坐标

yy1717

2020-09-18 03a05501800d2c02bca1c05ca6f7080d715aba23

坐标

 lib/src/main/cpp/driver_test.cpp

@@ -148,7 +148,7 @@
            free(AreaMapList[i].map2.point);
    }

    AreaMapList.clear();
    LIST_AREA_MAP().swap(AreaMapList);
}

void AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2)
@@ -195,7 +195,7 @@
    vector<road_t>().swap(RoadMap.roads);
    vector<special_area_t>().swap(RoadMap.specialAreas);
    vector<forbid_line_t>().swap(RoadMap.forbidLines);
    vector<scheme_t>().swap(RoadMap.examScheme);
//    vector<scheme_t>().swap(RoadMap.examScheme);
}

void SetRoadMap(road_exam_map &map, vector<scheme_t> &scheme)
@@ -207,9 +207,20 @@
//    RoadMap.triggerLines.assign(map.triggerLines.begin(), map.triggerLines.end());
    RoadMap.forbidLines.assign(map.forbidLines.begin(), map.forbidLines.end());

    RoadMap.examScheme.assign(scheme.begin(), scheme.end());
//    RoadMap.examScheme.assign(scheme.begin(), scheme.end());

    DEBUG("得到新的路考地图 路数量 %d 特殊区域数量 %d 其他禁止线数量 %d 项目数量 %d", RoadMap.roads.size(), RoadMap.specialAreas.size(), RoadMap.forbidLines.size(), RoadMap.examScheme.size());
}

void SetRoadExamScheme(vector<scheme_t> &scheme)
{
    if (ExamStart) return;

    vector<scheme_t>().swap(RoadMap.examScheme);

    RoadMap.examScheme.assign(scheme.begin(), scheme.end());

    DEBUG("得到新的路考地图 项目数量 %d", RoadMap.examScheme.size());
}

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
@@ -375,6 +386,8 @@
        return;
    }

    type = TEST_TYPE_ROAD_CALIBRATE;

    if (AreaMapList.size() == 0 && type == TEST_TYPE_AREA) {
        DEBUG("没有场考地图");
        err = true;
@@ -394,6 +407,12 @@
        DEBUG("没有路考地图");
        err = true;
        MA_SendExamStatus(0, -1);
    }

    if ((type == TEST_TYPE_ROAD_DUMMY_LIGHT || type == TEST_TYPE_ROAD_TRUE_LIGHT) && RoadMap.examScheme.size() == 0) {
        DEBUG("没有路考线路方案");
        err = true;
        MA_SendExamStatus(0, -3);
    }

    if (!err) {
@@ -514,7 +533,7 @@
            ExecuteExam(speed, move, azimuth, &rtkTime);
        }

        PrintObdInfo(&rtkTime, speed);
//        PrintObdInfo(&rtkTime, speed);
    }
}

@@ -684,7 +703,7 @@
    }

    if (ExamType != TEST_TYPE_AREA) {
        if (exam_dummy_light == 2 || ExamType == TEST_TYPE_ROAD_TRUE_LIGHT) {
        if (exam_dummy_light == 2 || ExamType == TEST_TYPE_ROAD_TRUE_LIGHT || ExamType == TEST_TYPE_ROAD_CALIBRATE) {
            TestRoadGeneral(RoadMap, CarModel, CarModelList, speed, move, rtkTime);
        }
    } else {
@@ -885,6 +904,8 @@
    brief.status = status;

    MA_SendRoadStatus(&brief);

    DEBUG("报告长官 进出路段 road %d status %d", road, status);
}

void CrossingChange(int road, int crossing, int status)
@@ -896,6 +917,8 @@
    brief.status = status;

    MA_SendCrossingStatus(&brief);

    DEBUG("报告长官 进出路口 road %d crossing %d status %d", road, crossing, status);
}

void AddExamFault(int wrong, const struct RtkTime *rtkTime)

 lib/src/main/cpp/driver_test.h

@@ -225,6 +225,7 @@

void CleanRoadMap(void);
void SetRoadMap(road_exam_map &map, vector<scheme_t> &scheme);
void SetRoadExamScheme(vector<scheme_t> &scheme);

void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
                        int *right_front_tire, int *left_rear_tire, int *right_rear_tire,

 lib/src/main/cpp/master/comm_if.cpp

@@ -39,6 +39,7 @@
#define ID_MS_MAP               0x8006
#define ID_MS_ROAD_MAP          0x8014
#define ID_MS_ROAD_MAP2         0x8013
#define ID_MS_SCHEME            0x8017

#define ID_SM_READ_CAR          0x0007
#define ID_MS_CAR               0x8007
@@ -1263,6 +1264,90 @@

            break;
        }
        case ID_MS_SCHEME: {
            Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                DEBUG("开始解析路考方案");
                vector<scheme_t> schemes;

                if (doc.HasMember("scheme")) {
                    const Value &a = doc["scheme"];

                    for (Value::ConstValueIterator itr = a.Begin();
                         itr != a.End(); ++itr) {
                        scheme_t scheme;
                        if (itr->HasMember("name")) {
                            const Value &s = (*itr)["name"];
                            scheme.name = s.GetString();
                        }
                        if (itr->HasMember("crossing_active")) {
                            const Value &a2 = (*itr)["crossing_active"];

                            for (Value::ConstValueIterator itr2 = a2.Begin();
                                 itr2 != a2.End(); ++itr2) {
                                crossing_active_t act;

                                if (itr2->HasMember("road")) {
                                    const Value &s = (*itr2)["road"];
                                    act.road_id = s.GetInt();
                                }
                                if (itr2->HasMember("idx")) {
                                    const Value &s = (*itr2)["idx"];
                                    act.index = s.GetInt();
                                }
                                if (itr2->HasMember("active")) {
                                    const Value &s = (*itr2)["active"];
                                    act.active = s.GetInt();
                                }

                                scheme.crossingActive.push_back(act);
                            }
                        }
                        if (itr->HasMember("trigger_line")) {
                            const Value &a2 = (*itr)["trigger_line"];

                            for (Value::ConstValueIterator itr2 = a2.Begin();
                                 itr2 != a2.End(); ++itr2) {
                                trigger_line_t ins;

                                if (itr2->HasMember("x_y")) {
                                    const Value &a3 = (*itr2)["x_y"];
                                    if (a3.IsArray()) {
                                        PointF point;
                                        int n = 0;
                                        for (Value::ConstValueIterator itr3 = a3.Begin();
                                             itr3 != a3.End(); ++itr3) {
                                            if (n == 0) {
                                                point.X = (*itr3).GetDouble();
                                                n = 1;
                                            } else if (n == 1) {
                                                point.Y = (*itr3).GetDouble();
                                                ins.points.push_back(point);
                                                n = 0;
                                            }
                                        }
                                    }
                                }
                                if (itr2->HasMember("road")) {
                                    const Value &s = (*itr2)["road"];
                                    ins.road = s.GetInt();
                                }
                                if (itr2->HasMember("type")) {
                                    const Value &s = (*itr2)["type"];
                                    ins.active = s.GetInt();
                                }

                                scheme.triggerLines.push_back(ins);
                            }
                        }
                        schemes.push_back(scheme);
                    }
                }
                SetRoadExamScheme(schemes);
            }
            break;
        }
        case ID_MS_MAP: {
            Document doc;
            doc.Parse(value);
@@ -1471,7 +1556,7 @@
            break;
        }
        case ID_MS_SENSOR_CFG: {
            Document doc;
            /*Document doc;
            doc.Parse(value);
            if (!doc.HasParseError()) {
                const Value &a = doc.GetArray();
@@ -1500,7 +1585,7 @@
                    SetSensorCfg(sensor, n);
                    delete []sensor;
                }
            }
            }*/
            break;
        }
        case ID_MS_START_EXAM: {

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

@@ -17,6 +17,7 @@
#include "driver_test.h"
#include "master/comm_if.h"
#include "rtk_module/virtual_rtk.h"
#include "defs.h"

#define DEBUG(fmt, args...)     LOGD("<native-lib> <%s>: " fmt, __func__, ##args)

@@ -322,12 +323,32 @@
Java_com_anyun_exam_lib_RemoteService_MainProcMsgEntry(JNIEnv *env, jobject thiz, jint cmd,
                                                       jstring value) {
    // TODO: implement MainProcMsgEntry()
    union {
        int a;
        uint8_t b[sizeof(int)];
    } c;

    c.a = cmd;

    if (value != NULL) {
        const char *str = env->GetStringUTFChars(value, 0);
        MA_MainProcMsgEntry(cmd, str);

        uint8_t *data = new uint8_t[4 + strlen(str) + 1];

        data[0] = c.b[0];
        data[1] = c.b[1];
        data[2] = c.b[2];
        data[3] = c.b[3];

        strcpy((char *)data + 4, str);
//        MA_MainProcMsgEntry(cmd, str);
        PlatformStatusChanged(MASTER_COMM_EVT, data, 4 + strlen(str) + 1);
        env->ReleaseStringUTFChars(value, str);

        delete []data;
    } else {
        MA_MainProcMsgEntry(cmd, NULL);
        //MA_MainProcMsgEntry(cmd, NULL);
        PlatformStatusChanged(MASTER_COMM_EVT, c.b, sizeof(int));
    }
}


 lib/src/main/cpp/rtk_platform/platform.cpp

@@ -520,6 +520,22 @@
            cb->callback(cb->seq);
        }
    }
    if (events & MASTER_COMM_EVT) {
        union {
            int a;
            uint8_t b[sizeof(int)];
        } c;

        c.b[0] = data[0];
        c.b[1] = data[1];
        c.b[2] = data[2];
        c.b[3] = data[3];

        if (length == 4)
            MA_MainProcMsgEntry(c.a, NULL);
        else
            MA_MainProcMsgEntry(c.a, (char *)data + 4);
    }
}

static void *PlatformDataListenThread(void *p) {

 lib/src/main/cpp/rtk_platform/platform.h

@@ -17,6 +17,7 @@
#define CARD_UPDATE_EVT                             0x0080
#define PLAY_TTS_DONE_EVT                           0x0100
#define CAR_SENSOR_UPDATE_EVT                           0x0200
#define MASTER_COMM_EVT                             0x0400

typedef struct {
    char domain_name[32];

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

@@ -90,9 +90,11 @@
static bool occurSlide;

static struct RtkTime crashGreenRunTime, crashGreenStartTime, stopTimepoint;

static struct RtkTime gearChangeTimePoint;
static struct RtkTime gearErrorTimePoint;
static struct RtkTime gearNSlideTimePoint;

static int gearChange;

static car_sensor_value_t turnSignalStatus;

@@ -1324,6 +1326,21 @@
            occurSecondBreak = false;
        }

        // 两次换挡不进
        static int prevGear = -1;

        int currGear = ReadCarStatus(GEAR);
        if (currGear != GEAR_N && prevGear == GEAR_N) {
            // 一次换挡
            if (gearChange == currGear && TimeGetDiff(rtkTime, &gearChangeTimePoint) < D_SEC(5)) {
                AddExamFault(7, rtkTime);
            }

            gearChange = currGear;
            gearChangeTimePoint = *rtkTime;
        }
        prevGear = currGear;

        // 挡位匹配检测
        bool currGearError = false;
        bool currGearNSlide = false;
@@ -1475,9 +1492,9 @@

        if (RoadMap.calibrate) {
            if (currExamMapIndex < 0 && oldid >= 0) {
                RoadChange(oldid, 0);
                RoadChange(RoadMap.roads[oldid].id, 0);
            } else if (currExamMapIndex >= 0) {
                RoadChange(currExamMapIndex, 1);
                RoadChange(RoadMap.roads[currExamMapIndex].id, 1);
            }
        }
        Lane.guide = 0;
@@ -1648,6 +1665,9 @@
            RoadExamItem[RoadExamStatus] = ROAD_EXAM_ITEM_EXECED;
            if (RoadExamStatus == ROAD_EXAM_ITEM_CAR_START) {
                freeRunExceptDistance = 60.0;
            } else if (RoadExamStatus == ROAD_EXAM_ITEM_CAR_STOP) {
                // 考试结束
                MA_SendExamStatus(1, 1);
            } else {
                freeRunExceptDistance = 2;//250.0;
            }
@@ -1674,6 +1694,14 @@
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 2) {
        StartOvertakeExam(Lane.no);
        RoadExamStatus = ROAD_EXAM_ITEM_OVER_TAKE;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 5) {
        if (RoadExamItem[ROAD_EXAM_ITEM_STRAIGHT] == ROAD_EXAM_ITEM_EXECED &&
                RoadExamItem[ROAD_EXAM_ITEM_OP_GEAR] == ROAD_EXAM_ITEM_EXECED &&
                RoadExamItem[ROAD_EXAM_ITEM_CHANGE_LANE] == ROAD_EXAM_ITEM_EXECED &&
                RoadExamItem[ROAD_EXAM_ITEM_OVER_TAKE] == ROAD_EXAM_ITEM_EXECED) {
            StartStopCarExam();
            RoadExamStatus = ROAD_EXAM_ITEM_CAR_STOP;
        }
    }
}