//
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// Created by YY on 2019/10/23.
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//
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#include "park_edge.h"
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#include "../jni_log.h"
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#include "../test_common/Geometry.h"
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#include "../driver_test.h"
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#include "../common/apptimer.h"
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#include "../native-lib.h"
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#include "../utils/xconvert.h"
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#include "../test_common/car_sensor.h"
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#include "../master/comm_if.h"
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#include "area_exam.h"
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#include <vector>
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#include <cstdlib>
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#define DEBUG(fmt, args...) LOGD("<park_edge> <%s>: " fmt, __func__, ##args)
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using namespace std;
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const uint32_t CHECK_PARK_DELAY = 400;
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static int mapIndex = 0;
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static bool reportExamTimeout;
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static bool reportParkFail;
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static uint32_t stopTimepoint = 0;
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static bool occurCrashRedLine1, occurCrashRedLine2;
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static int prevMoveStatus, storeMoveStatusBeforeStop;
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static int parkStatus;
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static bool occurMoveBack, parkSuccess;
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static uint32_t moveBackTimePoint;
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static bool testing = false;
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static bool CrashRedLine1(const Polygon *map, const car_model *car);
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static bool CrashRedLine2(const Polygon *map, const car_model *car);
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static bool EnterParking(const Polygon *map, const car_model *car);
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static bool ExitParkArea(const Polygon *map, const car_model *car);
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static bool ExitParkArea2(const Polygon *map, const car_model *car);
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void StartParkEdge(int index, int moveStatus, const struct RtkTime *rtkTime)
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{
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DEBUG("进入侧方停车场地");
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testing = true;
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mapIndex = index;
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occurCrashRedLine1 = occurCrashRedLine2 = false; // 这个科目规定特殊点，发生一次扣10分，而不直接淘汰
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reportExamTimeout = false;
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reportParkFail = false;
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prevMoveStatus = moveStatus;
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parkSuccess = false;
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parkStatus = 0;
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occurMoveBack = false;
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// 仅当发生倒车，才意味着项目开始
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if (moveStatus == -1) {
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occurMoveBack = true;
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moveBackTimePoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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}
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}
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int TestParkEdge(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveStatus, const struct RtkTime *rtkTime)
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{
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vector<double> dtox;
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vector<Line> line_set;
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Line distance_line;
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if (CrashRedLine1(map, car)) {
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if (!occurCrashRedLine1 && occurMoveBack) {
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// 车轮压边线，每次扣10分
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AddExamFault(23, rtkTime);
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DEBUG("车轮压边线");
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occurCrashRedLine1 = true;
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}
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} else {
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occurCrashRedLine1 = false;
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}
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if (CrashRedLine2(map, car)) {
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if (!occurCrashRedLine2 && occurMoveBack) {
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// 车身压库位线，每次扣10分
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AddExamFault(24, rtkTime);
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DEBUG("车身压库位线");
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occurCrashRedLine2 = true;
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}
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} else {
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occurCrashRedLine2 = false;
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}
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if (ExitParkArea(map, car) || ExitParkArea2(map, car)) {
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if (!parkSuccess && occurMoveBack && !reportParkFail) {
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// 直接驶离测试区，认为移库不入
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AddExamFault(21, rtkTime);
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reportParkFail = true;
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DEBUG("直接驶离测试区,移库不入");
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}
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testing = false;
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goto TEST_END;
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}
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// 距离检测
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MakeLine(&distance_line, &map->point[0], &map->point[7]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[1], &map->point[2]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[2], &map->point[3]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[3], &map->point[4]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[4], &map->point[5]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[5], &map->point[6]);
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line_set.push_back(distance_line);
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DistanceOfTire2X(dtox, car, line_set);
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MA_SendDistance(dtox[0], dtox[1]);
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if (occurMoveBack) {
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uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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if (!reportExamTimeout && tp - moveBackTimePoint >= examParam.park_edge_limit_time) {
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// 超时90秒，不合格
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AddExamFault(22, rtkTime);
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reportExamTimeout = true;
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DEBUG("移库90秒超时");
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}
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}
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if (moveStatus != prevMoveStatus) {
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if (moveStatus == 0) {
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parkStatus = 0;
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stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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storeMoveStatusBeforeStop = prevMoveStatus;
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DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
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} else {
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DEBUG("继续行驶 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
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uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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DEBUG("停车时间 %ld", tp - stopTimepoint);
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if (moveStatus == storeMoveStatusBeforeStop) {
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// 同方向再启动，继续判断是否停车超时
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if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.park_edge_pause_criteria) && occurMoveBack) {
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// 停车超2秒，每次扣5分
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AddExamFault(26, rtkTime);
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DEBUG("停车超时");
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}
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} else {
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// 倒车切换到前进
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if (moveStatus == 1 && tp - stopTimepoint >= CHECK_PARK_DELAY) {
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if (parkStatus == 0) {
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if (EnterParking(map, car)) {
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parkStatus = 1;
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parkSuccess = true;
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}
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}
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if (!parkSuccess && !reportParkFail) {
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// 停止后，车身出线，不合格
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AddExamFault(21, rtkTime);
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reportParkFail = true;
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DEBUG("移库不入");
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}
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// 在这里检查转向灯状态
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if (ReadCarStatus(TURN_SIGNAL_LAMP) != LEFT_TURN_LIGHT) {
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// 不开转向灯，扣10分
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AddExamFault(25, rtkTime);
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DEBUG("未开启转向灯");
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}
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}
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}
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if (moveStatus == -1 && !occurMoveBack) {
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DEBUG("开始倒车");
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occurMoveBack = true;
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moveBackTimePoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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MA_EnterMap(mapIndex, MAP_TYPE_PART_EDGE, 1);
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}
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}
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prevMoveStatus = moveStatus;
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} else if (moveStatus == 0 && parkStatus == 0) {
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uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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if (tp - stopTimepoint >= CHECK_PARK_DELAY) {
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if (EnterParking(map, car)) {
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parkStatus = 1;
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parkSuccess = true;
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} else {
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parkStatus = -1;
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}
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}
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}
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TEST_END:
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if (!testing && occurMoveBack) {
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MA_EnterMap(mapIndex, MAP_TYPE_PART_EDGE, 0);
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}
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return testing ? 1 : 0;
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}
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// 车轮是否压道路边线
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static bool CrashRedLine1(const Polygon *map, const car_model *car)
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{
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bool ret = false;
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Line red_line;
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const int red_lines[][2] = {{0, 7}, {1, 2}, {5, 6}};
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Line frontAxle, rearAxle;
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MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
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MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);
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for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
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MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
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if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
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IntersectionOf(red_line, rearAxle) == GM_Intersection) {
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ret = true;
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break;
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}
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}
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return ret;
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}
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// 车身是否压库位线
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static bool CrashRedLine2(const Polygon *map, const car_model *car)
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{
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bool ret = false;
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Line red_line;
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const int red_lines[][2] = {{2, 3}, {3, 4}, {4, 5}};
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Polygon car_body;
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car_body.num = car->bodyNum;
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car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
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for (int i = 0; i < car_body.num; ++i) {
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car_body.point[i] = car->carXY[car->body[i]];
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}
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for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
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MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
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if (IntersectionOf(red_line, &car_body) != GM_None) {
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ret = true;
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break;
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}
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}
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free(car_body.point);
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return ret;
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}
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static bool EnterParking(const Polygon *map, const car_model *car) {
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DEBUG("检查停车到位...");
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bool succ = false;
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Polygon parking;
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Polygon car_body;
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car_body.num = car->bodyNum;
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car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
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for (int i = 0; i < car_body.num; ++i) {
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car_body.point[i] = car->carXY[car->body[i]];
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}
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MakePolygon(&parking, {map->point[2], map->point[3], map->point[4], map->point[5]});
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if (IntersectionOf(&car_body, &parking) == GM_Containment) {
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succ = true;
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}
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CleanPolygon(&parking);
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free(car_body.point);
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return succ;
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}
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// 整个车辆都要驶过前库位线
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static bool ExitParkArea(const Polygon *map, const car_model *car)
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{
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for (int i = 0; i < car->bodyNum; ++i) {
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if (IntersectionOfLine(map->point[6], map->point[7], car->carXY[car->body[i]]) != -1)
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return false;
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}
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return true;
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}
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static bool ExitParkArea2(const Polygon *map, const car_model *car)
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{
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// 全车都需不在地图中
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bool ret = false;
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Polygon carBody;
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carBody.num = car->bodyNum;
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carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
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for (int i = 0; i < carBody.num; ++i) {
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carBody.point[i] = car->carXY[car->body[i]];
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}
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if (IntersectionOf(&carBody, map) == GM_None) {
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ret = true;
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}
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free(carBody.point);
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return ret;
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}
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