新的科目三

yy1717

2020-05-11 a073dc3c983b4c56c5da92642c9ad11995bdb844

 lib/src/main/cpp/driver_test.cpp

@@ -66,6 +66,7 @@
static LIST_AREA_MAP AreaMapList;

static Polygon RoadMapPoints;
static road_exam_map RoadMap;

static LIST_ROAD_MAP RoadMapList;

@@ -111,7 +112,10 @@
    RoadMapPoints.num = 0;
    RoadMapPoints.point = NULL;

    RoadMapList.clear();
//    RoadMapList.clear();
    RoadMap.roads.clear();
    RoadMap.specialAreas.clear();
    RoadMap.triggerLines.clear();

    CarSensorInit();

@@ -190,11 +194,58 @@
{
    if (ExamStart) return;

    DEBUG("清除旧的路考地图");

    if (RoadMapPoints.point != NULL) {
        free(RoadMapPoints.point);
    }
    RoadMapPoints.num = 0;

    for (int i = 0; i < RoadMap.roads.size(); ++i) {
        for (int j = 0; j < RoadMap.roads[i].leftEdge.size(); ++j) {
            RoadMap.roads[i].leftEdge[j].points.clear();
            vector<PointF>().swap(RoadMap.roads[i].leftEdge[j].points);
        }
        RoadMap.roads[i].leftEdge.clear();
        vector<edge_t>().swap(RoadMap.roads[i].leftEdge);

        for (int j = 0; j < RoadMap.roads[i].rightEdge.size(); ++j) {
            RoadMap.roads[i].rightEdge[j].points.clear();
            vector<PointF>().swap(RoadMap.roads[i].rightEdge[j].points);
        }
        RoadMap.roads[i].rightEdge.clear();
        vector<edge_t>().swap(RoadMap.roads[i].rightEdge);

        for (int j = 0; j < RoadMap.roads[i].separate.size(); ++j) {
            for (int k = 0; k < RoadMap.roads[i].separate[j].lines.size(); ++k) {
                for (int m = 0; m < RoadMap.roads[i].separate[j].lines[k].size(); ++m) {
                    RoadMap.roads[i].separate[j].lines[k][m].points.clear();
                    vector<PointF>().swap(RoadMap.roads[i].separate[j].lines[k][m].points);
                }

                RoadMap.roads[i].separate[j].lines[k].clear();
                vector<segment_t>().swap(RoadMap.roads[i].separate[j].lines[k]);
            }
            RoadMap.roads[i].separate[j].lines.clear();
            vector<vector<segment_t>>().swap(RoadMap.roads[i].separate[j].lines);
        }
        RoadMap.roads[i].separate.clear();
        vector<separate_t>().swap(RoadMap.roads[i].separate);
    }

    RoadMap.roads.clear();
    vector<road_t>().swap(RoadMap.roads);

    for (int i = 0; i < RoadMap.specialAreas.size(); ++i) {
        RoadMap.specialAreas[i].area.clear();
        vector<PointF>().swap(RoadMap.specialAreas[i].area);
    }
    RoadMap.specialAreas.clear();
    vector<special_area_t>().swap(RoadMap.specialAreas);

    RoadMap.triggerLines.clear();
    vector<trigger_line_t>().swap(RoadMap.triggerLines);
/*
    for (int i = 0; i < RoadMapList.size(); ++i) {
        struct road_exam_map map = RoadMapList[i];

@@ -244,7 +295,18 @@
        }
    }

    RoadMapList.clear();
    RoadMapList.clear();*/
}

void SetRoadMap(road_exam_map &map)
{
    if (ExamStart) return;

    RoadMap.roads.assign(map.roads.begin(), map.roads.end());
    RoadMap.specialAreas.assign(map.specialAreas.begin(), map.specialAreas.end());
    RoadMap.triggerLines.assign(map.triggerLines.begin(), map.triggerLines.end());

    DEBUG("得到新的路考地图 路数量 %d 特殊区域数量 %d 触发线数量 %d", RoadMap.roads.size(), RoadMap.specialAreas.size(), RoadMap.triggerLines.size());
}

void SetRoadMapPoints(vector<double> &mapPoints)
@@ -271,7 +333,7 @@
                      vector<int> area,
                      vector<int> stopLine)
{
    struct road_exam_map newMap;
/*    struct road_exam_map newMap;

    newMap.id = id;
    newMap.type = type;
@@ -400,7 +462,7 @@
              newMap.stopLine.Y2);
    }

    RoadMapList.push_back(newMap);
    RoadMapList.push_back(newMap);*/
}

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
@@ -554,7 +616,7 @@
//        err = true;
//        MA_SendExamStatus(0, -3);
    }
    if (type != TEST_TYPE_AREA && (RoadMapPoints.num == 0 || RoadMapPoints.point == NULL || RoadMapList.size() == 0)) {
    if (type != TEST_TYPE_AREA && RoadMap.roads.size() == 0) {
        DEBUG("没有路考地图");
        err = true;
        MA_SendExamStatus(0, -1);
@@ -645,8 +707,8 @@
        brief.pointNum = CarModel->pointNum;
        brief.point = (double *) malloc(CarModel->pointNum * 2 * sizeof(double));
        for (int i = 0, j = 0; i < CarModel->pointNum; ++i) {
            brief.point[j++] = CarModel->carXY[i].X;
            brief.point[j++] = CarModel->carXY[i].Y;
            brief.point[j++] = round(CarModel->carXY[i].X, 4);
            brief.point[j++] = round(CarModel->carXY[i].Y, 4);
        }

        MA_SendCarPosition(&brief);
@@ -801,7 +863,7 @@
            // 汇报灯光考试结束
            if (exam_dummy_light == 2) {
                DEBUG("灯光考试结束");
                InitRoadExam();
                InitRoadExam(RoadMap);
            }
        }
    }
@@ -819,7 +881,8 @@

    if (ExamType != TEST_TYPE_AREA) {
        if (exam_dummy_light == 2) {
            TestRoadGeneral(RoadMapList, CarModel, CarModelList, speed, move, rtkTime);
//            TestRoadGeneral(RoadMapList, CarModel, CarModelList, speed, move, rtkTime);
            TestRoadGeneral(RoadMap, CarModel, CarModelList, speed, move, rtkTime);
        }
    } else {
        TestAreaGeneral(AreaMapList, CarModel, CarModelList, speed, move, azimuth, rtkTime);