add(StoppedTimeout, prime.examParam.park_bottom_pause_criteria);
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break;
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case MAP_TYPE_PARK_EDGE:
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AppTimer_add(StoppedTimeout, prime.examParam.park_edge_pause_criteria);
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break;
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case MAP_TYPE_RIGHT_CORNER:
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AppTimer_add(StoppedTimeout, prime.examParam.turn_a90_pause_criteria);
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break;
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case MAP_TYPE_CURVE:
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AppTimer_add(StoppedTimeout, prime.examParam.curve_pause_criteria);
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break;
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case MAP_TYPE_UPHILL:
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break;
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default:break;
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}
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} else {
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if (stopTimeout && ((prime.sensor.gear == GEAR_R) == (gearWhenStop == GEAR_R))) {
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// 停车超时
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switch (prime.examing_area.type) {
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case MAP_TYPE_PARK_BUTTOM:
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// 停车超2秒，每次扣5分
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AddExamFault(20106);
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break;
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case MAP_TYPE_PARK_EDGE:
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AddExamFault(20406);
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break;
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case MAP_TYPE_RIGHT_CORNER:
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AddExamFault(20703);
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break;
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case MAP_TYPE_CURVE:
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// 停车超2秒，不合格
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AddExamFault(20602);
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break;
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case MAP_TYPE_UPHILL:
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break;
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default:break;
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}
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}
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}
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stopTimeout = false;
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prevMove = prime.pMotion->move;
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odo = prime.odo;
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}
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}
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int RegisterCarMoveObserver(std::function<void(move_status_t, move_status_t, double)> ob)
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{
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return CarMoveEvent.Connect(ob);
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}
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void UnregisterCarMoveObserver(int handle)
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{
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CarMoveEvent.Disconnect(handle);
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}
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int RegisterShiftObserver(std::function<void(int, int, double)> ob)
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{
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return ShiftEvent.Connect(ob);
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}
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void UnregisterShiftObserver(int handle)
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{
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ShiftEvent.Disconnect(handle);
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}
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static void EnterMap(prime_t &prime)
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{
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if (prime.examing_area.type != 0) {
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return;
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}
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DEBUG("--------------> %d", __LINE__);
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DEBUG("1. %d", prime.pModeling[prime.curr_modeling_index].points.size());
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DEBUG("2. %d", prime.pModeling[prime.prev_modeling_index].points.size());
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DEBUG("3. %d", prime.pModel->left_front_tire[TIRE_OUTSIDE]);
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DEBUG("4. %d", prime.pModel->right_front_tire[TIRE_OUTSIDE]);
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PointF lp1 = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]];
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PointF lp2 = prime.pModeling[prime.prev_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]];
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PointF rp1 = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]];
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PointF rp2 = prime.pModeling[prime.prev_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]];
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Line left_trace, right_trace;
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DEBUG("--------------> %d", __LINE__);
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MAKE_LINE(left_trace, lp1, lp2);
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MAKE_LINE(right_trace, rp1, rp2);
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Line start_line;
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DEBUG("倒库> %d", std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size());
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for (int i = 0; i < std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[1], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[0]);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_PARK_BUTTOM;
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prime.examing_area.idx = i;
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StartParkBottom(prime);
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return;
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}
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[7], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[6]);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_PARK_BUTTOM;
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prime.examing_area.idx = i;
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StartParkBottom(prime);
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return;
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}
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}
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DEBUG("侧方> %d", std::get<MAP_TYPE_PARK_EDGE>(prime.maps).size());
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for (int i = 0; i < std::get<MAP_TYPE_PARK_EDGE>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[i].points[1], std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[i].points[0]);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_PARK_EDGE;
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prime.examing_area.idx = i;
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StartParkEdge(prime);
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return;
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}
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}
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DEBUG("上坡> %d", std::get<MAP_TYPE_UPHILL>(prime.maps).size());
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for (int i = 0; i < std::get<MAP_TYPE_UPHILL>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_UPHILL>(prime.maps)[i].points[0], std::get<MAP_TYPE_UPHILL>(prime.maps)[i].points[10]);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_UPHILL;
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prime.examing_area.idx = i;
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StartUphill(prime);
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return;
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}
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}
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DEBUG("曲线> %d", std::get<MAP_TYPE_CURVE>(prime.maps).size());
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for (int i = 0; i < std::get<MAP_TYPE_CURVE>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_CURVE>(prime.maps)[i].right_start_point, std::get<MAP_TYPE_CURVE>(prime.maps)[i].left_start_point);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_CURVE;
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prime.examing_area.idx = i;
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StartDrivingCurve(prime);
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return;
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}
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}
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DEBUG("直角> %d", std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps).size());
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for (int i = 0; i < std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[i].points[0], std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[i].points[1]);
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if (CrossingStartLine(left_trace, start_line)) {
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prime.examing_area.type = MAP_TYPE_RIGHT_CORNER;
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prime.examing_area.idx = i;
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StartRightCorner(prime);
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return;
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}
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}
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}
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/****************************************
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* 退出场地：条件是车头和四轮都不在场地中
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* 如果当前测试项目未完成，要报不合格
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* @param prime
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*/
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static void ExitMap(prime_t &prime)
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{
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if (prime.examing_area.type == MAP_TYPE_NONE) {
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return;
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}
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if (prime.examing_area.type == MAP_TYPE_CURVE) {
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// 车的后轮是否越过结束线或是车辆不在2个大圆范围内
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PointF lp1 = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]];
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PointF lp2 = prime.pModeling[prime.prev_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]];
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PointF rp1 = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]];
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PointF rp2 = prime.pModeling[prime.prev_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]];
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Line left_trace, right_trace;
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MAKE_LINE(left_trace, lp1, lp2);
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MAKE_LINE(right_trace, rp1, rp2);
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Line end_line;
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MAKE_LINE(end_line, std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].right_end_point, std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].left_end_point);
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if (CrossingStartLine(left_trace, end_line)) {
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// 离开区域
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StopDrivingCurve(prime);
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}
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if (DistanceOf(prime.pModeling[prime.curr_modeling_index].base_point, std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].front_half_big_circle_centre) > std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].front_half_big_circle_radius
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&& DistanceOf(prime.pModeling[prime.curr_modeling_index].base_point, std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].back_half_big_circle_centre) > std::get<MAP_TYPE_CURVE>(prime.maps)[prime.examing_area.idx].back_half_big_circle_radius) {
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// 离开区域
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StopDrivingCurve(prime);
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}
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} else {
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MakePolygon area({});
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DEBUG("------------> %d", __LINE__);
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switch (prime.examing_area.type) {
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case MAP_TYPE_PARK_BUTTOM:
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area.AddPoints({std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[0],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[1],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[2],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[3],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[4],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[5],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[6],
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std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[7]});
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break;
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case MAP_TYPE_PARK_EDGE:
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area.AddPoints({std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[0],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[1],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[2],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[3],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[4],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[5],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[6],
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std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[prime.examing_area.idx].points[7]});
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break;
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case MAP_TYPE_UPHILL:
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area.AddPoints({std::get<MAP_TYPE_UPHILL>(prime.maps)[prime.examing_area.idx].points[0],
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std::get<MAP_TYPE_UPHILL>(prime.maps)[prime.examing_area.idx].points[9],
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std::get<MAP_TYPE_UPHILL>(prime.maps)[prime.examing_area.idx].points[11],
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std::get<MAP_TYPE_UPHILL>(prime.maps)[prime.examing_area.idx].points[10]});
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break;
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case MAP_TYPE_RIGHT_CORNER:
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area.AddPoints({std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[0],
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[1],
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[2],
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[3],
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[4],
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std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[prime.examing_area.idx].points[5]});
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break;
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default:
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break;
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}
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DEBUG("------------> %d", __LINE__);
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int num = 0;
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if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]],
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area.GetPolygon()) == GM_None) {
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num++;
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}
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if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]],
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area.GetPolygon()) == GM_None) {
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num++;
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}
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if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]],
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area.GetPolygon()) == GM_None) {
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num++;
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}
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if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_rear_tire[TIRE_OUTSIDE]],
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area.GetPolygon()) == GM_None) {
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num++;
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}
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if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[prime.pModel->axial[AXIAL_FRONT]]],
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area.GetPolygon()) == GM_None) {
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num++;
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}
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DEBUG("------------> %d", __LINE__);
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if (num == 5) {
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// 离开区域
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StopDrivingCurve(prime);
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StopParkBottom(prime);
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StopRightCorner(prime);
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StopUphill(prime);
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StopParkEdge(prime);
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}
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DEBUG("------------> %d", __LINE__);
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}
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}
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// 车轮驶过线，且车头位于右侧
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static bool CrossingStartLine(Line &trace, Line &start_line)
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{
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PointF head = trace.p1;
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if (IntersectionOf(trace, start_line) == GM_Intersection
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&& IntersectionOfLine(head, start_line) == REL_POS_RIGHT) {
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return true;
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}
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return false;
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}
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static void ProximityReminders(prime_t &prime)
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{
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if (prime.examing_area.type != MAP_TYPE_NONE)
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return;
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DEBUG("----------------> %d", __LINE__);
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DEBUG("test %d",std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size());
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DEBUG("test %d",std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points.size());
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DEBUG("test %f,%f",std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points[1].X, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points[1].Y);
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{
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Line test;
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MAKE_LINE(test, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points[1], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[0].points[0]);
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DEBUG("test %f,%f - %f,%f",test.p1.X, test.p1.Y, test.p2.X, test.p2.Y);
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}
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DEBUG("----------------> %d", __LINE__);
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PointF car_head = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->axial[AXIAL_FRONT]];
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PointF car_head_trend = PointExtend(car_head, 8, prime.pModeling->yaw);
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DEBUG("----------------> %d", __LINE__);
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Line car_head_line;
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MAKE_LINE(car_head_line, car_head, car_head_trend);
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DEBUG("----------------> %d", __LINE__);
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Line start_line;
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for (int i = 0; i < std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps).size(); ++i) { // 左右2条控制线都可作为入口
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[1], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[0]);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].id);
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[7], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].points[6]);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[i].id);
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}
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for (int i = 0; i < std::get<MAP_TYPE_PARK_EDGE>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[i].points[1], std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[i].points[0]);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_PARK_EDGE>(prime.maps)[i].id);
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}
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for (int i = 0; i < std::get<MAP_TYPE_UPHILL>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_UPHILL>(prime.maps)[i].points[0], std::get<MAP_TYPE_UPHILL>(prime.maps)[i].points[10]);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_UPHILL>(prime.maps)[i].id);
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}
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for (int i = 0; i < std::get<MAP_TYPE_CURVE>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_CURVE>(prime.maps)[i].right_start_point, std::get<MAP_TYPE_CURVE>(prime.maps)[i].left_start_point);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_CURVE>(prime.maps)[i].id);
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}
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for (int i = 0; i < std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps).size(); ++i) {
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MAKE_LINE(start_line, std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[i].points[0], std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[i].points[1]);
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CheckProximity(prime, car_head_line, start_line, std::get<MAP_TYPE_RIGHT_CORNER>(prime.maps)[i].id);
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}
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}
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// 判断是否接近场地的起始线
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// 车头趋势线是否和入口线相交
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static void CheckProximity(prime_t &prime, Line &base_line, Line &line, int this_id)
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{
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ProximityStatus status;
|
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if (CrossingStartLine(base_line, line)) {
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PointF p1 = base_line.p1;
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PointF p2 = base_line.p2;
|
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// 增加距离，用于消除测量误差带来的不稳定
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if (DistanceOf(p1, line) > 0.5 && DistanceOf(p2, line) > 0.5) {
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status = ProximityStatus::Near;
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} else {
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status = ProximityStatus::Bounce;
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}
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} else {
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status = ProximityStatus::Far;
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}
|
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if (status == ProximityStatus::Near && prime.arriving_map != this_id) {
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prime.arriving_map = this_id;
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// 报语音提示
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PlayTTS("即将考试", nullptr);
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} else if (status == ProximityStatus::Far && prime.arriving_map == this_id) {
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prime.arriving_map = -1;
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}
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}
|
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void TerminateAreaExam(void)
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{
|
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}
|
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void InitAreaExam(void)
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{
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ResetOdo();
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}
|
