更新地图

yy1717

2020-02-28 345dcbfaf5a716fdd8649885c32c34b50d361968

更新地图

 lib/src/main/cpp/driver_test.cpp

@@ -997,7 +997,9 @@

    for (int i = 0; i < carModel->pointNum; ++i) {
        double qrx = carModel->carDesc[i].distance * sin(toRadians(carModel->carDesc[i].angle));
        double qry = carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) * cos(toRadians(pitch));
        double qry =
                carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) *
                cos(toRadians(pitch));

        double projectDistance = sqrt(pow(qrx, 2) + pow(qry, 2));
        double projectAngle = toDegree(acos(qry / projectDistance));
@@ -1009,10 +1011,14 @@
//        double tx = projectDistance*sin(toRadians(azimuth));
//        double ty = projectDistance*cos(toRadians(azimuth));

        carModel->carXY[i].X = projectDistance*sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
                projectDistance*cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) + main_ant.X;
        carModel->carXY[i].Y = projectDistance*sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
                projectDistance*cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) + main_ant.Y;
        carModel->carXY[i].X =
                projectDistance * sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
                projectDistance * cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
                main_ant.X;
        carModel->carXY[i].Y =
                projectDistance * sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
                projectDistance * cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) +
                main_ant.Y;
    }
}


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

@@ -26,7 +26,7 @@
const int RTK_PLATFORM_PORT = 12125;
const uint8_t phone[] = {0x20,0x19,0x10,0x15,0x00,0x00,0x00,0x01};

const char *VIRTUAL_RTK_IP = "192.168.3.52";
const char *VIRTUAL_RTK_IP = "192.168.16.100";
const int VIRTUAL_RTK_PORT = 9001;

static void SendBootIndicate(union sigval sig);

 lib/src/main/cpp/test_items2/common_check.cpp

@@ -3,3 +3,36 @@
//

#include "common_check.h"
#include "../test_items/comm_test.h"
#include "../driver_test.h"

// 由人工确认
// 2 遮挡车内监控设备
// 3 不按考试员指令行驶
// 9 不按交通信号、标线行驶
// 28 起步时车辆发生闯动

static int prevMoveDirect;

void StartCheck(int moveDirect, double speed, const struct RtkTime *rtkTime)
{
    if (prevMoveDirect != moveDirect) {

        if (prevMoveDirect == 0) {
            // 起步挂错挡，不合格
            if (CheckSensorX(SHIFT) != '1') {
                AddExamFault(19, rtkTime);
            }

            // 起步没有关闭车门，不合格
            if (CheckSensorX(DOOR) != 1) {
                AddExamFault(23, rtkTime);
            }

            // 后滑判断

        }

        prevMoveDirect = moveDirect;
    }
}