加入地图标定模式

yy1717

2020-09-16 611f51ed073de48e83f46d47c82cd5ebe61258d7

 lib/src/main/cpp/test_items2/through_something.cpp

@@ -104,6 +104,10 @@
            RemoveTargetReduceRec(TargetReduceRec, key);
        }
    }

    if (RoadMap.calibrate == 1)
        goto GET_DISTANCE_OF_NEARBY_TARGET;

    // 人行道、公交站、学校
    for (int i = 0; i < RoadMap.specialAreas.size(); i++) {
        if (RoadMap.specialAreas[i].type == GRID_AREA || RoadMap.specialAreas[i].road != RoadMap.roads[roadIndex].id)
@@ -165,6 +169,7 @@
        }
    }

    GET_DISTANCE_OF_NEARBY_TARGET:
    if (nearbyTarget.size() > 0) {
        sort(nearbyTarget.begin(), nearbyTarget.end());
        return nearbyTarget[0];
@@ -182,69 +187,73 @@
            if (CrashTheLine(RoadMap.roads[road].stopLine[x].line, car, CarModelList)) {
                DEBUG("越过路口 road %d 路口 %d", road, x);

                CrossRoadCallback(road, x, RoadMap.roads[road].stopLine[x].active, car);
                CrossRoadCallback(RoadMap, road, x, ExamSchemeCrossing(RoadMap, road, x), car);

                if (!(it->second & REDUCE_SPEED)) {
                    // 不按规定减速，不合格
                    DEBUG("不按规定减速");
                if (RoadMap.calibrate == 0) {
                    if (!(it->second & REDUCE_SPEED)) {
                        // 不按规定减速，不合格
                        DEBUG("不按规定减速");

                    if (RoadMap.roads[road].stopLine[x].active == ROAD_ACTIVE_FORWARD) {
                        AddExamFault(41, rtkTime);
                    } else if (RoadMap.roads[road].stopLine[x].active ==
                               ROAD_ACTIVE_TURN_LEFT) {
                        AddExamFault(43, rtkTime);
                    } else if (RoadMap.roads[road].stopLine[x].active ==
                               ROAD_ACTIVE_TURN_RIGHT) {
                        AddExamFault(46, rtkTime);
                        if (ExamSchemeCrossing(RoadMap, road, x) == ROAD_ACTIVE_FORWARD) {
                            AddExamFault(41, rtkTime);
                        } else if (ExamSchemeCrossing(RoadMap, road, x) ==
                                   ROAD_ACTIVE_TURN_LEFT) {
                            AddExamFault(43, rtkTime);
                        } else if (ExamSchemeCrossing(RoadMap, road, x) ==
                                   ROAD_ACTIVE_TURN_RIGHT) {
                            AddExamFault(46, rtkTime);
                        }
                    }
                    if (!(it->second & STOP_CAR) && RoadMap.roads[road].stopLine[x].stopFlag) {
                        // 不停车瞭望，不合格
                        DEBUG("不停车瞭望");
                        if (ExamSchemeCrossing(RoadMap, road, x) == ROAD_ACTIVE_FORWARD) {
                            AddExamFault(42, rtkTime);
                        } else if (ExamSchemeCrossing(RoadMap, road, x) ==
                                   ROAD_ACTIVE_TURN_LEFT) {
                            AddExamFault(44, rtkTime);
                        } else if (ExamSchemeCrossing(RoadMap, road, x) ==
                                   ROAD_ACTIVE_TURN_RIGHT) {
                            AddExamFault(47, rtkTime);
                        }
                    }
                }
                if (!(it->second & STOP_CAR) && RoadMap.roads[road].stopLine[x].stopFlag) {
                    // 不停车瞭望，不合格
                    DEBUG("不停车瞭望");
                    if (RoadMap.roads[road].stopLine[x].active == ROAD_ACTIVE_FORWARD) {
                        AddExamFault(42, rtkTime);
                    } else if (RoadMap.roads[road].stopLine[x].active ==
                               ROAD_ACTIVE_TURN_LEFT) {
                        AddExamFault(44, rtkTime);
                    } else if (RoadMap.roads[road].stopLine[x].active ==
                               ROAD_ACTIVE_TURN_RIGHT) {
                        AddExamFault(47, rtkTime);
                    }
                }

                RemoveTargetReduceRec(TargetReduceRec, it->first);
                goto RECHECK;
            }
    }

    if (RoadMap.calibrate == 1)
        return;

    RECHECK2:
    for (auto it = TargetReduceRec2.begin(); it != TargetReduceRec2.end(); ++it) {
            int x = it->first;
            Line line;
            int roadIndex = 0;
        int x = it->first;
        Line line;
        int roadIndex = 0;

            for (; roadIndex < RoadMap.roads.size(); ++roadIndex) {
                if (RoadMap.roads[roadIndex].id == RoadMap.specialAreas[x].road)
                    break;
            }

            PointF point2 = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].leftEdge,
                                                       RoadMap.specialAreas[x].area[0]);
            MakeLine(&line, &RoadMap.specialAreas[x].area[0], &point2);

            if (CrashTheLine(line, car, CarModelList)) {
                if (RoadMap.specialAreas[x].type == ZEBRA_CROSSING &&
                    !(it->second & REDUCE_SPEED)) {
                    DEBUG("人行道 不按规定减速");
                    AddExamFault(48, rtkTime);
                }
                if (RoadMap.specialAreas[x].type == BUS_STATION_AREA &&
                    !(it->second & REDUCE_SPEED)) {
                    DEBUG("公交站 不按规定减速");
                    AddExamFault(50, rtkTime);
                }
                RemoveTargetReduceRec(TargetReduceRec2, it->first);
                goto RECHECK2;
            }
        for (; roadIndex < RoadMap.roads.size(); ++roadIndex) {
            if (RoadMap.roads[roadIndex].id == RoadMap.specialAreas[x].road)
                break;
        }

        PointF point2 = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].leftEdge,
                                                   RoadMap.specialAreas[x].area[0]);
        MakeLine(&line, &RoadMap.specialAreas[x].area[0], &point2);

        if (CrashTheLine(line, car, CarModelList)) {
            if (RoadMap.specialAreas[x].type == ZEBRA_CROSSING &&
                !(it->second & REDUCE_SPEED)) {
                DEBUG("人行道 不按规定减速");
                AddExamFault(48, rtkTime);
            }
            if (RoadMap.specialAreas[x].type == BUS_STATION_AREA &&
                !(it->second & REDUCE_SPEED)) {
                DEBUG("公交站 不按规定减速");
                AddExamFault(50, rtkTime);
            }
            RemoveTargetReduceRec(TargetReduceRec2, it->first);
            goto RECHECK2;
        }
    }
}