yy1717
2020-03-21 1101dc614acb3cd794c13cd68c9a24d7c353cb28
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
//
// Created by YY on 2020/3/20.
//
 
#include "through_something.h"
#include "../driver_test.h"
#include "../Geometry.h"
#include "../native-lib.h"
#include "../jni_log.h"
#include "../test_common/car_sensor.h"
#include "road_exam.h"
 
#define DEBUG(fmt, args...)     LOGD("<through_something> <%s>: " fmt, __func__, ##args)
 
static const double LASTEST_BREAK_POINT = 30.0;
static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 5.0;
 
static int breakActive;
static int stopActive;
static bool crashRedLine;
 
void StartThroughExam(int index, LIST_ROAD_MAP &RoadMapList)
{
    if (index == -1)
        return;
    DEBUG("进入路考通过something地图 index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
    if (!RoadMapList[index].tts.empty()) {
        DEBUG("播放TTS");
        PlayTTS(RoadMapList[index].tts.c_str(), 0);
    } else {
        DEBUG("没有TTS");
    }
    breakActive = 0;
    stopActive = 0;
    crashRedLine = false;
}
 
int ExecuteThroughExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
        LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    PointF p1, p2;
 
    double distance2StopLine = DistanceOf(car->carXY[car->axial[AXIAL_FRONT]],
                                          RoadMapList[index].stopLine);
    p1.X = RoadMapList[index].stopLine.X1;
    p1.Y = RoadMapList[index].stopLine.Y1;
    p2.X = RoadMapList[index].stopLine.X2;
    p2.Y = RoadMapList[index].stopLine.Y2;
 
    if (IntersectionOfLine(p1, p2, car->carXY[car->axial[AXIAL_FRONT]]) == -1) {
        distance2StopLine = -distance2StopLine;
    }
 
    // 距离停止线30米前是否有刹车动作
    if (breakActive == 0) {
        if (distance2StopLine >= LASTEST_BREAK_POINT) {
            if (ReadCarStatus(BREAK) == BREAK_ACTIVE) {
                breakActive = 1;
            }
        } else {
            breakActive = -1;
            // 不按规定减速,不合格
            DEBUG("不踩下刹车,不合格");
            switch (RoadMapList[index].type) {
                case THROUGH_INTERSECTION_MAP:
                    AddExamFault(41, rtkTime);
                    break;
                case TURN_LEFT_MAP:
                    AddExamFault(43, rtkTime);
                    break;
                case TURN_RIGHT_MAP:
                    AddExamFault(46, rtkTime);
                    break;
                case THROUGH_ZEBRA_CROSSING_MAP:
                    AddExamFault(48, rtkTime);
                    break;
                case THROUGH_SCHOOL_MAP:
                    AddExamFault(49, rtkTime);
                    break;
                case THROUGH_BUS_STATION_MAP:
                    AddExamFault(50, rtkTime);
                    break;
                default:
                    break;
            }
        }
    }
 
    // 有停止标记的,是否停车(停止线5米内有停车动作)
    if (RoadMapList[index].flagStop != 0 && stopActive == 0) {
        if (distance2StopLine < 0.0) {
            // 不停车瞭望,不合格
            DEBUG("不停车瞭望");
            switch (RoadMapList[index].type) {
                case THROUGH_INTERSECTION_MAP:
                    AddExamFault(42, rtkTime);
                    break;
                case TURN_LEFT_MAP:
                    AddExamFault(44, rtkTime);
                    break;
                case TURN_RIGHT_MAP:
                    AddExamFault(47, rtkTime);
                    break;
                default:
                    break;
            }
            stopActive = -1;
        } else if (distance2StopLine < DISTANCE_STOP_CAR_TO_STOP_LINE) {
            if (moveDirect == 0) {
                stopActive = 1;
            }
        }
    }
 
     if (CrashSonRedLine(index, RoadMapList, car, CarModelList)) {
         if (!crashRedLine) {
             DEBUG("不按考试员指令行驶");
             crashRedLine = true;
             // 不按考试员指令行驶
             AddExamFault(3, rtkTime);
         }
     } else {
         crashRedLine = false;
     }
 
    if (ExitSonArea(index, RoadMapList, car)) {
        DEBUG("离开通过something区域");
        return -1;
    }
 
    return index;
}