//
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// Created by YY on 2020/3/17.
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//
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#include "road_exam.h"
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#include "../driver_test.h"
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#include "../utils/xconvert.h"
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#include "../common/apptimer.h"
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#include "../jni_log.h"
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#define DEBUG(fmt, args...) LOGD("<road_exam> <%s>: " fmt, __func__, ##args)
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static bool occurCrashRedLine;
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static bool occurCrashGreenLine;
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static bool occurOverSpeed;
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static int checkCrashGreenTimeout;
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static char carIntersectionOfGreenLine;
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struct {
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int hour;
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int min;
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int sec;
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int msec;
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} crashGreenRunTime, crashGreenCmpTime;
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static const uint32_t CHANGE_ROAD_MIN_INTERVAL = D_SEC(10);
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static const uint32_t CRASH_DOTTED_LINE_TIMEOUT = D_SEC(10);
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static const double MAX_SPEED = 40.0 * 1000.0 / 3600.0;
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static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car);
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static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2);
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void Init(void)
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{
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crashGreenCmpTime.hour = -1;
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occurCrashRedLine = false;
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occurCrashGreenLine = false;
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occurOverSpeed = false;
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checkCrashGreenTimeout = 0;
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carIntersectionOfGreenLine = 0;
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}
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void TestRoadGeneral(LIST_ROAD_MAP &RoadMapList, const car_model *car, double speed, int moveStatus, const struct RtkTime *rtkTime)
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{
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if (speed > MAX_SPEED) {
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if (!occurOverSpeed) {
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occurOverSpeed = true;
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// 超速，不合格
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AddExamFault(10, rtkTime);
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}
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} else {
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occurOverSpeed = false;
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}
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if (CrashRedLine(RoadMapList, car)) {
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if (!occurCrashRedLine) {
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// 车辆行驶中骑轧车道中心实线或者车道边缘实线，不合格
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AddExamFault(11, rtkTime);
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occurCrashRedLine = true;
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}
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} else {
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occurCrashRedLine = false;
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}
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static PointF p1, p2;
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if (CrashGreenLine(RoadMapList, car, p1, p2)) {
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if (moveStatus != 0) {
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if (checkCrashGreenTimeout == 0) {
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checkCrashGreenTimeout = 1;
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crashGreenRunTime.hour = rtkTime->hh;
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crashGreenRunTime.min = rtkTime->mm;
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crashGreenRunTime.sec = rtkTime->ss;
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crashGreenRunTime.msec = rtkTime->mss;
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} else if (checkCrashGreenTimeout == 1) {
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uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
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crashGreenRunTime.hour, crashGreenRunTime.min, crashGreenRunTime.sec, crashGreenRunTime.msec*10);
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if (diff >= CRASH_DOTTED_LINE_TIMEOUT) {
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checkCrashGreenTimeout = 2;
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// 长时间骑轧车道分界线行驶，不合格
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AddExamFault(12, rtkTime);
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}
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}
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} else {
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// 停车就不计时了
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checkCrashGreenTimeout = 0;
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}
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// 检测当前车辆于虚线的位置，做变道检测;
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// 检测是否3秒前有开启对应之转向灯
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if (!occurCrashGreenLine) {
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occurCrashGreenLine = true;
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}
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// p1 ---------------> p2
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double angle = car->yaw - YawOf(p2, p1);
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if (angle < 0 || angle > 180) {
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// 右侧
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carIntersectionOfGreenLine = 'R';
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} else {
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// 左侧
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carIntersectionOfGreenLine = 'L';
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}
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} else {
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if (occurCrashGreenLine) {
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int inter = IntersectionOfLine(p1, p2, car->basePoint);
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// 有过线动作
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if ((inter == 1 && carIntersectionOfGreenLine == 'R') ||
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(inter == -1 && carIntersectionOfGreenLine == 'L')) {
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DEBUG("跨越虚线");
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if (crashGreenCmpTime.hour >= 0) {
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uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
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rtkTime->mss * 10,
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crashGreenCmpTime.hour, crashGreenCmpTime.min,
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crashGreenCmpTime.sec, crashGreenCmpTime.msec * 10);
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if (diff < CHANGE_ROAD_MIN_INTERVAL) {
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// 连续变道，不合格
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AddExamFault(15, rtkTime);
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}
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}
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crashGreenCmpTime.hour = rtkTime->hh;
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crashGreenCmpTime.min = rtkTime->mm;
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crashGreenCmpTime.sec = rtkTime->ss;
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crashGreenCmpTime.msec = rtkTime->mss;
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}
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}
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occurCrashGreenLine = false;
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checkCrashGreenTimeout = 0;
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}
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}
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/*****************************************************
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* CrashRedLine 整个考试区域的道路边缘线，实线等。
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* 按车轮碰触计算，车身不计
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*/
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static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car)
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{
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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 < RoadMapList.size(); ++i) {
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if (RoadMapList[i].type == 100) {
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// 每条线都检测
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for (int j = 0; j < RoadMapList[i].redLineNum; ++j) {
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Line red_line;
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int kp = 0;
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for (int k = 1; k < RoadMapList[i].redLine[j].num; ++k) {
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MakeLine(&red_line, &RoadMapList[i].redLine[j].point[kp], &RoadMapList[i].redLine[j].point[k]);
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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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return true;
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}
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kp = k;
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}
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}
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break;
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}
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}
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return false;
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}
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/**************************************************
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* 车轮触碰道路虚线。检测行驶时间超长；变道情况；
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* @param RoadMapList
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* @param car
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*/
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static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2)
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{
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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 < RoadMapList.size(); ++i) {
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if (RoadMapList[i].type == 100) {
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// 每条线都检测
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for (int j = 0; j < RoadMapList[i].greenLineNum; ++j) {
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Line green_line;
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int kp = 0;
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for (int k = 1; k < RoadMapList[i].greenLine[j].num; ++k) {
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MakeLine(&green_line, &RoadMapList[i].greenLine[j].point[kp], &RoadMapList[i].greenLine[j].point[k]);
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if (IntersectionOf(green_line, frontAxle) == GM_Intersection ||
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IntersectionOf(green_line, rearAxle) == GM_Intersection) {
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p1 = RoadMapList[i].greenLine[j].point[kp];
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p2 = RoadMapList[i].greenLine[j].point[k];
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return true;
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}
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kp = k;
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}
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}
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break;
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}
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}
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return false;
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}
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