修改科目三道路识别问题

fctom1215

2021-04-28 148254bb1dc170db320bcb208ca79b0e252751d8

修改科目三道路识别问题

 app/src/main/java/safeluck/drive/evaluation/fragment/RoadDriveMapFragmentaa.java

@@ -11,6 +11,7 @@
import android.graphics.Path;
import android.os.Bundle;
import android.text.TextUtils;
import android.util.DebugUtils;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.SurfaceHolder;
@@ -890,6 +891,9 @@
        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.GREEN);
        paint.setStrokeWidth(2.0f);
        paint.setPathEffect(null);

        Log.d(TAG, "画车体");

        Path carpath = new Path();
        // 画车体

 app/src/main/java/safeluck/drive/evaluation/fragment/RoadDriveMapFragmentab.java

@@ -89,7 +89,7 @@
    }

    private SurfaceView mSurfaceView;
    private static final String TAG = "RoadDriveFragmentaa";
    private static final String TAG = "RoadDriveFragmentab";
    private SurfaceHolder holder;
    Path path = new Path();
    private Canvas canvas;
@@ -889,6 +889,7 @@
        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.GREEN);
        paint.setStrokeWidth(2.0f);
        paint.setPathEffect(null);

        Path carpath = new Path();
        // 画车体

 lib/src/main/cpp/driver_test.cpp

@@ -381,6 +381,29 @@
//    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());

    for (int i = 0; i < RoadMap.roads.size(); ++i) {
        DEBUG("路 id = %d", RoadMap.roads[i].id);
        DEBUG("左边线段数 %d", RoadMap.roads[i].leftEdge.size());
        for (int j = 0; j < RoadMap.roads[i].leftEdge.size(); ++j) {
            int n = RoadMap.roads[i].leftEdge[j].points.size();

            DEBUG("\t当前左边线段 类型 %d 点数 %d", RoadMap.roads[i].leftEdge[j].character, n);
            for (int k = 0; k < n; ++k) {
                DEBUG("\t\t点坐标 %d: %f, %f", k, RoadMap.roads[i].leftEdge[j].points[k].X, RoadMap.roads[i].leftEdge[j].points[k].Y);
            }
        }

        DEBUG("右边线段数 %d", RoadMap.roads[i].rightEdge.size());
        for (int j = 0; j < RoadMap.roads[i].rightEdge.size(); ++j) {
            int n = RoadMap.roads[i].rightEdge[j].points.size();

            DEBUG("\t当前右边线段 类型 %d 点数 %d", RoadMap.roads[i].rightEdge[j].character, n);
            for (int k = 0; k < n; ++k) {
                DEBUG("\t\t点坐标 %d: %f, %f", k, RoadMap.roads[i].rightEdge[j].points[k].X, RoadMap.roads[i].rightEdge[j].points[k].Y);
            }
        }
    }
}

void SetRoadExamScheme(vector<scheme_t> &scheme)

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

@@ -938,6 +938,7 @@

                                vector<stop_line_t> crossing;


                                for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
                                    stop_line_t temp;
                                    if (!itr2->IsObject()) {

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

@@ -604,8 +604,10 @@
            sensor.surround3 = data[x++];
            sensor.surround4 = data[x++];

            if (sensor.clutch == 1)
                sensor.gear = 0;
//            DEBUG("离合 = %d", sensor.clutch);

 //           if (sensor.clutch == 1)
 //               sensor.gear = 0;

            UpdateSensor(&sensor);
            break;

 lib/src/main/cpp/test_common/Geometry.cpp

@@ -403,6 +403,15 @@
    return newPoint;
}

PointF centerOfTwoPoint(PointF p1, PointF p2) {
    PointF center;

    center.X = (p1.X + p2.X) / 2;
    center.Y = (p1.Y + p2.Y) / 2;

    return center;
}

// All in
bool InsidePolygon(const Polygon *t1, const Polygon *t2) {
    for (int i = 0; i < t1->num; ++i) {

 lib/src/main/cpp/test_common/Geometry.h

@@ -55,6 +55,7 @@
double DeltaYaw(double yaw1, double yaw2);
double CalculateAngle(Line base, Line dest);
PointF rotatePoint(PointF oldPoint, PointF centre, double degree);
PointF centerOfTwoPoint(PointF p1, PointF p2);
bool InsidePolygon(const Polygon *t1, const Polygon *t2);
bool PartInsidePolygon(const Polygon *t1, const Polygon *t2);
bool OutsidePolygon(const Polygon *t1, const Polygon *t2);

 lib/src/main/cpp/test_common/car_sensor.cpp

@@ -202,6 +202,9 @@
    if (s->surround4 != Sensor.surround4 && s->surround4 != '#') {
        SensorChanged(SENSOR_SURROUND_CAR_4, BX(s->surround4));
    }

//    DEBUG("挡位 老的 %d 当前 %d", Sensor.gear, s->gear);

    if (s->gear != Sensor.gear && s->gear != '#') {
//        SensorChanged(GEAR, GEAR_N + s->gear);
        DEBUG("状态改变 挡位 %d", s->gear);

 lib/src/main/cpp/test_common/odo_graph.cpp

@@ -24,13 +24,13 @@
}

void UpdataOdo(double speed, int moveDirect, const struct RtkTime *rtkTime) {
    // 行驶距离，不包含倒车
    if (odoCnt == 0 && moveDirect == 1) {
    // 行驶距离，含倒车
    if (odoCnt == 0 && moveDirect != 0) {
        odoPrevSpeed = speed;
        odoCnt = 1;
        odoTimer = *rtkTime;
    } else if (odoCnt == 1) {
        if (moveDirect == 1) {
        if (moveDirect != 0) {
            uint32_t tm = TimeGetDiff(rtkTime, &odoTimer);
            if (tm >= D_SEC(1)) {
                odoGraph += ((double) tm) * (odoPrevSpeed + speed) / 2.0 / 1000.0;

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

@@ -22,8 +22,8 @@
static int CurrExamMapIndex = -1;
static int CurrEnterMapIndex = -1;

static void DetectEnterOrExitMap(const car_model *CarModel, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static void DetectEnterOrExitMap(int moveDirect, const car_model *CarModel, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static int EnterMap(int moveDirect, const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList);
static bool ExitMap(const car_model *car, int index, LIST_AREA_MAP &mapList);
static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList);
static void ExecuteExam(int index, LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int move, double azimuth, const struct RtkTime* rtkTime);
@@ -43,7 +43,7 @@
{
    UpdataOdo(speed, moveDirect, rtkTime);

    DetectEnterOrExitMap(car, CarModelList, AreaMapList);
    DetectEnterOrExitMap(moveDirect, car, CarModelList, AreaMapList);

    ExecuteExam(CurrExamMapIndex, AreaMapList, car, CarModelList, speed, moveDirect, azimuth, rtkTime);
}
@@ -103,11 +103,11 @@
    array.push_back(rd);
}

static void DetectEnterOrExitMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
static void DetectEnterOrExitMap(int moveDirect, const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
{
    if (CurrExamMapIndex < 0) {
        if (CurrEnterMapIndex < 0) {
            CurrEnterMapIndex = EnterMap(car, CarModelList, mapList);
            CurrEnterMapIndex = EnterMap(moveDirect, car, CarModelList, mapList);
            if (CurrEnterMapIndex >= 0) {
                DEBUG("进入某个子项目 idx = %d", CurrEnterMapIndex);
                CurrExamMapIndex = CurrEnterMapIndex;
@@ -199,7 +199,7 @@
    }
}

static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
static int EnterMap(int moveDirect, 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

@@ -222,7 +222,7 @@
            triggerLine.X2 = x9;
            triggerLine.Y2 = y9;

            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;
        }
        if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) {
@@ -230,14 +230,33 @@

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

            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;

            MakeLine(&triggerLine, &(mapList[i].map.point[7]), &(mapList[i].map.point[6]));

            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;

            // 全车在场地内
            if (moveDirect == 0) {
                Polygon carBody;
                bool ret = false;
                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]];
                }

                if (IntersectionOf(&carBody, &mapList[i].map) == GM_Containment) {
                    ret = true;
                }

                free(carBody.point);

                if (ret)
                    return i;
            }
//            // 车头顶点在场地内
//            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
//                Line enterLine1, enterLine2;
@@ -266,8 +285,28 @@

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

            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;

            // 全车在场地内
            if (moveDirect == 0) {
                Polygon carBody;
                bool ret = false;
                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]];
                }

                if (IntersectionOf(&carBody, &mapList[i].map) == GM_Containment) {
                    ret = true;
                }

                free(carBody.point);

                if (ret)
                    return i;
            }
//            // 车头顶点在场地内
//            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
//                Line enterLine;
@@ -293,7 +332,7 @@

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

            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;
        }
        if (mapList[i].type == MAP_TYPE_CURVE) {
@@ -301,7 +340,7 @@
            Line triggerLine;

            MakeLine(&triggerLine, &mapList[i].map2.point[0], &mapList[i].map.point[0]);
            if (CrashTriggerLine(triggerLine, car, CarModelList))
            if (moveDirect > 0 && CrashTriggerLine(triggerLine, car, CarModelList))
                return i;
        }
    }
@@ -424,8 +463,8 @@

    car_model *c1 = *iter;

    trace.point[pn] = c1->carXY[c1->left_front_tire[TIRE_OUTSIDE]];
    trace2.point[pn++] = c1->carXY[c1->left_rear_tire[TIRE_OUTSIDE]];
    trace.point[pn] = centerOfTwoPoint(c1->carXY[c1->left_front_tire[TIRE_OUTSIDE]], c1->carXY[c1->right_front_tire[TIRE_OUTSIDE]]);
    trace2.point[pn++] = centerOfTwoPoint(c1->carXY[c1->left_rear_tire[TIRE_OUTSIDE]], c1->carXY[c1->right_rear_tire[TIRE_OUTSIDE]]);

    ++iter;

@@ -435,8 +474,8 @@
        uint32_t tdiff = TimeGetDiff(c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);

        if (tdiff >= D_SEC(1)) {
            trace.point[pn] = c2->carXY[c2->left_front_tire[TIRE_OUTSIDE]];
            trace2.point[pn++] = c2->carXY[c2->left_rear_tire[TIRE_OUTSIDE]];
            trace.point[pn] = centerOfTwoPoint(c2->carXY[c2->left_front_tire[TIRE_OUTSIDE]], c2->carXY[c2->right_front_tire[TIRE_OUTSIDE]]);
            trace2.point[pn++] = centerOfTwoPoint(c2->carXY[c2->left_rear_tire[TIRE_OUTSIDE]], c2->carXY[c2->right_rear_tire[TIRE_OUTSIDE]]);
            c1 = c2;
        }
        ++iter;
@@ -457,11 +496,11 @@
        MakeLine(&trace2_line, &trace2.point[pp], &trace2.point[p]);

        if ((IntersectionOf(trace_line, triggerLine) == GM_Intersection &&
            IntersectionOfLine(p1, p2, car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
            DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], triggerLine) > 0.1) ||
            IntersectionOfLine(p1, p2, centerOfTwoPoint(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], car->carXY[car->right_front_tire[TIRE_OUTSIDE]])) == -1 &&
            DistanceOf(centerOfTwoPoint(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], car->carXY[car->right_front_tire[TIRE_OUTSIDE]]), triggerLine) > 0.1) ||
                (IntersectionOf(trace2_line, triggerLine) == GM_Intersection &&
                        IntersectionOfLine(p1, p2, car->carXY[car->left_rear_tire[TIRE_OUTSIDE]]) == -1 &&
                        DistanceOf(car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], triggerLine) > 0.1) ) {
                        IntersectionOfLine(p1, p2, centerOfTwoPoint(car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], car->carXY[car->right_rear_tire[TIRE_OUTSIDE]])) == -1 &&
                        DistanceOf(centerOfTwoPoint(car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]), triggerLine) > 0.1) ) {
            // 碰到触发线
            DEBUG("碰撞触发线 引发地图");
            trigger = true;

 lib/src/main/cpp/test_items/park_bottom.cpp

@@ -12,6 +12,7 @@
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../test_common/car_sensor.h"
#include "../test_common/odo_graph.h"
#include <vector>
#include <cstdlib>

@@ -55,7 +56,8 @@
static int gearAtStop;
static int currGear;
static char prevCrossedCtrlLine;

static double odo;
static int exitAreaCfm;
static char CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car);
static bool EnterParking(const Polygon *map, const car_model *car);
static bool CrashRedLine(const Polygon *map, const car_model *car, int &who);
@@ -84,6 +86,9 @@

    currGear = ReadCarStatus(GEAR);
    prevCrossedCtrlLine = 0;
    stopTimepoint = 0;
    exitAreaCfm = 0;
    odo = ReadOdo();

    PlayTTS("您已进入倒车入库区域", NULL);
}
@@ -108,6 +113,19 @@
    } else if (currGear == GEAR_R) {
        gear_change = true;
        currGear = gear;
    }

    if (gear_change) {
        // 检查上一次挡位的行驶距离，过小就放弃，避开学员原地挂挡重试
        double run_distance = ReadOdo() - odo;

        DEBUG("2次挡位运行距离 %f", run_distance);

        if (run_distance < 1) {
            gear_change = false;
            DEBUG("2次挡位运行距离过小，忽略");
        }
        odo = ReadOdo();
    }

    if (testStatus == TESTING && gear_change) {
@@ -159,9 +177,13 @@
    }
    
    if (testStatus == TESTING && parkCount < 2 && AllTireExitParkArea(map, car)) {
        testStatus = TEST_FAIL;
        AddExamFault(10103, rtkTime);
        DEBUG("直接驶离测试区,不按考试员指令驾驶");
        if (++exitAreaCfm >= 4) {       // 避免信号漂移造成的误判
            testStatus = TEST_FAIL;
            AddExamFault(10103, rtkTime);
            DEBUG("直接驶离测试区,不按考试员指令驾驶");
        }
    } else {
        exitAreaCfm = 0;
    }
    
    if (ExitParkArea(map, car)) {
@@ -215,7 +237,7 @@
            gearAtStop = (currGear == GEAR_R ? 1 : 0);
            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);
            DEBUG("停车时挡位 = %d", gearAtStop);
        } else if (prevMoveDirect == 0) {
        } else if (prevMoveDirect == 0 && stopTimepoint > 0) {
            DEBUG("继续行驶 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);

            DEBUG("停车时间 %ld", tp - stopTimepoint);
@@ -456,7 +478,7 @@
    return ret;
}

// 双前轮和任一后轮不在区域
// 双前轮和双后轮不在区域
static bool AllTireExitParkArea(const Polygon *map, const car_model *car)
{
    int tireExitNum = 0;
@@ -477,7 +499,7 @@
        tireExitNum++;
    }

    if (tireExitNum >= 3) {
    if (tireExitNum >= 4) {
        return true;
    }
    return false;

 lib/src/main/cpp/test_items/park_edge.cpp

@@ -12,6 +12,7 @@
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../test_common/odo_graph.h"

#include <vector>
#include <cstdlib>
@@ -33,16 +34,20 @@
static bool reportParkFail;

static uint32_t stopTimepoint = 0;
static bool occurCrashRedLine1, occurCrashRedLine2;
static bool occurCrashRedLine1, occurCrashRedLine2, occurCrashRedLine3;
static int prevMoveStatus, storeMoveStatusBeforeStop;
static int parkStatus;
static int gearAtStop;
static bool occurMoveBack, checkPark, parkSuccess, checkLight;
static uint32_t moveBackTimePoint;
static int testStatus;
static int exitAreaCfm;
static int currGear;
static double odo;

static bool CrashRedLine1(const Polygon *map, const car_model *car);
static bool CrashRedLine2(const Polygon *map, const car_model *car);
static bool CrashRedLine3(const Polygon *map, const car_model *car);
static bool EnterParking(const Polygon *map, const car_model *car);
static bool ExitParkArea(const Polygon *map, const car_model *car);
static bool ExitParkArea2(const Polygon *map, const car_model *car);
@@ -54,7 +59,7 @@
    testStatus = TESTING;
    mapIndex = index;

    occurCrashRedLine1 = occurCrashRedLine2 = false;        // 这个科目规定特殊点，发生一次扣10分，而不直接淘汰
    occurCrashRedLine1 = occurCrashRedLine2 = occurCrashRedLine3 = false;        // 这个科目规定特殊点，发生一次扣10分，而不直接淘汰
    reportExamTimeout = false;
    reportParkFail = false;
    prevMoveStatus = moveStatus;
@@ -64,6 +69,10 @@
    checkPark = false;
    checkLight = false;
    gearAtStop = -1;
    stopTimepoint = 0;
    odo = ReadOdo();
    currGear = ReadCarStatus(GEAR);
    exitAreaCfm = 0;

    PlayTTS("您已进入侧方停车区域", NULL);
    // 仅当发生倒车，才意味着项目开始
@@ -78,24 +87,55 @@
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;
    bool is_gear_r = false;

    bool gear_change = false;
    int gear = ReadCarStatus(GEAR);

    if (gear == GEAR_R) {
        if (currGear != GEAR_R) {
            gear_change = true;
            currGear = GEAR_R;
        }
    } else if (currGear == GEAR_R) {
        gear_change = true;
        currGear = gear;
    }

    if (gear_change) {
        // 检查上一次挡位的行驶距离，过小就放弃，避开学员原地挂挡重试
        double run_distance = ReadOdo() - odo;

        DEBUG("2次挡位运行距离 %f", run_distance);

        if (run_distance < 1) {
            gear_change = false;
            DEBUG("2次挡位运行距离过小，忽略");
        }
        odo = ReadOdo();
    }

    // 首次挂倒挡， 才意味着项目开始
    if (testStatus == TESTING) {
        if (ReadCarStatus(GEAR) == GEAR_R) {
            is_gear_r = true;
    if (testStatus == TESTING && gear_change) {
        if (currGear == GEAR_R) {
            if (!occurMoveBack) {
                DEBUG("首次侧方停车");
            } else {
                DEBUG("再次侧方停车");
            }

            {
                checkPark = false;
                occurMoveBack = true;
                moveBackTimePoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss,
                                                      rtkTime->mss * 10);      // 开始计时
                MA_EnterMap(mapIndex, MAP_TYPE_PART_EDGE, 1);
            }
        } else {
            is_gear_r = false;
            if (occurMoveBack && !checkPark) {
                // 检查车身入库情况
                DEBUG("检查车身入库情况");
                checkPark = true;
                checkLight = false;
                if (EnterParking(map, car)) {
                    parkStatus = 1;
                    parkSuccess = true;
@@ -129,6 +169,17 @@
        }
    } else {
        occurCrashRedLine2 = false;
    }

    if (CrashRedLine3(map, car)) {
        if (!occurCrashRedLine3 && !occurMoveBack && moveStatus == 1) {
            // 车身压库位线，每次扣10分
            AddExamFault(20407, rtkTime);
            DEBUG("车身压库位线");
            occurCrashRedLine3 = true;
        }
    } else {
        occurCrashRedLine3 = false;
    }

    if (ExitParkArea2(map, car)) {
@@ -166,9 +217,13 @@

    if (testStatus == TESTING && !occurMoveBack && ExitParkArea(map, car)) {
        // 入库后一直前进，车头移出驶离线
        AddExamFault(10103, rtkTime);
        DEBUG("直接驶离测试区,不按考试员指令驾驶");
        testStatus = TEST_FAIL;
        if (++exitAreaCfm >= 4) {       // 避免信号漂移造成的误判
            AddExamFault(10103, rtkTime);
            DEBUG("直接驶离测试区,不按考试员指令驾驶");
            testStatus = TEST_FAIL;
        }
    } else {
        exitAreaCfm = 0;
    }

    if (occurMoveBack) {
@@ -187,17 +242,19 @@
            parkStatus = 0;
            stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
            storeMoveStatusBeforeStop = prevMoveStatus;
            gearAtStop = is_gear_r ? 1 : 0;
            gearAtStop = (currGear == GEAR_R ? 1 : 0);
            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);
        } else if (prevMoveStatus == 0) {
            DEBUG("停车时挡位 = %d", gearAtStop);
        } else if (prevMoveStatus == 0 && stopTimepoint > 0) {
            DEBUG("继续行驶 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
            uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

            DEBUG("停车时间 %ld", tp - stopTimepoint);
            DEBUG("再次移动时挡位 = %d", currGear == GEAR_R ? 1 : 0);

            if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.park_edge_pause_criteria)
            && occurMoveBack
            && gearAtStop == (is_gear_r ? 1 : 0)) {
            && gearAtStop == (currGear == GEAR_R ? 1 : 0)) {
                // 停车超2秒，每次扣5分
                AddExamFault(20406, rtkTime);
                DEBUG("停车超时");
@@ -326,15 +383,32 @@
        }
    }

    free(car_body.point);
    return ret;
}

static bool CrashRedLine3(const Polygon *map, const car_model *car) {
    bool ret = false;

    if (!occurMoveBack) {
        // 倒车前，车身不得压库位虚线
        Polygon car_body;
        Line red_line;

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

        MakeLine(&red_line, &map->point[2], &map->point[5]);
        if (IntersectionOf(red_line, &car_body) != GM_None) {
            ret = true;
        }

        free(car_body.point);
    }

    free(car_body.point);
    return ret;
}


 lib/src/main/cpp/test_items/stop_and_start.cpp

@@ -14,6 +14,7 @@
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../defs.h"

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

@@ -287,7 +288,8 @@

    double l2 = DistanceOf(car->carXY[car->right_rear_tire[TIRE_OUTSIDE]], edge);

    return (l1+l2)/2.0;
//    return (l1+l2)/2.0;
    return MAX(l1, l2);     // 取最远的
}

// 整个车辆都要驶离该测试区域

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

@@ -412,24 +412,31 @@
        vector<PointF> roadOutLine;
        Polygon area;

//        DEBUG("CalcRoadIndex %d 做点 %d 有点 %d", index, RoadMap.roads[index].leftEdge.size(), RoadMap.roads[index].rightEdge.size());

        for (int i = 0; i < RoadMap.roads[index].leftEdge.size(); ++i) {
            for (int j = 0; j < RoadMap.roads[index].leftEdge[i].points.size(); ++j) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].leftEdge[i].points[j])) {
//                    DEBUG("重复点");
                    continue;
                }
                changeSegment = false;
                roadOutLine.push_back(RoadMap.roads[index].leftEdge[i].points[j]);
//                DEBUG("做点加入 point (%f, %f)", RoadMap.roads[index].leftEdge[i].points[j].X, RoadMap.roads[index].leftEdge[i].points[j].Y);
            }
            changeSegment = true;
        }

        for (int i = 0; i < RoadMap.roads[index].rightEdge.size(); ++i) {
            for (int j = RoadMap.roads[index].rightEdge[i].points.size() - 1; j >= 0; --j) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].leftEdge[i].points[j])) {
                if (changeSegment && roadOutLine.size() > 0 && IsSamePoint(roadOutLine.back(), RoadMap.roads[index].rightEdge[i].points[j])) {
//                    DEBUG("重复点");
                    continue;
                }
                changeSegment = false;
                roadOutLine.push_back(RoadMap.roads[index].rightEdge[i].points[j]);

//                DEBUG("有点加入 point (%f, %f)", RoadMap.roads[index].rightEdge[i].points[j].X, RoadMap.roads[index].rightEdge[i].points[j].Y);
            }
            changeSegment = true;
        }
@@ -440,6 +447,12 @@
        for (int i = 0; i < area.num; ++i) {
            area.point[i] = roadOutLine[i];
        }

//         {
//            for (int x = 0; x < area.num; ++x) {
//                DEBUG("road %d point %d (%f, %f)", index, x, area.point[x].X, area.point[x].Y);
//            }
//        }

        if (IntersectionOf(car->carXY[car->axial[AXIAL_FRONT]], &area) == GM_Containment) {
            free(area.point);
@@ -1401,8 +1414,8 @@

        // 挡位不匹配超时
        if (currGearError && prevGearError) {
            DEBUG("挡位错误增加 %ld毫秒 当前挡位 %d 时速 %f", TimeGetDiff(rtkTime, &gearErrorTimePoint),
                  ReadCarStatus(GEAR), ConvertMs2KMh(speed));
//            DEBUG("挡位错误增加 %ld毫秒 当前挡位 %d 时速 %f", TimeGetDiff(rtkTime, &gearErrorTimePoint),
//                  ReadCarStatus(GEAR), ConvertMs2KMh(speed));
            gearErrorTime += TimeGetDiff(rtkTime, &gearErrorTimePoint);
        }
        if (gearErrorTime > examParam.gear_speed_error_cumulative_time) {
@@ -1562,6 +1575,7 @@
            DEBUG("导向类型切换 %d", Lane.guide);
        }
    }
    DEBUG("currExamMapIndex = %d Lane.no = %d Lane.guide = %d (%f, %f)", currExamMapIndex, Lane.no, Lane.guide, car->carXY[car->axial[AXIAL_FRONT]].X, car->carXY[car->axial[AXIAL_FRONT]].Y);

    if (currExamMapIndex >= 0 && Lane.guide == 0) {
        BigStraightRoadFree = AnalysisRoad(RoadMap, currExamMapIndex, Lane, car);
@@ -1714,7 +1728,10 @@
        item = EntryItem(roadIndex, RoadMap, car, CarModelList, forward, moveDirect);
    }

    if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 3) {
    if (RoadExamStatus == RoadExamStatus && item == 6) {
        PlayTTS("前方会车", NULL);
    }
    else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 3) {
        StartDriveStraightExam();
        RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 4) {