From 27fc91fbe8f88b6885356e68828cfe1ce1db7601 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期三, 28 二月 2024 09:53:13 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/driver_test.h | 205 +++++++++++++--------------------------------------
1 files changed, 53 insertions(+), 152 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index f773daa..a42c989 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -8,6 +8,10 @@
#include <vector>
#include <string>
#include <list>
+#include <map>
+#include <tuple>
+#include <atomic>
+
#include "test_common/Geometry.h"
#include "rtk_module/rtk.h"
#include "map.h"
@@ -28,7 +32,7 @@
MAP_TYPE_UPHILL,
MAP_TYPE_PARK_EDGE,
MAP_TYPE_CURVE,
- MAP_TYPE_TURN_90
+ MAP_TYPE_RIGHT_CORNER
} map_type_t;
typedef struct {
@@ -80,146 +84,31 @@
typedef struct {
map_type_t type;
- int map_idx; // 瀵瑰簲绉戠洰鍦板浘闆嗗悎涓殑搴忓彿
+ int idx; // 瀵瑰簲绉戠洰鍦板浘闆嗗悎涓殑搴忓彿
+ int stage; // 瀵逛簬鍊掕溅鍏ュ簱绛夐」鐩細鏈夊涓搷浣滈樁娈�
} map_t;
typedef struct {
- bool examing = false;
- int curr_modeling_index = -1;
- int prev_modeling_index = -1;
- area_map_t *pMap;
- car_model_t *pModel;
- modeling_t *pModeling;
- motion_t *pMotion;
- map_t curr_exam_map;
- map_t arriving_map;
-} prime_t;
-
-struct ExamFault {
- int sn;
- char utc[32];
- int wrong_id;
-};
-
-#define LINE_DOTTED 0
-#define LINE_SOLID 1
-#define LINE_HALF_SOLID_LEFT 2
-#define LINE_HALF_SOLID_RIGHT 3
-#define LINE_BOUNDARY 4
-
-//杞﹂亾鏂瑰悜锛堟寜浣嶇粍鍚堬級,濡傛灉涓�0锛屽垯琛ㄦ棤杞﹂亾鏂瑰悜璇存槑锛�
-#define LANE_FORWARD 0x01
-#define LANE_LEFT 0x02
-#define LANE_RIGHT 0x04
-#define LANE_BACKWARD 0x08
-
-#define ZEBRA_CROSSING 0
-#define SCHOOL_AREA 1
-#define BUS_STATION_AREA 2
-#define GRID_AREA 3
-
-#define ROAD_ACTIVE_FORWARD LANE_FORWARD
-#define ROAD_ACTIVE_TURN_LEFT LANE_LEFT
-#define ROAD_ACTIVE_TURN_RIGHT LANE_RIGHT
-#define ROAD_ACTIVE_TURN_BACKWARD LANE_BACKWARD
-
-typedef struct {
- int character; // 灞炴�э紙瀹炵嚎銆佽櫄绾匡紝鏈変簺鍙互鎺夊ご鐨勮矾娈碉級
- std::vector<PointF> points; //
-} edge_t;
-
-typedef struct {
- int character; // 灞炴�с�婂疄绾裤�佽櫄绾裤�佸崐瀹炲崐铏氱嚎銆�
- std::vector<PointF> points;
-} segment_t;
-
-typedef struct {
- PointF start;
- PointF end;
- std::vector<int> direct;
-} lane_direct_t;
-
-// 涓�缁勫钩琛岀殑鍒嗛亾绾�
-typedef struct {
- std::vector<lane_direct_t> lane_direct; // 涓�缁勫鍚戠嚎鐨勯厤缃�
- std::vector<std::vector<segment_t>> lines; // 姣忔鍩熶笅鐨勫钩琛岀殑涓�缁勭嚎
-} separate_t;
-
-typedef struct {
- bool stopFlag;
- Line line;
- bool centrePointValid;
- PointF centrePoint;
-} stop_line_t;
-
-typedef struct {
- int id;
-// Line stopLine;
-// int active; // 鍒拌揪璺彛灏鹃儴鐨勮杩涙柟鍚�
- bool activeBreak; // 璺彛鍒硅溅鍑忛��
- bool activeStop; // 璺彛鍋滆溅鐬湜
- bool errorLane; // 閿欒杞﹂亾
- int targetRoad;
-// int stopFlag;
-// string tts;
-// bool arrivedTail;
- Polygon area; // 鏁翠釜閬撹矾鍖哄煙
-
- std::vector<stop_line_t> stopLine;
- std::vector<edge_t> leftEdge;
- std::vector<edge_t> rightEdge;
- std::vector<separate_t> separate;
-} road_t;
-
-typedef struct {
- int id;
- int road;
- int type;
- bool activeBreak;
- bool overSpeed;
- std::vector<PointF> area; // 浜鸿閬撶瓑鍙充晶2鐐癸紝缃戞牸绾�4鐐�
- std::vector<PointF> leftPoints; // 瀵瑰簲鍒伴亾璺乏渚х殑鐐�
-} special_area_t;
-
-typedef struct {
- int road;
- int active;
- std::vector<PointF> points;
-} trigger_line_t;
-
-typedef struct {
- int id;
- int type;
- std::vector<PointF> points;
-} forbid_line_t;
-
-typedef struct {
- int road_id;
- int index;
- int active;
-} crossing_active_t;
-
-typedef struct {
- std::string name;
- std::vector<crossing_active_t> crossingActive;
- std::vector<trigger_line_t> triggerLines;
-} scheme_t;
-
-struct road_exam_map {
- int calibrate;
- std::vector<road_t> roads;
- std::vector<special_area_t> specialAreas;
-// std::vector<trigger_line_t> triggerLines;
- std::vector<forbid_line_t> forbidLines;
- std::vector<scheme_t> examScheme;
-};
-
-struct area_exam_map {
- int id;
- int type;
- Polygon map;
- Polygon map2;
-};
+ std::atomic_int speed;
+ std::atomic_int rpm;
+ std::atomic_int gear;
+ std::atomic_int turn_signal_lamp;
+ std::atomic_int dipped_beam_lamp;
+ std::atomic_int fog_lamp;
+ std::atomic_int clearance_lamp;
+ std::atomic_int flash_beam_lamp;
+ std::atomic_int main_beam_lamp;
+ std::atomic_int seatbelt;
+ std::atomic_int engine_start;
+ std::atomic_int brake;
+ std::atomic_int hand_brake;
+ std::atomic_int second_brake;
+ std::atomic_int door;
+ std::atomic_int surround_car_1;
+ std::atomic_int surround_car_2;
+ std::atomic_int surround_car_3;
+ std::atomic_int surround_car_4;
+} sensor_t;
typedef struct {
int hold_start_key_limit_time; // 鐐圭伀淇濇寔锛屾绉�
@@ -304,20 +193,38 @@
std::string crossing_turn_unknown_tts;
} exam_param_t;
-extern exam_param_t examParam;
+typedef struct {
+ bool examing = false;
+ int curr_modeling_index = -1;
+ int prev_modeling_index = -1;
+ int arriving_map = -1;
+ std::tuple<int, std::vector<park_button_map_t>, std::vector<uphill_map_t>, std::vector<park_edge_map_t>, std::vector<curve_map_t>, std::vector<turn_a90_map_t>> maps;
+ car_model_t *pModel;
+ modeling_t *pModeling;
+ motion_t *pMotion;
+ map_t examing_area;
+ sensor_t sensor;
+ exam_param_t examParam;
+ double odo; // 鐢≧TK瀹氫綅璁＄畻鐨勮椹堕噷绋�
+} prime_t;
+struct ExamFault {
+ int sn;
+ char utc[32];
+ int wrong_id;
+};
+
+prime_t& GetPrime(void);
void DriverTestInit(void);
void ReadDriverExamPrimer(void);
void ClearAreaMap(void);
-void AddAreaMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
+
void AddCurveMap(curve_map_t &map);
void AddParkButtonMap(park_button_map_t &map);
void AddParkEdgeMap(park_edge_map_t &map);
-
-void CleanRoadMap(void);
-void SetRoadMap(road_exam_map &map, std::vector<scheme_t> &scheme);
-void SetRoadExamScheme(std::vector<scheme_t> &scheme);
+void AddUphillMap(uphill_map_t &map);
+void AddTurnA90Map(turn_a90_map_t &map);
void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
@@ -325,19 +232,13 @@
void StartDriverExam(int start, int type);
+void UpdateSensor(int id, int value);
void UpdateRTKInfo(const rtk_info_t *s);
void AddExamFault(int wrong);
-void RoadChange(int road, int status);
-void CrossingChange(int road, int crossing, int status);
+
void SystemShutdown(int event, int timeout);
-void SetDummyLightExam(int n, struct dummy_light_exam *cfg);
-
-void MasterInqRoadStatus(void);
-
int CorrectPauseCriteria(int src);
-
-void SensorXChanged(uint16_t id, int value);
#endif //RTKDRIVERTEST_DRIVER_TEST_H
--
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