加入地图标定模式

yy1717

2020-09-16 611f51ed073de48e83f46d47c82cd5ebe61258d7

 lib/src/main/cpp/driver_test.h

@@ -137,16 +137,14 @@
} separate_t;

typedef struct {
    int active;
    string tts;
    bool stopFlag;
    Line line;
    bool centrePointValid;
    PointF centrePoint;
} stop_line_t;

typedef struct {
    int id;
    Line startLine;
//    Line stopLine;
//    int active;         // 到达路口尾部的行进方向
    bool activeBreak;   // 路口刹车减速
@@ -175,15 +173,9 @@
} special_area_t;

typedef struct {
    int id;
    int road;
    int active;
    int time;                   // 项目最大完成时间
    int distance;               // 项目最大完成距离
    string tts;
    bool cmp;
    std::vector<PointF> points;
    std::vector<PointF> leftPoints; // 对应到道路左侧的点
} trigger_line_t;

typedef struct {
@@ -192,11 +184,25 @@
    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<trigger_line_t> triggerLines;
    std::vector<forbid_line_t> forbidLines;
    std::vector<scheme_t> examScheme;
};

struct area_exam_map {
@@ -218,7 +224,7 @@


void CleanRoadMap(void);
void SetRoadMap(road_exam_map &map);
void SetRoadMap(road_exam_map &map, vector<scheme_t> &scheme);

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
                        int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
@@ -228,6 +234,8 @@

void UpdateRTKInfo(const rtk_info *s);
void AddExamFault(int wrong, const struct RtkTime *rtkTime);
void RoadChange(int road, int status);
void CrossingChange(int road, int crossing, int status);

void SystemShutdown(int event, int timeout);