车辆信号完善，路边停车完善。

yy1717

2020-03-24 25777013517d1bd398a98504826a417236706af2

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

@@ -13,6 +13,7 @@
#include "through_something.h"
#include "../master/comm_if.h"
#include "drive_straight.h"
#include "stop_car.h"

#include <vector>
#include <list>
@@ -55,13 +56,7 @@
static bool slideNormalDistance;
static bool occurSlide;

static struct drive_timer {
    int hour;
    int min;
    int sec;
    int msec;
} crashGreenRunTime, crashGreenCmpTime, crashGreenStartTime, turnSignalChangeTime;

static struct drive_timer crashGreenRunTime, crashGreenCmpTime, crashGreenStartTime, turnSignalChangeTime;
static struct drive_timer gearErrorTimePoint;
static struct drive_timer gearNSlideTimePoint;

@@ -85,7 +80,7 @@
static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};

static void TestRoadStartCar(const car_model *car, double speed, int moveDirect, const struct RtkTime *rtkTime);
static void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime);

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);
@@ -494,22 +489,29 @@
                StartThroughExam(currExamMapIndex, RoadMapList);
            } else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
                StartDriveStraightExam(currExamMapIndex, RoadMapList);
            } else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
                StartStopCarExam(currExamMapIndex, RoadMapList);
            }
        }
    } else if (startCar == START_CAR_DONE) {
        int prevIdx = currExamMapIndex;

        if (currExamMapIndex >= THROUGH_INTERSECTION_MAP && currExamMapIndex <= TURN_AROUND_MAP) {
        if (RoadMapList[currExamMapIndex].type >= THROUGH_INTERSECTION_MAP && currExamMapIndex <= TURN_AROUND_MAP) {
            currExamMapIndex = ExecuteThroughExam(currExamMapIndex, RoadMapList, car,
                                                  CarModelList, speed, moveDirect, rtkTime);
        }
        else if (currExamMapIndex == DRIVE_STRAIGHT_MAP) {
        else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
            currExamMapIndex = ExecuteDriveStraightExam(currExamMapIndex, RoadMapList, car,
                                     CarModelList, speed, moveDirect, rtkTime);
        } else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
            currExamMapIndex = ExecuteStopCarExam(currExamMapIndex, RoadMapList, car,
                                                        CarModelList, speed, moveDirect, rtkTime);
        }

        if (currExamMapIndex == -1) {
            MA_EnterMap(RoadMapList[prevIdx].id, RoadMapList[prevIdx].type, 1);
            DEBUG("离开区域 index %d id %d type %d", prevIdx, RoadMapList[prevIdx].id, RoadMapList[prevIdx].type);

            MA_EnterMap(RoadMapList[prevIdx].id, RoadMapList[prevIdx].type, 0);
        }
    }
}
@@ -596,7 +598,7 @@
    return ret;
}

static void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
{
    tm.hour = rtkTime->hh;
    tm.min = rtkTime->mm;