坐标

yy1717

2020-09-21 f1ff7e339eca91b114497d3e847fa1fc33baccc4

坐标

 lib/src/main/cpp/driver_test.cpp

@@ -896,6 +896,8 @@
    return true;
}

static int currRoad = -1, currCrossing = -1;

void RoadChange(int road, int status)
{
    struct roadStatusBrief brief;
@@ -904,6 +906,8 @@
    brief.status = status;

    MA_SendRoadStatus(&brief);

    currRoad = (status == 1? road : -1);

    DEBUG("报告长官 进出路段 road %d status %d", road, status);
}
@@ -917,6 +921,8 @@
    brief.status = status;

    MA_SendCrossingStatus(&brief);

    currCrossing = (status == 1? crossing : -1);

    DEBUG("报告长官 进出路口 road %d crossing %d status %d", road, crossing, status);
}
@@ -947,6 +953,35 @@
    ExamFaultList.clear();
}

void MasterInqRoadStatus(void)
{
    struct roadStatusBrief brief;
    struct crossingStatusBrief brief2;

    brief2.road_id = brief.road_id = currRoad;

    if (currRoad >= 0) {
        brief.status = 1;

        if (currCrossing >= 0) {
            brief2.crossing_index = currCrossing;
            brief2.status = 1;
        } else {
            brief2.crossing_index = -1;
            brief2.status = 0;
        }
    }
    else {
        brief.status = 0;
        brief2.crossing_index = -1;
        brief2.status = 0;
    }

    MA_SendRoadStatus(&brief);

    MA_SendCrossingStatus(&brief2);
}

/*******************************************************************
 * @brief 由主天线坐标计算车身点坐标
 * @param azimuth

 lib/src/main/cpp/driver_test.h

@@ -244,4 +244,6 @@

uint32_t TimeGetDiff(const struct RtkTime *rtkTime1, const struct RtkTime *rtkTime2);

void MasterInqRoadStatus(void);

#endif //RTKDRIVERTEST_DRIVER_TEST_H

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

@@ -65,8 +65,9 @@
#define ID_SM_DISTANCE              0x0020
#define ID_SM_CARSENSOR              0x0013

#define ID_MS_ROAD_BRIEF        0x0015              // 科目三项目标定，进出某条路的提示
#define ID_MS_CROSSING_BRIEF    0x0016              // 科目三项目标定，接近/驶离某各路口的提示
#define ID_SM_ROAD_BRIEF        0x0015              // 科目三项目标定，进出某条路的提示
#define ID_SM_CROSSING_BRIEF    0x0016              // 科目三项目标定，接近/驶离某各路口的提示
#define ID_MS_INQ_ROAD_CROSSING 0x8018              // Master查询当前路段和路口

#define MA_OUT_GPS_BRIEF        0x0001
#define MA_OUT_RTK_BRIEF        0x0002
@@ -456,7 +457,7 @@
    writer.Int(brief->status);
    writer.EndObject();

    SendMsgToMainProcIndep(ID_MS_ROAD_BRIEF, sb.GetString());
    SendMsgToMainProcIndep(ID_SM_ROAD_BRIEF, sb.GetString());
}

void MA_SendCrossingStatus(const struct crossingStatusBrief *brief)
@@ -473,7 +474,7 @@
    writer.Int(brief->status);
    writer.EndObject();

    SendMsgToMainProcIndep(ID_MS_CROSSING_BRIEF, sb.GetString());
    SendMsgToMainProcIndep(ID_SM_CROSSING_BRIEF, sb.GetString());
}

void MA_SendExamWrong(vector<ExamFault> &ExamFaultList)
@@ -1685,6 +1686,10 @@
            }
            break;
        }
        case ID_MS_INQ_ROAD_CROSSING: {
            MasterInqRoadStatus();
            break;
        }
        default:break;
    }
}

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

@@ -1012,13 +1012,18 @@
    return CROSSING_NOT_HINT;
}

static void ResetCrossingStatus(int roadIndex)
/*****************************************************
 * 以正常通过路口或自由驾驶离开路段后
 * @param roadIndex
 */
static void ResetCrossingStatus(road_exam_map &RoadMap, int roadIndex)
{
    while (true) {
        bool w = false;
        for (auto it = CrossingHint.begin(); it != CrossingHint.end(); ++it) {
            if (it->first / 100 == roadIndex && it->second != CROSSING_NOT_HINT) {
                ChangeCrossingStatus(it->first / 100, it->first % 100, CROSSING_NOT_HINT);
                CrossingChange(RoadMap.roads[roadIndex].id, it->first % 100, 0);
                w = true;
                break;
            }
@@ -1485,9 +1490,8 @@
        DEBUG("道路ID切换 %d ======> %d", oldid, currExamMapIndex);

        if (oldid >= 0) {
            ResetCrossingStatus(oldid);
            ResetCrossingStatus(RoadMap, oldid);
            ResetErrorLaneRpt(oldid);

        }

        if (RoadMap.calibrate) {
@@ -1705,6 +1709,14 @@
    }
}

/*******************************************************************
 * 车辆越过停止线的方式通过路口
 * @param RoadMap
 * @param road
 * @param stop_line
 * @param active
 * @param car
 */
void CrossRoadCallback(road_exam_map &RoadMap, int road, int stop_line, int active, const car_model *car)
{
    if (RoadMap.calibrate) {