From eced3d013f06b623a49cb9deaba42218c4e37bb8 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期三, 15 一月 2020 10:56:05 +0800
Subject: [PATCH] update
---
lib/src/main/cpp/test_items/park_bottom.cpp | 68 ++++++++++++++++------------------
1 files changed, 32 insertions(+), 36 deletions(-)
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index 6bb16fb..a9b71f3 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/lib/src/main/cpp/test_items/park_bottom.cpp
@@ -40,10 +40,10 @@
static void StopCarTimeout(union sigval sig);
static void LeaveTestAreaLongtime(union sigval sig);
-static void CrossCtrlLine(const Polygon *map, const car_model_cache_t *car);
-static bool EnterParking(const Polygon *map, const car_model_cache_t *car);
+static void CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car);
+static bool EnterParking(const Polygon *map, const car_model *car);
static void ParkBottomTimeout(union sigval sig);
-static bool CrashRedLine(const Polygon *map, const car_model_cache_t *car);
+static bool CrashRedLine(const Polygon *map, const car_model *car);
void StartParkBottom(void)
{
@@ -56,7 +56,7 @@
currTarget = FIRST_TOUCH_CTRL_LINE;
leftTireCrossLeftLine = leftTireCrossRightLine = rightTireCrossLeftLine = rightTireCrossRightLine = false;
- TextOsd(0, "ParkBottom");
+ DEBUG("StartParkBottom");
}
void StopParkBottom(void)
@@ -67,10 +67,10 @@
AppTimer_delete(LeaveTestAreaLongtime);
currTarget = NONE;
- TextOsd(0, "ParkBottom End");
+ DEBUG("ParkBottom End");
}
-int TestParkBottom(vector<int>&err, const Polygon *map, const car_model_cache_t *car, double speed, int run_status)
+int TestParkBottom(vector<int>&err, const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int run_status)
{
int status = 0;
@@ -84,6 +84,8 @@
if (parkTimeout) {
// 涓嶅悎鏍硷細鍔ㄤ綔瓒呮椂
err.push_back(10);
+
+
status = -1;
}
// 鏄惁鍘嬬嚎
@@ -94,8 +96,8 @@
}
if (trigLeaveTestAreaDetect) {
- if (IntersectionOf(car->points[car->desc->front_left_tire[TIRE_OUTSIDE]], map) == GM_Containment &&
- IntersectionOf(car->points[car->desc->front_right_tire[TIRE_OUTSIDE]], map) == GM_Containment) {
+ if (IntersectionOf(car->carXY[ car->left_front_tire[TIRE_OUTSIDE] ], map) == GM_Containment &&
+ IntersectionOf(car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ], map) == GM_Containment) {
trigLeaveTestAreaDetect = false;
AppTimer_delete(LeaveTestAreaLongtime);
}
@@ -114,29 +116,27 @@
if (!((leftTireCrossLeftLine && rightTireCrossLeftLine) ||
(leftTireCrossRightLine && rightTireCrossRightLine))) {
DEBUG("CrossCtrlLine");
- CrossCtrlLine(map, car);
+ CrossCtrlLine(map, car, carPrev);
} else if (currTarget == FIRST_TOUCH_CTRL_LINE || currTarget == SECOND_TOUCH_CTRL_LINE) {
// 璺ㄨ繃鎺у埗绾垮悗锛岃溅杈嗘寔缁悜鍓嶈椹讹紝澶勭悊杩欎簺涔辨悶鎯呭喌
// 鏁翠釜杞﹂兘绂诲紑娴嬭瘯鍖哄悗锛屽鏋滄寔缁�15绉掞紝杩樻病鍥炲埌娴嬭瘯鍖猴紝灏卞拷鐣ヨ娴嬭瘯鎴栬�呮窐姹�
if (leaveTestArea) {
if (currTarget == FIRST_TOUCH_CTRL_LINE) {
status = -2;
- TextOsd(0, "鏉ラ亾鍦虹帺鐨�");
DEBUG("鏉ラ亾鍦虹帺鐨�");
} else {
// 涓嶅悎鏍硷細鏈寜瑙勫畾绾胯矾琛岄┒锛堢洿鎺ヨ窇鍑烘祴璇曞尯浜嗭級
err.push_back(6);
status = -1;
- TextOsd(0, "鐩存帴璺戝嚭娴嬭瘯鍖轰簡");
DEBUG("鐩存帴璺戝嚭娴嬭瘯鍖轰簡");
}
} else if (!trigLeaveTestAreaDetect) {
Polygon car_body;
- car_body.num = car->desc->body_num;
+ car_body.num = car->bodyNum;
car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
for (int i = 0; i < car_body.num; ++i) {
- car_body.point[i] = car->points[car->desc->body[i]];
+ car_body.point[i] = car->carXY[car->body[i]];
}
if (IntersectionOf(map, &car_body) == GM_None) {
@@ -196,12 +196,12 @@
parkTimeout = false;
leftTireCrossLeftLine = leftTireCrossRightLine = rightTireCrossLeftLine = rightTireCrossRightLine = false;
- TextOsd(0, "绗竴娆″�掑簱");
+ DEBUG("绗竴娆″�掑簱");
} else if (the_ctrl_line_crossed > 0) {
currTarget = SECOND_PARK;
carParkSuccess = false;
leftTireCrossLeftLine = leftTireCrossRightLine = rightTireCrossLeftLine = rightTireCrossRightLine = false;
- TextOsd(0, "绗簩娆″�掑簱");
+ DEBUG("绗簩娆″�掑簱");
} else if (currTarget != THIRD_TOUCH_CTRL_LINE) {
// 涓嶅悎鏍硷細鍊掕溅鍓嶏紝2鍓嶈疆娌￠┒杩囨帶鍒剁嚎
err.push_back(9);
@@ -243,10 +243,10 @@
status = -1;
} else if (currTarget == FIRST_PARK) {
currTarget = SECOND_TOUCH_CTRL_LINE;
- TextOsd(0, "杩囧彟涓�鏍规帶鍒剁嚎");
+ DEBUG("杩囧彟涓�鏍规帶鍒剁嚎");
} else {
currTarget = THIRD_TOUCH_CTRL_LINE;
- TextOsd(0, "鍐嶈繃绗竴鏍规帶鍒剁嚎");
+ DEBUG("鍐嶈繃绗竴鏍规帶鍒剁嚎");
}
}
carStopEvent = false;
@@ -279,25 +279,21 @@
}
// 妫�娴�2鍓嶈疆鏄惁姝ｅ悜瓒婅繃宸﹀彸鎺у埗绾�
-static void CrossCtrlLine(const Polygon *map, const car_model_cache_t *car)
+static void CrossCtrlLine(const Polygon *map, const car_model *car, const car_model *prev_car)
{
Line leftCtrlLine, rightCtrlLine;
Line track1;
PointF p1, p2;
- car_model_cache_t *prev_car = GetCarModelCache(1);
- if (prev_car == NULL)
- return;
-
MakeLine(&leftCtrlLine, &map->point[0], &map->point[1]);
MakeLine(&rightCtrlLine, &map->point[6], &map->point[7]);
// 宸﹀墠杞紝鍙栬疆瀹界殑涓偣
- p1.X = (car->points[car->desc->front_left_tire[TIRE_OUTSIDE]].X + car->points[car->desc->front_left_tire[TIRE_INSIDE]].X) / 2;
- p1.Y = (car->points[car->desc->front_left_tire[TIRE_OUTSIDE]].Y + car->points[car->desc->front_left_tire[TIRE_INSIDE]].Y) / 2;
+ p1.X = (car->carXY[car->left_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->left_front_tire[TIRE_INSIDE]].X) / 2;
+ p1.Y = (car->carXY[car->left_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->left_front_tire[TIRE_INSIDE]].Y) / 2;
- p2.X = (prev_car->points[prev_car->desc->front_left_tire[TIRE_OUTSIDE]].X + prev_car->points[prev_car->desc->front_left_tire[TIRE_INSIDE]].X) / 2;
- p2.Y = (prev_car->points[prev_car->desc->front_left_tire[TIRE_OUTSIDE]].Y + prev_car->points[prev_car->desc->front_left_tire[TIRE_INSIDE]].Y) / 2;
+ p2.X = (prev_car->carXY[prev_car->left_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[prev_car->left_front_tire[TIRE_INSIDE]].X) / 2;
+ p2.Y = (prev_car->carXY[prev_car->left_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[prev_car->left_front_tire[TIRE_INSIDE]].Y) / 2;
MakeLine(&track1, &p1, &p2);
@@ -312,11 +308,11 @@
}
// 鍙冲墠杞�
- p1.X = (car->points[car->desc->front_right_tire[TIRE_OUTSIDE]].X + car->points[car->desc->front_right_tire[TIRE_INSIDE]].X) / 2;
- p1.Y = (car->points[car->desc->front_right_tire[TIRE_OUTSIDE]].Y + car->points[car->desc->front_right_tire[TIRE_INSIDE]].Y) / 2;
+ p1.X = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->right_front_tire[TIRE_INSIDE]].X) / 2;
+ p1.Y = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->right_front_tire[TIRE_INSIDE]].Y) / 2;
- p2.X = (prev_car->points[prev_car->desc->front_right_tire[TIRE_OUTSIDE]].X + prev_car->points[prev_car->desc->front_right_tire[TIRE_INSIDE]].X) / 2;
- p2.Y = (prev_car->points[prev_car->desc->front_right_tire[TIRE_OUTSIDE]].Y + prev_car->points[prev_car->desc->front_right_tire[TIRE_INSIDE]].Y) / 2;
+ p2.X = (prev_car->carXY[prev_car->right_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[prev_car->right_front_tire[TIRE_INSIDE]].X) / 2;
+ p2.Y = (prev_car->carXY[prev_car->right_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[prev_car->right_front_tire[TIRE_INSIDE]].Y) / 2;
MakeLine(&track1, &p1, &p2);
@@ -330,16 +326,16 @@
}
}
-static bool EnterParking(const Polygon *map, const car_model_cache_t *car) {
+static bool EnterParking(const Polygon *map, const car_model *car) {
bool succ = false;
Polygon parking;
Polygon car_body;
- car_body.num = car->desc->body_num;
+ car_body.num = car->bodyNum;
car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
for (int i = 0; i < car_body.num; ++i) {
- car_body.point[i] = car->points[car->desc->body[i]];
+ car_body.point[i] = car->carXY[car->body[i]];
}
MakePolygon(&parking, {map->point[2], map->point[3], map->point[4], map->point[5]});
@@ -354,7 +350,7 @@
return succ;
}
-static bool CrashRedLine(const Polygon *map, const car_model_cache_t *car)
+static bool CrashRedLine(const Polygon *map, const car_model *car)
{
bool ret = false;
@@ -363,10 +359,10 @@
Polygon car_body;
- car_body.num = car->desc->body_num;
+ car_body.num = car->bodyNum;
car_body.point = (PointF *) malloc(sizeof(PointF) * car_body.num);
for (int i = 0; i < car_body.num; ++i) {
- car_body.point[i] = car->points[car->desc->body[i]];
+ car_body.point[i] = car->carXY[car->body[i]];
}
for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
--
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