计算边距

yy1717

2020-04-13 46f56f26bfcc6ce26ffd8132ee11bf019eef3289

 lib/src/main/cpp/test_items/park_edge.cpp

@@ -11,6 +11,7 @@
#include "../utils/xconvert.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"

#include <vector>
#include <cstdlib>
@@ -64,6 +65,10 @@

int TestParkEdge(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveStatus, const struct RtkTime *rtkTime)
{
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    if (CrashRedLine1(map, car)) {
        if (!occurCrashRedLine1 && occurMoveBack) {
            // 车轮压边线，每次扣10分
@@ -97,6 +102,22 @@
        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 (occurMoveBack) {
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);