适应紧密排布的科目二场地

yy1717

2021-02-22 00bcaaadf18eda942b0e1b86a05e7280a57bcb52

适应紧密排布的科目二场地

 lib/src/main/cpp/native-lib.cpp

@@ -28,7 +28,7 @@
const int RTK_PLATFORM_PORT = 12125;
const uint8_t phone[] = {0x20,0x19,0x10,0x15,0x00,0x00,0x00,0x01};

const char *VIRTUAL_RTK_IP = "192.168.16.100";
const char *VIRTUAL_RTK_IP = "192.168.16.212";
const int VIRTUAL_RTK_PORT = 9002;

static pthread_mutex_t tts_mutex = PTHREAD_MUTEX_INITIALIZER;

 lib/src/main/cpp/rtk_module/virtual_rtk.cpp

@@ -113,13 +113,15 @@
        PlayTTS("模拟器连接", NULL);
    } else {
        DEBUG("虚拟平台连接失败");
        if (virtRtkIsValid) {
            PlayTTS("模拟器断开", NULL);
        }
        virtRtkIsValid = false;
        connectCnt++;

        if (connectCnt < 3) {
            AppTimer_add(ConnectLater, D_SEC(3), 1);
        }
        PlayTTS("模拟器断开", NULL);
    }
}

@@ -155,13 +157,15 @@
        PlayTTS("灯光模拟器连接", NULL);
    } else {
        DEBUG("灯光虚拟平台连接失败");
        if (virtRtkIsValid2) {
            PlayTTS("灯光模拟器断开", NULL);
        }
        virtRtkIsValid2 = false;
        connectCnt2++;

        if (connectCnt2 < 3) {
            AppTimer_add(ConnectLater2, D_SEC(3), 2);
        }
        PlayTTS("灯光模拟器断开", NULL);
    }
}


 lib/src/main/cpp/test_items/area_exam.cpp

@@ -201,6 +201,8 @@

static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
{
    vector<int> score(mapList.size(), 0);       // 场地重合时，车头尾都在内的优先

    for (int i = 0; i < mapList.size() && car != NULL; ++i) {
        // 车前轮或后轮轨迹越过触发线
        if (mapList[i].type == MAP_TYPE_STOP_START) {
@@ -233,7 +235,18 @@

                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1 &&
                    DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine2) > 0.1)
                    return i;
                    score[i]++;
            }
            // 车尾顶点在场地内
            if (IntersectionOf(car->carXY[ car->axial[AXIAL_REAR] ], &mapList[i].map) == GM_Containment) {
                Line enterLine1, enterLine2;

                MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));
                MakeLine(&enterLine2, &(mapList[i].map.point[6]), &(mapList[i].map.point[7]));

                if (DistanceOf(car->carXY[car->axial[AXIAL_REAR]], enterLine1) > 0.1 &&
                    DistanceOf(car->carXY[car->axial[AXIAL_REAR]], enterLine2) > 0.1)
                    score[i]++;
            }
        }
        if (mapList[i].type == MAP_TYPE_PART_EDGE) {
@@ -244,7 +257,16 @@
                MakeLine(&enterLine, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));

                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine) > 0.1)
                    return i;
                    score[i]++;
            }
            // 车尾顶点在场地内
            if (IntersectionOf(car->carXY[ car->axial[AXIAL_REAR] ], &mapList[i].map) == GM_Containment) {
                Line enterLine;

                MakeLine(&enterLine, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));

                if (DistanceOf(car->carXY[car->axial[AXIAL_REAR]], enterLine) > 0.1)
                    score[i]++;
            }
        }
        if (mapList[i].type == MAP_TYPE_TURN_90) {
@@ -257,6 +279,7 @@
                return i;
        }
        if (mapList[i].type == MAP_TYPE_CURVE) {
            // 车前轮或后轮轨迹越过触发线
            Line triggerLine;

            MakeLine(&triggerLine, &mapList[i].map2.point[0], &mapList[i].map.point[0]);
@@ -264,6 +287,19 @@
                return i;
        }
    }

    for (int i = 0; i < score.size(); ++i) {
        if (score[i] == 2) {
            return i;
        }
    }

    for (int i = 0; i < score.size(); ++i) {
        if (score[i] == 1) {
            return i;
        }
    }

    return -1;
}