坐标

yy1717

2024-02-28 27fc91fbe8f88b6885356e68828cfe1ce1db7601

 lib/src/main/cpp/driver_test.h

@@ -8,6 +8,10 @@
#include <vector>
#include <string>
#include <list>
#include <map>
#include <tuple>
#include <atomic>

#include "test_common/Geometry.h"
#include "rtk_module/rtk.h"
#include "map.h"
@@ -28,7 +32,7 @@
    MAP_TYPE_UPHILL,
    MAP_TYPE_PARK_EDGE,
    MAP_TYPE_CURVE,
    MAP_TYPE_TURN_90
    MAP_TYPE_RIGHT_CORNER
} map_type_t;

typedef struct {
@@ -80,146 +84,31 @@

typedef struct {
    map_type_t type;
    int map_idx;        // 对应科目地图集合中的序号
    int idx;        // 对应科目地图集合中的序号
    int stage;      // 对于倒车入库等项目会有多个操作阶段
} map_t;

typedef struct {
    bool examing = false;
    int curr_modeling_index = -1;
    int prev_modeling_index = -1;
    area_map_t *pMap;
    car_model_t *pModel;
    modeling_t *pModeling;
    motion_t *pMotion;
    map_t curr_exam_map;
    map_t arriving_map;
} prime_t;

struct ExamFault {
    int sn;
    char utc[32];
    int wrong_id;
};

#define LINE_DOTTED            0
#define LINE_SOLID             1
#define LINE_HALF_SOLID_LEFT        2
#define LINE_HALF_SOLID_RIGHT       3
#define LINE_BOUNDARY               4

//车道方向（按位组合）,如果为0，则表无车道方向说明；
#define LANE_FORWARD   0x01
#define LANE_LEFT      0x02
#define LANE_RIGHT      0x04
#define LANE_BACKWARD   0x08

#define ZEBRA_CROSSING              0
#define SCHOOL_AREA                 1
#define BUS_STATION_AREA            2
#define GRID_AREA                   3

#define ROAD_ACTIVE_FORWARD     LANE_FORWARD
#define ROAD_ACTIVE_TURN_LEFT   LANE_LEFT
#define ROAD_ACTIVE_TURN_RIGHT  LANE_RIGHT
#define ROAD_ACTIVE_TURN_BACKWARD   LANE_BACKWARD

typedef struct {
    int character;                  // 属性（实线、虚线，有些可以掉头的路段）
    std::vector<PointF> points;     //
} edge_t;

typedef struct {
    int character;          // 属性《实线、虚线、半实半虚线》
    std::vector<PointF> points;
} segment_t;

typedef struct {
    PointF start;
    PointF end;
    std::vector<int> direct;
} lane_direct_t;

// 一组平行的分道线
typedef struct {
    std::vector<lane_direct_t> lane_direct;         // 一组导向线的配置
    std::vector<std::vector<segment_t>> lines;      // 每段域下的平行的一组线
} separate_t;

typedef struct {
    bool stopFlag;
    Line line;
    bool centrePointValid;
    PointF centrePoint;
} stop_line_t;

typedef struct {
    int id;
//    Line stopLine;
//    int active;         // 到达路口尾部的行进方向
    bool activeBreak;   // 路口刹车减速
    bool activeStop;    // 路口停车瞭望
    bool errorLane;     // 错误车道
    int targetRoad;
//    int stopFlag;
//    string tts;
//    bool arrivedTail;
    Polygon area;       // 整个道路区域

    std::vector<stop_line_t> stopLine;
    std::vector<edge_t> leftEdge;
    std::vector<edge_t> rightEdge;
    std::vector<separate_t> separate;
} road_t;

typedef struct {
    int id;
    int road;
    int type;
    bool activeBreak;
    bool overSpeed;
    std::vector<PointF> area;       // 人行道等右侧2点，网格线4点
    std::vector<PointF> leftPoints; // 对应到道路左侧的点
} special_area_t;

typedef struct {
    int road;
    int active;
    std::vector<PointF> points;
} trigger_line_t;

typedef struct {
    int id;
    int type;
    std::vector<PointF> points;
} forbid_line_t;

typedef struct {
    int road_id;
    int index;
    int active;
} crossing_active_t;

typedef struct {
    std::string name;
    std::vector<crossing_active_t> crossingActive;
    std::vector<trigger_line_t> triggerLines;
} scheme_t;

struct road_exam_map {
    int calibrate;
    std::vector<road_t> roads;
    std::vector<special_area_t> specialAreas;
//    std::vector<trigger_line_t> triggerLines;
    std::vector<forbid_line_t> forbidLines;
    std::vector<scheme_t> examScheme;
};

struct area_exam_map {
    int id;
    int type;
    Polygon map;
    Polygon map2;
};
    std::atomic_int speed;
    std::atomic_int rpm;
    std::atomic_int gear;
    std::atomic_int turn_signal_lamp;
    std::atomic_int dipped_beam_lamp;
    std::atomic_int fog_lamp;
    std::atomic_int clearance_lamp;
    std::atomic_int flash_beam_lamp;
    std::atomic_int main_beam_lamp;
    std::atomic_int seatbelt;
    std::atomic_int engine_start;
    std::atomic_int brake;
    std::atomic_int hand_brake;
    std::atomic_int second_brake;
    std::atomic_int door;
    std::atomic_int surround_car_1;
    std::atomic_int surround_car_2;
    std::atomic_int surround_car_3;
    std::atomic_int surround_car_4;
} sensor_t;

typedef struct {
    int hold_start_key_limit_time;      // 点火保持，毫秒
@@ -304,20 +193,38 @@
    std::string crossing_turn_unknown_tts;
} exam_param_t;

extern exam_param_t examParam;
typedef struct {
    bool examing = false;
    int curr_modeling_index = -1;
    int prev_modeling_index = -1;
    int arriving_map = -1;
    std::tuple<int, std::vector<park_button_map_t>, std::vector<uphill_map_t>, std::vector<park_edge_map_t>, std::vector<curve_map_t>, std::vector<turn_a90_map_t>> maps;
    car_model_t *pModel;
    modeling_t *pModeling;
    motion_t *pMotion;
    map_t examing_area;
    sensor_t sensor;
    exam_param_t examParam;
    double odo;             // 用RTK定位计算的行驶里程
} prime_t;

struct ExamFault {
    int sn;
    char utc[32];
    int wrong_id;
};

prime_t& GetPrime(void);
void DriverTestInit(void);
void ReadDriverExamPrimer(void);

void ClearAreaMap(void);
void AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);

void AddCurveMap(curve_map_t &map);
void AddParkButtonMap(park_button_map_t &map);
void AddParkEdgeMap(park_edge_map_t &map);

void CleanRoadMap(void);
void SetRoadMap(road_exam_map &map, std::vector<scheme_t> &scheme);
void SetRoadExamScheme(std::vector<scheme_t> &scheme);
void AddUphillMap(uphill_map_t &map);
void AddTurnA90Map(turn_a90_map_t &map);

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
                        int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
@@ -325,19 +232,13 @@

void StartDriverExam(int start, int type);

void UpdateSensor(int id, int value);
void UpdateRTKInfo(const rtk_info_t *s);
void AddExamFault(int wrong);
void RoadChange(int road, int status);
void CrossingChange(int road, int crossing, int status);


void SystemShutdown(int event, int timeout);

void SetDummyLightExam(int n, struct dummy_light_exam *cfg);

void MasterInqRoadStatus(void);

int CorrectPauseCriteria(int src);

void SensorXChanged(uint16_t id, int value);

#endif //RTKDRIVERTEST_DRIVER_TEST_H