自适应触发和个子项修改。

yy1717

2020-08-21 8a09b209f1c546a2fa15329e8f69b4a4f89557c9

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

@@ -17,6 +17,8 @@
#include "operate_gear.h"
#include "../test_common/odo_graph.h"
#include "car_start.h"
#include "overtake.h"
#include "change_lane.h"

#include <cmath>
#include <vector>
@@ -30,19 +32,6 @@

using namespace std;

#define TURN_CHECK_CNT          6

enum {
    START_CAR_NOT_DO,
    START_CAR_DOING,
    START_CAR_DONE
};

enum {
    STOP_CAR_NOT_DO,
    STOP_CAR_DOING,
    STOP_CAR_DONE
};

enum {
    CROSSING_NOT_HINT,
@@ -79,25 +68,15 @@

static const int CROSSING_TURN_THRESHOLD = 45;
static const int TURN_THRESHOLD = 3;
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 int OVERTAKE_HOLD_TIME = D_SEC(3);                // 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 NEXT_ROAD_TIP = 100.0;                  // 到达路口前提示下一个怎么走


static bool occurCrashRedLine;
static bool occurCrashGreenLine;
static bool occurOverSpeed;
static bool occurSecondBreak;

static char carIntersectionOfGreenLine;
static int currTurnSignalStatus;
static int turnSignalStatusWhenCrashGreenLine;

static int prevMoveDirect;
static uint32_t stopTimepoint = 0;
@@ -114,19 +93,11 @@

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;

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

static lane_t Lane;
static change_lane_t ChangeLane;
@@ -170,16 +141,12 @@
static const uint32_t CRASH_DOTTED_LINE_TIMEOUT = D_SEC(10);
static const uint32_t TURN_SIGNAL_LAMP_ADVANCE = D_SEC(3);

static const int CRL_NONE = 0;
static const int CRL_SEP_DOTTED = 1;
static const int CRL_SEP_SOLID = 2;
static const int CRL_EDGE_DOTTED = 3;
static const int CRL_EDGE_SOLID = 4;

static const double MAX_SPEED = 60.0 * 1000.0 / 3600.0;
static const double MAX_SPEED = 60.0 * 1000.0 / 3600.0;         // 超速确认
static const double DEC_MAX_SPEED = 55.0 * 1000.0 / 3600.0;     // 超速取消
static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};

static void ItemExam(road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end);
static void ItemExam(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end);
static int isTurn(int currYaw, int prevYaw, int thres);
static void ResetTurnDetect(const car_model *car);
static void DetectTurn(const car_model *car, int moveDirect, const struct RtkTime *rtkTime);
@@ -187,8 +154,6 @@
static int NearbyCrossingGuide(int &stopLineIndex, int roadIndex, road_t &road, const car_model *car);

static trigger_line_t * EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList);

static bool AllCmp(road_exam_map &map);

static int CalcRoadIndex(int currRoadIndex, road_exam_map &RoadMap, const car_model *car);

@@ -198,15 +163,10 @@
{
    DEBUG("Start road_exam");

    occurCrashRedLine = false;
    occurCrashGreenLine = false;
    occurOverSpeed = false;

    occurSecondBreak = false;

    carIntersectionOfGreenLine = 0;

    currTurnSignalStatus = OFF_LIGHT;
    prevMoveDirect = 0;

    reportStopCarOnRedArea = false;
@@ -220,14 +180,9 @@

    currExamMapIndex = -1;

    stopCar = STOP_CAR_NOT_DO;

    currRoadItem = NULL;

    Lane.road = Lane.sep = Lane.no = -1;
    Lane.guide = 0;

    checkTurn = false;

    CrashLineType = -1;
    turnCnt = -1;
@@ -934,7 +889,7 @@
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= D_SEC(3)) {
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足");
                        // 不足3秒，不合格
                        AddExamFault(14, rtkTime);
@@ -944,7 +899,7 @@
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= D_SEC(3)) {
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足");
                        // 不足3秒，不合格
                        AddExamFault(14, rtkTime);
@@ -1206,9 +1161,6 @@
    return guide;
}

static uint8_t itemExec[4] = {0};
static double odo;

void TestRoadGeneral(road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    double BigStraightRoadFree = 0, RoadCrossingFree = 0;
@@ -1218,14 +1170,14 @@
    UpdataOdo(speed, moveDirect, rtkTime);

    // 超速检测
    if (moveDirect != 0 && speed > MAX_SPEED) {
    if (speed > MAX_SPEED) {
        if (!occurOverSpeed) {
            occurOverSpeed = true;
            // 超速，不合格
            DEBUG("超速 %f", speed);
            DEBUG("超速 %f", ConvertMs2KMh(speed));
            AddExamFault(10, rtkTime);
        }
    } else {
    } else if (speed < DEC_MAX_SPEED ) {
        occurOverSpeed = false;
    }

@@ -1433,7 +1385,7 @@

        RoadCrossingFree = freeSepDis;

        DEBUG("直道剩余距离 %f, 车道剩余距离 %f", BigStraightRoadFree, RoadCrossingFree);
//        DEBUG("累计行驶距离 %f, 直道剩余距离 %f, 车道剩余距离 %f", ReadOdo(), BigStraightRoadFree, RoadCrossingFree);
    }

    // 检测压线状态
@@ -1441,75 +1393,14 @@
    // 额外的转向检测
    DetectTurn(car, moveDirect, rtkTime);

    ItemExam(RoadMap, car, CarModelList, speed, moveDirect, rtkTime, BigStraightRoadFree, RoadCrossingFree);

    if (ReadOdo() > EXAM_RANGE && currRoadItem == NULL && AllCmp(RoadMap) && stopCar == STOP_CAR_NOT_DO) {
        // 在合适条件下停车结束考试
        StartStopCarExam("请靠边停车");
        stopCar = STOP_CAR_DOING;
    } else if (stopCar == STOP_CAR_DOING) {
        if (ExecuteStopCarExam(RoadMap.roads[currExamMapIndex], car, CarModelList, speed, moveDirect, rtkTime) < 0)
            stopCar = STOP_CAR_DONE;
    }

    // 执行某个项目
    /*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 && 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;
            }
        } else if (currRoadItem->active == ROAD_ITEM_OPERATE_GEAR) {
            if (ExecuteOperateGearExam(rtkTime) < 0) {
                currRoadItem = NULL;
            }
        } else if (currRoadItem->active == ROAD_ITEM_STRAIGHT) {
            if (ExecuteDriveStraightExam(RoadMap.roads[currExamMapIndex], car, currRoadItem, rtkTime) < 0) {
                currRoadItem = NULL;
            }
        }
    } // 检测由触发线控制的项目
    else if (currExamMapIndex >= 0) {
        trigger_line_t *new_item = EntryItem(currExamMapIndex, RoadMap, car, CarModelList);

        if (new_item != NULL && !new_item->cmp) {
            currRoadItem = new_item;
            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);
            } else if (currRoadItem->active == ROAD_ITEM_STRAIGHT) {
                StartDriveStraightExam(currRoadItem->tts);
            }
        }
    }*/
    ItemExam(RoadMap, currExamMapIndex, car, CarModelList, speed, moveDirect, rtkTime, BigStraightRoadFree, RoadCrossingFree);
}

static void ItemExam(road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end)
static void ItemExam(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end)
{
    static double freeRunDistance;
    static double totalRunDistance;
    static double freeRunExceptDistance = 50.0;

    if (RoadExamStatus == ROAD_EXAM_READY_NEXT) {
        if (RoadExamItem[ROAD_EXAM_ITEM_CAR_START] == ROAD_EXAM_ITEM_NOT_EXEC) {
@@ -1517,28 +1408,59 @@
            totalRunDistance = ReadOdo();
            RoadExamStatus = ROAD_EXAM_ITEM_CAR_START;
        } else {
            if (RoadExamItem[ROAD_EXAM_ITEM_STRAIGHT] == ROAD_EXAM_ITEM_NOT_EXEC) {
                if (straight > 170 && road_end > 170) {
            bool not_complete = false;

            if (RoadExamItem[ROAD_EXAM_ITEM_STRAIGHT] == ROAD_EXAM_ITEM_NOT_EXEC) {
                not_complete = true;
                if (straight > 170 && road_end > 170) {
                    StartDriveStraightExam();
                    RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
                    return;
                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_OP_GEAR] == ROAD_EXAM_ITEM_NOT_EXEC) {
                if (straight > 150 && road_end > 150) {
                not_complete = true;
                if (road_end > 170) {
                    StartOperateGearExam();
                    RoadExamStatus = ROAD_EXAM_ITEM_OP_GEAR;
                    return;
                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_CHANGE_LANE] == ROAD_EXAM_ITEM_NOT_EXEC) {

                not_complete = true;
                if (road_end > 150 && Lane.total > 1) {
                    StartChaneLaneExam(Lane.no);
                    RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
                    return;
                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_OVER_TAKE] == ROAD_EXAM_ITEM_NOT_EXEC) {

                not_complete = true;
                if (road_end > 200 && Lane.total > 1) {
                    if (Lane.no == 0) {
                        // 已在最左车道，先变更车道？
                        StartChaneLaneExam(Lane.no);
                        RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
                    } else {
                        StartOvertakeExam(Lane.no);
                        RoadExamStatus = ROAD_EXAM_ITEM_OVER_TAKE;
                    }
                    return;
                }
            }

            if (!not_complete) {
                if (road_end > 200 && ReadOdo() > EXAM_RANGE) {
                    RoadExamStatus = ROAD_EXAM_ITEM_CAR_STOP;
                    StartStopCarExam();
                    return;
                }
            }
        }
    } else if (RoadExamStatus == ROAD_EXAM_FREE_RUN) {
        if (ReadOdo() - freeRunDistance > 300) {
        if (ReadOdo() - freeRunDistance > freeRunExceptDistance) {
            RoadExamStatus = ROAD_EXAM_READY_NEXT;

        }
    } else {
        bool testing = false;
@@ -1550,17 +1472,33 @@
            case ROAD_EXAM_ITEM_OP_GEAR:
                testing = TestOperateGear(rtkTime);
                break;
            case ROAD_EXAM_ITEM_CHANGE_LANE:
                testing = TestChangeLane(Lane.no, rtkTime);
                break;
            case ROAD_EXAM_ITEM_OVER_TAKE:
                testing = TestOvertake(Lane.no, rtkTime);
                break;
            case ROAD_EXAM_ITEM_STRAIGHT:
                testing = TestDriveStraight(car, rtkTime);
                break;
            case ROAD_EXAM_ITEM_CAR_STOP:
                testing = TestStopCar(RoadMap, roadIndex, car, moveDirect, rtkTime);
                break;
            default:break;
        }

        if (!testing) {
            RoadExamItem[RoadExamStatus] = ROAD_EXAM_ITEM_EXECED;
            if (RoadExamStatus == ROAD_EXAM_ITEM_CAR_START) {
                freeRunExceptDistance = 60.0;
            } else {
                freeRunExceptDistance = 200.0;
            }

            RoadExamStatus = ROAD_EXAM_FREE_RUN;
            freeRunDistance = ReadOdo();
        }
    }

}

void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
@@ -1666,7 +1604,7 @@
                            DEBUG("变调未打灯!!");
                            // 没打灯，不合格
                            AddExamFault(13, rtkTime);
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= D_SEC(3)) {
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                            DEBUG("转向灯时间不足");
                            // 不足3秒，不合格
                            AddExamFault(14, rtkTime);
@@ -1676,7 +1614,7 @@
                            DEBUG("变调未打灯!!");
                            // 没打灯，不合格
                            AddExamFault(13, rtkTime);
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= D_SEC(3)) {
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                            DEBUG("转向灯时间不足");
                            // 不足3秒，不合格
                            AddExamFault(14, rtkTime);
@@ -1790,15 +1728,6 @@
    }

    return NULL;
}

static bool AllCmp(road_exam_map &map)
{
    for (int i = 0; i < map.triggerLines.size(); ++i) {
        if (!map.triggerLines[i].cmp)
            return false;
    }
    return true;
}

static double AnalysisRoad(road_exam_map &RoadMap, int roadIndex, lane_t lane, const car_model *car)