| | |
| | | |
| | | #include "driver_test.h" |
| | | #include "defs.h" |
| | | #include "Geometry.h" |
| | | #include "test_common/Geometry.h" |
| | | #include "common/apptimer.h" |
| | | #include "jni_log.h" |
| | | #include "test_items/park_edge.h" |
| | |
| | | #include "mcu/mcu_if.h" |
| | | #include "test_common/car_sensor.h" |
| | | #include "test_items2/road_exam.h" |
| | | #include "test_items/area_exam.h" |
| | | |
| | | #define DEBUG(fmt, args...) LOGD("<driver_test> <%s>: " fmt, __func__, ##args) |
| | | |
| | |
| | | static int ExamType; |
| | | static bool reportSeatbeltEject; |
| | | |
| | | static int CarInArea = 0; |
| | | int errs = 0; |
| | | |
| | | vector<int> ErrorList; |
| | | vector<ExamFault> ExamFaultList; |
| | | static int examFaultIndex = 0; |
| | | |
| | | static struct map_list { |
| | | int id; |
| | | int type; |
| | | Polygon map; |
| | | Polygon map2; |
| | | } MapList[MAP_LIST_SIZE]; |
| | | static LIST_AREA_MAP AreaMapList; |
| | | |
| | | static Polygon RoadMapPoints; |
| | | |
| | | static LIST_ROAD_MAP RoadMapList; |
| | | |
| | | static int MapNum = 0; |
| | | static int CurrExamMapIndex = -1; |
| | | static int CurrEnterMapIndex = -1; |
| | | |
| | | static int CurrExamStatus = EXAM_AREA_NONE; // 1 测试完成 0 测试中 -1 测试错误退出 |
| | | static int exam_dummy_light; |
| | | |
| | | static car_model *CarModel = NULL; |
| | |
| | | static rtk_info *RtkBuffer = NULL; |
| | | static int RtkBufferNum = 0, RtkBufferIn = 0; |
| | | |
| | | static void DetectEnterOrExitMap(void); |
| | | static void EngineStartHold(union sigval sig); |
| | | static void ExecuteExam(const struct RtkTime* rtkTime); |
| | | static void ExecuteExam(double speed, int move, double azimuth, const struct RtkTime* rtkTime); |
| | |
| | | static void UpdateCarBodyCoord(struct RtkTime *rtkTime, double azimuth, double pitch, double roll, PointF main_ant, car_model *carModel); |
| | | static bool UpdateCarCoord(double &spd, int &mov, int &idx); |
| | | |
| | | static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList); |
| | | static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, const struct map_list *mapList, int mapNum); |
| | | static bool ExitMap(const car_model *car, int mapId, const struct map_list *mapList, int mapNum); |
| | | static int GetMapId(int index, const struct map_list *mapList, int mapNum); |
| | | static int GetMapType(int index, const struct map_list *mapList, int mapNum); |
| | | |
| | | void DriverTestInit(void) |
| | | { |
| | | ExamStart = false; |
| | | memset(&MapList, 0, sizeof(MapList)); |
| | | MapNum = 0; |
| | | |
| | | CarModel = NULL; |
| | | CarModelList.clear(); |
| | | |
| | | AreaMapList.clear(); |
| | | |
| | | RoadMapPoints.num = 0; |
| | | RoadMapPoints.point = NULL; |
| | |
| | | |
| | | RtkBuffer = (rtk_info *) malloc(RTK_BUFFER_SIZE * sizeof(rtk_info)); |
| | | RtkBufferNum = RtkBufferIn = 0; |
| | | |
| | | CurrExamStatus = EXAM_AREA_NONE; |
| | | } |
| | | |
| | | static void ReadDriverExamPrimerTimeout(union sigval sig) |
| | |
| | | MA_ReadSensor(); |
| | | } |
| | | |
| | | void ClearMap(void) |
| | | void ClearAreaMap(void) |
| | | { |
| | | if (ExamStart) return; |
| | | |
| | | for (int i = 0; i < MapNum; ++i) { |
| | | if (MapList[i].map.point != NULL) |
| | | free(MapList[i].map.point); |
| | | if (MapList[i].map2.point != NULL) |
| | | free(MapList[i].map2.point); |
| | | } |
| | | memset(&MapList, 0, sizeof(MapList)); |
| | | MapNum = 0; |
| | | } |
| | | |
| | | void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2) |
| | | { |
| | | DEBUG("加入地图信息 id %d type %d pointNum %d point2Num %d", id, type, pointNum, pointNum2); |
| | | |
| | | AppTimer_delete(ReadDriverExamPrimerTimeout); |
| | | |
| | | if (map == NULL || pointNum == 0 || ExamStart) |
| | | if (ExamStart) |
| | | return; |
| | | |
| | | MapList[MapNum].id = id; |
| | | for (int i = 0; i < AreaMapList.size(); ++i) { |
| | | if (AreaMapList[i].map.point != NULL) |
| | | free(AreaMapList[i].map.point); |
| | | if (AreaMapList[i].map2.point != NULL) |
| | | free(AreaMapList[i].map2.point); |
| | | } |
| | | |
| | | MapList[MapNum].type = type; |
| | | AreaMapList.clear(); |
| | | } |
| | | |
| | | MapList[MapNum].map.num = pointNum; |
| | | void AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2) |
| | | { |
| | | if (map == NULL || pointNum == 0 || ExamStart) |
| | | return; |
| | | DEBUG("加入地图信息 id %d type %d pointNum %d point2Num %d", id, type, pointNum, pointNum2); |
| | | |
| | | struct area_exam_map newMap; |
| | | |
| | | newMap.id = id; |
| | | newMap.type = type; |
| | | newMap.map.num = pointNum; |
| | | newMap.map2.num = 0; |
| | | newMap.map.point = NULL; |
| | | newMap.map2.point = NULL; |
| | | |
| | | if (pointNum > 0) { |
| | | MapList[MapNum].map.point = (PointF *)malloc(sizeof(PointF) * pointNum); |
| | | newMap.map.point = (PointF *) malloc(pointNum * sizeof(PointF)); |
| | | for (int i = 0; i < pointNum; ++i) { |
| | | MapList[MapNum].map.point[i].X = map[i][0]; |
| | | MapList[MapNum].map.point[i].Y = map[i][1]; |
| | | newMap.map.point[i].X = map[i][0]; |
| | | newMap.map.point[i].Y = map[i][1]; |
| | | } |
| | | } |
| | | |
| | | MapList[MapNum].map2.num = pointNum2; |
| | | if (pointNum2 > 0 && map2 != NULL) { |
| | | MapList[MapNum].map2.point = (PointF *)malloc(sizeof(PointF) * pointNum2); |
| | | newMap.map2.num = pointNum2; |
| | | newMap.map2.point = (PointF *) malloc(pointNum2 * sizeof(PointF)); |
| | | for (int i = 0; i < pointNum2; ++i) { |
| | | MapList[MapNum].map2.point[i].X = map2[i][0]; |
| | | MapList[MapNum].map2.point[i].Y = map2[i][1]; |
| | | newMap.map2.point[i].X = map2[i][0]; |
| | | newMap.map2.point[i].Y = map2[i][1]; |
| | | } |
| | | } |
| | | |
| | | MapNum++; |
| | | |
| | | DEBUG("AddMap num %d", MapNum); |
| | | AreaMapList.push_back(newMap); |
| | | } |
| | | |
| | | void CleanRoadMap(void) |
| | |
| | | DEBUG("结束考试"); |
| | | |
| | | TerminateRoadExam(); |
| | | TerminateAreaExam(); |
| | | |
| | | CurrExamMapIndex = -1; |
| | | |
| | | ExamStart = false; |
| | | MA_SendExamStatus(0, 0); |
| | | return; |
| | | } |
| | | |
| | | if (MapNum == 0 && type == TEST_TYPE_AREA) { |
| | | if (AreaMapList.size() == 0 && type == TEST_TYPE_AREA) { |
| | | DEBUG("没有场考地图"); |
| | | err = true; |
| | | MA_SendExamStatus(0, -1); |
| | |
| | | |
| | | if (type == TEST_TYPE_ROAD_DUMMY_LIGHT) { |
| | | exam_dummy_light = 0; |
| | | |
| | | // InitRoadExam(); //////////////////// |
| | | } |
| | | if (type == TEST_TYPE_AREA) { |
| | | InitAreaExam(); |
| | | } |
| | | } |
| | | MA_SendExamStatus(1, 0); |
| | | } |
| | | } |
| | | |
| | | void StartMapExam(int map_id, int exam) |
| | | { |
| | | DEBUG("测试该场地 %d: %d", map_id, exam); |
| | | |
| | | if (map_id >= 0 && exam == 0) { |
| | | CurrExamMapIndex = map_id; |
| | | CurrExamStatus = EXAM_AREA_START; |
| | | } |
| | | } |
| | | |
| | |
| | | rtkTime.ss = RtkBuffer[index].ss; |
| | | rtkTime.mss = RtkBuffer[index].dss; |
| | | |
| | | DetectEnterOrExitMap(); |
| | | |
| | | if (ExamStart) { |
| | | ExecuteExam(speed, move, azimuth, &rtkTime); |
| | | } |
| | | } |
| | | } |
| | | |
| | | static void DetectEnterOrExitMap(void) |
| | | { |
| | | if (ExamType == TEST_TYPE_AREA) { |
| | | |
| | | } |
| | | if (CurrExamMapIndex < 0) { |
| | | if (CurrEnterMapIndex < 0) { |
| | | CurrEnterMapIndex = EnterMap(CarModel, CarModelList, MapList, MapNum); |
| | | if (CurrEnterMapIndex >= 0) { |
| | | // DEBUG("发送进入场地报告 %d", GetMapId(CurrEnterMapIndex, MapList, MapNum)); |
| | | // MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 1); |
| | | |
| | | CurrExamMapIndex = CurrEnterMapIndex; |
| | | CurrExamStatus = EXAM_AREA_START; |
| | | } |
| | | } else { |
| | | if (ExitMap(CarModel, CurrEnterMapIndex, MapList, MapNum)) { |
| | | // DEBUG("发送离开场地报告 %d", GetMapId(CurrEnterMapIndex, MapList, MapNum)); |
| | | // MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 0); |
| | | CurrEnterMapIndex = -1; |
| | | } |
| | | } |
| | | } |
| | | } |
| | |
| | | if (exam_dummy_light == 2) { |
| | | TestRoadGeneral(RoadMapList, CarModel, CarModelList, speed, move, rtkTime); |
| | | } |
| | | return; |
| | | } |
| | | |
| | | if (CurrExamMapIndex >= 0) { |
| | | int mtype = GetMapType(CurrExamMapIndex, MapList, MapNum); |
| | | |
| | | if (CurrExamStatus == EXAM_AREA_START) { |
| | | DEBUG("CurrExamMapIndex %d mtype %d", GetMapId(CurrExamMapIndex, MapList, MapNum), mtype); |
| | | |
| | | switch (mtype) { |
| | | case MAP_TYPE_PARK_BUTTOM: |
| | | DEBUG("进入倒车入库场地"); |
| | | MA_SendDebugInfo("进入倒车入库场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | |
| | | StartParkBottom(GetMapId(CurrExamMapIndex, MapList, MapNum), move, rtkTime); |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | break; |
| | | case MAP_TYPE_STOP_START: |
| | | DEBUG("进入上坡起步场地"); |
| | | MA_SendDebugInfo("进入上坡起步场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | StartSAS(GetMapId(CurrExamMapIndex, MapList, MapNum), move, rtkTime); |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | break; |
| | | case MAP_TYPE_PART_EDGE: |
| | | DEBUG("进入侧方位停车场地"); |
| | | MA_SendDebugInfo("进入侧方位停车场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | StartParkEdge(GetMapId(CurrExamMapIndex, MapList, MapNum), move, rtkTime); |
| | | |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | break; |
| | | case MAP_TYPE_CURVE: |
| | | DEBUG("进入曲线行驶场地"); |
| | | MA_SendDebugInfo("进入曲线行驶场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | StartDrivingCurve(GetMapId(CurrExamMapIndex, MapList, MapNum), move, rtkTime); |
| | | |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | break; |
| | | case MAP_TYPE_TURN_90: |
| | | DEBUG("进入直角转弯场地"); |
| | | MA_SendDebugInfo("进入直角转弯场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | StartTurnA90(GetMapId(CurrExamMapIndex, MapList, MapNum), move, azimuth, rtkTime); |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | break; |
| | | default:break; |
| | | } |
| | | } else if (CurrExamStatus == EXAM_AREA_RUN) { |
| | | int testing = 0; |
| | | switch (mtype) { |
| | | case MAP_TYPE_PARK_BUTTOM: |
| | | testing = TestParkBottom(&MapList[CurrExamMapIndex].map, |
| | | CarModel, NULL, speed, move, rtkTime); |
| | | break; |
| | | case MAP_TYPE_STOP_START: |
| | | testing = TestSAS(&MapList[CurrExamMapIndex].map, CarModel, NULL, speed, move, rtkTime); |
| | | break; |
| | | case MAP_TYPE_PART_EDGE: |
| | | testing = TestParkEdge(&MapList[CurrExamMapIndex].map, CarModel, NULL, speed, move, rtkTime); |
| | | break; |
| | | case MAP_TYPE_CURVE: |
| | | testing = TestDrivingCurve(&MapList[CurrExamMapIndex].map, &MapList[CurrExamMapIndex].map2, CarModel, NULL, speed, move, rtkTime); |
| | | break; |
| | | case MAP_TYPE_TURN_90: |
| | | testing = TestTurnA90(&MapList[CurrExamMapIndex].map, CarModel, NULL, azimuth, speed, move, rtkTime); |
| | | break; |
| | | default: |
| | | break; |
| | | } |
| | | |
| | | if (testing > 0) { |
| | | CurrExamStatus = EXAM_AREA_RUN; |
| | | } else { |
| | | CurrExamStatus = EXAM_AREA_END; |
| | | } |
| | | } |
| | | if (CurrExamStatus != EXAM_AREA_RUN) { |
| | | // 某项结束 |
| | | //DEBUG("退出场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | //MA_SendDebugInfo("退出场地 %d", GetMapId(CurrExamMapIndex, MapList, MapNum)); |
| | | CurrExamStatus = EXAM_AREA_NONE; |
| | | CurrExamMapIndex = -1; |
| | | } |
| | | } else { |
| | | TestAreaGeneral(AreaMapList, CarModel, CarModelList, speed, move, azimuth, rtkTime); |
| | | } |
| | | } |
| | | |
| | |
| | | return true; |
| | | } |
| | | |
| | | static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList) |
| | | { |
| | | bool trigger = false; |
| | | |
| | | if (CarModelList.size() < 5) |
| | | return trigger; |
| | | |
| | | Polygon trace, trace2; |
| | | int pn = 0; |
| | | |
| | | trace2.num = trace.num = 5; |
| | | trace.point = (PointF *) malloc(sizeof(PointF) * trace.num); |
| | | trace2.point = (PointF *) malloc(sizeof(PointF) * trace2.num); |
| | | |
| | | list<car_model *>::iterator iter = CarModelList.begin(); |
| | | |
| | | car_model *c1 = *iter; |
| | | |
| | | trace.point[pn] = c1->carXY[c1->left_front_tire[TIRE_OUTSIDE]]; |
| | | trace2.point[pn++] = c1->carXY[c1->left_rear_tire[TIRE_OUTSIDE]]; |
| | | |
| | | ++iter; |
| | | |
| | | while (iter != CarModelList.end() && pn < trace.num) { |
| | | car_model *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 >= D_SEC(1)) { |
| | | trace.point[pn] = c2->carXY[c2->left_front_tire[TIRE_OUTSIDE]]; |
| | | trace2.point[pn++] = c2->carXY[c2->left_rear_tire[TIRE_OUTSIDE]]; |
| | | c1 = c2; |
| | | } |
| | | ++iter; |
| | | } |
| | | |
| | | PointF p1, p2; |
| | | |
| | | p1.X = triggerLine.X1; |
| | | p1.Y = triggerLine.Y1; |
| | | p2.X = triggerLine.X2; |
| | | p2.Y = triggerLine.Y2; |
| | | |
| | | int pp = 0; |
| | | for (int p = 1; p < pn; ++p) { |
| | | Line trace_line, trace2_line; |
| | | |
| | | MakeLine(&trace_line, &trace.point[pp], &trace.point[p]); |
| | | MakeLine(&trace2_line, &trace2.point[pp], &trace2.point[p]); |
| | | |
| | | if ((IntersectionOf(trace_line, triggerLine) == GM_Intersection || IntersectionOf(trace2_line, triggerLine) == GM_Intersection) && |
| | | IntersectionOfLine(p1, p2, car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 && |
| | | DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], triggerLine) > 0.1) { |
| | | // 碰到触发线 |
| | | DEBUG("碰撞触发线 引发地图"); |
| | | trigger = true; |
| | | goto SEARCH_TRIGGER_LINE_END; |
| | | } |
| | | } |
| | | |
| | | SEARCH_TRIGGER_LINE_END: |
| | | free(trace.point); |
| | | |
| | | return trigger; |
| | | } |
| | | |
| | | static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, const struct map_list *mapList, int mapNum) |
| | | { |
| | | for (int i = 0; i < mapNum && car != NULL; ++i) { |
| | | // 车前轮或后轮轨迹越过触发线 |
| | | if (mapList[i].type == MAP_TYPE_STOP_START) { |
| | | // 构造虚拟的左上角点 |
| | | double x9, y9, xo, yo; |
| | | |
| | | xo = (mapList[i].map.point[0].X + mapList[i].map.point[7].X) / 2; |
| | | yo = (mapList[i].map.point[0].Y + mapList[i].map.point[7].Y) / 2; |
| | | |
| | | x9 = 2*xo - mapList[i].map.point[8].X; |
| | | y9 = 2*yo - mapList[i].map.point[8].Y; |
| | | |
| | | Line triggerLine; |
| | | |
| | | triggerLine.X1 = mapList[i].map.point[0].X; |
| | | triggerLine.Y1 = mapList[i].map.point[0].Y; |
| | | triggerLine.X2 = x9; |
| | | triggerLine.Y2 = y9; |
| | | |
| | | if (CrashTriggerLine(triggerLine, car, CarModelList)) |
| | | return i; |
| | | } |
| | | if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) { |
| | | // 车头顶点在场地内 |
| | | if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) { |
| | | Line enterLine1, enterLine2; |
| | | |
| | | MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map.point[1])); |
| | | MakeLine(&enterLine2, &(mapList[i].map.point[6]), &(mapList[i].map.point[7])); |
| | | |
| | | if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1 && |
| | | DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine2) > 0.1) |
| | | return i; |
| | | } |
| | | } |
| | | if (mapList[i].type == MAP_TYPE_PART_EDGE) { |
| | | // 车头顶点在场地内 |
| | | if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) { |
| | | Line enterLine; |
| | | |
| | | MakeLine(&enterLine, &(mapList[i].map.point[0]), &(mapList[i].map.point[1])); |
| | | |
| | | if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine) > 0.1) |
| | | return i; |
| | | } |
| | | } |
| | | if (mapList[i].type == MAP_TYPE_TURN_90) { |
| | | // 车前轮或后轮轨迹越过触发线 |
| | | Line triggerLine; |
| | | |
| | | MakeLine(&triggerLine, &(mapList[i].map.point[0]), &(mapList[i].map.point[1])); |
| | | |
| | | if (CrashTriggerLine(triggerLine, car, CarModelList)) |
| | | return i; |
| | | } |
| | | if (mapList[i].type == MAP_TYPE_CURVE) { |
| | | Line triggerLine; |
| | | |
| | | MakeLine(&triggerLine, &mapList[i].map2.point[0], &mapList[i].map.point[0]); |
| | | if (CrashTriggerLine(triggerLine, car, CarModelList)) |
| | | return i; |
| | | } |
| | | } |
| | | return -1; |
| | | } |
| | | |
| | | static bool ExitMap(const car_model *car, int index, const struct map_list *mapList, int mapNum) |
| | | { |
| | | bool ret = false; |
| | | if (index < 0 || mapList == NULL || mapNum == 0) return true; |
| | | |
| | | if (mapList[index].type == MAP_TYPE_PARK_BUTTOM || |
| | | mapList[index].type == MAP_TYPE_PART_EDGE || |
| | | mapList[index].type == MAP_TYPE_TURN_90) { |
| | | // 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, &mapList[index].map) == GM_None) { |
| | | ret = true; |
| | | } |
| | | |
| | | free(carBody.point); |
| | | } |
| | | if (mapList[index].type == MAP_TYPE_STOP_START) { |
| | | // 构造虚拟的左上角点 |
| | | double x9, y9, xo, yo; |
| | | |
| | | bool enter = false; |
| | | |
| | | xo = (mapList[index].map.point[0].X + mapList[index].map.point[7].X) / 2; |
| | | yo = (mapList[index].map.point[0].Y + mapList[index].map.point[7].Y) / 2; |
| | | |
| | | x9 = 2*xo - mapList[index].map.point[8].X; |
| | | y9 = 2*yo - mapList[index].map.point[8].Y; |
| | | |
| | | Polygon map; |
| | | |
| | | map.num = 4; |
| | | map.point = (PointF *) malloc(map.num * sizeof(PointF)); |
| | | |
| | | map.point[0] = mapList[index].map.point[0]; |
| | | map.point[1] = mapList[index].map.point[8]; |
| | | map.point[2] = mapList[index].map.point[7]; |
| | | map.point[3].X = x9; |
| | | map.point[3].Y = y9; |
| | | |
| | | // 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); |
| | | free(map.point); |
| | | } |
| | | if (mapList[index].type == MAP_TYPE_CURVE) { |
| | | ret = ExitDrivingCurveArea(&mapList[index].map, &mapList[index].map2, car); |
| | | } |
| | | |
| | | return ret; |
| | | } |
| | | |
| | | static int GetMapId(int index, const struct map_list *mapList, int mapNum) |
| | | { |
| | | if (index < 0 || mapList == NULL || mapNum == 0) |
| | | return -1; |
| | | |
| | | return mapList[index].id; |
| | | } |
| | | |
| | | static int GetMapType(int index, const struct map_list *mapList, int mapNum) |
| | | { |
| | | if (index < 0 || mapList == NULL || mapNum == 0) |
| | | return -1; |
| | | |
| | | return mapList[index].type; |
| | | } |
| | | |
| | | void AddExamFault(int wrong, const struct RtkTime *rtkTime) |
| | | { |
| | | struct ExamFault fault; |
| | |
| | | MA_SendExamWrong(ExamFaultList); |
| | | |
| | | ExamFaultList.clear(); |
| | | } |
| | | |
| | | car_model_cache_t *GetCarModelCache(int node) |
| | | { |
| | | return NULL; |
| | | } |
| | | |
| | | /******************************************************************* |