车辆信号完善，路边停车完善。

yy1717

2020-03-24 25777013517d1bd398a98504826a417236706af2

 lib/src/main/cpp/test_items2/drive_straight.cpp

@@ -11,6 +11,9 @@

#define DEBUG(fmt, args...)     LOGD("<drive_straight> <%s>: " fmt, __func__, ##args)

static const double CHECK_STAGE_DISTANCE = 100.0;
static const double MAX_OFFSET_DISTANCE = 0.3;

static bool crossStartLine;
static bool reportOffsetOver;
static double edgeDistance;
@@ -49,20 +52,25 @@
        p2.Y = RoadMapList[index].stopLine.Y2;

        if (IntersectionOfLine(p1, p2, car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1) {
            DEBUG("跨过标记线，开始直线测试");
            crossStartLine = true;
            startPoint = car->basePoint;
            edgeDistance = DistanceOf(car->basePoint, road_edge);
        }
    } else {
        double runDistance;
        runDistance = DistanceOf(car->basePoint, startPoint);
        double distanceToStart = DistanceOf(car->basePoint, startPoint);

        if (runDistance < 100.0) {
            if (!reportOffsetOver && fabs(DistanceOf(car->basePoint, road_edge) - edgeDistance) > 0.3) {
        if (distanceToStart > CHECK_STAGE_DISTANCE) {
            if (!reportOffsetOver && fabs(DistanceOf(car->basePoint, road_edge) - edgeDistance) > MAX_OFFSET_DISTANCE) {
                DEBUG("直线偏移大于30厘米");
                // 偏移大于30厘米，不合格
                AddExamFault(30, rtkTime);
                reportOffsetOver = true;

                //////////////////////////////////////////////
                startPoint = car->basePoint;
                edgeDistance = DistanceOf(car->basePoint, road_edge);
                reportOffsetOver = false;
            }
        } else {
            startPoint = car->basePoint;