计算边距

yy1717

2020-04-13 46f56f26bfcc6ce26ffd8132ee11bf019eef3289

 lib/src/main/cpp/test_items/park_bottom.cpp

@@ -10,6 +10,7 @@
#include "../driver_test.h"
#include "../utils/xconvert.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include <vector>
#include <cstdlib>

@@ -74,6 +75,9 @@
    char crossCtrlLine = 0;
    uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
    int who = 0;
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    if (ExitParkArea(map, car)) {
        DEBUG("离开场地");
@@ -88,6 +92,21 @@
        goto TEST_END;
    }

    // 距离检测
    MakeLine(&distance_line, &map->point[0], &map->point[7]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[1], &map->point[2]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[2], &map->point[3]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[3], &map->point[4]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[4], &map->point[5]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[5], &map->point[6]);
    line_set.push_back(distance_line);
    DistanceOfTire2X(dtox, car, line_set);
    MA_SendDistance(dtox[0], dtox[1]);

    if (CrashRedLine(map, car, who)) {
        if (!occurCrashRedLine && reverseCar) {