| | |
|---|
| | | #include "../utils/xconvert.h" |
|---|
| | | #include "../test_common/car_sensor.h" |
|---|
| | | #include "../master/comm_if.h" |
|---|
| | | #include "area_exam.h" |
|---|
| | | |
|---|
| | | #define DEBUG(fmt, args...) LOGD("<stop_and_start> <%s>: " fmt, __func__, ##args) |
|---|
| | | |
|---|
| | |
|---|
| | | testing = false; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 距离检测 |
|---|
| | | { |
|---|
| | | double dis2 = DistanceOfTire2Edge(map, car); |
|---|
| | | vector<double> dtox; |
|---|
| | | vector<Line> line_set; |
|---|
| | | Line distance_line; |
|---|
| | | |
|---|
| | | MA_SendDistance(DistanceOf(map->point[8], map->point[7]) - dis2, dis2); |
|---|
| | | MakeLine(&distance_line, &map->point[0], &map->point[8]); |
|---|
| | | line_set.push_back(distance_line); |
|---|
| | | DistanceOfTire2X(dtox, car, line_set); |
|---|
| | | MA_SendDistance(dtox[0], dtox[1]); |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (prevMoveDirect != moveDirect) { |
|---|
