修改科目三道路识别问题

fctom1215

2021-04-28 148254bb1dc170db320bcb208ca79b0e252751d8

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

@@ -412,24 +412,31 @@
        vector<PointF> roadOutLine;
        Polygon area;

//        DEBUG("CalcRoadIndex %d 做点 %d 有点 %d", index, RoadMap.roads[index].leftEdge.size(), RoadMap.roads[index].rightEdge.size());

        for (int i = 0; i < RoadMap.roads[index].leftEdge.size(); ++i) {
            for (int j = 0; j < RoadMap.roads[index].leftEdge[i].points.size(); ++j) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].leftEdge[i].points[j])) {
//                    DEBUG("重复点");
                    continue;
                }
                changeSegment = false;
                roadOutLine.push_back(RoadMap.roads[index].leftEdge[i].points[j]);
//                DEBUG("做点加入 point (%f, %f)", RoadMap.roads[index].leftEdge[i].points[j].X, RoadMap.roads[index].leftEdge[i].points[j].Y);
            }
            changeSegment = true;
        }

        for (int i = 0; i < RoadMap.roads[index].rightEdge.size(); ++i) {
            for (int j = RoadMap.roads[index].rightEdge[i].points.size() - 1; j >= 0; --j) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].leftEdge[i].points[j])) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].rightEdge[i].points[j])) {
//                    DEBUG("重复点");
                    continue;
                }
                changeSegment = false;
                roadOutLine.push_back(RoadMap.roads[index].rightEdge[i].points[j]);

//                DEBUG("有点加入 point (%f, %f)", RoadMap.roads[index].rightEdge[i].points[j].X, RoadMap.roads[index].rightEdge[i].points[j].Y);
            }
            changeSegment = true;
        }
@@ -440,6 +447,12 @@
        for (int i = 0; i < area.num; ++i) {
            area.point[i] = roadOutLine[i];
        }

//         {
//            for (int x = 0; x < area.num; ++x) {
//                DEBUG("road %d point %d (%f, %f)", index, x, area.point[x].X, area.point[x].Y);
//            }
//        }

        if (IntersectionOf(car->carXY[car->axial[AXIAL_FRONT]], &area) == GM_Containment) {
            free(area.point);
@@ -1401,8 +1414,8 @@

        // 挡位不匹配超时
        if (currGearError && prevGearError) {
            DEBUG("挡位错误增加 %ld毫秒 当前挡位 %d 时速 %f", TimeGetDiff(rtkTime, &gearErrorTimePoint),
                  ReadCarStatus(GEAR), ConvertMs2KMh(speed));
//            DEBUG("挡位错误增加 %ld毫秒 当前挡位 %d 时速 %f", TimeGetDiff(rtkTime, &gearErrorTimePoint),
//                  ReadCarStatus(GEAR), ConvertMs2KMh(speed));
            gearErrorTime += TimeGetDiff(rtkTime, &gearErrorTimePoint);
        }
        if (gearErrorTime > examParam.gear_speed_error_cumulative_time) {
@@ -1562,6 +1575,7 @@
            DEBUG("导向类型切换 %d", Lane.guide);
        }
    }
    DEBUG("currExamMapIndex = %d Lane.no = %d Lane.guide = %d (%f, %f)", currExamMapIndex, Lane.no, Lane.guide, car->carXY[car->axial[AXIAL_FRONT]].X, car->carXY[car->axial[AXIAL_FRONT]].Y);

    if (currExamMapIndex >= 0 && Lane.guide == 0) {
        BigStraightRoadFree = AnalysisRoad(RoadMap, currExamMapIndex, Lane, car);
@@ -1714,7 +1728,10 @@
        item = EntryItem(roadIndex, RoadMap, car, CarModelList, forward, moveDirect);
    }

    if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 3) {
    if (RoadExamStatus == RoadExamStatus && item == 6) {
        PlayTTS("前方会车", NULL);
    }
    else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 3) {
        StartDriveStraightExam();
        RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 4) {