From 4bd08f0355b6b2cf3c027202d5ad301b4e182953 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 31 三月 2023 17:16:22 +0800
Subject: [PATCH] 科目二修改
---
lib/src/main/cpp/driver_test.h | 181 +++++++++++++++++++++++----------------------
1 files changed, 93 insertions(+), 88 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index 878dafd..f773daa 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -5,13 +5,12 @@
#ifndef RTKDRIVERTEST_DRIVER_TEST_H
#define RTKDRIVERTEST_DRIVER_TEST_H
-#include "test_common/Geometry.h"
-#include "rtk_module/rtk.h"
-#include "test_items2/dummy_light.h"
-
#include <vector>
#include <string>
#include <list>
+#include "test_common/Geometry.h"
+#include "rtk_module/rtk.h"
+#include "map.h"
#define EXAM_AREA_NONE 0
#define EXAM_AREA_START 1
@@ -23,68 +22,78 @@
#define AXIAL_FRONT 0
#define AXIAL_REAR 1
-#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
-
-using namespace std;
-
-struct car_desc_ {
- double distance; // 璺濈涓诲ぉ绾跨殑璺濈
- double angle; // 浠庝腑杞寸嚎閫嗘椂閽堝舰鎴愮殑瑙掑害
-};
-
-struct RtkTime {
- int YY; // 2浣嶆暟
- int MM;
- int DD;
- int hh;
- int mm;
- int ss;
- int mss;
-};
+typedef enum {
+ MAP_TYPE_NONE,
+ MAP_TYPE_PARK_BUTTOM,
+ MAP_TYPE_UPHILL,
+ MAP_TYPE_PARK_EDGE,
+ MAP_TYPE_CURVE,
+ MAP_TYPE_TURN_90
+} map_type_t;
typedef struct {
- struct RtkTime tm;
+ double distance; // 璺濈涓诲ぉ绾跨殑璺濈
+ double angle; // 浠庝腑杞寸嚎閫嗘椂閽堝舰鎴愮殑瑙掑害
+} car_desc_t;
+
+typedef struct {
+// struct RtkTime tm;
PointF basePoint; // 鐜板満娴嬮噺鐨勪富澶╃嚎鍧愭爣
int axial[2];
int left_front_tire[2];
int right_front_tire[2];
int left_rear_tire[2];
int right_rear_tire[2];
- int bodyNum;
- int *body;
- int pointNum;
+// int bodyNum;
+ std::vector<int> body;
+// int pointNum;
double antPitch; // 鍓嶅悗澶╃嚎鍥犲畨瑁呬綅缃箣鍥烘湁pitch瑙�
double antHeight; // 杞﹂《澶╃嚎楂樼▼
double groundHeight; // 澶у湴楂樼▼
double yaw;
double pitch;
- struct car_desc_ *carDesc; // 缁忕幇鍦烘祴閲忕偣璁＄畻鍚庣殑鍊�
- PointF *carXY; // 璁＄畻鍚庣殑杞﹁韩鍚勭偣鍧愭爣
-} car_model;
-
-// 鎬绘暟
-// 涓酱绾垮墠鐐�,id 0锛屼腑杞寸嚎鍚庣偣id
-// 宸﹀寘鍥达紝 鍙冲寘鍥�
-// 宸﹀墠杞紝澶栧唴
-typedef struct {
- int body_num;
- int body[64];
- int front_left_tire[2];
- int front_right_tire[2];
- int rear_left_tire[2];
- int rear_right_tire[2];
-} carModelDesc_t;
+ std::vector<car_desc_t> carDesc;
+// struct car_desc_ *carDesc; // 缁忕幇鍦烘祴閲忕偣璁＄畻鍚庣殑鍊�
+// PointF *carXY; // 璁＄畻鍚庣殑杞﹁韩鍚勭偣鍧愭爣
+} car_model_t;
typedef struct {
- uint32_t uptime;
- int point_num;
- PointF *points;
- carModelDesc_t *desc;
-} car_model_cache_t;
+ int64_t utc_time = 0;
+ double yaw;
+ double pitch;
+ double roll;
+ PointF base_point;
+ std::vector<PointF> points;
+} modeling_t;
+
+typedef enum {
+ BACKWARD = -1,
+ STOP = 0,
+ FORWARD = 1
+} move_status_t;
+
+typedef struct {
+ int64_t timestamp = 0;
+ double speed = 0;
+ move_status_t move = STOP;
+} motion_t;
+
+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
+} 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;
@@ -236,7 +245,7 @@
double road_slide_red_distance;
int road_total_distance;
int road_max_speed; // Km per hour
- vector<vector<int>> gear_speed_table;
+ std::vector<std::vector<int>> gear_speed_table;
int gear_n_allow_time; // Sec
int same_gear_min_time; // Sec, x绉掑唴锛屼笉鍏佽N->X->N->X缃悓涓�鎸′綅
int gear_speed_error_cumulative_time; // Sec
@@ -248,69 +257,67 @@
int start_car_limit_distance;
double open_door_drive_allow_distance;
- string prepare_tts;
- string touch_leftfront_tts;
- string touch_leftrear_tts;
- string touch_rightfront_tts;
- string touch_rightrear_tts;
- string start_engine_tts;
+ std::string prepare_tts;
+ std::string touch_leftfront_tts;
+ std::string touch_leftrear_tts;
+ std::string touch_rightfront_tts;
+ std::string touch_rightrear_tts;
+ std::string start_engine_tts;
- string start_car_begin_tts;
- string start_car_end_tts;
+ std::string start_car_begin_tts;
+ std::string start_car_end_tts;
int change_lane_limit_distance;
- string change_lane_begin_tts;
- string change_lane_end_tts;
+ std::string change_lane_begin_tts;
+ std::string change_lane_end_tts;
int shift_limit_distance;
int shift_hold_time; // Sec
- string shift_begin_tts;
- string shift_end_tts;
- string shift_up_tts;
- string shift_down_tts;
+ std::string shift_begin_tts;
+ std::string shift_end_tts;
+ std::string shift_up_tts;
+ std::string shift_down_tts;
- string straight_begin_tts;
- string straight_end_tts;
+ std::string straight_begin_tts;
+ std::string straight_end_tts;
int straight_limit_distance;
double straight_max_offset;
int overtake_limit_distance;
- string overtake_begin_tts;
- string overtake_end_tts;
+ std::string overtake_begin_tts;
+ std::string overtake_end_tts;
int stop_car_limit_distance;
int stop_car_open_door_allow_time;
double stop_car_edge_red_distance;
double stop_car_edge_yellow_distance;
- string stop_car_begin_tts;
- string stop_car_end_tts;
+ std::string stop_car_begin_tts;
+ std::string stop_car_end_tts;
double crossing_stop_valid_distance;
int cross_school_max_speed;
int crossing_break_valid_distance;
- string crossing_go_straight_tts;
- string crossing_turn_left_tts;
- string crossing_turn_right_tts;
- string crossing_turn_back_tts;
- string crossing_turn_unknown_tts;
+ std::string crossing_go_straight_tts;
+ std::string crossing_turn_left_tts;
+ std::string crossing_turn_right_tts;
+ std::string crossing_turn_back_tts;
+ std::string crossing_turn_unknown_tts;
} exam_param_t;
extern exam_param_t examParam;
-
-typedef vector<struct area_exam_map> LIST_AREA_MAP;
-
-typedef list<car_model *> LIST_CAR_MODEL;
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, vector<scheme_t> &scheme);
-void SetRoadExamScheme(vector<scheme_t> &scheme);
+void SetRoadMap(road_exam_map &map, std::vector<scheme_t> &scheme);
+void SetRoadExamScheme(std::vector<scheme_t> &scheme);
void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
@@ -318,16 +325,14 @@
void StartDriverExam(int start, int type);
-void UpdateRTKInfo(const rtk_info *s);
-void AddExamFault(int wrong, const struct RtkTime *rtkTime);
+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);
-
-uint32_t TimeGetDiff(const struct RtkTime *rtkTime1, const struct RtkTime *rtkTime2);
void MasterInqRoadStatus(void);
--
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