| | |
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| | | |
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| | | const double EPSILON = 1e-3; |
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| | | |
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| | | static bool SASTesting = false; |
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| | | static bool testing = false; |
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| | | |
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| | | static double slideDistance; |
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| | | static PointF stopPoint; |
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| | |
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| | | void StartSAS(int moveDirect, const struct RtkTime *rtkTime) |
|---|
| | | { |
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| | | DEBUG("进入坡起项目"); |
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| | | SASTesting = true; |
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| | | testing = true; |
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| | | slideDistance = 0.0; |
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| | | |
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| | | prevMoveDirect = moveDirect; |
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| | |
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| | | |
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| | | int TestSAS(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveDirect, const struct RtkTime *rtkTime) |
|---|
| | | { |
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| | | int status = 0; |
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| | | |
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| | | if (CrashRedLine(map, car)) { |
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| | | // 车轮压线，不合格 |
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| | | if (!occurCrashRedLine) { |
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| | |
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| | | |
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| | | if (ExitTestArea(map, car)) { |
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| | | // 驶离测试区 |
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| | | status = 1; |
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| | | testing = false; |
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| | | } |
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| | | |
|---|
| | | if (prevMoveDirect != moveDirect) { |
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| | |
|---|
| | | } |
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| | | } |
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| | | |
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| | | return status; |
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| | | return testing ? 0 : 1; |
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| | | } |
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| | | |
|---|
| | | // 车轮是否压边线 |
|---|
