硬件组-智慧驾培
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
yy1717
2020-10-23 c484cbb09d445e2ab30ea011c6d2ffd87202bb26 
 lib/src/main/cpp/driver_test.cpp


@@ -58,6 +58,66 @@


    TEST_TYPE_ROAD_CALIBRATE


};




static const int DEFAULT_START_KEY_HOLD_TIME = D_SEC(2);


static const int DEFAULT_CURVE_PAUSE_TIME = D_SEC(2);


static const int DEFAULT_PARK_BOTTOM_PAUSE_TIME = D_SEC(2);


static const int DEFAULT_PARK_BOTTOM_FINISH_TIME = D_SEC(210);


static const int DEFAULT_PART_EDGE_PAUSE_TIME = D_SEC(2);


static const int DEFAULT_PARK_EDGE_FINISH_TIME = D_SEC(90);


static const int DEFAULT_TURN_A90_PAUSE_TIME = D_SEC(2);


static const int DEFAULT_RAMP_FINISH_TIME = D_SEC(30);


static const double DEFAULT_RAMP_STOPPOINT_RED_DISTANCE = 0.5;


static const double DEFAULT_RAMP_EDGE_YELLOW_DISTANCE = 0.3;


static const double DEFAULT_RAMP_EDGE_RED_DISTANCE = 0.5;


static const double DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE = 0.1;


static const double DEFAULT_RAMP_SLIDE_RED_DISTANCE = 0.3;




static const double DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE = 0.1;


static const double DEFAULT_ROAD_SLIDE_RED_DISTANCE = 0.3;


static const int DEFAULT_ROAD_MAX_DISTANCE = 3000;


static const int DEFAULT_ROAD_MAX_SPEED = 60;


static const int DEFAULT_GEAR_N_TIME = D_SEC(5);


static const int DEFAULT_SAME_GEAR_HOLD_TIME = D_SEC(5);


static const int DEFAULT_GEAR_SPEED_ERROR_MAX_TIME = D_SEC(15);


static const int DEFAULT_ROAD_PAUSE_TIME = D_SEC(2);


static const int DEFAULT_CHANGE_LANE_MIN_TIME = D_SEC(10);


static const int DEFAULT_CRASH_DOTTED_LINE_MAX_TIME = D_SEC(10);


static const int DEFAULT_TURN_SIGNAL_MIN_ADVANCE = D_SEC(3);


static const int DEFAULT_START_CAR_MAX_RMP = 2500;


static const int DEFAULT_START_CAR_DISTANCE = 10;


static const double DEFAULT_START_CAR_OPEN_DOOR_DISTANCE = 1.0;


static const char DEFAULT_START_CAR_BEGIN_TTS[] = "请起步，继续完成考试";


static const char DEFAULT_START_CAR_END_TTS[] = "起步完成";


static const int CHANGE_LANE_MAX_DISTANCE = 100;


static const char DEFAULT_CHANGE_LANE_BEGIN_TTS[] = "前方请变更车道";


static const char DEFAULT_CHANGE_LANE_END_TTS[] = "变道完成";


static const int DEFAULT_SHIFT_MAX_DISTANCE = 120;


static const int DEFAULT_SHIFT_HOLD_TIME = D_SEC(3);


static const char DEFAULT_SHIFT_BEGIN_TTS[] = "请进行加减挡位操作";


static const char DEFAULT_SHIFT_END_TTS[] = "加减挡位完成";


static const char DEFAULT_STRAIGHT_BEGIN_TTS[] = "请保持直线行驶";


static const char DEFAULT_STRAIGHT_END_TTS[] = "直线行驶完成";


static const int DEFAULT_STRAIGHT_MAX_DISTANCE = 100;


static const double DEFAULT_STRAIGHT_MAX_OFFSET = 0.3;


static const int DEFAULT_OVERTAKE_MAX_DISTANCE = 150;


static const char DEFAULT_OVERTAKE_BEGIN_TTS[] = "请超越前方车辆";


static const char DEFAULT_OVERTAKE_END_TTS[] = "超车完成";


static const int DEFAULT_STOP_CAR_MAX_DISTANCE = 150;


static const int DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME = D_SEC(15);


static const double DEFAULT_STOP_CAR_EDGE_RED_DISTANCE = 0.5;


static const double DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE = 0.5;


static const char DEFAULT_STOP_CAR_BEGIN_TTS[] = "请靠边停车";


static const char DEFAULT_STOP_CAR_END_TTS[] = "靠边停车完成";


static const double DEFAULT_CROSSING_STOP_VALID_DISTANCE = 3.0;


static const int DEFAULT_CROSS_SCHOOL_MAX_SPEED = 30;


static const int DEFAULT_CROSS_BREAK_VALID_DISTANCE = 30;




static const char DEFAULT_CROSSING_GO_STRAIGHT_TTS[] = "前方路口直行";


static const char DEFAULT_CROSSING_TURN_LEFT_TTS[] = "前方路口左转";


static const char DEFAULT_CROSSING_TURN_RIGHT_TTS[] = "前方路口右转";


static const char DEFAULT_CROSSING_TURN_BACK_TTS[] = "前方选择合适地点掉头";


static const char DEFAULT_CROSSING_TURN_UNKNOWN_TTS[] = "前方路口听从教练指示";




static bool ExamStart = false;


static int ExamType;


static bool reportSeatbeltEject;


@@ -82,6 +142,8 @@


static bool engineStart = false;


static bool engineStartTimeout = false;




exam_param_t examParam;




#define MOV_AVG_SIZE                1


#define RTK_BUFFER_SIZE            100


#define CAR_MODEL_CACHE_SIZE      10


@@ -89,6 +151,7 @@


static rtk_info *RtkBuffer = NULL;


static int RtkBufferNum = 0, RtkBufferIn = 0;




static void SetExamParamDefault(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);


@@ -102,6 +165,7 @@


void DriverTestInit(void)


{


    ExamStart = false;


    SetExamParamDefault();




    CarModel = NULL;


    CarModelList.clear();


@@ -120,6 +184,93 @@




    RtkBuffer = (rtk_info *) malloc(RTK_BUFFER_SIZE * sizeof(rtk_info));


    RtkBufferNum = RtkBufferIn = 0;


}




static void SetExamParamDefault(void)


{


    examParam.hold_start_key_limit_time = DEFAULT_START_KEY_HOLD_TIME;


    examParam.curve_pause_criteria = DEFAULT_CURVE_PAUSE_TIME;


    examParam.park_bottom_pause_criteria = DEFAULT_PARK_BOTTOM_PAUSE_TIME;


    examParam.park_bottom_limit_time = DEFAULT_PARK_BOTTOM_FINISH_TIME;


    examParam.park_edge_pause_criteria = DEFAULT_PART_EDGE_PAUSE_TIME;


    examParam.park_edge_limit_time = DEFAULT_PARK_EDGE_FINISH_TIME;


    examParam.turn_a90_pause_criteria = DEFAULT_TURN_A90_PAUSE_TIME;




    examParam.ramp_stoppoint_red_distance = DEFAULT_RAMP_STOPPOINT_RED_DISTANCE;


    examParam.ramp_edge_yellow_distance = DEFAULT_RAMP_EDGE_YELLOW_DISTANCE;


    examParam.ramp_edge_red_distance = DEFAULT_RAMP_EDGE_RED_DISTANCE;


    examParam.ramp_slide_yellow_distance = DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE;


    examParam.ramp_slide_red_distance = DEFAULT_RAMP_SLIDE_RED_DISTANCE;


    examParam.ramp_start_car_limit_time = DEFAULT_RAMP_FINISH_TIME;




    examParam.road_slide_yellow_distance = DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE;


    examParam.road_slide_red_distance = DEFAULT_ROAD_SLIDE_RED_DISTANCE;


    examParam.road_total_distance = DEFAULT_ROAD_MAX_DISTANCE;


    examParam.road_max_speed = DEFAULT_ROAD_MAX_SPEED;




    examParam.gear_speed_table.resize(6);


    for (int i = 0; i < examParam.gear_speed_table.size(); ++i) {


        examParam.gear_speed_table[i].resize(2);


    }


    examParam.gear_speed_table[0][0] = 0;


    examParam.gear_speed_table[0][1] = 20;


    examParam.gear_speed_table[1][0] = 5;


    examParam.gear_speed_table[1][1] = 30;


    examParam.gear_speed_table[2][0] = 15;


    examParam.gear_speed_table[2][1] = 40;


    examParam.gear_speed_table[3][0] = 25;


    examParam.gear_speed_table[3][1] = 10000;


    examParam.gear_speed_table[4][0] = 35;


    examParam.gear_speed_table[4][1] = 10000;


    examParam.gear_speed_table[5][0] = 45;


    examParam.gear_speed_table[5][1] = 10000;




    examParam.gear_n_allow_time = DEFAULT_GEAR_N_TIME;


    examParam.same_gear_min_time = DEFAULT_SAME_GEAR_HOLD_TIME;            // x秒内，不允许N->X->N->X置同一挡位


    examParam.gear_speed_error_cumulative_time = DEFAULT_GEAR_SPEED_ERROR_MAX_TIME;


    examParam.road_pause_criteria = DEFAULT_ROAD_PAUSE_TIME;


    examParam.continuous_change_lane_min_time = DEFAULT_CHANGE_LANE_MIN_TIME;


    examParam.crash_dotted_line_cumulative_time = DEFAULT_CRASH_DOTTED_LINE_MAX_TIME;


    examParam.turn_signal_min_advance = DEFAULT_TURN_SIGNAL_MIN_ADVANCE;


    examParam.start_car_max_rpm = DEFAULT_START_CAR_MAX_RMP;


    examParam.start_car_limit_distance = DEFAULT_START_CAR_DISTANCE;


    examParam.open_door_drive_allow_distance = DEFAULT_START_CAR_OPEN_DOOR_DISTANCE;


    examParam.start_car_begin_tts = DEFAULT_START_CAR_BEGIN_TTS;


    examParam.start_car_end_tts = DEFAULT_START_CAR_END_TTS;


    examParam.change_lane_limit_distance = CHANGE_LANE_MAX_DISTANCE;


    examParam.change_lane_begin_tts = DEFAULT_CHANGE_LANE_BEGIN_TTS;


    examParam.change_lane_end_tts = DEFAULT_CHANGE_LANE_END_TTS;


    examParam.shift_limit_distance = DEFAULT_SHIFT_MAX_DISTANCE;


    examParam.shift_hold_time = DEFAULT_SHIFT_HOLD_TIME;


    examParam.shift_begin_tts = DEFAULT_SHIFT_BEGIN_TTS;


    examParam.shift_end_tts = DEFAULT_SHIFT_END_TTS;


    examParam.shift_up_tts = "";


    examParam.shift_down_tts = "";




    examParam.straight_begin_tts = DEFAULT_STRAIGHT_BEGIN_TTS;


    examParam.straight_end_tts = DEFAULT_STRAIGHT_END_TTS;


    examParam.straight_limit_distance = DEFAULT_STRAIGHT_MAX_DISTANCE;


    examParam.straight_max_offset = DEFAULT_STRAIGHT_MAX_OFFSET;




    examParam.overtake_limit_distance = DEFAULT_OVERTAKE_MAX_DISTANCE;


    examParam.overtake_begin_tts = DEFAULT_OVERTAKE_BEGIN_TTS;


    examParam.overtake_end_tts = DEFAULT_OVERTAKE_END_TTS;




    examParam.stop_car_limit_distance = DEFAULT_STOP_CAR_MAX_DISTANCE;


    examParam.stop_car_open_door_allow_time = DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME;


    examParam.stop_car_edge_red_distance = DEFAULT_STOP_CAR_EDGE_RED_DISTANCE;


    examParam.stop_car_edge_yellow_distance = DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE;


    examParam.stop_car_begin_tts = DEFAULT_STOP_CAR_BEGIN_TTS;


    examParam.stop_car_end_tts = DEFAULT_STOP_CAR_END_TTS;


    examParam.crossing_stop_valid_distance = DEFAULT_CROSSING_STOP_VALID_DISTANCE;


    examParam.cross_school_max_speed = DEFAULT_CROSS_SCHOOL_MAX_SPEED;


    examParam.crossing_break_valid_distance = DEFAULT_CROSS_BREAK_VALID_DISTANCE;




    examParam.crossing_go_straight_tts = DEFAULT_CROSSING_GO_STRAIGHT_TTS;


    examParam.crossing_turn_left_tts = DEFAULT_CROSSING_TURN_LEFT_TTS;


    examParam.crossing_turn_right_tts = DEFAULT_CROSSING_TURN_RIGHT_TTS;


    examParam.crossing_turn_back_tts = DEFAULT_CROSSING_TURN_BACK_TTS;


    examParam.crossing_turn_unknown_tts = DEFAULT_CROSSING_TURN_UNKNOWN_TTS;


}




static void ReadDriverExamPrimerTimeout(union sigval sig)


@@ -660,7 +811,7 @@


                    AddExamFault(4, rtkTime);


            }


            AppTimer_delete(EngineStartHold);


            AppTimer_add(EngineStartHold, D_SEC(2));


            AppTimer_add(EngineStartHold, examParam.hold_start_key_limit_time);


        }


    } else if (engineStart) {


        engineStart = false;