From dc2a01d4764efd33a23afcaf4f1d7543dc35c4fa Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期三, 19 二月 2020 15:32:57 +0800
Subject: [PATCH] 上坡地图修正
---
lib/src/main/cpp/test_items/turn_a90.cpp | 16 +++++++---------
1 files changed, 7 insertions(+), 9 deletions(-)
diff --git a/lib/src/main/cpp/test_items/turn_a90.cpp b/lib/src/main/cpp/test_items/turn_a90.cpp
index f76ac16..cedcaf7 100644
--- a/lib/src/main/cpp/test_items/turn_a90.cpp
+++ b/lib/src/main/cpp/test_items/turn_a90.cpp
@@ -19,7 +19,7 @@
const uint32_t STOP_CAR_TIME = D_SEC(2);
-static bool TA90Testing;
+static bool testing;
static int enterAreaHeading;
static bool turnLeftFinished;
@@ -35,6 +35,7 @@
void StartTurnA90(int moveDirect, double heading, const struct RtkTime *rtkTime)
{
DEBUG("杩涘叆鐩磋杞集鍦哄湴");
+ testing = true;
enterAreaHeading = (int) heading;
prevMoveDirect = moveDirect;
if (moveDirect == 0) {
@@ -47,10 +48,11 @@
int TestTurnA90(const Polygon *map, const car_model *car, const car_model *carPrev, double heading, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
- int status = 0;
+ int az = (int) heading;
if (ExitTestArea(map, car)) {
- status = 1;
+ testing = false;
+ goto TEST_END;
}
if (CrashRedLine(map, car)) {
@@ -86,15 +88,11 @@
}
// 妫�鏌ヨ浆鍚戠姸鎬�
- int az = (int) heading;
-
if (ABS(az - enterAreaHeading) > 180) {
az = 360 - ABS(az-enterAreaHeading);
} else {
az = ABS(az - enterAreaHeading);
}
-
-
if (az >= 30) {
if (!turnLeftFinished) {
@@ -113,8 +111,8 @@
if (turnLeftFinished) {
}
-
- return status;
+TEST_END:
+ return testing?0:1;
}
// 杞﹁疆鏄惁鍘嬭竟绾�
--
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