计算边距

yy1717

2020-04-13 46f56f26bfcc6ce26ffd8132ee11bf019eef3289

计算边距

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

@@ -245,6 +245,7 @@

Relation IntersectionOf(Line line1, Line line2)
{
    //  Fail if either line segment is zero-length.
    if ((isEqual(line1.X1, line1.X2) && isEqual(line1.Y1, line1.Y2)) || (isEqual(line2.X1, line2.X2) && isEqual(line2.Y1, line2.Y2)))
        return GM_None;

@@ -254,14 +255,15 @@
    if ((isEqual(line1.X1, line2.X2) && isEqual(line1.Y1, line2.Y2)) || (isEqual(line1.X2, line2.X2) && isEqual(line1.Y2, line2.Y2)))
        return GM_Intersection;

    //  直线坐标变换重合
    //  (1) Translate the system so that point A is on the origin.
    line1.X2 -= line1.X1; line1.Y2 -= line1.Y1;
    line2.X1 -= line1.X1; line2.Y1 -= line1.Y1;
    line2.X2 -= line1.X1; line2.Y2 -= line1.Y1;

    //  Discover the length of segment A-B.
    double distAB = sqrt(line1.X2 * line1.X2 + line1.Y2 * line1.Y2);

    //  旋转到X轴
    //  (2) Rotate the system so that point B is on the positive X axis.
    double theCos = line1.X2 / distAB;
    double theSin = line1.Y2 / distAB;
    double newX = line2.X1 * theCos + line2.Y1 * theSin;
@@ -272,16 +274,19 @@
    line2.Y2 = line2.Y2 * theCos - line2.X2 * theSin;
    line2.X2 = newX;

    //  Fail if segment C-D doesn't cross line A-B.
    if ((line2.Y1 < 0 && line2.Y2 < 0) || (line2.Y1 >= 0 && line2.Y2 >= 0)) {
        return GM_None;
    }

    //  (3) Discover the position of the intersection point along line A-B.
    double posAB = line2.X2 + (line2.X1 - line2.X2) * line2.Y2 / (line2.Y2 - line2.Y1);

    //  Fail if segment C-D crosses line A-B outside of segment A-B.
    if (posAB < 0 || posAB > distAB) {
        return GM_None;
    }

    //  (4) Apply the discovered position to line A-B in the original coordinate system.
    return GM_Intersection;
}

@@ -471,6 +476,32 @@
    return p4;
}

/**************************************************************
 * p3于 p1---p2构成直线
 * @param p1
 * @param p2
 * @param p3
 * @return
 */
bool VerticalPointOnLine(PointF point, Line line)
{
    PointF p1, p2;

    p1.X = line.X1;
    p1.Y = line.Y1;

    p2.X = line.X2;
    p2.Y = line.Y2;

    PointF pv = GetVerticalPoint(p1, p2, point);

    if (isEqual2(pv.X, MIN(p1.X, p2.X)) || isEqual2(pv.X, MAX(p1.X, p2.X)) ||
        (pv.X > MIN(p1.X, p2.X) && pv.X < MAX(p1.X, p2.X))) {
        return true;
    }
    return false;
}

/****************************************************************
 *                      p3
 *                      |  'L'

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

@@ -58,6 +58,7 @@
bool OutsidePolygon(const Polygon *t1, const Polygon *t2);
int IntersectionOfLine(PointF p1, PointF p2, PointF p3);
PointF GetVerticalPoint(PointF p1, PointF p2, PointF p3);
bool VerticalPointOnLine(PointF point, Line line);
PointF Calc3Point(PointF p1, PointF p2, double L, char dir);

#endif //GUI_GEOMETRY_H

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

@@ -43,6 +43,61 @@
    ExecuteExam(CurrExamMapIndex, AreaMapList, car, CarModelList, speed, moveDirect, azimuth, rtkTime);
}

void DistanceOfTire2X(std::vector<double> &array, const car_model *car, std::vector<Line> line_set)
{
    double ld = 100, rd = 100;

    array.clear();

    for (auto line = line_set.begin(); line != line_set.end(); line++) {
        double ld_t = 100, rd_t = 100;
        double d;
        if (VerticalPointOnLine(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], *line)) {
            d = DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], *line);
            if (d < ld_t) {
                ld_t = d;
            }
        }
        if (VerticalPointOnLine(car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], *line)) {
            d = DistanceOf(car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], *line);
            if (d < ld_t) {
                ld_t = d;
            }
        }

        if (VerticalPointOnLine(car->carXY[car->right_front_tire[TIRE_OUTSIDE]], *line)) {
            d = DistanceOf(car->carXY[car->right_front_tire[TIRE_OUTSIDE]], *line);
            if (d < rd_t) {
                rd_t = d;
            }
        }
        if (VerticalPointOnLine(car->carXY[car->right_rear_tire[TIRE_OUTSIDE]], *line)) {
            d = DistanceOf(car->carXY[car->right_rear_tire[TIRE_OUTSIDE]], *line);
            if (d < rd_t) {
                rd_t = d;
            }
        }

        if (isEqual2(ld_t, rd_t)) {
            if (!isEqual(ld_t, 100)) {
                if (rd_t < rd)
                    rd = rd_t;
                if (ld_t < ld)
                    ld = ld_t;
            }
        } else if (ld_t > rd_t) {
            if (rd_t < rd)
                rd = rd_t;
        } else {
            if (ld_t < ld)
                ld = ld_t;
        }
    }

    array.push_back(ld);
    array.push_back(rd);
}

static void DetectEnterOrExitMap(const car_model *car, LIST_CAR_MODEL &CarModelList, LIST_AREA_MAP &mapList)
{
    if (CurrExamMapIndex < 0) {

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

@@ -5,9 +5,12 @@
#ifndef MYAPPLICATION2_AREA_EXAM_H
#define MYAPPLICATION2_AREA_EXAM_H

#include <vector>
#include "../driver_test.h"

void InitAreaExam(void);
void TerminateAreaExam(void);
void TestAreaGeneral(LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, double azimuth, const struct RtkTime *rtkTime);
void DistanceOfTire2X(std::vector<double> &array, const car_model *car, std::vector<Line> line_set);

#endif //MYAPPLICATION2_AREA_EXAM_H

 lib/src/main/cpp/test_items/driving_curve.cpp

@@ -9,6 +9,7 @@
#include "../utils/xconvert.h"
#include "../master/comm_if.h"
#include "../native-lib.h"
#include "area_exam.h"

#include <vector>
#include <cstdlib>
@@ -60,6 +61,10 @@
{
    Polygon tireRect;
    int who = 0;
    vector<double> dtox;
    vector<Line> line_set;
    int s;

    MakePolygon(&tireRect, {car->carXY[car->left_front_tire[TIRE_OUTSIDE]],
                            car->carXY[car->right_front_tire[TIRE_OUTSIDE]],
                            car->carXY[car->right_rear_tire[TIRE_OUTSIDE]],
@@ -75,6 +80,27 @@
    // 更新车尾扫描线
    UpdateEndLine(false, &scanWindow, map, map2, &tireRect);

    // 计算边距
    s = scanWindow.leftStart;
    for (int e = scanWindow.leftStart - 1; e >= scanWindow.leftEnd; --e) {
        Line redLine;
        MakeLine(&redLine, &map->point[s], &map->point[e]);
        line_set.push_back(redLine);
        s = e;
    }

    s = scanWindow.rightStart;
    for (int e = scanWindow.rightStart - 1; e >= scanWindow.rightEnd; --e) {
        Line redLine;
        MakeLine(&redLine, &map2->point[s], &map2->point[e]);
        line_set.push_back(redLine);
        s = e;
    }

    DistanceOfTire2X(dtox, car, line_set);

    MA_SendDistance(dtox[0], dtox[1]);

    DEBUG("scanWindow leftStart %d leftEnd %d rightStart %d rightEnd %d", scanWindow.leftStart, scanWindow.leftEnd, scanWindow.rightStart, scanWindow.rightEnd);

    if (CrashRedLine(map, map2, car, &scanWindow, who)) {

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

@@ -10,6 +10,7 @@
#include "../driver_test.h"
#include "../utils/xconvert.h"
#include "../master/comm_if.h"
#include "area_exam.h"
#include <vector>
#include <cstdlib>

@@ -74,6 +75,9 @@
    char crossCtrlLine = 0;
    uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
    int who = 0;
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    if (ExitParkArea(map, car)) {
        DEBUG("离开场地");
@@ -88,6 +92,21 @@
        goto TEST_END;
    }

    // 距离检测
    MakeLine(&distance_line, &map->point[0], &map->point[7]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[1], &map->point[2]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[2], &map->point[3]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[3], &map->point[4]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[4], &map->point[5]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[5], &map->point[6]);
    line_set.push_back(distance_line);
    DistanceOfTire2X(dtox, car, line_set);
    MA_SendDistance(dtox[0], dtox[1]);

    if (CrashRedLine(map, car, who)) {
        if (!occurCrashRedLine && reverseCar) {

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

@@ -11,6 +11,7 @@
#include "../utils/xconvert.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"

#include <vector>
#include <cstdlib>
@@ -64,6 +65,10 @@

int TestParkEdge(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveStatus, const struct RtkTime *rtkTime)
{
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    if (CrashRedLine1(map, car)) {
        if (!occurCrashRedLine1 && occurMoveBack) {
            // 车轮压边线，每次扣10分
@@ -97,6 +102,22 @@
        goto TEST_END;
    }

    // 距离检测
    MakeLine(&distance_line, &map->point[0], &map->point[7]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[1], &map->point[2]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[2], &map->point[3]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[3], &map->point[4]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[4], &map->point[5]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[5], &map->point[6]);
    line_set.push_back(distance_line);
    DistanceOfTire2X(dtox, car, line_set);
    MA_SendDistance(dtox[0], dtox[1]);

    if (occurMoveBack) {
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);


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

@@ -13,6 +13,7 @@
#include "../utils/xconvert.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"

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

@@ -87,10 +88,16 @@
        testing = false;
    }

    // 距离检测
    {
        double dis2 = DistanceOfTire2Edge(map, car);
        vector<double> dtox;
        vector<Line> line_set;
        Line distance_line;

        MA_SendDistance(DistanceOf(map->point[8], map->point[7]) - dis2, dis2);
        MakeLine(&distance_line, &map->point[0], &map->point[8]);
        line_set.push_back(distance_line);
        DistanceOfTire2X(dtox, car, line_set);
        MA_SendDistance(dtox[0], dtox[1]);
    }

    if (prevMoveDirect != moveDirect) {

 lib/src/main/cpp/test_items/turn_a90.cpp

@@ -11,6 +11,7 @@
#include "../defs.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
#include "area_exam.h"

#include <vector>
#include <cstdlib>
@@ -55,12 +56,27 @@
int TestTurnA90(const Polygon *map, const car_model *car, const car_model *carPrev, double heading, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    int az = (int) heading;
    vector<double> dtox;
    vector<Line> line_set;
    Line distance_line;

    if (ExitTestArea(map, car)) {
        testing = false;
        goto TEST_END;
    }

    // 距离检测
    MakeLine(&distance_line, &map->point[0], &map->point[5]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[5], &map->point[4]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[1], &map->point[2]);
    line_set.push_back(distance_line);
    MakeLine(&distance_line, &map->point[2], &map->point[3]);
    line_set.push_back(distance_line);
    DistanceOfTire2X(dtox, car, line_set);
    MA_SendDistance(dtox[0], dtox[1]);

    if (CrashRedLine(map, car)) {
        if (!crashRedLine) {
            crashRedLine = true;

 lib/src/main/java/com/anyun/exam/lib/RemoteService.java

@@ -1,8 +1,15 @@
package com.anyun.exam.lib;

import android.app.Service;
import android.content.Context;
import android.content.Intent;
import android.content.SharedPreferences;
import android.database.Cursor;
import android.media.AudioManager;
import android.media.MediaPlayer;
import android.media.Ringtone;
import android.media.RingtoneManager;
import android.net.Uri;
import android.os.IBinder;
import android.os.Process;
import android.os.RemoteCallbackList;
@@ -18,6 +25,7 @@
import androidx.annotation.Nullable;

import java.io.UnsupportedEncodingException;
import java.util.ArrayList;
import java.util.concurrent.atomic.AtomicBoolean;

/**
@@ -84,6 +92,52 @@
        new Thread(new StartNative()).start();

        new Thread(new TestThread()).start();

        PlayRing(this);
    }

    public void PlayRing(Context context) {
        RingtoneManager ringtoneManager= new RingtoneManager(context); // 铃声管理器

        for (int i = 0; i < ringtoneManager.getCursor().getCount(); i++) {
            Log.i(TAG, "铃声名称 " + ringtoneManager.getRingtone(i).getTitle(context));

            if (ringtoneManager.getRingtone(i).getTitle(this).equals("Carina")) {
                Log.d(TAG, "播放铃声");

                final MediaPlayer mediaPlayer = new MediaPlayer();
                Uri src = ringtoneManager.getRingtoneUri(i);

                try {
                    mediaPlayer.setDataSource(context, src);
                    mediaPlayer.setAudioStreamType(AudioManager.STREAM_ALARM);
                    mediaPlayer.setLooping(false);
                    mediaPlayer.setOnCompletionListener(new MediaPlayer.OnCompletionListener() {
                        @Override
                        public void onCompletion(MediaPlayer mp) {
                            // 在播放完毕被回调
                            Log.d(TAG, "播放完成");
                            mediaPlayer.stop();
                            mediaPlayer.release();
                        }
                    });

                    mediaPlayer.prepareAsync();
                    mediaPlayer.setOnPreparedListener(new MediaPlayer.OnPreparedListener() {
                        @Override
                        public void onPrepared(MediaPlayer mp) {
                            // 装载完毕回调
                            Log.d(TAG, "装载完毕回调");
                            mediaPlayer.start();
                        }
                    });

                } catch (Exception e) {

                }
                break;
            }
        }
    }

    class TestThread implements Runnable {