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yy1717

2020-05-22 00c07fb94c6927f3bb8ebfec383a33936f04447b

 lib/src/main/cpp/test_items2/road_exam.cpp

@@ -40,6 +40,14 @@
static const int TURN_CHECK_INTERVAL = 500;
const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;
const double CHANGE_LANE_RANGE = 100.0;
const double OVERTAKE_RANGE = 150.0;
const double OVERTAKE_HOLD_RANGE = 30.0;                // 在超车道行驶的一段距离

static const double LASTEST_BREAK_POINT = 30.0;
static const double NEXT_ROAD_TIP = 100.0;                  // 到达路口前提示下一个怎么走
static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 5.0;
static const double PASS_SCHOOL_MAX_SPEED = 30.0;           // kmh

static const int FIND_POSITION = -2;
static const int INVALID_POSITION = -1;
@@ -75,13 +83,15 @@

static int startCar;
static int currExamMapIndex;
static trigger_line_t *currRoadItem;
static int nextRoadId;
static PointF roadItemStartPoint;
static struct drive_timer roadItemStartTime;
static bool overtake = false;

static bool checkDoor = false;
static bool handBreakActive = false;
static bool reportRPMOver = false;

static int currCarOnRoadIndex;

static const uint32_t TURN_ERROR_COLD_TIME = D_SEC(10);

@@ -90,6 +100,8 @@
    int road;
    int separate;
    int lane;
    int direct;         // 车道方向限制
    int type;           // 实线，虚线
} CurrentLane;
static bool laneChanging;

@@ -103,7 +115,6 @@
static const uint32_t CRASH_DOTTED_LINE_TIMEOUT = D_SEC(10);
static const uint32_t TURN_SIGNAL_LAMP_ADVANCE = D_SEC(3);

static const double NEXT_ROAD_TIP = 100.0;                  // 到达路口前提示下一个怎么走

static const int CRL_NONE = 0;
static const int CRL_SEP_DOTTED = 1;
@@ -118,11 +129,6 @@

static char isTurn(int currYaw, int prevYaw, int &ang);
static char CheckCarTurn(LIST_CAR_MODEL &CarModelList);
static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car);
static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car);
static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2);
static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList);
static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList);

static void TurnSignalError13ColdTimer(union sigval sig);
static void TurnSignalError14ColdTimer(union sigval sig);
@@ -132,6 +138,10 @@
static bool LaneIsSame(struct car_on_lane lane1, struct car_on_lane lane2);
static bool LaneIsValid(struct car_on_lane lane);
static void ArrivedRoadEnd(road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList);
static trigger_line_t * EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList);
static void ClearAll(road_exam_map &map);
static void CheckBreakActive(road_exam_map &map, const car_model *car, LIST_CAR_MODEL &CarModelList,
                             double speed, int moveDirect, const struct RtkTime *rtkTime);

void InitRoadExam(road_exam_map &RoadMap)
{
@@ -141,6 +151,7 @@
    occurCrashRedLine = false;
    occurCrashGreenLine = false;
    occurOverSpeed = false;

    occurSecondBreak = false;
    checkCrashGreenTimeout = 0;
    carIntersectionOfGreenLine = 0;
@@ -161,6 +172,7 @@
    currExamMapIndex = FIND_POSITION;

    startCar = START_CAR_NOT_DO;
    currRoadItem = NULL;

    checkDoor = false;
    handBreakActive = false;
@@ -170,12 +182,11 @@

    turnError13Cold = turnError14Cold = true;

    currCarOnRoadIndex = FIND_POSITION;

    CurrentLane.road = CurrentLane.separate = CurrentLane.lane = -1;
    laneChanging = false;

    InitThroughSomething(RoadMap);
    nextRoadId = -1;
    ClearAll(RoadMap);
}

void TerminateRoadExam(void)
@@ -295,14 +306,12 @@

void TestRoadGeneral(road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    // 起步检测
    TestRoadStartCar(car, speed, moveDirect, rtkTime);

    // 超速检测
    if (moveDirect != 0 && speed > MAX_SPEED) {
        if (!occurOverSpeed) {
            occurOverSpeed = true;
            // 超速，不合格
            DEBUG("超速 %f", speed);
            AddExamFault(10, rtkTime);
        }
    } else {
@@ -470,7 +479,8 @@
    }

    // 检测通过路口、人行道等区域时，释放刹车或减速
    CheckBreakActive(RoadMap, car, CarModelList);
    CheckBreakActive(RoadMap, car, CarModelList,
                                 speed, moveDirect, rtkTime);

    // 检测离开此路段，全车需不在范围内
    if (currExamMapIndex >= 0) {
@@ -579,6 +589,11 @@
            if (IntersectionOf(car->carXY[car->axial[AXIAL_FRONT]], &area) == GM_Containment) {
                currExamMapIndex = i;
                DEBUG("进入道路 id = %d", RoadMap.roads[i].id);
                if (nextRoadId >= 0 && RoadMap.roads[i].id != nextRoadId) {
                    DEBUG("不按规矩行驶，进入错误路段");
                    AddExamFault(3, rtkTime);
                }
                nextRoadId = -1;
                break;
            }

@@ -608,16 +623,16 @@
        if (crl == CRL_NONE) {
//            DEBUG("什么都没压");
        } else if (crl == CRL_SEP_DOTTED) {
//            DEBUG("压分道虚线");
            DEBUG("压分道虚线");
            crashGreenLineNow = true;
        } else if (crl == CRL_SEP_SOLID) {
//            DEBUG("压分道实线");
            DEBUG("压分道实线");
            crashRedLineNow = true;
        } else if (crl == CRL_EDGE_DOTTED) {
//            DEBUG("压边沿虚线");
            DEBUG("压边沿虚线");
            crashGreenLineNow = true;
        } else if (crl == CRL_EDGE_SOLID) {
//            DEBUG("压边沿实线");
            DEBUG("压边沿实线");
            crashRedLineNow = true;
        }

@@ -700,9 +715,23 @@
                } else {
                    // 变道完成
                    DEBUG("变道完成");

                    if (currRoadItem != NULL && currRoadItem->active == ROAD_ITEM_CHANGE_LANE) {
                        DEBUG("变更车道项目完成");
                        currRoadItem = NULL;
                    } else if (currRoadItem != NULL && currRoadItem->active == ROAD_ITEM_OVERTAKE) {
                        if (CurrentLane.lane > lane.lane) {
                            DEBUG("超车变道完成");

                        } else {
                            DEBUG("右道超车，错误");
                            AddExamFault(3, rtkTime);
                            currRoadItem = NULL;
                        }
                    }

                    CurrentLane = lane;
                    laneChanging = false;

                    // 记录本次变道时间点
                    Rtk2DriveTimer(crashGreenCmpTime, rtkTime);
                }
@@ -710,11 +739,20 @@

            if (lane.road != CurrentLane.road || lane.separate != CurrentLane.separate) {
                // 路或段变更，撤销变道跟踪
                DEBUG("============== 路或段变更 CURR %d, %d NEW %d, %d", CurrentLane.road,
                      CurrentLane.separate,
                      lane.road, lane.separate);
                DEBUG("============== 路或段变更 CURR %d, %d dir %d NEW %d, %d, dir %d", CurrentLane.road,
                      CurrentLane.separate, CurrentLane.direct,
                      lane.road, lane.separate, lane.direct);

                CurrentLane = lane;
                laneChanging = false;
            }

            if (CurrentLane.direct != 0 && !(CurrentLane.direct & RoadMap.roads[currExamMapIndex].active)) {
                if (!RoadMap.roads[currExamMapIndex].errorLane) {
                    RoadMap.roads[currExamMapIndex].errorLane = true;
                    DEBUG("不按规定车道标线方向行驶 %d", CurrentLane.direct);
                    AddExamFault(9, rtkTime);
                }
            }
        }

@@ -773,6 +811,50 @@
        // 不再压虚线
        occurCrashGreenLine = false;
        checkCrashGreenTimeout = 0;
    }

    TestRoadStartCar(car, speed, moveDirect, rtkTime);

    if (startCar != START_CAR_DONE)
        return;

    // 检测由触发线控制的项目
    if (currRoadItem != NULL) {
        if (currRoadItem->active == ROAD_ITEM_CHANGE_LANE) {
            if (DistanceOf(car->basePoint, roadItemStartPoint) > CHANGE_LANE_RANGE) {
                DEBUG("变道距离超标");
                AddExamFault(3, rtkTime);
                currRoadItem = NULL;
            }
        } else if (currRoadItem->active == ROAD_ITEM_OVERTAKE) {
            if (!overtake && DistanceOf(car->basePoint, roadItemStartPoint) > OVERTAKE_RANGE) {
                DEBUG("超车距离超标");
                AddExamFault(3, rtkTime);
                currRoadItem = NULL;
            } else if (overtake && DistanceOf(car->basePoint, roadItemStartPoint) > OVERTAKE_HOLD_RANGE) {
                DEBUG("回原车道");
                PlayTTS("请返回原车道");
                currRoadItem = NULL;
            }
        } else if (currRoadItem->active == ROAD_ITEM_OPERATE_GEAR) {
            ExecuteOperateGearExam(rtkTime);
        }
    } else if (currExamMapIndex >= 0) {
        currRoadItem = EntryItem(currExamMapIndex, RoadMap, car, CarModelList);
        if (currRoadItem != NULL) {
            if (!currRoadItem->tts.empty())
                PlayTTS(currRoadItem->tts.c_str());

            // 初始时间和距离限制
            roadItemStartPoint = car->basePoint;
            Rtk2DriveTimer(roadItemStartTime, rtkTime);

            if (currRoadItem->active == ROAD_ITEM_OVERTAKE) {
                overtake = false;
            } else if (currRoadItem->active == ROAD_ITEM_OPERATE_GEAR) {
                StartOperateGearExam(rtkTime);
            }
        }
    }
}

@@ -839,7 +921,7 @@
        PointF p1, p2;
        Line sep;

        map<int, int> orthogonal;
        map<int, vector<int>> orthogonal;

        // 一段分道组内，有一条正交，就必须保证同组的全都正交，否则直接退出
        for (int j = 0; j < road.separate[i].lines.size(); ++j) {   // 线组
@@ -853,15 +935,31 @@
                    MakeLine(&sep, &p1, &p2);

                    if (IntersectionOf(leftExtLine, sep) == GM_Intersection) {
                        orthogonal.insert(pair<int, int>(j, 1));
                        vector<int> stor(4);

                        stor[0] = 1;
                        stor[1] = road.separate[i].lines[j][k].character;
                        stor[2] = road.separate[i].lines[j][k].left_lane_direct;
                        stor[3] = road.separate[i].lines[j][k].right_lane_direct;

                        orthogonal.insert(pair<int, vector<int>>(j, stor));
                        orthogonalInSegment = true;
                        intersection = true;

//                        DEBUG("分道线 %d 左正交", j);
                        break;
                    } else if (IntersectionOf(rightExtLine, sep) == GM_Intersection) {
                        orthogonal.insert(pair<int, int>(j, 2));
                        vector<int> stor(4);

                        stor[0] = 2;
                        stor[1] = road.separate[i].lines[j][k].character;
                        stor[2] = road.separate[i].lines[j][k].left_lane_direct;
                        stor[3] = road.separate[i].lines[j][k].right_lane_direct;

                        orthogonal.insert(pair<int, vector<int>>(j, stor));
                        orthogonalInSegment = true;
                        intersection = true;

//                        DEBUG("分道线 %d 右正交", j);
                        break;
                    }
@@ -875,16 +973,26 @@
            if (orthogonal.size() == road.separate[i].lines.size()) {
                // 得到当前在第几个车道
                int x = 0;
                int left_char = LINE_SOLID;               // 道路左边线
                int right_direct = 0;

                for (x = 0; x < orthogonal.size(); ++x) {
                    auto itx = orthogonal.find(x);
                    if (itx != orthogonal.end()) {
                        if (itx->second != 1) {
                        if (itx->second[0] != 1) {          // 在车辆右侧
                            lane.road = road.id;
                            lane.separate = i;
                            lane.lane = itx->first;

                            if ((left_char == LINE_SOLID || left_char == LINE_HALF_SOLID_RIGHT) &&
                                    (itx->second[1] == LINE_SOLID || itx->second[1] == LINE_HALF_SOLID_LEFT))    // 车道左右均是实线
                                lane.direct = itx->second[2];
                            else
                                lane.direct = 0;
//                            DEBUG("路 %d 段 %d 车道 %d", lane.road, lane.separate, lane.lane);
                            break;
                        } else {
                            right_direct = itx->second[3];
                            left_char = itx->second[2];
                        }
                    }
                }
@@ -892,7 +1000,11 @@
                    lane.road = road.id;
                    lane.separate = i;
                    lane.lane = orthogonal.size();

                    // 最后车道的右侧限定
                    if (left_char == LINE_SOLID || left_char == LINE_HALF_SOLID_RIGHT)
                        lane.direct = right_direct;
                    else
                        lane.direct = 0;
//                    DEBUG("路 %d 段 %d 车道 %d", lane.road, lane.separate, lane.lane);
                }
                out = lane;
@@ -1026,6 +1138,7 @@
    return false;
}

#if 0
void TestRoadGeneral(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    // 起步检测
@@ -1383,6 +1496,7 @@
    }
}


bool ExitSonArea(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    bool ret = false;
@@ -1464,6 +1578,7 @@

    return ret;
}
#endif

void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
{
@@ -1556,48 +1671,13 @@
    return 0;
}

/*****************************************************
 * CrashRedLine 整个考试区域的道路边缘线，实线等。
 * 按车轮碰触计算，车身不计
 */
static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    Line frontAxle, rearAxle;

    MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].redLineNum; ++j) {
                Line red_line;
                int kp = 0;

                for (int k = 1; k < RoadMapList[i].redLine[j].num; ++k) {
                    MakeLine(&red_line, &RoadMapList[i].redLine[j].point[kp], &RoadMapList[i].redLine[j].point[k]);

                    if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
                        IntersectionOf(red_line, rearAxle) == GM_Intersection) {
                        return true;
                    }
                    kp = k;
                }
            }
            break;
        }
    }
    return false;
}

/**********************************************************
 * 按整个车身是否覆盖计算
 * @param RoadMapList
 * @param car
 * @return
 */
static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car)
/*static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    bool ret = false;

@@ -1625,119 +1705,7 @@
    free(carBody.point);

    return ret;
}

/**************************************************
 * 车轮触碰道路虚线。检测行驶时间超长；变道情况；
 * @param RoadMapList
 * @param car
 */
static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2)
{
    Line frontAxle, rearAxle;

    MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].greenLineNum; ++j) {
                Line green_line;
                int kp = 0;

                for (int k = 1; k < RoadMapList[i].greenLine[j].num; ++k) {
                    MakeLine(&green_line, &RoadMapList[i].greenLine[j].point[kp], &RoadMapList[i].greenLine[j].point[k]);

                    if (IntersectionOf(green_line, frontAxle) == GM_Intersection ||
                        IntersectionOf(green_line, rearAxle) == GM_Intersection) {

                        p1 = RoadMapList[i].greenLine[j].point[kp];
                        p2 = RoadMapList[i].greenLine[j].point[k];

                        return true;
                    }
                    kp = k;
                }
            }
            break;
        }
    }
    return false;
}

/************************************************************
 * 检测车辆是否触发子考项地图
 * @param RoadMapList
 * @param car
 * @param CarModelList
 * @return
 */
static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    int map_idx = -1;

    if (CarModelList.size() < 5)
        return map_idx;

    Polygon trace;

    trace.num = 5;
    trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);

    list<car_model *>::iterator iter = CarModelList.begin();

    int pn = 0;
    while (iter != CarModelList.end() && pn < trace.num) {
        trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
        ++iter;
    }

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].triggerLineNum; ++j) {
                Line trigger_line;

                int kp = 0;

                // 触发线一般应该只有首尾2点（id, p1, p2）
                for (int k = 1; k < RoadMapList[i].triggerLine[j].line.num; ++k) {
                    MakeLine(&trigger_line, &RoadMapList[i].triggerLine[j].line.point[kp], &RoadMapList[i].triggerLine[j].line.point[k]);

                    int pp = 0;
                    for (int p = 1; p < pn; ++p) {
                        Line trace_line;
                        MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);

                        if (IntersectionOf(trace_line, trigger_line) == GM_Intersection &&
                            IntersectionOfLine(RoadMapList[i].triggerLine[j].line.point[kp],
                                    RoadMapList[i].triggerLine[j].line.point[k],
                                    car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
                            DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], trigger_line) > 0.1) {
                            // 碰到触发线
                            DEBUG("碰撞触发线 引发地图 id = %d", RoadMapList[i].triggerLine[j].triggerMapId);
                            map_idx =  FindMapIndexById(RoadMapList[i].triggerLine[j].triggerMapId, RoadMapList);
                            goto SEARCH_TRIGGER_LINE_END;
                        }

                        pp = p;
                    }

                    kp = k;
                }
            }
            break;
        }
    }

SEARCH_TRIGGER_LINE_END:
    free(trace.point);

    return map_idx;
}
}*/

bool CrashTheLine(Line line, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
@@ -1759,16 +1727,6 @@
        return true;
    }
    return false;
}

static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList)
{
    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].id == id) {
            return i;
        }
    }
    return -1;
}

/*********************************************************************
@@ -1822,6 +1780,12 @@
    return px;
}

/***************************************************
 * 接近路口时，提示下一步怎么走
 * @param road
 * @param car
 * @param CarModelList
 */
static void ArrivedRoadEnd(road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    // 计算车前进轨迹延长线
@@ -1836,6 +1800,7 @@
        IntersectionOfLine(extPoint, road.stopLine) == -1) {
            if (DistanceOf(extPoint, road.stopLine) > 1.0 && !road.arrivedTail) {
                // 接近路口后，要检查车辆是否进入错误车道
                DEBUG("接近路口");
                road.arrivedTail = true;
                if (!road.tts.empty())
                    PlayTTS(road.tts.c_str());
@@ -1845,6 +1810,177 @@
    }
}

static trigger_line_t * EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    for (int i = 0; i < RoadMap.triggerLines.size(); ++i) {
        if (RoadMap.triggerLines[i].road == RoadMap.roads[index].id) {
            Line triggerLine;

            if (RoadMap.triggerLines[i].leftPoints.size() != RoadMap.triggerLines[i].points.size()) {
                RoadMap.triggerLines[i].leftPoints.clear();

                for (int j = 0; j < RoadMap.triggerLines[i].points.size(); ++j) {
                    RoadMap.triggerLines[i].leftPoints.push_back(GetSELine(RoadMap.roads[index].leftEdge, RoadMap.triggerLines[i].points[j]));
                }
            }

            MakeLine(&triggerLine, &RoadMap.triggerLines[i].points[0], &RoadMap.triggerLines[i].leftPoints[0]);

            if (CrashTheLine(triggerLine, car, CarModelList)) {
                return &RoadMap.triggerLines[i];
            }
        }
    }

    return NULL;
}

/************************************************************************
 * 开始新的考试后，清除地图所有的刹车、停车记录
 * @param map
 */
static void ClearAll(road_exam_map &map)
{
    for (int i = 0; i < map.roads.size(); ++i) {
        map.roads[i].activeStop = map.roads[i].activeBreak = false;
        map.roads[i].arrivedTail = false;
        map.roads[i].errorLane = false;
    }
    for (int i = 0; i < map.specialAreas.size(); i++) {
        map.specialAreas[i].overSpeed = map.specialAreas[i].activeBreak = false;
    }
}

static void CheckBreakActive(road_exam_map &map, const car_model *car, LIST_CAR_MODEL &CarModelList,
                             double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    int BreakDone = ReadCarStatus(BREAK);

    // 计算车前进轨迹延长线
    double yaw = YawOf(car->carXY[ car->axial[AXIAL_FRONT] ], car->carXY[ car->axial[AXIAL_REAR] ]);
    PointF extPoint = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], LASTEST_BREAK_POINT, yaw);

    Line extLine;
    MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);

    // 路口刹车点
    for (int i = 0; i < map.roads.size(); ++i) {
        // 车头和路口距离不足30米
        if (IntersectionOf(extLine, map.roads[i].stopLine) == GM_Intersection &&
            IntersectionOfLine(car->carXY[ car->axial[AXIAL_FRONT] ], map.roads[i].stopLine) == 1 ) {
            DEBUG("进入减速区");
            if (BreakDone == BREAK_ACTIVE) {
                map.roads[i].activeBreak = true;
            }
            if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]],
                           map.roads[i].stopLine) < DISTANCE_STOP_CAR_TO_STOP_LINE && moveDirect == 0) {
                map.roads[i].activeStop = true;
            }
        }
        // 跨线后，检查刹车动作
        if (CrashTheLine(map.roads[i].stopLine, car, CarModelList)) {
            if (map.roads[i].stopFlag != 0 && !map.roads[i].activeStop) {
                // 不停车瞭望，不合格
                DEBUG("不停车瞭望");
                if (map.roads[i].active == ROAD_ACTIVE_FORWARD) {
                    AddExamFault(42, rtkTime);
                } else if (map.roads[i].active == ROAD_ACTIVE_TURN_LEFT) {
                    AddExamFault(44, rtkTime);
                } else if (map.roads[i].active == ROAD_ACTIVE_TURN_RIGHT) {
                    AddExamFault(47, rtkTime);
                }
            }
            if (!map.roads[i].activeBreak) {
                // 不按规定减速，不合格
                DEBUG("不按规定减速");
                if (map.roads[i].active == ROAD_ACTIVE_FORWARD) {
                    AddExamFault(41, rtkTime);
                } else if (map.roads[i].active == ROAD_ACTIVE_TURN_LEFT) {
                    AddExamFault(43, rtkTime);
                } else if (map.roads[i].active == ROAD_ACTIVE_TURN_RIGHT) {
                    AddExamFault(46, rtkTime);
                }
            }
        }
    }
    // 人行道、公交站刹车点；学校限速区
    for (int i = 0; i < map.specialAreas.size(); i++) {
        if (map.specialAreas[i].type == GRID_AREA)
            continue;

        if (map.specialAreas[i].area.size() == 2 && map.specialAreas[i].leftPoints.size() != 2) {
            // 计算点到左侧路边线的垂点
            int road = 0;
            for (road = 0; road < map.roads.size(); ++road) {
                if (map.roads[road].id == map.specialAreas[i].road)
                    break;
            }

            PointF vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
            DEBUG("计算垂点1 (%f, %f)", vPoint.X, vPoint.Y);

            map.specialAreas[i].leftPoints.push_back(vPoint);

            vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
            DEBUG("计算垂点2 (%f, %f)", vPoint.X, vPoint.Y);
            map.specialAreas[i].leftPoints.push_back(vPoint);
        }

        if (map.specialAreas[i].type == ZEBRA_CROSSING || map.specialAreas[i].type == BUS_STATION_AREA) {
            Line startLine;

            MakeLine(&startLine, &map.specialAreas[i].area[0], &map.specialAreas[i].leftPoints[0]);

            // 车头和斑马线距离不足30米
            if (IntersectionOf(extLine, startLine) == GM_Intersection &&
                IntersectionOfLine(car->carXY[ car->axial[AXIAL_FRONT] ], startLine) == 1 ) {
                DEBUG("进入减速区 %d", map.specialAreas[i].type);
                if (BreakDone == BREAK_ACTIVE) {
                    map.specialAreas[i].activeBreak = true;
                }
            }

            // 跨线后，检查刹车动作
            if (CrashTheLine(startLine, car, CarModelList)) {
                if (!map.specialAreas[i].activeBreak) {
                    // 不按规定减速，不合格
                    DEBUG("不按规定减速");
                    if (map.specialAreas[i].type == ZEBRA_CROSSING) {
                        AddExamFault(48, rtkTime);
                    } else {
                        AddExamFault(50, rtkTime);
                    }
                } else {
                    DEBUG("按规定减速");
                }

            }
        } else if (map.specialAreas[i].type == SCHOOL_AREA) {
            Polygon school;

            school.num = 4;
            school.point = (PointF *) malloc(school.num * sizeof(PointF));

            school.point[0] = map.specialAreas[i].area[0];
            school.point[1] = map.specialAreas[i].area[1];
            school.point[2] = map.specialAreas[i].leftPoints[1];
            school.point[3] = map.specialAreas[i].leftPoints[0];

            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &school) == GM_Containment) {
                if (ConvertMs2KMh(speed) > PASS_SCHOOL_MAX_SPEED) {
                    if (!map.specialAreas[i].overSpeed) {
                        DEBUG("通过学校区域超速");
                        AddExamFault(49, rtkTime);
                        map.specialAreas[i].overSpeed = true;
                    }
                }
            }

            free(school.point);
        }
    }
}

#if 0

typedef struct {