//
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// Created by YY on 2020/3/24.
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//
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#include "stop_car.h"
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#include "../driver_test.h"
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#include "../native-lib.h"
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#include "../jni_log.h"
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#include "road_exam.h"
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#include "../utils/xconvert.h"
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#include "../common/apptimer.h"
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#include "../test_common/car_sensor.h"
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#include "../defs.h"
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#define DEBUG(fmt, args...) LOGD("<stop_car> <%s>: " fmt, __func__, ##args)
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static bool inactiveBreakHandbreakTogether, notCloseEngine, inactiveHandBreakAfterOpenDoor, occurOpenDoor, doorNotClose, checkRoadDistance;
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static int examTtsSeq = 0;
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static int ttsPlayEnd;
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static double moveDistance;
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static double prevSpeed;
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static struct drive_timer prevPointTime;
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static int prevMoveDirect;
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static uint32_t stopTimepoint = 0;
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static uint32_t openDoorTimepoint;
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const int ENGINE_MIN_ROTATE = 200;
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static const uint32_t STOP_CAR_TIME = D_SEC(2);
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static const uint32_t OPEN_DOOR_TIMEOUT = D_SEC(15);
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static const double DISTANCE_TO_ROAD_EDGE_1 = 0.5;
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static const double DISTANCE_TO_ROAD_EDGE_2 = 0.3;
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static void PlayTTSTimeout(union sigval sig);
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void StartStopCarExam(std::string tts) {
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DEBUG("靠边停车");
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ttsPlayEnd = 0;
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moveDistance = 0;
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prevMoveDirect = 0;
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inactiveBreakHandbreakTogether = false;
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notCloseEngine = false;
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inactiveHandBreakAfterOpenDoor = false;
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occurOpenDoor = false;
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doorNotClose = false;
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checkRoadDistance = false;
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if (!tts.empty()) {
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examTtsSeq = PlayTTS(tts.c_str(), NULL);
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} else {
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examTtsSeq = PlayTTS("请靠边停车", NULL);
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}
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AppTimer_delete(PlayTTSTimeout);
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AppTimer_add(PlayTTSTimeout, D_SEC(8));
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}
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void StopCarTTSDone(int id)
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{
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// 等语音播报完毕后计时
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if (id == examTtsSeq) {
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DEBUG("StopCarTTSDone %d", id);
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ttsPlayEnd = 1;
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}
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}
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void TerminateStopCarExam(void)
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{
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AppTimer_delete(PlayTTSTimeout);
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}
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int ExecuteStopCarExam(road_t &road, const car_model *car,
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LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime) {
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if (ttsPlayEnd == 1) {
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ttsPlayEnd = 2;
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prevSpeed = speed;
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Rtk2DriveTimer(prevPointTime, rtkTime);
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}
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if (ttsPlayEnd != 2)
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return 1;
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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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prevPointTime.hour, prevPointTime.min,
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prevPointTime.sec, prevPointTime.msec * 10);
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if (diff >= D_SEC(1)) {
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moveDistance += (double)diff * (speed + prevSpeed) / 2.0 / 1000.0;
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prevSpeed = speed;
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Rtk2DriveTimer(prevPointTime, rtkTime);
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DEBUG("停车已行驶距离 %f", moveDistance);
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}
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if (moveDistance > 150) {
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// 150米内未停车，不合格
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DEBUG("停车距离超标，靠边停车结束");
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AddExamFault(33, rtkTime);
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return -1;
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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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DEBUG("####### 靠边停车，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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}
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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 && !checkRoadDistance) {
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// 停车超2秒，开始判断
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DEBUG("检测和路边的距离");
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PointF pc, vp;
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bool get_vp = false;
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double dis2roadEdge = 0;
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checkRoadDistance = true;
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// 前后轮的中点
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pc.X = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->right_rear_tire[TIRE_OUTSIDE]].X) / 2;
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pc.Y = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->right_rear_tire[TIRE_OUTSIDE]].Y) / 2;
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// 检测道路边缘线
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for (int i = 0; i < road.rightEdge.size(); ++i) {
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PointF p1, p2;
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Line edge;
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p1 = road.rightEdge[i].points[0];
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for (int j = 1; j < road.rightEdge[i].points.size(); ++j) {
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p2 = road.rightEdge[i].points[j];
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MakeLine(&edge, &p1, &p2);
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if (VerticalPointOnLine(pc, edge, vp)) {
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get_vp = true;
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goto FIND_VP_END;
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}
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p1 = p2;
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}
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}
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FIND_VP_END:
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if (get_vp) {
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dis2roadEdge = DistanceOf(pc, vp);
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} else {
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// 没有找到匹配线端，按最小距离顶点计算
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dis2roadEdge = 100;
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for (int i = 0; i < road.rightEdge.size(); ++i) {
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for (int j = 0; j < road.rightEdge[i].points.size(); ++j) {
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double dis;
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if (dis2roadEdge > (dis = DistanceOf(pc, road.rightEdge[i].points[j]))) {
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dis2roadEdge = dis;
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}
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}
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}
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}
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DEBUG("停车距路边距离 %f", dis2roadEdge);
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if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_1) {
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DEBUG("停车超出路边0.5米");
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// 停车距离超过50厘米，不合格
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AddExamFault(36, rtkTime);
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} else if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_2) {
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DEBUG("停车超出路边0.3米");
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// 停车距离超过30厘米，扣10分
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AddExamFault(37, rtkTime);
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}
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}
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}
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if (!inactiveBreakHandbreakTogether && ReadCarStatus(BREAK) == BREAK_INACTIVE && ReadCarStatus(HAND_BREAK) == BREAK_INACTIVE) {
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// 拉手刹前，松脚刹，扣10分
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DEBUG("拉手刹前，松脚刹");
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AddExamFault(39, rtkTime);
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inactiveBreakHandbreakTogether = true;
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}
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if (!notCloseEngine && ReadCarStatus(ENGINE_RPM) < ENGINE_MIN_ROTATE && ReadCarStatus(DOOR) == DOOR_OPEN) {
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// 下车前，不熄火，扣5分
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DEBUG("下车前，不熄火");
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AddExamFault(40, rtkTime);
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notCloseEngine = true;
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}
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if (!inactiveHandBreakAfterOpenDoor && ReadCarStatus(DOOR) == DOOR_OPEN && ReadCarStatus(HAND_BREAK) == BREAK_INACTIVE) {
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// 开门前，未拉手刹， 扣10分
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DEBUG("开门前，未拉手刹");
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AddExamFault(38, rtkTime);
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inactiveHandBreakAfterOpenDoor = true;
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}
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if (ReadCarStatus(DOOR) == DOOR_OPEN) {
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if (!occurOpenDoor) {
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occurOpenDoor = true;
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openDoorTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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} else {
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uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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if (!doorNotClose && tp - openDoorTimepoint >= OPEN_DOOR_TIMEOUT) {
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// 开门时间超过15秒，不合格
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DEBUG("开门时间超过15秒");
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AddExamFault(35, rtkTime);
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doorNotClose = true;
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}
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}
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} else if (occurOpenDoor) {
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DEBUG("开车门，靠边停车结束");
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return -1;
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}
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if (occurOpenDoor) {
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uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
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if (tp - openDoorTimepoint >= OPEN_DOOR_TIMEOUT + D_SEC(5)) {
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DEBUG("开门时间大于20秒，靠边停车结束");
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return -1;
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}
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}
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return 1;
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}
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static void PlayTTSTimeout(union sigval sig)
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{
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AppTimer_delete(PlayTTSTimeout);
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ttsPlayEnd = 1;
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}
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