//
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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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#include "../defs.h"
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#include "../test_common/car_sensor.h"
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#include "../native-lib.h"
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#include "through_something.h"
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#include "../master/comm_if.h"
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#include "drive_straight.h"
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#include "stop_car.h"
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#include "operate_gear.h"
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#include <vector>
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#include <list>
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#include <string>
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#include <cstdlib>
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#define DEBUG(fmt, args...) LOGD("<road_exam> <%s>: " fmt, __func__, ##args)
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using namespace std;
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#define TURN_CHECK_CNT 4
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enum {
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START_CAR_NOT_DO,
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START_CAR_DOING,
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START_CAR_DONE
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};
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static const int TURN_THRESHOLD = 5;
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static const int TURN_CHECK_INTERVAL = 500;
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const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
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const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;
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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 bool occurSecondBreak;
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static int checkCrashGreenTimeout;
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static char carIntersectionOfGreenLine;
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static int currTurnSignalStatus;
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static int turnSignalStatusWhenCrashGreenLine;
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static bool reportTurnSignalError;
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static int prevMoveDirect;
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static uint32_t stopTimepoint = 0;
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static bool reportStopCarOnRedArea;
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static PointF stopPoint, startPoint;
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static bool prevGearError = false;
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static bool prevGearNSlide = false;
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static bool slideLongDistance;
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static bool slideNormalDistance;
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static bool occurSlide;
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static struct drive_timer crashGreenRunTime, crashGreenCmpTime, crashGreenStartTime, turnSignalChangeTime;
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static struct drive_timer gearErrorTimePoint;
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static struct drive_timer gearNSlideTimePoint;
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static int gearErrorTime;
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static int gearNSlideTime;
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static int startCar;
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static int currExamMapIndex;
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static bool checkDoor = false;
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static bool handBreakActive = false;
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static bool reportRPMOver = false;
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static const int MAX_ENGINE_RPM = 2500;
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static const double START_CAR_MOVE_DISTANCE = 10.0;
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static const double START_CAR_CHECK_DOOR_DISTANCE = 1.0;
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static const uint32_t GEAR_N_SLIDE_TIMEOUT = D_SEC(5);
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static const uint32_t GEAR_ERROR_TIMEOUT = D_SEC(15);
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static const uint32_t STOP_CAR_TIME = D_SEC(2);
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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 uint32_t TURN_SIGNAL_LAMP_ADVANCE = D_SEC(3);
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static const double MAX_SPEED = 40.0 * 1000.0 / 3600.0;
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static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};
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static void TestRoadStartCar(const car_model *car, double speed, int moveDirect, const struct RtkTime *rtkTime);
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static char isTurn(int currYaw, int prevYaw, int &ang);
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static char CheckCarTurn(LIST_CAR_MODEL &CarModelList);
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static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car);
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static bool CrashRedArea(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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static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList);
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static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList);
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void InitRoadExam(void)
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{
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DEBUG("Start road_exam");
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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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occurSecondBreak = false;
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checkCrashGreenTimeout = 0;
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carIntersectionOfGreenLine = 0;
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reportTurnSignalError = false;
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currTurnSignalStatus = OFF_LIGHT;
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prevMoveDirect = 0;
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reportStopCarOnRedArea = false;
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occurSlide = false;
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slideLongDistance = false;
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slideNormalDistance = false;
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prevGearError = false;
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gearErrorTime = 0;
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prevGearNSlide = false;
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gearNSlideTime = 0;
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currExamMapIndex = -1;
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startCar = START_CAR_NOT_DO;
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checkDoor = false;
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handBreakActive = false;
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reportRPMOver = false;
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}
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void TerminateRoadExam(void)
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{
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TerminateDummyLightExam();
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TerminateStopCarExam();
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TerminateOperateGearExam();
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}
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static void TestRoadStartCar(const car_model *car, double speed, int moveDirect, const struct RtkTime *rtkTime)
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{
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double moveDistance;
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if (startCar == START_CAR_NOT_DO) {
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startPoint = car->basePoint;
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reportRPMOver = false;
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startCar = START_CAR_DOING;
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PlayTTS("请起步");
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} else if (startCar == START_CAR_DOING) {
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moveDistance = DistanceOf(startPoint, car->basePoint);
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if (moveDistance > START_CAR_MOVE_DISTANCE) {
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if (ReadCarStatus(HAND_BREAK) == BREAK_ACTIVE) {
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DEBUG("Handbreak active move over 10m");
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// 手刹拉起状态下，行驶了10米以上，不合格
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AddExamFault(25, rtkTime);
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} else if (handBreakActive) {
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// 手刹拉起状态下，行驶了1米以上，扣10分
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DEBUG("Handbreak active move over 1M");
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AddExamFault(26, rtkTime);
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}
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startCar = START_CAR_DONE;
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} else if (moveDistance >= START_CAR_CHECK_DOOR_DISTANCE) {
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if (!checkDoor) {
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checkDoor = true;
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if (ReadCarStatus(DOOR) == DOOR_OPEN) {
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// 车门未完全关闭，不合格
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DEBUG("车门未关闭");
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AddExamFault(23, rtkTime);
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}
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if (ReadCarStatus(HAND_BREAK) == BREAK_ACTIVE) {
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handBreakActive = true;
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}
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}
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}
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if (ReadCarStatus(ENGINE_RPM) > MAX_ENGINE_RPM && !reportRPMOver) {
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// 转速超标，不合格
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DEBUG("转速超标");
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AddExamFault(29, rtkTime);
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reportRPMOver = true;
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}
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} else {
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}
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}
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void TestRoadGeneral(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
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{
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// 起步检测
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TestRoadStartCar(car, speed, moveDirect, rtkTime);
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// 超速检测
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if (moveDirect != 0 && 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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// 副刹车检测
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if (ReadCarStatus(SECOND_BREAK) == BREAK_ACTIVE) {
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// 副刹车踩下，不合格
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if (!occurSecondBreak) {
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DEBUG("副刹车动作了");
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occurSecondBreak = true;
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AddExamFault(17, rtkTime);
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}
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} else {
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occurSecondBreak = false;
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}
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// 挡位匹配检测
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bool currGearError = false;
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bool currGearNSlide = false;
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switch (ReadCarStatus(GEAR)) {
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case GEAR_N:
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if (moveDirect != 0) {
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// 空档滑行
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currGearNSlide = true;
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}
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break;
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case GEAR_1:
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if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[0][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[0][1]) {
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currGearError = true;
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}
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break;
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case GEAR_2:
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if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[1][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[1][1]) {
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currGearError = true;
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}
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break;
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case GEAR_3:
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if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[2][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[2][1]) {
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currGearError = true;
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}
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break;
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case GEAR_4:
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if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[3][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[3][1]) {
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currGearError = true;
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}
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break;
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case GEAR_5:
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if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[4][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[4][1]) {
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currGearError = true;
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}
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break;
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default:break;
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}
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// 空档滑行超时
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if (currGearNSlide && prevGearNSlide) {
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gearNSlideTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
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gearNSlideTimePoint.hour, gearNSlideTimePoint.min, gearNSlideTimePoint.sec, gearNSlideTimePoint.msec*10);
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}
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if (gearNSlideTime > GEAR_N_SLIDE_TIMEOUT) {
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// 空档滑行超5秒，不合格
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DEBUG("挡位滑行，超过5秒");
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AddExamFault(8, rtkTime);
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gearNSlideTime = 0;
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}
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prevGearNSlide = currGearNSlide;
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if (prevGearNSlide) {
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Rtk2DriveTimer(gearNSlideTimePoint, rtkTime);
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} else {
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gearNSlideTime = 0;
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}
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// 挡位不匹配超时
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if (currGearError && prevGearError) {
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gearErrorTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
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gearErrorTimePoint.hour, gearErrorTimePoint.min, gearErrorTimePoint.sec, gearErrorTimePoint.msec*10);
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}
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if (gearErrorTime > GEAR_ERROR_TIMEOUT) {
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// 累计15秒，挡位-车速不匹配，不合格
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DEBUG("挡位错误超过15秒");
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AddExamFault(6, rtkTime);
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gearErrorTime = 0;
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}
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prevGearError = currGearError;
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if (prevGearError) {
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Rtk2DriveTimer(gearErrorTimePoint, rtkTime);
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}
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// 起步后滑
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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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reportStopCarOnRedArea = 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 if (moveDirect == -1 && prevMoveDirect == 0) {
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DEBUG("开始后滑");
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stopPoint = car->basePoint;
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occurSlide = true;
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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 >= STOP_CAR_TIME && !reportStopCarOnRedArea && CrashRedArea(RoadMapList, car)) {
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// 停车超2秒，停在红区，不合格
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AddExamFault(16, rtkTime);
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DEBUG("禁停区停车");
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reportStopCarOnRedArea = true;
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}
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} else if (moveDirect == -1) {
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if (occurSlide) {
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double slideDistance = DistanceOf(stopPoint, car->basePoint);
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if (slideDistance > SLIDE_DISTANCE_THRESHOLD_YELLOW) {
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slideNormalDistance = true;
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}
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if (slideDistance > SLIDE_DISTANCE_THRESHOLD_RED && !slideLongDistance) {
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// 后滑超过30厘米, 不合格
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AddExamFault(5, rtkTime);
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DEBUG("后滑超过30厘米");
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slideLongDistance = true;
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}
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}
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} else {
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if (slideNormalDistance) {
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// 后滑，扣10分
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AddExamFault(18, rtkTime);
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DEBUG("后滑超过10厘米, 但不超过30厘米");
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}
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slideNormalDistance = false;
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slideLongDistance = false;
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occurSlide = false;
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}
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switch (ReadCarStatus(TURN_SIGNAL_LAMP)) {
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case LEFT_TURN_LIGHT:
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if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
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currTurnSignalStatus = LEFT_TURN_LIGHT;
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Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
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}
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break;
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case RIGHT_TURN_LIGHT:
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if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
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currTurnSignalStatus = RIGHT_TURN_LIGHT;
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Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
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}
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break;
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default:
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currTurnSignalStatus = ReadCarStatus(TURN_SIGNAL_LAMP);
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break;
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}
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// 检查是否持续转向
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char turnDirect = CheckCarTurn(CarModelList);
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if (turnDirect == 'L') {
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// PlayTTS("左1");
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if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
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if (!reportTurnSignalError) {
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DEBUG("没打左转灯");
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// 没打左转灯，不合格
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AddExamFault(13, rtkTime);
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reportTurnSignalError = true;
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}
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} else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
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turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
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if (!reportTurnSignalError) {
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DEBUG("转向灯时间不足");
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// 不足3秒，不合格
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AddExamFault(14, rtkTime);
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reportTurnSignalError = true;
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}
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}
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} else if (turnDirect == 'R') {
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// PlayTTS("右1");
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if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
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if (!reportTurnSignalError) {
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DEBUG("没打右转灯");
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// 没打右转灯，不合格
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AddExamFault(13, rtkTime);
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reportTurnSignalError = true;
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}
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} else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
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turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
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if (!reportTurnSignalError) {
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DEBUG("转向灯时间不足");
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// 不足3秒，不合格
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AddExamFault(14, rtkTime);
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reportTurnSignalError = true;
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}
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}
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} else {
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reportTurnSignalError = false;
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}
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// 撞红线
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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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DEBUG("撞道路边缘线");
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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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// 撞绿线
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static PointF p1, p2;
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if (CrashGreenLine(RoadMapList, car, p1, p2)) {
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// 压虚线
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if (moveDirect != 0) {
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if (checkCrashGreenTimeout == 0) {
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checkCrashGreenTimeout = 1;
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Rtk2DriveTimer(crashGreenRunTime, rtkTime); // 运动中压虚线的开始时间点
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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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DEBUG("长时间压虚线");
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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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// 记录开始压线的时间，不确定是否有变道意图，待确认变道后再处理之
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Rtk2DriveTimer(crashGreenStartTime, rtkTime);
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turnSignalStatusWhenCrashGreenLine = currTurnSignalStatus;
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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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// 不再压虚线
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if (occurCrashGreenLine) {
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int inter = IntersectionOfLine(p1, p2, car->basePoint);
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// 完成跨线动作
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if ((inter == 1 && carIntersectionOfGreenLine == 'R') ||
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(inter == -1 && carIntersectionOfGreenLine == 'L')) {
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// 比较上次跨线时间
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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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DEBUG("===================== 连续变道 ============!!");
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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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// 记录本次变道时间点
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Rtk2DriveTimer(crashGreenCmpTime, rtkTime);
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// 检查变道前，是否提前转向灯
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if (inter == 1) {
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// PlayTTS("左2");
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// 向左侧变道
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DEBUG("向左侧变道");
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if (turnSignalStatusWhenCrashGreenLine != LEFT_TURN_LIGHT) {
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DEBUG("变调未打灯!!");
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// 没打灯，不合格
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AddExamFault(13, rtkTime);
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}
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} else {
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// PlayTTS("右2");
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// 向右侧变道
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DEBUG("向右侧变道");
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if (turnSignalStatusWhenCrashGreenLine != RIGHT_TURN_LIGHT) {
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DEBUG("变调未打灯!!");
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// 没打灯，不合格
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AddExamFault(13, rtkTime);
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}
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}
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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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// 完成起步后，触发线检测
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if (currExamMapIndex == -1 && startCar == START_CAR_DONE) {
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currExamMapIndex = CrashTriggerLine(RoadMapList, car, CarModelList);
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if (currExamMapIndex != -1) {
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DEBUG("碰撞触发线");
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MA_EnterMap(RoadMapList[currExamMapIndex].id, RoadMapList[currExamMapIndex].type, 1);
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if (RoadMapList[currExamMapIndex].type >= THROUGH_INTERSECTION_MAP &&
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RoadMapList[currExamMapIndex].type <= TURN_AROUND_MAP) {
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StartThroughExam(currExamMapIndex, RoadMapList);
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} else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
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StartDriveStraightExam(currExamMapIndex, RoadMapList);
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} else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
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StartStopCarExam(currExamMapIndex, RoadMapList);
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} else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
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StartOperateGearExam(currExamMapIndex, RoadMapList);
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}
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}
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} else if (startCar == START_CAR_DONE) {
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int prevIdx = currExamMapIndex;
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if (RoadMapList[currExamMapIndex].type >= THROUGH_INTERSECTION_MAP && currExamMapIndex <= TURN_AROUND_MAP) {
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currExamMapIndex = ExecuteThroughExam(currExamMapIndex, RoadMapList, car,
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CarModelList, speed, moveDirect, rtkTime);
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}
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else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
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currExamMapIndex = ExecuteDriveStraightExam(currExamMapIndex, RoadMapList, car,
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CarModelList, speed, moveDirect, rtkTime);
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} else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
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currExamMapIndex = ExecuteStopCarExam(currExamMapIndex, RoadMapList, car,
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CarModelList, speed, moveDirect, rtkTime);
|
} else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
|
currExamMapIndex = ExecuteOperateGearExam(currExamMapIndex, RoadMapList, car,
|
CarModelList, speed, moveDirect, rtkTime);
|
}
|
|
if (currExamMapIndex == -1) {
|
DEBUG("离开区域 index %d id %d type %d", prevIdx, RoadMapList[prevIdx].id, RoadMapList[prevIdx].type);
|
|
MA_EnterMap(RoadMapList[prevIdx].id, RoadMapList[prevIdx].type, 0);
|
}
|
}
|
}
|
|
bool ExitSonArea(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car)
|
{
|
bool ret = false;
|
|
if (index < 0 || index > RoadMapList.size())
|
return true;
|
|
if (RoadMapList[index].area.point != NULL) {
|
// 需要车身全部离开
|
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, &RoadMapList[index].area) == GM_None) {
|
ret = true;
|
}
|
|
free(carBody.point);
|
}
|
|
return ret;
|
}
|
|
bool CrashSonRedLine(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
|
{
|
bool ret = false;
|
|
if (CarModelList.size() < 5 || index < 0 || index >= RoadMapList.size())
|
return ret;
|
|
Polygon trace;
|
|
trace.num = 5; // 最近5个轮轨迹
|
trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);
|
|
list<car_model *>::iterator iter = CarModelList.begin();
|
|
int pn = 0;
|
while (iter != CarModelList.end() && pn < trace.num) {
|
trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
|
++iter;
|
}
|
|
// 每条线都检测
|
for (int j = 0; j < RoadMapList[index].redLineNum; ++j) {
|
Line red_line;
|
|
int kp = 0;
|
|
// 触发线一般应该只有首尾2点（id, p1, p2）
|
for (int k = 1; k < RoadMapList[index].redLine[j].num; ++k) {
|
MakeLine(&red_line, &RoadMapList[index].redLine[j].point[kp],
|
&RoadMapList[index].redLine[j].point[k]);
|
|
int pp = 0;
|
for (int p = 1; p < pn; ++p) {
|
Line trace_line;
|
MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);
|
|
if (IntersectionOf(trace_line, red_line) == GM_Intersection) {
|
// 碰到触发线
|
ret = true;
|
goto SEARCH_SON_RED_LINE_END;
|
}
|
|
pp = p;
|
}
|
|
kp = k;
|
}
|
}
|
|
SEARCH_SON_RED_LINE_END:
|
free(trace.point);
|
|
return ret;
|
}
|
|
void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
|
{
|
tm.hour = rtkTime->hh;
|
tm.min = rtkTime->mm;
|
tm.sec = rtkTime->ss;
|
tm.msec = rtkTime->mss;
|
}
|
|
static char isTurn(int currYaw, int prevYaw, int &ang)
|
{
|
// DEBUG("currYaw %d prevYaw %d", currYaw, prevYaw);
|
int deltaAng = 0;
|
|
if (ABS(currYaw - prevYaw) > 180) {
|
deltaAng = 360 - ABS(currYaw-prevYaw);
|
} else {
|
deltaAng = ABS(currYaw - prevYaw);
|
}
|
|
ang = deltaAng;
|
|
// DEBUG("角度差值 %d", deltaAng);
|
|
if (deltaAng >= TURN_THRESHOLD) {
|
if((( currYaw + 360 - prevYaw) % 360) < 180) {
|
// DEBUG("右转");
|
return 'R';
|
} else {
|
// DEBUG("左转");
|
return 'L';
|
}
|
}
|
|
return 'N';
|
}
|
|
static char CheckCarTurn(LIST_CAR_MODEL &CarModelList)
|
{
|
// 最近2秒内，每0.5秒的角度差大于5度，且方向相同，连续4次；或突现超30度的转向；认为转向。
|
if (CarModelList.size() < 1)
|
return false;
|
|
list<car_model *>::iterator iter = CarModelList.begin();
|
|
car_model *c1 = *iter, *c2;
|
|
++iter;
|
|
char turn[TURN_CHECK_CNT] = {0};
|
int checkCnt = 0;
|
|
// DEBUG("CheckCarTurn.........");
|
|
while (iter != CarModelList.end() && checkCnt < TURN_CHECK_CNT) {
|
c2 = *iter;
|
|
uint32_t tdiff = TimeGetDiff(c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);
|
|
if (tdiff >= TURN_CHECK_INTERVAL) {
|
int ang = 0;
|
turn[checkCnt] = isTurn((int)c1->yaw, (int)c2->yaw, ang);
|
// DEBUG("%c 角度比较 %02d:%02d:%02d.%03d %02d:%02d:%02d.%03d", turn[checkCnt], c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);
|
|
if (turn[checkCnt] == 'N') {
|
break;
|
} else if (ang >= 30) {
|
DEBUG("左右转确认 %c", turn[checkCnt]);
|
return turn[checkCnt];
|
}
|
|
c1 = c2;
|
checkCnt++;
|
}
|
|
++iter;
|
}
|
|
int i = 0;
|
for (; checkCnt == TURN_CHECK_CNT && i < TURN_CHECK_CNT-1; ++i) {
|
if (turn[i] != turn[i+1])
|
break;
|
}
|
|
if (i == TURN_CHECK_CNT-1) {
|
DEBUG("左右转确认 %c", turn[0]);
|
return turn[0];
|
}
|
|
return 0;
|
}
|
|
/*****************************************************
|
* CrashRedLine 整个考试区域的道路边缘线，实线等。
|
* 按车轮碰触计算，车身不计
|
*/
|
static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car)
|
{
|
Line frontAxle, rearAxle;
|
|
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 < RoadMapList.size(); ++i) {
|
if (RoadMapList[i].type == GENERAL_MAP) {
|
|
// 每条线都检测
|
for (int j = 0; j < RoadMapList[i].redLineNum; ++j) {
|
Line red_line;
|
int kp = 0;
|
|
for (int k = 1; k < RoadMapList[i].redLine[j].num; ++k) {
|
MakeLine(&red_line, &RoadMapList[i].redLine[j].point[kp], &RoadMapList[i].redLine[j].point[k]);
|
|
if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
|
IntersectionOf(red_line, rearAxle) == GM_Intersection) {
|
return true;
|
}
|
kp = k;
|
}
|
}
|
break;
|
}
|
}
|
return false;
|
}
|
|
/**********************************************************
|
* 按整个车身是否覆盖计算
|
* @param RoadMapList
|
* @param car
|
* @return
|
*/
|
static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car)
|
{
|
bool ret = false;
|
|
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]];
|
}
|
|
for (int i = 0; i < RoadMapList.size(); ++i) {
|
if (RoadMapList[i].type == GENERAL_MAP) {
|
|
// 每条红区都检测
|
for (int j = 0; j < RoadMapList[i].redAreaNum; ++j) {
|
if (IntersectionOf(&carBody, &RoadMapList[i].redArea[j]) != GM_None) {
|
ret = true;
|
}
|
}
|
break;
|
}
|
}
|
|
free(carBody.point);
|
|
return ret;
|
}
|
|
/**************************************************
|
* 车轮触碰道路虚线。检测行驶时间超长；变道情况；
|
* @param RoadMapList
|
* @param car
|
*/
|
static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2)
|
{
|
Line frontAxle, rearAxle;
|
|
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 < RoadMapList.size(); ++i) {
|
if (RoadMapList[i].type == GENERAL_MAP) {
|
|
// 每条线都检测
|
for (int j = 0; j < RoadMapList[i].greenLineNum; ++j) {
|
Line green_line;
|
int kp = 0;
|
|
for (int k = 1; k < RoadMapList[i].greenLine[j].num; ++k) {
|
MakeLine(&green_line, &RoadMapList[i].greenLine[j].point[kp], &RoadMapList[i].greenLine[j].point[k]);
|
|
if (IntersectionOf(green_line, frontAxle) == GM_Intersection ||
|
IntersectionOf(green_line, rearAxle) == GM_Intersection) {
|
|
p1 = RoadMapList[i].greenLine[j].point[kp];
|
p2 = RoadMapList[i].greenLine[j].point[k];
|
|
return true;
|
}
|
kp = k;
|
}
|
}
|
break;
|
}
|
}
|
return false;
|
}
|
|
/************************************************************
|
* 检测车辆是否触发子考项地图
|
* @param RoadMapList
|
* @param car
|
* @param CarModelList
|
* @return
|
*/
|
static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
|
{
|
int map_idx = -1;
|
|
if (CarModelList.size() < 5)
|
return map_idx;
|
|
Polygon trace;
|
|
trace.num = 5;
|
trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);
|
|
list<car_model *>::iterator iter = CarModelList.begin();
|
|
int pn = 0;
|
while (iter != CarModelList.end() && pn < trace.num) {
|
trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
|
++iter;
|
}
|
|
for (int i = 0; i < RoadMapList.size(); ++i) {
|
if (RoadMapList[i].type == GENERAL_MAP) {
|
|
// 每条线都检测
|
for (int j = 0; j < RoadMapList[i].triggerLineNum; ++j) {
|
Line trigger_line;
|
|
int kp = 0;
|
|
// 触发线一般应该只有首尾2点（id, p1, p2）
|
for (int k = 1; k < RoadMapList[i].triggerLine[j].line.num; ++k) {
|
MakeLine(&trigger_line, &RoadMapList[i].triggerLine[j].line.point[kp], &RoadMapList[i].triggerLine[j].line.point[k]);
|
|
int pp = 0;
|
for (int p = 1; p < pn; ++p) {
|
Line trace_line;
|
MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);
|
|
if (IntersectionOf(trace_line, trigger_line) == GM_Intersection &&
|
IntersectionOfLine(RoadMapList[i].triggerLine[j].line.point[kp],
|
RoadMapList[i].triggerLine[j].line.point[k],
|
car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
|
DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], trigger_line) > 0.1) {
|
// 碰到触发线
|
DEBUG("碰撞触发线 引发地图 id = %d", RoadMapList[i].triggerLine[j].triggerMapId);
|
map_idx = FindMapIndexById(RoadMapList[i].triggerLine[j].triggerMapId, RoadMapList);
|
goto SEARCH_TRIGGER_LINE_END;
|
}
|
|
pp = p;
|
}
|
|
kp = k;
|
}
|
}
|
break;
|
}
|
}
|
|
SEARCH_TRIGGER_LINE_END:
|
free(trace.point);
|
|
return map_idx;
|
}
|
|
static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList)
|
{
|
for (int i = 0; i < RoadMapList.size(); ++i) {
|
if (RoadMapList[i].id == id) {
|
return i;
|
}
|
}
|
return -1;
|
}
|
