增加单片机信息传递。

fctom1215

2020-02-14 7c5b25c8617807635e9f272ebe9e98304d07cf2f

 lib/src/main/cpp/test_items/stop_and_start.cpp

@@ -16,12 +16,6 @@

using namespace std;

enum
{
    STOP_CAR,
    START_CAR
};

const double STOP_DISTANCE_THRESHOLD_RED = 0.5;
const double EDGE_DISTANCE_THRESHOLD_RED = 0.5;
const double EDGE_DISTANCE_THRESHOLD_YELLOW = 0.3;
@@ -38,7 +32,7 @@
static PointF stopPoint;

static int prevMoveDirect;
static uint64_t stopTimepoint = 0;
static uint32_t stopTimepoint = 0;
static bool stopCar = false;
static uint32_t stopCarTime;
static bool occurCrashRedLine = false;
@@ -61,9 +55,7 @@
    prevMoveDirect = moveDirect;

    if (moveDirect == 0) {
        stopTimepoint = TimeMakeComposite(2000 + rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh,
                                          rtkTime->mm, rtkTime->ss);
        stopTimepoint = stopTimepoint * 1000 + rtkTime->mss * 10;
        stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
    }

    occurCrashRedLine = false;
@@ -96,18 +88,16 @@

    if (prevMoveDirect != moveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = TimeMakeComposite(2000 + rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss);
            stopTimepoint = stopTimepoint * 1000 + rtkTime->mss*10;
            stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
        }
        prevMoveDirect = moveDirect;
    } else if (moveDirect == 0) {
        uint64_t tp = TimeMakeComposite(2000 + rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss);
        tp = tp * 1000 + rtkTime->mss * 10;
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

        if (tp - stopTimepoint >= STOP_CAR_TIME && !stopCar) {
            // 这里判断停车状态
            stopCar = true;
            stopCarTime = TimeMakeComposite(2000 + rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss);
            stopCarTime = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

            stopPoint = car->carXY[car->body[0]];

@@ -161,9 +151,10 @@
            }
        }


        if (!reportStartTimeout && (IntersectionOfLine(map->point[4], stopPoint, car->carXY[car->axial[AXIAL_FRONT]]) != -1 ||
                DistanceOf(stopPoint, car->carXY[car->axial[AXIAL_FRONT]]) < 0.1)) {
            if (TimeMakeComposite(2000 + rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss) - stopCarTime > CAR_START_TIMEOUT) {
            if (TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10) - stopCarTime > CAR_START_TIMEOUT) {
                // 起步时间超过30秒，不合格
                AddExamFault(15, rtkTime);
                DEBUG("起步时间超过30秒");
@@ -217,6 +208,9 @@
    int rel1 = IntersectionOfLine(map->point[4], map->point[3], car->carXY[car->body[0]]);
    int rel2 = IntersectionOfLine(map->point[5], map->point[6], car->carXY[car->body[0]]);

    DEBUG("%d %d %f, %f", car->body[0], car->axial[AXIAL_FRONT], car->carXY[car->body[0]].X, car->carXY[car->body[0]].Y);
    DEBUG("rel1 %d rel2 %d", rel1, rel2);

    if (rel1 == 1) {
        Line line1;

@@ -231,6 +225,8 @@
        dis = DistanceOf(car->carXY[car->body[0]], line2);
    }

    DEBUG("DistanceOfHead2Stopline dis %f", dis);

    return dis;
}