加减档

yy1717

2020-03-25 b73f32bc8ad86a7bb5f0739ac0fd7aa4c04cce98

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

@@ -14,6 +14,7 @@
#include "../master/comm_if.h"
#include "drive_straight.h"
#include "stop_car.h"
#include "operate_gear.h"

#include <vector>
#include <list>
@@ -40,6 +41,7 @@
static bool occurCrashRedLine;
static bool occurCrashGreenLine;
static bool occurOverSpeed;
static bool occurSecondBreak;
static int checkCrashGreenTimeout;
static char carIntersectionOfGreenLine;
static int currTurnSignalStatus;
@@ -66,9 +68,13 @@
static int startCar;
static int currExamMapIndex;

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

static const int MAX_ENGINE_RPM = 2500;
static const double START_CAR_MOVE_DISTANCE = 0.5;//10.0;
static const double START_CAR_CHECK_DOOR_DISTANCE = 0.1;//1.0;
static const double START_CAR_MOVE_DISTANCE = 10.0;
static const double START_CAR_CHECK_DOOR_DISTANCE = 1.0;
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);
@@ -97,6 +103,7 @@
    occurCrashRedLine = false;
    occurCrashGreenLine = false;
    occurOverSpeed = false;
    occurSecondBreak = false;
    checkCrashGreenTimeout = 0;
    carIntersectionOfGreenLine = 0;

@@ -116,14 +123,22 @@
    currExamMapIndex = -1;

    startCar = START_CAR_NOT_DO;

    checkDoor = false;
    handBreakActive = false;
    reportRPMOver = false;
}

void TerminateRoadExam(void)
{
    TerminateDummyLightExam();
    TerminateStopCarExam();
    TerminateOperateGearExam();
}

static void TestRoadStartCar(const car_model *car, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    double moveDistance;
    static bool checkDoor = false;
    static bool handBreakActive = false;
    static bool reportRPMOver = false;

    if (startCar == START_CAR_NOT_DO) {
        startPoint = car->basePoint;
@@ -186,6 +201,18 @@
        }
    } else {
        occurOverSpeed = false;
    }

    // 副刹车检测
    if (ReadCarStatus(SECOND_BREAK) == BREAK_ACTIVE) {
        // 副刹车踩下，不合格
        if (!occurSecondBreak) {
            DEBUG("副刹车动作了");
            occurSecondBreak = true;
            AddExamFault(17, rtkTime);
        }
    } else {
        occurSecondBreak = false;
    }

    // 挡位匹配检测
@@ -327,7 +354,6 @@
            currTurnSignalStatus = ReadCarStatus(TURN_SIGNAL_LAMP);
            break;
    }


    // 检查是否持续转向
    char turnDirect = CheckCarTurn(CarModelList);
@@ -491,6 +517,8 @@
                StartDriveStraightExam(currExamMapIndex, RoadMapList);
            } else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
                StartStopCarExam(currExamMapIndex, RoadMapList);
            } else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
                StartOperateGearExam(currExamMapIndex, RoadMapList);
            }
        }
    } else if (startCar == START_CAR_DONE) {
@@ -506,6 +534,9 @@
        } else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
            currExamMapIndex = ExecuteStopCarExam(currExamMapIndex, RoadMapList, car,
                                                        CarModelList, speed, moveDirect, rtkTime);
        } else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
            currExamMapIndex = ExecuteOperateGearExam(currExamMapIndex, RoadMapList, car,
                                   CarModelList, speed, moveDirect, rtkTime);
        }

        if (currExamMapIndex == -1) {