From 2ea9a1440259ef77e5af3776c022b4473ac34e09 Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期三, 05 二月 2020 22:28:34 +0800
Subject: [PATCH] 修改了侧方位停车。
---
lib/src/main/cpp/driver_test.cpp | 33 +++++++++++++++++++++------------
1 files changed, 21 insertions(+), 12 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index e109bb3..3608fbf 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -147,6 +147,9 @@
return;
MapList[MapNum].id = id;
+
+ if (type == 1) type = 3; //////////////////////////////////////
+
MapList[MapNum].type = type;
MapList[MapNum].map.num = pointNum;
@@ -380,6 +383,16 @@
free(brief.body);
free(brief.point);
+ struct RtkTime rtkTime;
+
+ rtkTime.YY = RtkBuffer[index].YY;
+ rtkTime.MM = RtkBuffer[index].MM;
+ rtkTime.DD = RtkBuffer[index].DD;
+ rtkTime.hh = RtkBuffer[index].hh;
+ rtkTime.mm = RtkBuffer[index].mm;
+ rtkTime.ss = RtkBuffer[index].ss;
+ rtkTime.mss = RtkBuffer[index].dss;
+
if (TestStart) {
if (CurrExamMapIndex < 0) {
CurrExamMapIndex = EnterMap(CarModel, MapList, MapNum);
@@ -398,6 +411,11 @@
case MAP_TYPE_STOP_START:
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);
+
+ CurrExamStatus = 0;
break;
case MAP_TYPE_CURVE:
break;
@@ -407,16 +425,6 @@
}
}
}
-
- struct RtkTime rtkTime;
-
- rtkTime.YY = RtkBuffer[index].YY;
- rtkTime.MM = RtkBuffer[index].MM;
- rtkTime.DD = RtkBuffer[index].DD;
- rtkTime.hh = RtkBuffer[index].hh;
- rtkTime.mm = RtkBuffer[index].mm;
- rtkTime.ss = RtkBuffer[index].ss;
- rtkTime.mss = RtkBuffer[index].dss;
if (CurrExamMapIndex >= 0) {
if (CurrExamStatus == 0) {
@@ -429,6 +437,7 @@
case MAP_TYPE_STOP_START:
break;
case MAP_TYPE_PART_EDGE:
+ CurrExamStatus = TestParkEdge(&MapList[CurrExamMapIndex].map, CarModel, CarModelPrev, speed, move, &rtkTime);
break;
case MAP_TYPE_CURVE:
break;
@@ -672,7 +681,7 @@
} else if (mapList[i].type == MAP_TYPE_CURVE) {
- } else if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) {
+ } else if (mapList[i].type == MAP_TYPE_PARK_BUTTOM || mapList[i].type == MAP_TYPE_PART_EDGE) {
if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
Line enterLine1, enterLine2;
@@ -693,7 +702,7 @@
bool ret = false;
if (index < 0 || mapList == NULL || mapNum == 0) return true;
- if (mapList[index].type == MAP_TYPE_PARK_BUTTOM) {
+ if (mapList[index].type == MAP_TYPE_PARK_BUTTOM || mapList[index].type == MAP_TYPE_PART_EDGE) {
// 鍏ㄨ溅閮介渶涓嶅湪鍦板浘涓�
Polygon carBody;
--
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