角度修正。

fctom1215

2020-03-27 53be5cac481ddc7927ca3f8fe75a5180f0d6567a

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

@@ -56,23 +56,28 @@
            crossStartLine = true;
            startPoint = car->basePoint;
            edgeDistance = DistanceOf(car->basePoint, road_edge);

            DEBUG("当前基准路边间距 %f", edgeDistance);
        }
    } else {
        double distanceToStart = DistanceOf(car->basePoint, startPoint);

        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;
        DEBUG("路边间距 %f --- %f", DistanceOf(car->basePoint, road_edge), edgeDistance);

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

        if (distanceToStart > CHECK_STAGE_DISTANCE) {
            DEBUG("复位边距偏移量");
            startPoint = car->basePoint;
            edgeDistance = DistanceOf(car->basePoint, road_edge);
            reportOffsetOver = false;