//
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// Created by YY on 2019/11/4.
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//
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#include "turn_a90.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 "../jni_log.h"
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#include "../utils/xconvert.h"
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#include "../defs.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("<turn_a90> <%s>: " fmt, __func__, ##args)
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using namespace std;
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static bool testing;
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static int mapIndex;
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static int enterAreaHeading;
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static bool turnLeftFinished;
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static uint32_t stopTimepoint = 0;
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static bool reportStopCarTimeout;
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static int prevMoveDirect;
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static bool crashRedLine;
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static bool CrashRedLine(const Polygon *map, const car_model *car);
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static bool ExitTestArea(const Polygon *map, const car_model *car);
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void StartTurnA90(int index, int moveDirect, double heading, const struct RtkTime *rtkTime)
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{
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DEBUG("进入直角转弯场地");
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testing = true;
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enterAreaHeading = (int) heading;
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prevMoveDirect = moveDirect;
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if (moveDirect == 0) {
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stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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}
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reportStopCarTimeout = false;
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crashRedLine = false;
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turnLeftFinished = false;
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mapIndex = index;
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MA_EnterMap(mapIndex, MAP_TYPE_TURN_90, 1);
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}
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int TestTurnA90(const Polygon *map, const car_model *car, const car_model *carPrev, double heading, double speed, int moveDirect, const struct RtkTime *rtkTime)
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{
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int az = (int) heading;
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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 (ExitTestArea(map, car)) {
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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[5]);
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line_set.push_back(distance_line);
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MakeLine(&distance_line, &map->point[5], &map->point[4]);
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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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DistanceOfTire2X(dtox, car, line_set);
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MA_SendDistance(dtox[0], dtox[1]);
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if (CrashRedLine(map, car)) {
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if (!crashRedLine) {
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crashRedLine = true;
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// 碾压道路边缘,不合格
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AddExamFault(20701, rtkTime);
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DEBUG("碾压道路边缘");
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}
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} else {
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crashRedLine = false;
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}
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if (moveDirect != prevMoveDirect) {
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if (moveDirect == 0) {
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stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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reportStopCarTimeout = false;
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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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}
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prevMoveDirect = moveDirect;
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} else if (moveDirect == 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 >= CorrectPauseCriteria(examParam.turn_a90_pause_criteria) && !reportStopCarTimeout) {
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// 停车超2秒，每次扣5分
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AddExamFault(20703, rtkTime);
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DEBUG("中途停车");
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reportStopCarTimeout = true;
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}
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}
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// 检查转向状态
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if (ABS(az - enterAreaHeading) > 180) {
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az = 360 - ABS(az-enterAreaHeading);
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} else {
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az = ABS(az - enterAreaHeading);
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}
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if (az >= 30) {
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if (!turnLeftFinished) {
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char turn_direct;
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if((( ((int)heading) + 360 - enterAreaHeading) % 360) < 180) {
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DEBUG("右转");
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turn_direct = 'R';
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} else {
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DEBUG("左转");
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turn_direct = 'L';
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}
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// 转向灯未开启，扣10分
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if ((turn_direct == 'R' && ReadCarStatus(TURN_SIGNAL_LAMP) != RIGHT_TURN_LIGHT) ||
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(turn_direct == 'L' && ReadCarStatus(TURN_SIGNAL_LAMP) != LEFT_TURN_LIGHT)) {
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DEBUG("转向灯未开启");
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AddExamFault(20702, rtkTime);
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}
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}
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turnLeftFinished = true;
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}
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if (turnLeftFinished) {
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}
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TEST_END:
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if (!testing) {
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MA_EnterMap(mapIndex, MAP_TYPE_TURN_90, 0);
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}
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return testing? 1:0;
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}
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// 车轮是否压边线
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static bool CrashRedLine(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, 5}, {5, 4}, {1, 2}, {2, 3}};
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Line frontAxle, rearAxle;
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// 仅看车轮外侧
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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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// 整个车辆都要驶离该测试区域
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static bool ExitTestArea(const Polygon *map, const car_model *car)
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{
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bool ret = false;
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// 全车都需不在地图中
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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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