20200723

yy1717

2020-07-23 27c78b3431a38878b8c8b1b81c79694cea4a2bcf

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

@@ -48,7 +48,7 @@
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
const int OVERTAKE_HOLD_TIME = D_SEC(11);                // 在超车道行驶的一段时间
const double EXAM_RANGE = 3000.0;                       // 至少驾驶距离

static const double LASTEST_BREAK_POINT = 30.0;
@@ -84,6 +84,7 @@
static struct drive_timer gearErrorTimePoint;
static struct drive_timer gearNSlideTimePoint;
static struct drive_timer startCarLeftTurnSignalTime;
static struct drive_timer overTakeCmpTime;

static int gearErrorTime;
static int gearNSlideTime;
@@ -95,7 +96,7 @@
static PointF roadItemStartPoint;
static struct drive_timer roadItemStartTime;
static bool overtake = false;

static bool checkTurn = false;
static bool checkDoor = false;
static bool handBreakActive = false;
static bool reportRPMOver = false;
@@ -122,7 +123,7 @@
static const uint32_t GEAR_N_SLIDE_TIMEOUT = D_SEC(5);
static const uint32_t GEAR_ERROR_TIMEOUT = D_SEC(15);
static const uint32_t STOP_CAR_TIME = D_SEC(2);
static const uint32_t CHANGE_ROAD_MIN_INTERVAL = D_SEC(10);
static const uint32_t CHANGE_LANE_MIN_INTERVAL = D_SEC(10);
static const uint32_t CRASH_DOTTED_LINE_TIMEOUT = D_SEC(10);
static const uint32_t TURN_SIGNAL_LAMP_ADVANCE = D_SEC(3);

@@ -200,6 +201,7 @@
    laneChanging = false;

    nextRoadId = -1;
    checkTurn = false;
    ClearAll(RoadMap);

    odoGraph = 0.0;
@@ -584,6 +586,7 @@
        free(area.point);
    }
    if (currExamMapIndex == FIND_POSITION) {
        DEBUG("搜索道路");
        for (int i = 0; i < RoadMap.roads.size(); ++i) {
            Polygon area;
            int n = 0;
@@ -633,13 +636,14 @@
                    AddExamFault(3, rtkTime);
                }
                nextRoadId = -1;
                checkTurn = false;
                break;
            }

            free(area.point);
        }
        if (currExamMapIndex < 0) {
            currExamMapIndex = INVALID_POSITION;
            currExamMapIndex = FIND_POSITION;//INVALID_POSITION;
            DEBUG("搜寻未果");
        }
    } else if (currExamMapIndex == INVALID_POSITION) {
@@ -701,7 +705,7 @@
                                                        crashGreenCmpTime.sec,
                                                        crashGreenCmpTime.msec * 10);

                            if (diff < CHANGE_ROAD_MIN_INTERVAL) {
                            if (diff < CHANGE_LANE_MIN_INTERVAL) {
                                DEBUG("===================== 连续变道 ============!!");
                                // 连续变道，不合格
                                AddExamFault(15, rtkTime);
@@ -763,7 +767,8 @@
                    } else if (currRoadItem != NULL && currRoadItem->active == ROAD_ITEM_OVERTAKE) {
                        if (CurrentLane.lane > lane.lane) {
                            DEBUG("超车变道完成");

                            overtake = true;
                            Rtk2DriveTimer(overTakeCmpTime, rtkTime);
                        } else {
                            DEBUG("右道超车，错误");
                            AddExamFault(3, rtkTime);
@@ -802,6 +807,51 @@
        if (CrashTheLine(RoadMap.roads[currExamMapIndex].stopLine, car, CarModelList)) {
            DEBUG("下一个目标路 id = %d", RoadMap.roads[currExamMapIndex].targetRoad);
            nextRoadId = RoadMap.roads[currExamMapIndex].targetRoad;
            checkTurn = true;
        }

        if (checkTurn) {
            // 检查是否持续转向
            char turnDirect = CheckCarTurn(CarModelList);
            if (turnDirect == 'L') {
//        PlayTTS("左1");
                if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
                    if (!reportTurnSignalError) {
                        DEBUG("没打左转灯");
                        // 没打左转灯，不合格
                        reportTurnSignalError = true;
                        ReportTurnSignalError(13, rtkTime);
                    }
                } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                                       turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
                    if (!reportTurnSignalError) {
                        DEBUG("转向灯时间不足");
                        // 不足3秒，不合格
                        reportTurnSignalError = true;
                        ReportTurnSignalError(14, rtkTime);
                    }
                }
            } else if (turnDirect == 'R') {
//        PlayTTS("右1");
                if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
                    if (!reportTurnSignalError) {
                        DEBUG("没打右转灯");
                        // 没打右转灯，不合格
                        reportTurnSignalError = true;
                        ReportTurnSignalError(13, rtkTime);
                    }
                } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                                       turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
                    if (!reportTurnSignalError) {
                        DEBUG("转向灯时间不足");
                        // 不足3秒，不合格
                        reportTurnSignalError = true;
                        ReportTurnSignalError(14, rtkTime);
                    }
                }
            } else {
                reportTurnSignalError = false;
            }
        }
    }

@@ -882,7 +932,10 @@
                DEBUG("超车距离超标");
                AddExamFault(3, rtkTime);
                currRoadItem = NULL;
            } else if (overtake && DistanceOf(car->basePoint, roadItemStartPoint) > OVERTAKE_HOLD_RANGE) {
            } else if (overtake && TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
                                               rtkTime->mss * 10,
                                               overTakeCmpTime.hour, overTakeCmpTime.min,
                                               overTakeCmpTime.sec, overTakeCmpTime.msec * 10) > OVERTAKE_HOLD_TIME) {
                DEBUG("回原车道");
                PlayTTS("请返回原车道");
                currRoadItem = NULL;
@@ -1484,7 +1537,7 @@
                                                crashGreenCmpTime.hour, crashGreenCmpTime.min,
                                                crashGreenCmpTime.sec, crashGreenCmpTime.msec * 10);

                    if (diff < CHANGE_ROAD_MIN_INTERVAL) {
                    if (diff < CHANGE_LANE_MIN_INTERVAL) {
                        DEBUG("===================== 连续变道 ============!!");
                        // 连续变道，不合格
                        AddExamFault(15, rtkTime);