坐标

yy1717

2020-04-08 59abff0d03403344619420aa0bcd9c2b28ff3522

 lib/src/main/cpp/test_items/area_exam.cpp

@@ -3,3 +3,339 @@
//

#include "area_exam.h"
#include "../test_common/car_sensor.h"
#include "../driver_test.h"
#include "../jni_log.h"
#include "park_bottom.h"
#include "stop_and_start.h"
#include "park_edge.h"
#include "driving_curve.h"
#include "turn_a90.h"
#include "../utils/xconvert.h"
#include "../common/apptimer.h"

#define DEBUG(fmt, args...)     LOGD("<area_exam> <%s>: " fmt, __func__, ##args)

static int CurrExamStatus = EXAM_AREA_NONE;      // 1 测试完成 0 测试中 -1 测试错误退出
static int CurrExamMapIndex = -1;
static int CurrEnterMapIndex = -1;

static void DetectEnterOrExitMap(const car_model *CarModel, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static bool ExitMap(const car_model *car, int index, LIST_AREA_MAP &mapList);
static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList);
static void ExecuteExam(int index, LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int move, double azimuth, const struct RtkTime* rtkTime);

void TerminateAreaExam(void)
{
    CurrExamMapIndex = -1;
}

void InitAreaExam(void)
{
    CurrExamMapIndex = -1;
}

void TestAreaGeneral(LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, double azimuth, const struct RtkTime *rtkTime)
{
    DetectEnterOrExitMap(car, CarModelList, AreaMapList);

    ExecuteExam(CurrExamMapIndex, AreaMapList, car, CarModelList, speed, moveDirect, azimuth, rtkTime);
}

static void DetectEnterOrExitMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
{
    if (CurrExamMapIndex < 0) {
        if (CurrEnterMapIndex < 0) {
            CurrEnterMapIndex = EnterMap(car, CarModelList, mapList);
            if (CurrEnterMapIndex >= 0) {
                DEBUG("进入某个子项目 idx = %d", CurrEnterMapIndex);
                CurrExamMapIndex = CurrEnterMapIndex;
                CurrExamStatus = EXAM_AREA_START;
            }
        } else {
            if (ExitMap(car, CurrEnterMapIndex, mapList)) {
                CurrEnterMapIndex = -1;
            }
        }
    }
}

static void ExecuteExam(int index, LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int move, double azimuth, const struct RtkTime* rtkTime)
{
    if (index >= 0) {
        if (CurrExamStatus == EXAM_AREA_START) {
            DEBUG("CurrExamMapIndex %d mtype %d", AreaMapList[index].id, AreaMapList[index].type);

            switch (AreaMapList[index].type) {
                case MAP_TYPE_PARK_BUTTOM:
                    DEBUG("进入倒车入库场地 %d", AreaMapList[index].id);

                    StartParkBottom(AreaMapList[index].id, move, rtkTime);
                    CurrExamStatus = EXAM_AREA_RUN;
                    break;
                case MAP_TYPE_STOP_START:
                    DEBUG("进入上坡起步场地 %d", AreaMapList[index].id);

                    StartSAS(AreaMapList[index].id, move, rtkTime);
                    CurrExamStatus = EXAM_AREA_RUN;
                    break;
                case MAP_TYPE_PART_EDGE:
                    DEBUG("进入侧方位停车场地 %d",  AreaMapList[index].id);

                    StartParkEdge(AreaMapList[index].id, move, rtkTime);
                    CurrExamStatus = EXAM_AREA_RUN;
                    break;
                case MAP_TYPE_CURVE:
                    DEBUG("进入曲线行驶场地 %d", AreaMapList[index].id);

                    StartDrivingCurve(AreaMapList[index].id, move, rtkTime);
                    CurrExamStatus = EXAM_AREA_RUN;
                    break;
                case MAP_TYPE_TURN_90:
                    DEBUG("进入直角转弯场地 %d", AreaMapList[index].id);

                    StartTurnA90(AreaMapList[index].id, move, azimuth, rtkTime);
                    CurrExamStatus = EXAM_AREA_RUN;
                    break;
                default:break;
            }
        } else if (CurrExamStatus == EXAM_AREA_RUN) {
            int testing = 0;
            switch (AreaMapList[index].type) {
                case MAP_TYPE_PARK_BUTTOM:
                    testing = TestParkBottom(&AreaMapList[index].map,
                                             car, NULL, speed, move, rtkTime);
                    break;
                case MAP_TYPE_STOP_START:
                    testing = TestSAS(&AreaMapList[index].map, car, NULL, speed, move, rtkTime);
                    break;
                case MAP_TYPE_PART_EDGE:
                    testing = TestParkEdge(&AreaMapList[index].map, car, NULL, speed, move, rtkTime);
                    break;
                case MAP_TYPE_CURVE:
                    testing = TestDrivingCurve(&AreaMapList[index].map, &AreaMapList[index].map2, car, NULL, speed, move, rtkTime);
                    break;
                case MAP_TYPE_TURN_90:
                    testing = TestTurnA90(&AreaMapList[index].map, car, 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
            CurrExamStatus = EXAM_AREA_NONE;
            CurrExamMapIndex = -1;
        }
    }
}

static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
{
    for (int i = 0; i < mapList.size() && 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, LIST_AREA_MAP &mapList)
{
    bool ret = false;
    if (index < 0 || index >= mapList.size()) 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 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;
}