From 148254bb1dc170db320bcb208ca79b0e252751d8 Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期三, 28 四月 2021 19:26:00 +0800
Subject: [PATCH] 修改科目三道路识别问题
---
lib/src/main/cpp/test_items/park_bottom.cpp | 36 +++++++++++++++++++++++++++++-------
1 files changed, 29 insertions(+), 7 deletions(-)
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index 7c2124c..d1bb652 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/lib/src/main/cpp/test_items/park_bottom.cpp
@@ -12,6 +12,7 @@
#include "../master/comm_if.h"
#include "area_exam.h"
#include "../test_common/car_sensor.h"
+#include "../test_common/odo_graph.h"
#include <vector>
#include <cstdlib>
@@ -55,7 +56,8 @@
static int gearAtStop;
static int currGear;
static char prevCrossedCtrlLine;
-
+static double odo;
+static int exitAreaCfm;
static char CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car);
static bool EnterParking(const Polygon *map, const car_model *car);
static bool CrashRedLine(const Polygon *map, const car_model *car, int &who);
@@ -84,6 +86,9 @@
currGear = ReadCarStatus(GEAR);
prevCrossedCtrlLine = 0;
+ stopTimepoint = 0;
+ exitAreaCfm = 0;
+ odo = ReadOdo();
PlayTTS("鎮ㄥ凡杩涘叆鍊掕溅鍏ュ簱鍖哄煙", NULL);
}
@@ -108,6 +113,19 @@
} else if (currGear == GEAR_R) {
gear_change = true;
currGear = gear;
+ }
+
+ if (gear_change) {
+ // 妫�鏌ヤ笂涓�娆℃尅浣嶇殑琛岄┒璺濈锛岃繃灏忓氨鏀惧純锛岄伩寮�瀛﹀憳鍘熷湴鎸傛尅閲嶈瘯
+ double run_distance = ReadOdo() - odo;
+
+ DEBUG("2娆℃尅浣嶈繍琛岃窛绂� %f", run_distance);
+
+ if (run_distance < 1) {
+ gear_change = false;
+ DEBUG("2娆℃尅浣嶈繍琛岃窛绂昏繃灏忥紝蹇界暐");
+ }
+ odo = ReadOdo();
}
if (testStatus == TESTING && gear_change) {
@@ -159,9 +177,13 @@
}
if (testStatus == TESTING && parkCount < 2 && AllTireExitParkArea(map, car)) {
- testStatus = TEST_FAIL;
- AddExamFault(10103, rtkTime);
- DEBUG("鐩存帴椹剁娴嬭瘯鍖�,涓嶆寜鑰冭瘯鍛樻寚浠ら┚椹�");
+ if (++exitAreaCfm >= 4) { // 閬垮厤淇″彿婕傜Щ閫犳垚鐨勮鍒�
+ testStatus = TEST_FAIL;
+ AddExamFault(10103, rtkTime);
+ DEBUG("鐩存帴椹剁娴嬭瘯鍖�,涓嶆寜鑰冭瘯鍛樻寚浠ら┚椹�");
+ }
+ } else {
+ exitAreaCfm = 0;
}
if (ExitParkArea(map, car)) {
@@ -215,7 +237,7 @@
gearAtStop = (currGear == GEAR_R ? 1 : 0);
DEBUG("鍋滆溅浜� %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
DEBUG("鍋滆溅鏃舵尅浣� = %d", gearAtStop);
- } else if (prevMoveDirect == 0) {
+ } else if (prevMoveDirect == 0 && stopTimepoint > 0) {
DEBUG("缁х画琛岄┒ %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
DEBUG("鍋滆溅鏃堕棿 %ld", tp - stopTimepoint);
@@ -456,7 +478,7 @@
return ret;
}
-// 鍙屽墠杞拰浠讳竴鍚庤疆涓嶅湪鍖哄煙
+// 鍙屽墠杞拰鍙屽悗杞笉鍦ㄥ尯鍩�
static bool AllTireExitParkArea(const Polygon *map, const car_model *car)
{
int tireExitNum = 0;
@@ -477,7 +499,7 @@
tireExitNum++;
}
- if (tireExitNum >= 3) {
+ if (tireExitNum >= 4) {
return true;
}
return false;
--
Gitblit v1.8.0