From cea2a94fc97e79897cdfd217be8250c075974a1a Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期日, 07 二月 2021 17:55:42 +0800
Subject: [PATCH] 坡起限制条件和手刹起步全阶段生效.
---
lib/src/main/cpp/test_items/area_exam.cpp | 6 +++++-
1 files changed, 5 insertions(+), 1 deletions(-)
diff --git a/lib/src/main/cpp/test_items/area_exam.cpp b/lib/src/main/cpp/test_items/area_exam.cpp
index 556d071..9eaded6 100644
--- a/lib/src/main/cpp/test_items/area_exam.cpp
+++ b/lib/src/main/cpp/test_items/area_exam.cpp
@@ -14,6 +14,7 @@
#include "turn_a90.h"
#include "../utils/xconvert.h"
#include "../common/apptimer.h"
+#include "../test_common/odo_graph.h"
#define DEBUG(fmt, args...) LOGD("<area_exam> <%s>: " fmt, __func__, ##args)
@@ -35,10 +36,13 @@
void InitAreaExam(void)
{
CurrExamMapIndex = -1;
+ ResetOdo();
}
void TestAreaGeneral(LIST_AREA_MAP &AreaMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, double azimuth, const struct RtkTime *rtkTime)
{
+ UpdataOdo(speed, moveDirect, rtkTime);
+
DetectEnterOrExitMap(car, CarModelList, AreaMapList);
ExecuteExam(CurrExamMapIndex, AreaMapList, car, CarModelList, speed, moveDirect, azimuth, rtkTime);
@@ -134,7 +138,7 @@
case MAP_TYPE_STOP_START:
DEBUG("杩涘叆涓婂潯璧锋鍦哄湴 %d", AreaMapList[index].id);
- StartSAS(AreaMapList[index].id, move, rtkTime);
+ StartSAS(AreaMapList[index].id, &AreaMapList[index].map, car, move, rtkTime);
CurrExamStatus = EXAM_AREA_RUN;
break;
case MAP_TYPE_PART_EDGE:
--
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