//
|
// Created by YY on 2019/11/4.
|
//
|
|
#include "turn_a90.h"
|
#include "../test_common/Geometry.h"
|
#include "../driver_test.h"
|
#include "../common/apptimer.h"
|
#include "../jni_log.h"
|
#include "../utils/xconvert.h"
|
#include "../defs.h"
|
#include "../test_common/car_sensor.h"
|
#include "../master/comm_if.h"
|
#include "area_exam.h"
|
|
#include <vector>
|
#include <cstdlib>
|
|
#define DEBUG(fmt, args...) LOGD("<turn_a90> <%s>: " fmt, __func__, ##args)
|
|
using namespace std;
|
|
static bool testing;
|
static int mapIndex;
|
|
static int enterAreaHeading;
|
static bool turnLeftFinished;
|
static uint32_t stopTimepoint = 0;
|
|
static bool reportStopCarTimeout;
|
static int prevMoveDirect;
|
static bool crashRedLine;
|
|
static bool CrashRedLine(const Polygon *map, const car_model *car);
|
static bool ExitTestArea(const Polygon *map, const car_model *car);
|
|
void StartTurnA90(int index, int moveDirect, double heading, const struct RtkTime *rtkTime)
|
{
|
DEBUG("进入直角转弯场地");
|
testing = true;
|
enterAreaHeading = (int) heading;
|
prevMoveDirect = moveDirect;
|
if (moveDirect == 0) {
|
stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
|
}
|
reportStopCarTimeout = false;
|
crashRedLine = false;
|
turnLeftFinished = false;
|
mapIndex = index;
|
|
MA_EnterMap(mapIndex, MAP_TYPE_TURN_90, 1);
|
}
|
|
int TestTurnA90(const Polygon *map, const car_model *car, const car_model *carPrev, double heading, double speed, int moveDirect, const struct RtkTime *rtkTime)
|
{
|
int az = (int) heading;
|
vector<double> dtox;
|
vector<Line> line_set;
|
Line distance_line;
|
|
if (ExitTestArea(map, car)) {
|
testing = false;
|
goto TEST_END;
|
}
|
|
// 距离检测
|
MakeLine(&distance_line, &map->point[0], &map->point[5]);
|
line_set.push_back(distance_line);
|
MakeLine(&distance_line, &map->point[5], &map->point[4]);
|
line_set.push_back(distance_line);
|
MakeLine(&distance_line, &map->point[1], &map->point[2]);
|
line_set.push_back(distance_line);
|
MakeLine(&distance_line, &map->point[2], &map->point[3]);
|
line_set.push_back(distance_line);
|
DistanceOfTire2X(dtox, car, line_set);
|
MA_SendDistance(dtox[0], dtox[1]);
|
|
if (CrashRedLine(map, car)) {
|
if (!crashRedLine) {
|
crashRedLine = true;
|
// 碾压道路边缘,不合格
|
AddExamFault(29, rtkTime);
|
DEBUG("碾压道路边缘");
|
}
|
} else {
|
crashRedLine = false;
|
}
|
|
if (moveDirect != prevMoveDirect) {
|
if (moveDirect == 0) {
|
stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
|
reportStopCarTimeout = false;
|
|
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);
|
} else {
|
|
}
|
prevMoveDirect = moveDirect;
|
} else if (moveDirect == 0) {
|
uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
|
|
if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.turn_a90_pause_criteria) && !reportStopCarTimeout) {
|
// 停车超2秒，每次扣5分
|
AddExamFault(31, rtkTime);
|
DEBUG("中途停车");
|
reportStopCarTimeout = true;
|
}
|
}
|
|
// 检查转向状态
|
if (ABS(az - enterAreaHeading) > 180) {
|
az = 360 - ABS(az-enterAreaHeading);
|
} else {
|
az = ABS(az - enterAreaHeading);
|
}
|
|
if (az >= 30) {
|
if (!turnLeftFinished) {
|
char turn_direct;
|
if((( ((int)heading) + 360 - enterAreaHeading) % 360) < 180) {
|
DEBUG("右转");
|
turn_direct = 'R';
|
} else {
|
DEBUG("左转");
|
turn_direct = 'L';
|
}
|
// 转向灯未开启，扣10分
|
if ((turn_direct == 'R' && ReadCarStatus(TURN_SIGNAL_LAMP) != RIGHT_TURN_LIGHT) ||
|
(turn_direct == 'L' && ReadCarStatus(TURN_SIGNAL_LAMP) != LEFT_TURN_LIGHT)) {
|
DEBUG("转向灯未开启");
|
AddExamFault(30, rtkTime);
|
}
|
}
|
turnLeftFinished = true;
|
}
|
|
if (turnLeftFinished) {
|
|
}
|
|
if (!testing) {
|
MA_EnterMap(mapIndex, MAP_TYPE_TURN_90, 0);
|
}
|
|
TEST_END:
|
return testing? 1:0;
|
}
|
|
// 车轮是否压边线
|
static bool CrashRedLine(const Polygon *map, const car_model *car)
|
{
|
bool ret = false;
|
|
Line red_line;
|
const int red_lines[][2] = {{0, 5}, {5, 4}, {1, 2}, {2, 3}};
|
|
Line frontAxle, rearAxle;
|
|
// 仅看车轮外侧
|
MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
|
MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);
|
|
for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
|
MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
|
if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
|
IntersectionOf(red_line, rearAxle) == GM_Intersection) {
|
ret = true;
|
break;
|
}
|
}
|
|
return ret;
|
}
|
|
// 整个车辆都要驶离该测试区域
|
static bool ExitTestArea(const Polygon *map, const car_model *car)
|
{
|
bool ret = false;
|
|
// 全车都需不在地图中
|
Polygon carBody;
|
|
carBody.num = car->bodyNum;
|
carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
|
for (int i = 0; i < carBody.num; ++i) {
|
carBody.point[i] = car->carXY[car->body[i]];
|
}
|
|
if (IntersectionOf(&carBody, map) == GM_None) {
|
ret = true;
|
}
|
|
free(carBody.point);
|
|
return ret;
|
}
|
