坐标

yy1717

2020-08-24 fb7b0660a319a9c54ff35c3944548348fae11b60

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

@@ -79,8 +79,8 @@


static int prevMoveDirect;
static uint32_t stopTimepoint = 0;
static bool reportStopCarOnRedArea;

static bool StopCarOnRedArea;
static PointF stopPoint;
static bool prevGearError = false;
static bool prevGearNSlide = false;
@@ -89,7 +89,7 @@
static bool slideNormalDistance;
static bool occurSlide;

static struct RtkTime crashGreenRunTime, crashGreenStartTime;
static struct RtkTime crashGreenRunTime, crashGreenStartTime, stopTimepoint;

static struct drive_timer gearErrorTimePoint;
static struct drive_timer gearNSlideTimePoint;
@@ -150,6 +150,7 @@
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);
static bool StopOnRedArea(road_exam_map &RoadMap, const car_model *car);

static int NearbyCrossingGuide(int &stopLineIndex, int roadIndex, road_t &road, const car_model *car);

@@ -169,7 +170,7 @@

    prevMoveDirect = 0;

    reportStopCarOnRedArea = false;
    StopCarOnRedArea = false;
    occurSlide = false;
    slideLongDistance = false;
    slideNormalDistance = false;
@@ -611,6 +612,47 @@
        }
    }

    for (int n = 0; n < RoadMap.forbidLines.size(); ++n) {
        // 地图围栏
        if (RoadMap.forbidLines[n].type == LINE_BOUNDARY && track && RoadMap.forbidLines[n].points.size() >= 2) {
            p1 = RoadMap.forbidLines[n].points[0];
            for (int m = 1; m < RoadMap.forbidLines[n].points.size(); ++m) {
                p2 = RoadMap.forbidLines[n].points[m];
                MakeLine(&redLine, &p1, &p2);
                if (IntersectionOf(redLine, frontLeftTireTrack) == GM_Intersection ||
                     IntersectionOf(redLine, frontRightTireTrack) == GM_Intersection) {
                    lineType = LINE_BOUNDARY;
                    goto CRASH_LINE_CONFIRM;
                }
                p1 = p2;
            }
        }
        // 其它红线
        if (RoadMap.forbidLines[n].type == LINE_SOLID && RoadMap.forbidLines[n].points.size() >= 2) {
            p1 = RoadMap.forbidLines[n].points[0];
            for (int m = 1; m < RoadMap.forbidLines[n].points.size(); ++m) {
                p2 = RoadMap.forbidLines[n].points[m];
                MakeLine(&redLine, &p1, &p2);

                if (IntersectionOf(redLine, frontTireAxle) == GM_Intersection ||
                    IntersectionOf(redLine, rearTireAxle) == GM_Intersection) {
                    lineType = LINE_SOLID;
                    goto CRASH_LINE_CONFIRM;
                }

                if (track &&
                        (IntersectionOf(redLine, frontLeftTireTrack) == GM_Intersection ||
                        IntersectionOf(redLine, frontRightTireTrack) == GM_Intersection ||
                        IntersectionOf(redLine, rearLeftTireTrack) == GM_Intersection ||
                        IntersectionOf(redLine, rearRightTireTrack) == GM_Intersection)) {
                    lineType = LINE_SOLID;
                    goto CRASH_LINE_CONFIRM;
                }
                p1 = p2;
            }
        }
    }

CRASH_LINE_CONFIRM:
    if (lineType == LINE_HALF_SOLID_LEFT && currCrashLineType != lineType && track) {
        if (IntersectionOfLine(p21, redLine) == -1 && IntersectionOfLine(p22, redLine) == 1) {
@@ -826,6 +868,12 @@
        DEBUG("撞道路边缘线");
        AddExamFault(11, rtkTime);
    }
    if (newLineType == LINE_BOUNDARY && CrashLineType != LINE_BOUNDARY) {
        // 车辆越界，逃跑了，不合格
        DEBUG("车辆越界");
        AddExamFault(3, rtkTime);
    }

    if (newLineType == LINE_DOTTED || newLineType == LINE_HALF_SOLID_LEFT || newLineType == LINE_HALF_SOLID_RIGHT) {
        if (!crashDottedLine) {
            checkCrashGreenTimeout = 0;
@@ -1163,7 +1211,7 @@

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;
    double BigStraightRoadFree = 0, RoadCrossingFree = 0, TargetFree = 0;

    UpdateCarSensor(rtkTime);

@@ -1269,8 +1317,8 @@
    // 起步后滑
    if (moveDirect != prevMoveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
            reportStopCarOnRedArea = false;
            stopTimepoint = *rtkTime;
            StopCarOnRedArea = false;

            DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);

@@ -1291,14 +1339,12 @@
        prevMoveDirect = moveDirect;
    } else if (moveDirect == 0) {
        // 持续停车
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

        /*if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarOnRedArea && CrashRedArea(RoadMapList, car)) {
        if (TimeGetDiff(rtkTime, &stopTimepoint) >= STOP_CAR_TIME && !StopCarOnRedArea && StopOnRedArea(RoadMap, car)) {
            // 停车超2秒，停在红区，不合格
            AddExamFault(16, rtkTime);
            DEBUG("禁停区停车");
            reportStopCarOnRedArea = true;
        }*/
            StopCarOnRedArea = true;
        }
    } else if (moveDirect == -1) {
        // 持续后滑
        if (occurSlide) {
@@ -1336,12 +1382,12 @@
    if (currExamMapIndex >= 0) {
        car_sensor_value_t brk = ReadCarSensorValue(BREAK);
        // 检测通过路口、人行道等区域时，释放刹车或减速
        ApproachTarget(RoadMap, car, currExamMapIndex, (brk.value == BREAK_ACTIVE), speed, moveDirect, rtkTime);
        TargetFree = ApproachTarget(RoadMap, car, currExamMapIndex, (brk.value == BREAK_ACTIVE), speed, moveDirect, rtkTime);
    }
    ExitTarget(RoadMap, car, CarModelList, rtkTime);

    oldid = CrashLineType;

    // 检测压线状态
    DetectLine(currExamMapIndex, RoadMap, car, CarModelList, moveDirect, rtkTime);

    if (oldid != CrashLineType) {
@@ -1385,15 +1431,13 @@

        RoadCrossingFree = freeSepDis;

//        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);
//        DEBUG("车速 %f, 累计行驶距离 %f, 直道剩余距离 %f, 车道剩余距离 %f 特殊区域距离 %f", ConvertMs2KMh(speed), ReadOdo(), BigStraightRoadFree, RoadCrossingFree, TargetFree);
    }

    // 检测压线状态

    // 额外的转向检测
    DetectTurn(car, moveDirect, rtkTime);

    ItemExam(RoadMap, currExamMapIndex, car, CarModelList, speed, moveDirect, rtkTime, BigStraightRoadFree, RoadCrossingFree);
    ItemExam(RoadMap, currExamMapIndex, car, CarModelList, speed, moveDirect, rtkTime, BigStraightRoadFree, TargetFree > RoadCrossingFree? RoadCrossingFree : TargetFree);
}

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)
@@ -1643,39 +1687,62 @@

/**********************************************************
 * 按整个车身是否覆盖计算
 * @param RoadMapList
 * @param RoadMap
 * @param car
 * @return
 */
/*static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car)
static bool StopOnRedArea(road_exam_map &RoadMap, const car_model *car)
{
    bool ret = false;
    for (int i = 0; i < RoadMap.specialAreas.size(); ++i) {
        Polygon redArea;
        redArea.num = 0;

    Polygon carBody;
        if (RoadMap.specialAreas[i].type == GRID_AREA && RoadMap.specialAreas[i].area.size() == 4) {
            redArea.num = 4;
            redArea.point = (PointF *)malloc(4 * sizeof(PointF));

    carBody.num = car->bodyNum;
    carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
    for (int i = 0; i < carBody.num; ++i) {
        carBody.point[i] = car->carXY[car->body[i]];
    }

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条红区都检测
            for (int j = 0; j < RoadMapList[i].redAreaNum; ++j) {
                if (IntersectionOf(&carBody, &RoadMapList[i].redArea[j]) != GM_None) {
                    ret = true;
            redArea.point[0] = RoadMap.specialAreas[i].area[0];
            redArea.point[1] = RoadMap.specialAreas[i].area[1];
            redArea.point[2] = RoadMap.specialAreas[i].area[2];
            redArea.point[3] = RoadMap.specialAreas[i].area[3];
        } else if (RoadMap.specialAreas[i].type == ZEBRA_CROSSING) {
            int j = 0;
            for (; j < RoadMap.roads.size(); ++j) {
                if (RoadMap.specialAreas[i].road == RoadMap.roads[j].id) {
                    break;
                }
            }
            break;

            if (j < RoadMap.roads.size()) {

                PointF p1 = CalcProjectionWithRoadEdge(RoadMap.roads[j].leftEdge,
                                                       RoadMap.specialAreas[i].area[0]);
                PointF p2 = CalcProjectionWithRoadEdge(RoadMap.roads[j].leftEdge,
                                                       RoadMap.specialAreas[i].area[1]);

                redArea.num = 4;
                redArea.point = (PointF *) malloc(4 * sizeof(PointF));

                redArea.point[0] = RoadMap.specialAreas[i].area[0];
                redArea.point[1] = RoadMap.specialAreas[i].area[1];
                redArea.point[2] = p2;
                redArea.point[3] = p1;
            }
        }

        if (redArea.num > 0) {
            for (int i = 0; i < car->bodyNum; ++i) {
                if (IntersectionOf(car->carXY[car->body[i]], &redArea) == GM_Containment) {
                    free(redArea.point);
                    return true;
                }
            }
            free(redArea.point);
        }
    }

    free(carBody.point);

    return ret;
}*/
    return false;
}

bool CrashTheLine(Line line, const car_model *car, LIST_CAR_MODEL &CarModelList)
{