From 24428a1b69afcf113883e9cede1159443201a1b8 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期四, 02 四月 2020 18:57:07 +0800
Subject: [PATCH] 进出科目二区域调整
---
lib/src/main/cpp/driver_test.cpp | 157 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 99 insertions(+), 58 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 0af9a65..9f47645 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -40,12 +40,6 @@
using namespace std;
-#define MAP_TYPE_PARK_BUTTOM 1
-#define MAP_TYPE_STOP_START 2
-#define MAP_TYPE_PART_EDGE 3
-#define MAP_TYPE_CURVE 4
-#define MAP_TYPE_TURN_90 5
-
#define RTK_INVALID 0
#define RTK_SINGLE_POINT 1
#define RTK_DIFF 2
@@ -117,7 +111,8 @@
static void UpdateCarBodyCoord(struct RtkTime *rtkTime, double azimuth, double pitch, double roll, PointF main_ant, car_model *carModel);
static bool UpdateCarCoord(double &spd, int &mov, int &idx);
-static int EnterMap(const car_model *car, const struct map_list *mapList, int mapNum);
+static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList);
+static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, const struct map_list *mapList, int mapNum);
static bool ExitMap(const car_model *car, int mapId, const struct map_list *mapList, int mapNum);
static int GetMapId(int index, const struct map_list *mapList, int mapNum);
static int GetMapType(int index, const struct map_list *mapList, int mapNum);
@@ -650,7 +645,7 @@
RtkBuffer[index].mm, RtkBuffer[index].ss, RtkBuffer[index].dss);
brief.qf = RtkBuffer[index].qf;
- brief.map_id = GetMapId(CurrExamMapIndex, MapList, MapNum);
+ brief.map_id = -1;//GetMapId(CurrExamMapIndex, MapList, MapNum);
brief.move = move;
brief.speed = speed * 3.6;
brief.heading = RtkBuffer[index].heading;
@@ -712,18 +707,18 @@
}
if (CurrExamMapIndex < 0) {
if (CurrEnterMapIndex < 0) {
- CurrEnterMapIndex = EnterMap(CarModel, MapList, MapNum);
+ CurrEnterMapIndex = EnterMap(CarModel, CarModelList, MapList, MapNum);
if (CurrEnterMapIndex >= 0) {
- DEBUG("鍙戦�佽繘鍏ュ満鍦版姤鍛� %d", GetMapId(CurrEnterMapIndex, MapList, MapNum));
- MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 1);
+// DEBUG("鍙戦�佽繘鍏ュ満鍦版姤鍛� %d", GetMapId(CurrEnterMapIndex, MapList, MapNum));
+// MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 1);
CurrExamMapIndex = CurrEnterMapIndex;
CurrExamStatus = EXAM_AREA_START;
}
} else {
if (ExitMap(CarModel, CurrEnterMapIndex, MapList, MapNum)) {
- DEBUG("鍙戦�佺寮�鍦哄湴鎶ュ憡 %d", GetMapId(CurrEnterMapIndex, MapList, MapNum));
- MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 0);
+// DEBUG("鍙戦�佺寮�鍦哄湴鎶ュ憡 %d", GetMapId(CurrEnterMapIndex, MapList, MapNum));
+// MA_EnterMap(GetMapId(CurrEnterMapIndex, MapList, MapNum), GetMapType(CurrEnterMapIndex, MapList, MapNum), 0);
CurrEnterMapIndex = -1;
}
}
@@ -894,33 +889,33 @@
DEBUG("杩涘叆鍊掕溅鍏ュ簱鍦哄湴");
MA_SendDebugInfo("杩涘叆鍊掕溅鍏ュ簱鍦哄湴 %d", GetMapId(CurrExamMapIndex, MapList, MapNum));
- StartParkBottom(move, rtkTime);
+ StartParkBottom(CurrExamMapIndex, move, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
case MAP_TYPE_STOP_START:
DEBUG("杩涘叆涓婂潯璧锋鍦哄湴");
MA_SendDebugInfo("杩涘叆涓婂潯璧锋鍦哄湴 %d", GetMapId(CurrExamMapIndex, MapList, MapNum));
- StartSAS(move, rtkTime);
+ StartSAS(CurrExamMapIndex, move, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
case MAP_TYPE_PART_EDGE:
DEBUG("杩涘叆渚ф柟浣嶅仠杞﹀満鍦�");
MA_SendDebugInfo("杩涘叆渚ф柟浣嶅仠杞﹀満鍦� %d", GetMapId(CurrExamMapIndex, MapList, MapNum));
- StartParkEdge(move, rtkTime);
+ StartParkEdge(CurrExamMapIndex, move, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
case MAP_TYPE_CURVE:
DEBUG("杩涘叆鏇茬嚎琛岄┒鍦哄湴");
MA_SendDebugInfo("杩涘叆鏇茬嚎琛岄┒鍦哄湴 %d", GetMapId(CurrExamMapIndex, MapList, MapNum));
- StartDrivingCurve(move, rtkTime);
+ StartDrivingCurve(CurrExamMapIndex, move, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
case MAP_TYPE_TURN_90:
DEBUG("杩涘叆鐩磋杞集鍦哄湴");
MA_SendDebugInfo("杩涘叆鐩磋杞集鍦哄湴 %d", GetMapId(CurrExamMapIndex, MapList, MapNum));
- StartTurnA90(move, azimuth, rtkTime);
+ StartTurnA90(CurrExamMapIndex, move, azimuth, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
default:break;
@@ -1145,15 +1140,79 @@
return true;
}
-static int EnterMap(const car_model *car, const struct map_list *mapList, int mapNum)
+static bool CrashTriggerLine(Line triggerLine, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
- // 杞︾殑鏈�鍓嶇偣鏄惁杩涘叆鍦板浘
+ bool trigger = false;
+
+ if (CarModelList.size() < 5)
+ return trigger;
+
+ Polygon trace, trace2;
+ int pn = 0;
+
+ trace2.num = trace.num = 5;
+ trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);
+ trace2.point = (PointF *) malloc(sizeof(PointF) * trace2.num);
+
+ list<car_model *>::iterator iter = CarModelList.begin();
+
+ 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]];
+
+ ++iter;
+
+ while (iter != CarModelList.end() && pn < trace.num) {
+ car_model *c2 = *iter;
+
+ 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]];
+ c1 = c2;
+ }
+ ++iter;
+ }
+
+ PointF p1, p2;
+
+ p1.X = triggerLine.X1;
+ p1.Y = triggerLine.Y1;
+ p2.X = triggerLine.X2;
+ p2.Y = triggerLine.Y2;
+
+ int pp = 0;
+ for (int p = 1; p < pn; ++p) {
+ Line trace_line, trace2_line;
+
+ MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);
+ MakeLine(&trace2_line, &trace2.point[pp], &trace2.point[p]);
+
+ if ((IntersectionOf(trace_line, triggerLine) == GM_Intersection || IntersectionOf(trace2_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) {
+ // 纰板埌瑙﹀彂绾�
+ DEBUG("纰版挒瑙﹀彂绾� 寮曞彂鍦板浘");
+ trigger = true;
+ goto SEARCH_TRIGGER_LINE_END;
+ }
+ }
+
+SEARCH_TRIGGER_LINE_END:
+ free(trace.point);
+
+ return trigger;
+}
+
+static int EnterMap(const car_model *car, LIST_CAR_MODEL &CarModelList, const struct map_list *mapList, int mapNum)
+{
for (int i = 0; i < mapNum && car != NULL; ++i) {
+ // 杞﹀墠杞垨鍚庤疆杞ㄨ抗瓒婅繃瑙﹀彂绾�
if (mapList[i].type == MAP_TYPE_STOP_START) {
// 鏋勯�犺櫄鎷熺殑宸︿笂瑙掔偣
double x9, y9, xo, yo;
-
- bool enter = false;
xo = (mapList[i].map.point[0].X + mapList[i].map.point[7].X) / 2;
yo = (mapList[i].map.point[0].Y + mapList[i].map.point[7].Y) / 2;
@@ -1161,31 +1220,18 @@
x9 = 2*xo - mapList[i].map.point[8].X;
y9 = 2*yo - mapList[i].map.point[8].Y;
- Polygon map;
+ Line triggerLine;
- map.num = 4;
- map.point = (PointF *) malloc(map.num * sizeof(PointF));
+ triggerLine.X1 = mapList[i].map.point[0].X;
+ triggerLine.Y1 = mapList[i].map.point[0].Y;
+ triggerLine.X2 = x9;
+ triggerLine.Y2 = y9;
- map.point[0] = mapList[i].map.point[0];
- map.point[1] = mapList[i].map.point[8];
- map.point[2] = mapList[i].map.point[7];
- map.point[3].X = x9;
- map.point[3].Y = y9;
-
- if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &map) == GM_Containment) {
- Line enterLine1;
-
- MakeLine(&enterLine1, &(map.point[0]), &(map.point[3]));
-
- if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1)
- enter = true;
- }
-
- free(map.point);
-
- if (enter) return i;
+ if (CrashTriggerLine(triggerLine, car, CarModelList))
+ return i;
}
if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) {
+ // 杞﹀ご椤剁偣鍦ㄥ満鍦板唴
if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
Line enterLine1, enterLine2;
@@ -1198,6 +1244,7 @@
}
}
if (mapList[i].type == MAP_TYPE_PART_EDGE) {
+ // 杞﹀ご椤剁偣鍦ㄥ満鍦板唴
if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
Line enterLine;
@@ -1208,26 +1255,20 @@
}
}
if (mapList[i].type == MAP_TYPE_TURN_90) {
- if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
- Line enterLine1;
+ // 杞﹀墠杞垨鍚庤疆杞ㄨ抗瓒婅繃瑙﹀彂绾�
+ Line triggerLine;
- MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));
+ MakeLine(&triggerLine, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));
- if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1)
- return i;
- }
+ if (CrashTriggerLine(triggerLine, car, CarModelList))
+ return i;
}
if (mapList[i].type == MAP_TYPE_CURVE) {
- Line startLine;
- Line carAxial;
+ Line triggerLine;
- MakeLine(&startLine, &mapList[i].map.point[0], &mapList[i].map2.point[0]);
- MakeLine(&carAxial, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]]);
-
- if (IntersectionOf(startLine, carAxial) == GM_Intersection) {
- if (DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], startLine) > 0.1)
- return i;
- }
+ MakeLine(&triggerLine, &mapList[i].map2.point[0], &mapList[i].map.point[0]);
+ if (CrashTriggerLine(triggerLine, car, CarModelList))
+ return i;
}
}
return -1;
--
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