坐标

fctom1215

2020-08-28 cff87234c496f0a4522cd2ac57941f14c729b6ad

坐标

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

@@ -304,7 +304,7 @@
    writer.Key("aps");
    writer.Int(brief->aps);
    writer.Key("lock");
    writer.Int(brief->lock);
    writer.Int(brief->door);
    writer.Key("seat_belt");
    writer.Int(brief->seatBelt);
    writer.Key("clutch");

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

@@ -28,7 +28,7 @@
    int key;
    int gear;
    int aps;
    int lock;
    int door;
    int seatBelt;
    int clutch;
    int horn;

 lib/src/main/cpp/mcu/mcu_if.cpp

@@ -123,7 +123,7 @@
        }*/

        if (RxBufLen > 0) {
            DEBUG("RECV LEN %d", RxBufLen);
//            DEBUG("RECV LEN %d", RxBufLen);
            ParseMcu(RxBuf, RxBufLen);
            RxBufLen = 0;
        }
@@ -213,7 +213,7 @@

                uint16_t crc16 = CRCCCITT(McuPkt.buffer, McuPkt.length + 4, 0, 0);

                DEBUG("mcuif crc16 but 0x%04X exp 0x%04X", McuPkt.crc16, crc16);
//                DEBUG("mcuif crc16 but 0x%04X exp 0x%04X", McuPkt.crc16, crc16);

                if (McuPkt.crc16 == crc16) {
                    McuCommandEntry(McuPkt.id, McuPkt.buffer + 4, McuPkt.length);
@@ -358,12 +358,13 @@
        case ID_MC_MCU_DFU_RSP:
            break;
        case ID_MC_CAR_INFO2:
//            DEBUG("ID_MC_CAR_INFO2 %d", lenth);
            if (lenth > 0) {
                PlatformStatusChanged(CAR_SENSOR_UPDATE_EVT, data, lenth);
            }
            break;
        case ID_MC_CAR_INFO: {
            DEBUG("ID_MC_CAR_INFO %d", lenth);
//            DEBUG("ID_MC_CAR_INFO %d", lenth);

            if (lenth > 0)
                PlatformStatusChanged(MCU_UPDATE_EVT, data, lenth);

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

@@ -27,7 +27,7 @@
const int RTK_PLATFORM_PORT = 12125;
const uint8_t phone[] = {0x20,0x19,0x10,0x15,0x00,0x00,0x00,0x01};

const char *VIRTUAL_RTK_IP = "192.168.1.4";
const char *VIRTUAL_RTK_IP = "192.168.1.6";
const int VIRTUAL_RTK_PORT = 9001;

static pthread_mutex_t tts_mutex = PTHREAD_MUTEX_INITIALIZER;

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

@@ -436,7 +436,7 @@
        brief.key = data[x++];
        brief.gear = data[x++];
        brief.aps = data[x++];
        brief.lock = data[x++];
        brief.door = data[x++];
        brief.seatBelt = data[x++];
        brief.clutch = data[x++];
        brief.horn = data[x++];
@@ -470,7 +470,7 @@
        sensor.key = data[x++];
        sensor.gear = data[x++];
        sensor.aps = data[x++];
        sensor.lock = data[x++];
        sensor.door = data[x++];
        sensor.seatBelt = data[x++];
        sensor.clutch = data[x++];
        sensor.horn = data[x++];

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

@@ -76,6 +76,7 @@
    memset(SensorConfig, 0, sizeof(SensorConfig));

    memset(CarStatus, 0, sizeof(CarStatus));
    CarStatus[DOOR] = DOOR_CLOSE;

    memset(&Sensor, 0, sizeof(Sensor));

@@ -88,36 +89,36 @@

void SetSensorCfg(int (*sensor)[3], int sensorNum)
{
    DEBUG("加入传感器配置 sensorNum %d", sensorNum);

    pthread_mutex_lock(&sonser_mutex);

    SensorNum = sensorNum;
    for (int i = 0; i < sensorNum; ++i) {
        DEBUG("    配置<%d>: id %d - fun %d - lvl %d", i, sensor[i][0], sensor[i][1], sensor[i][2]);

        SensorConfig[i].gpioId = sensor[i][0];
        SensorConfig[i].funId = sensor[i][1];
        if (sensor[i][2] > 0) {
            SensorConfig[i].validLvl = 1;
        } else {
            SensorConfig[i].validLvl = 0;
        }

        int level = 0;

        if (gpioStore & BV(SensorConfig[i].gpioId)) {
            level = 1;
        }

        if (level == SensorConfig[i].validLvl) {
            SensorChanged(SensorConfig[i].funId, 1);
        } else {
            SensorChanged(SensorConfig[i].funId, 0);
        }
    }

    pthread_mutex_unlock(&sonser_mutex);
//    DEBUG("加入传感器配置 sensorNum %d", sensorNum);
//
//    pthread_mutex_lock(&sonser_mutex);
//
//    SensorNum = sensorNum;
//    for (int i = 0; i < sensorNum; ++i) {
//        DEBUG("    配置<%d>: id %d - fun %d - lvl %d", i, sensor[i][0], sensor[i][1], sensor[i][2]);
//
//        SensorConfig[i].gpioId = sensor[i][0];
//        SensorConfig[i].funId = sensor[i][1];
//        if (sensor[i][2] > 0) {
//            SensorConfig[i].validLvl = 1;
//        } else {
//            SensorConfig[i].validLvl = 0;
//        }
//
//        int level = 0;
//
//        if (gpioStore & BV(SensorConfig[i].gpioId)) {
//            level = 1;
//        }
//
//        if (level == SensorConfig[i].validLvl) {
//            SensorChanged(SensorConfig[i].funId, 1);
//        } else {
//            SensorChanged(SensorConfig[i].funId, 0);
//        }
//    }
//
//    pthread_mutex_unlock(&sonser_mutex);
}

void UpdateSensor(uint16_t gpio, uint16_t speed, uint16_t rpm)
@@ -187,8 +188,8 @@
    if (s->handBreak != Sensor.handBreak && s->handBreak != '#') {
        SensorChanged(SENSOR_HANDBREAK, BX(s->handBreak));
    }
    if (s->lock != Sensor.lock && s->lock != '#') {
        SensorChanged(SENSOR_DOOR, BX(s->lock));
    if (s->door != Sensor.door && s->door != '#') {
        SensorChanged(SENSOR_DOOR, BX(s->door));
    }
    if (s->surround1 != Sensor.surround1 && s->surround1 != '#') {
        SensorChanged(SENSOR_SURROUND_CAR_1, BX(s->surround1));

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

@@ -73,7 +73,7 @@
    int key;
    int gear;
    int aps;
    int lock;
    int door;
    int seatBelt;
    int clutch;
    int horn;

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

@@ -8,7 +8,7 @@
#include "../utils/xconvert.h"

static double odoGraph;
static struct drive_timer odoTimer;
static struct RtkTime odoTimer;
static double odoPrevSpeed;
static int odoCnt;

@@ -28,15 +28,13 @@
    if (odoCnt == 0 && moveDirect == 1) {
        odoPrevSpeed = speed;
        odoCnt = 1;
        Rtk2DriveTimer(odoTimer, rtkTime);
        odoTimer = *rtkTime;
    } else if (odoCnt == 1) {
        if (moveDirect == 1) {
            uint32_t tm = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss * 10,
                                      odoTimer.hour, odoTimer.min, odoTimer.sec,
                                      odoTimer.msec * 10);
            uint32_t tm = TimeGetDiff(rtkTime, &odoTimer);
            if (tm >= D_SEC(1)) {
                odoGraph += ((double) tm) * (odoPrevSpeed + speed) / 2.0 / 1000.0;
                Rtk2DriveTimer(odoTimer, rtkTime);
                odoTimer = *rtkTime;
                odoPrevSpeed = speed;
            }
        } else {

 lib/src/main/cpp/test_items2/operate_gear.cpp

@@ -15,6 +15,7 @@

static int expectGear;
static int upDownShift;
static int oldGear;

static int setup;

@@ -46,6 +47,9 @@
    if (setup == 0) {
        return true;
    } else if (setup == 1) {
        if (sensor.value != GEAR_N)
            oldGear = sensor.value;

        switch (sensor.value) {
            case GEAR_1: {
                expectGear = GEAR_2;
@@ -84,7 +88,7 @@
            }
        }
    } else if (setup == 2) {
        if (sensor.value == GEAR_N) {
        if (sensor.value == GEAR_N || sensor.value == oldGear) {

        } else if (sensor.value != expectGear) {
            // 未按指令操作挡位，不合格
@@ -93,11 +97,12 @@
            return false;
        } else {
            // 在此挡位行驶一定距离，再执行下一个
            oldGear = expectGear;
            shiftTime = *rtkTime;
            setup = 3;
        }
    } else if (setup == 3) {
        if (TimeGetDiff(&shiftTime, rtkTime) >= D_SEC(5)) {
        if (TimeGetDiff(&shiftTime, rtkTime) >= D_SEC(4)) {
            setup = 4;
            char buff[128];
            expectGear += 0 - upDownShift;
@@ -105,7 +110,7 @@
        }
    } 
    else if (setup == 4) {
        if (sensor.value == GEAR_N) {
        if (sensor.value == GEAR_N || sensor.value == oldGear) {

        } else if (sensor.value != expectGear) {
            // 未按指令操作挡位，不合格

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

@@ -83,7 +83,7 @@
static bool StopCarOnRedArea;
static PointF stopPoint;
static bool prevGearError = false;
static bool prevGearNSlide = false;
static int GearNSlideStatus = 0;

static bool slideLongDistance;
static bool slideNormalDistance;
@@ -91,11 +91,10 @@

static struct RtkTime crashGreenRunTime, crashGreenStartTime, stopTimepoint;

static struct drive_timer gearErrorTimePoint;
static struct drive_timer gearNSlideTimePoint;
static struct RtkTime gearErrorTimePoint;
static struct RtkTime gearNSlideTimePoint;

static int gearErrorTime;
static int gearNSlideTime;

static int currExamMapIndex;

@@ -147,6 +146,7 @@
static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};

static void ItemExam(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end);
static void ItemExam2(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList);
static int isTurn(int currYaw, int prevYaw, int thres);
static void ResetTurnDetect(const car_model *car);
static void DetectTurn(const car_model *car, int moveDirect, const struct RtkTime *rtkTime);
@@ -154,7 +154,7 @@

static int NearbyCrossingGuide(int &stopLineIndex, int roadIndex, road_t &road, const car_model *car);

static trigger_line_t * EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList);
static int EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList);

static int CalcRoadIndex(int currRoadIndex, road_exam_map &RoadMap, const car_model *car);

@@ -176,8 +176,7 @@
    slideNormalDistance = false;
    prevGearError = false;
    gearErrorTime = 0;
    prevGearNSlide = false;
    gearNSlideTime = 0;
    GearNSlideStatus = 0;

    currExamMapIndex = -1;

@@ -880,6 +879,8 @@
            checkCrashGreenTimeout = 0;
            // 记录开始压线的时间，不确定是否有变道意图，待确认变道后再处理之
            crashGreenStartTime = *rtkTime;

            DEBUG("开始压虚线 %02d-%02d-%02d %02d:%02d:%02d", crashGreenStartTime.YY, crashGreenStartTime.MM, crashGreenStartTime.DD, crashGreenStartTime.hh, crashGreenStartTime.mm, crashGreenStartTime.ss, crashGreenStartTime.mss * 10);
        }
        crashDottedLine = true;
    } else {
@@ -939,8 +940,11 @@
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足");
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) < TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足 %02d-%02d-%02d %02d:%02d:%02d.%03d  -> %02d-%02d-%02d %02d:%02d:%02d.%03d",
                              crashGreenStartTime.YY, crashGreenStartTime.MM, crashGreenStartTime.DD, crashGreenStartTime.hh, crashGreenStartTime.mm, crashGreenStartTime.ss, crashGreenStartTime.mss * 10,
                              lamp.time.YY, lamp.time.MM, lamp.time.DD, lamp.time.hh, lamp.time.mm, lamp.time.ss, lamp.time.mss * 10);

                        // 不足3秒，不合格
                        AddExamFault(14, rtkTime);
                    }
@@ -949,8 +953,10 @@
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足");
                    } else if (TimeGetDiff(&crashGreenStartTime, &lamp.time) < TURN_SIGNAL_LAMP_ADVANCE) {
                        DEBUG("转向灯时间不足 %02d-%02d-%02d %02d:%02d:%02d.%03d  -> %02d-%02d-%02d %02d:%02d:%02d.%03d",
                              crashGreenStartTime.YY, crashGreenStartTime.MM, crashGreenStartTime.DD, crashGreenStartTime.hh, crashGreenStartTime.mm, crashGreenStartTime.ss, crashGreenStartTime.mss * 10,
                              lamp.time.YY, lamp.time.MM, lamp.time.DD, lamp.time.hh, lamp.time.mm, lamp.time.ss, lamp.time.mss * 10);
                        // 不足3秒，不合格
                        AddExamFault(14, rtkTime);
                    }
@@ -1298,27 +1304,26 @@
        default:break;
    }
    // 空档滑行超时
    if (currGearNSlide && prevGearNSlide) {
        gearNSlideTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                                      gearNSlideTimePoint.hour, gearNSlideTimePoint.min, gearNSlideTimePoint.sec, gearNSlideTimePoint.msec*10);
    if (currGearNSlide) {
        if (GearNSlideStatus == 0) {
            DEBUG("检测到空挡滑行");
            GearNSlideStatus = 1;
            gearNSlideTimePoint = *rtkTime;
        }
        if (GearNSlideStatus == 1 && TimeGetDiff(rtkTime, &gearNSlideTimePoint) > GEAR_N_SLIDE_TIMEOUT) {
            // 空档滑行超5秒，不合格
            DEBUG("挡位滑行，超过5秒");
            AddExamFault(8, rtkTime);
            GearNSlideStatus = 2;
        }
    } else if (GearNSlideStatus != 0) {
        GearNSlideStatus = 0;
        DEBUG("空挡滑行结束");
    }
    if (gearNSlideTime > GEAR_N_SLIDE_TIMEOUT) {
        // 空档滑行超5秒，不合格
        DEBUG("挡位滑行，超过5秒");
        AddExamFault(8, rtkTime);
        gearNSlideTime = 0;
    }

    prevGearNSlide = currGearNSlide;
    if (prevGearNSlide) {
        Rtk2DriveTimer(gearNSlideTimePoint, rtkTime);
    } else {
        gearNSlideTime = 0;
    }
    
    // 挡位不匹配超时
    if (currGearError && prevGearError) {
        gearErrorTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                                     gearErrorTimePoint.hour, gearErrorTimePoint.min, gearErrorTimePoint.sec, gearErrorTimePoint.msec*10);
        gearErrorTime += TimeGetDiff(rtkTime, &gearErrorTimePoint);
    }
    if (gearErrorTime > GEAR_ERROR_TIMEOUT) {
        // 累计15秒，挡位-车速不匹配，不合格
@@ -1329,7 +1334,7 @@

    prevGearError = currGearError;
    if (prevGearError) {
        Rtk2DriveTimer(gearErrorTimePoint, rtkTime);
        gearErrorTimePoint = *rtkTime;
    }

    // 起步后滑
@@ -1395,6 +1400,7 @@
            ResetCrossingStatus(oldid);
            ResetErrorLaneRpt(oldid);
        }
        Lane.guide = 0;
    }

    if (currExamMapIndex >= 0) {
@@ -1422,7 +1428,7 @@

        if (!(NearbyCrossingGuide(stop_line_index, currExamMapIndex, RoadMap.roads[currExamMapIndex], car) & Lane.guide)) {
            if (!GetErrorLaneRpt(currExamMapIndex, stop_line_index)) {
                DEBUG("不按规定车道标向行驶");
                DEBUG("不按规定车道标向行驶 %d: %d  guide = %d", currExamMapIndex, stop_line_index, Lane.guide);
                AddExamFault(9, rtkTime);
                SetErrorLaneRpt(currExamMapIndex, stop_line_index, true);
            }
@@ -1456,6 +1462,7 @@
    DetectTurn(car, moveDirect, rtkTime);

    ItemExam(RoadMap, currExamMapIndex, car, CarModelList, speed, moveDirect, rtkTime, BigStraightRoadFree, TargetFree > RoadCrossingFree? RoadCrossingFree : TargetFree);
    ItemExam2(RoadMap, currExamMapIndex, car, CarModelList);
}

static void ItemExam(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end)
@@ -1474,41 +1481,41 @@

            if (RoadExamItem[ROAD_EXAM_ITEM_STRAIGHT] == ROAD_EXAM_ITEM_NOT_EXEC) {
                not_complete = true;
                if (straight > 170 && road_end > 170) {
                    StartDriveStraightExam();
                    RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
                    return;
                }
//                if (straight > 170 && road_end > 170) {
//                    StartDriveStraightExam();
//                    RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
//                    return;
//                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_OP_GEAR] == ROAD_EXAM_ITEM_NOT_EXEC) {
                not_complete = true;
                if (road_end > 170) {
                    StartOperateGearExam();
                    RoadExamStatus = ROAD_EXAM_ITEM_OP_GEAR;
                    return;
                }
//                if (road_end > 170) {
//                    StartOperateGearExam();
//                    RoadExamStatus = ROAD_EXAM_ITEM_OP_GEAR;
//                    return;
//                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_CHANGE_LANE] == ROAD_EXAM_ITEM_NOT_EXEC) {
                not_complete = true;
                if (road_end > 150 && Lane.total > 1) {
                    StartChaneLaneExam(Lane.no);
                    RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
                    return;
                }
//                if (road_end > 150 && Lane.total > 1) {
//                    StartChaneLaneExam(Lane.no);
//                    RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
//                    return;
//                }
            }
            if (RoadExamItem[ROAD_EXAM_ITEM_OVER_TAKE] == ROAD_EXAM_ITEM_NOT_EXEC) {
                not_complete = true;
                if (road_end > 200 && Lane.total > 1) {
                    if (Lane.no == 0) {
                        // 已在最左车道，先变更车道？
                        StartChaneLaneExam(Lane.no);
                        RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
                    } else {
                        StartOvertakeExam(Lane.no);
                        RoadExamStatus = ROAD_EXAM_ITEM_OVER_TAKE;
                    }
                    return;
                }
//                if (road_end > 200 && Lane.total > 1) {
//                    if (Lane.no == 0) {
//                        // 已在最左车道，先变更车道？
//                        StartChaneLaneExam(Lane.no);
//                        RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
//                    } else {
//                        StartOvertakeExam(Lane.no);
//                        RoadExamStatus = ROAD_EXAM_ITEM_OVER_TAKE;
//                    }
//                    return;
//                }
            }

            if (!not_complete) {
@@ -1522,7 +1529,6 @@
    } else if (RoadExamStatus == ROAD_EXAM_FREE_RUN) {
        if (ReadOdo() - freeRunDistance > freeRunExceptDistance) {
            RoadExamStatus = ROAD_EXAM_READY_NEXT;

        }
    } else {
        bool testing = false;
@@ -1554,7 +1560,7 @@
            if (RoadExamStatus == ROAD_EXAM_ITEM_CAR_START) {
                freeRunExceptDistance = 60.0;
            } else {
                freeRunExceptDistance = 250.0;
                freeRunExceptDistance = 2;//250.0;
            }

            RoadExamStatus = ROAD_EXAM_FREE_RUN;
@@ -1563,12 +1569,23 @@
    }
}

void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
static void ItemExam2(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    tm.hour = rtkTime->hh;
    tm.min = rtkTime->mm;
    tm.sec = rtkTime->ss;
    tm.msec = rtkTime->mss;
    int item = EntryItem(roadIndex, RoadMap, car, CarModelList);

    if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 3) {
        StartDriveStraightExam();
        RoadExamStatus = ROAD_EXAM_ITEM_STRAIGHT;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 4) {
        StartOperateGearExam();
        RoadExamStatus = ROAD_EXAM_ITEM_OP_GEAR;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 1) {
        StartChaneLaneExam(Lane.no);
        RoadExamStatus = ROAD_EXAM_ITEM_CHANGE_LANE;
    } else if (RoadExamStatus == ROAD_EXAM_READY_NEXT && item == 2) {
        StartOvertakeExam(Lane.no);
        RoadExamStatus = ROAD_EXAM_ITEM_OVER_TAKE;
    }
}

void CrossRoadCallback(int road, int stop_line, int active, const car_model *car)
@@ -1666,7 +1683,7 @@
                            DEBUG("变调未打灯!!");
                            // 没打灯，不合格
                            AddExamFault(13, rtkTime);
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) < TURN_SIGNAL_LAMP_ADVANCE) {
                            DEBUG("转向灯时间不足");
                            // 不足3秒，不合格
                            AddExamFault(14, rtkTime);
@@ -1676,7 +1693,7 @@
                            DEBUG("变调未打灯!!");
                            // 没打灯，不合格
                            AddExamFault(13, rtkTime);
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) >= TURN_SIGNAL_LAMP_ADVANCE) {
                        } else if (TimeGetDiff(&beginTurnTime, &lamp.time) < TURN_SIGNAL_LAMP_ADVANCE) {
                            DEBUG("转向灯时间不足");
                            // 不足3秒，不合格
                            AddExamFault(14, rtkTime);
@@ -1784,35 +1801,27 @@
    return false;
}

static trigger_line_t * EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList)
static int EntryItem(int index, road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    if (index < 0 || index >= RoadMap.roads.size())
        return -1;

    for (int i = 0; i < RoadMap.triggerLines.size(); ++i) {
        if (RoadMap.triggerLines[i].road == RoadMap.roads[index].id) {
            Line triggerLine;

            if (RoadMap.triggerLines[i].leftPoints.size() != RoadMap.triggerLines[i].points.size()) {
                RoadMap.triggerLines[i].leftPoints.clear();
            PointF p2 = CalcProjectionWithRoadEdge(RoadMap.roads[index].leftEdge, RoadMap.triggerLines[i].points[0]);

                for (int j = 0; j < RoadMap.triggerLines[i].points.size(); ++j) {
                    RoadMap.triggerLines[i].leftPoints.push_back(CalcProjectionWithRoadEdge(RoadMap.roads[index].leftEdge, RoadMap.triggerLines[i].points[j]));
                }

                for (int j = 0; j < RoadMap.triggerLines[i].points.size(); ++j) {
                    DEBUG("触发线补齐 road %d id %d type %d (%0.4f, %0.4f)-(%0.4f, %0.4f)", RoadMap.roads[index].id, RoadMap.triggerLines[i].id, RoadMap.triggerLines[i].active,
                          RoadMap.triggerLines[i].points[0].X, RoadMap.triggerLines[i].points[0].Y, RoadMap.triggerLines[i].leftPoints[0].X, RoadMap.triggerLines[i].leftPoints[0].Y);
                }
            }

            MakeLine(&triggerLine, &RoadMap.triggerLines[i].points[0], &RoadMap.triggerLines[i].leftPoints[0]);
            MakeLine(&triggerLine, &RoadMap.triggerLines[i].points[0], &p2);

            if (CrashTheLine(triggerLine, car, CarModelList)) {
                DEBUG("触发项目 %d %s (%0.4f, %0.4f)-(%0.4f, %0.4f)", RoadMap.triggerLines[i].active, RoadMap.triggerLines[i].tts.c_str(), triggerLine.X1, triggerLine.Y1, triggerLine.X2, triggerLine.Y2);
                return &RoadMap.triggerLines[i];
                return RoadMap.triggerLines[i].active;
            }
        }
    }

    return NULL;
    return -1;
}

static double AnalysisRoad(road_exam_map &RoadMap, int roadIndex, lane_t lane, const car_model *car)

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

@@ -20,13 +20,6 @@
#define THROUGH_BUS_STATION_MAP         109
#define TURN_AROUND_MAP                 110

struct drive_timer {
    int hour;
    int min;
    int sec;
    int msec;
};

typedef struct
{
    int name;
@@ -37,7 +30,7 @@
car_sensor_value_t ReadCarSensorValue(int name);

void CrossRoadCallback(int road, int stop_line, int active, const car_model *car);
void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime);

void InitRoadExam(road_exam_map &RoadMap);
void TerminateRoadExam(void);
void TestRoadGeneral(road_exam_map &RoadMap, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime);