From 1101dc614acb3cd794c13cd68c9a24d7c353cb28 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期六, 21 三月 2020 15:56:03 +0800
Subject: [PATCH] 坐标

---
 lib/src/main/cpp/test_items2/road_exam.cpp |  133 +++++++++++++++++++++++++++++++++++++------
 1 files changed, 113 insertions(+), 20 deletions(-)

diff --git a/lib/src/main/cpp/test_items2/road_exam.cpp b/lib/src/main/cpp/test_items2/road_exam.cpp
index 51fdf57..ae82561 100644
--- a/lib/src/main/cpp/test_items2/road_exam.cpp
+++ b/lib/src/main/cpp/test_items2/road_exam.cpp
@@ -11,6 +11,7 @@
 #include "../test_common/car_sensor.h"
 #include "../native-lib.h"
 #include "through_something.h"
+#include "../master/comm_if.h"
 
 #include <vector>
 #include <list>
@@ -21,10 +22,10 @@
 
 using namespace std;
 
-#define TURN_CHECK_CNT          5
+#define TURN_CHECK_CNT          4
 
-static const int TURN_THRESHOLD = 10;
-static const int TURN_CHECK_INTERVAL = D_SEC(1);
+static const int TURN_THRESHOLD = 5;
+static const int TURN_CHECK_INTERVAL = 500;
 const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
 const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;
 
@@ -83,6 +84,8 @@
 
 void InitRoadExam(void)
 {
+    DEBUG("Start road_exam");
+
     crashGreenCmpTime.hour = -1;
     occurCrashRedLine = false;
     occurCrashGreenLine = false;
@@ -209,9 +212,9 @@
         uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
 
         if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarOnRedArea && CrashRedArea(RoadMapList, car)) {
-            // 鍋滆溅瓒�2绉掞紝鍋滃湪绾㈠尯
+            // 鍋滆溅瓒�2绉掞紝鍋滃湪绾㈠尯锛屼笉鍚堟牸
             AddExamFault(16, rtkTime);
-            DEBUG("涓�斿仠杞�");
+            DEBUG("绂佸仠鍖哄仠杞�");
             reportStopCarOnRedArea = true;
         }
     } else if (moveDirect == -1) {
@@ -263,6 +266,7 @@
     // 妫�鏌ユ槸鍚︽寔缁浆鍚�
     char turnDirect = CheckCarTurn(CarModelList);
     if (turnDirect == 'L') {
+        PlayTTS("宸�1", 5692);
         if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
             if (!reportTurnSignalError) {
                 DEBUG("娌℃墦宸﹁浆鐏�");
@@ -280,6 +284,7 @@
             }
         }
     } else if (turnDirect == 'R') {
+        PlayTTS("鍙�1", 5692);
         if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
             if (!reportTurnSignalError) {
                 DEBUG("娌℃墦鍙宠浆鐏�");
@@ -304,6 +309,7 @@
     if (CrashRedLine(RoadMapList, car)) {
         if (!occurCrashRedLine) {
             // 杞﹁締琛岄┒涓獞杞ц溅閬撲腑蹇冨疄绾挎垨鑰呰溅閬撹竟缂樺疄绾匡紝涓嶅悎鏍�
+            DEBUG("鎾為亾璺竟缂樼嚎");
             AddExamFault(11, rtkTime);
             occurCrashRedLine = true;
         }
@@ -324,6 +330,7 @@
                         crashGreenRunTime.hour, crashGreenRunTime.min, crashGreenRunTime.sec, crashGreenRunTime.msec*10);
 
                 if (diff >= CRASH_DOTTED_LINE_TIMEOUT) {
+                    DEBUG("闀挎椂闂村帇铏氱嚎");
                     checkCrashGreenTimeout = 2;
                     // 闀挎椂闂撮獞杞ц溅閬撳垎鐣岀嚎琛岄┒锛屼笉鍚堟牸
                     AddExamFault(12, rtkTime);
@@ -368,6 +375,7 @@
                                                 crashGreenCmpTime.sec, crashGreenCmpTime.msec * 10);
 
                     if (diff < CHANGE_ROAD_MIN_INTERVAL) {
+                        DEBUG("===================== 杩炵画鍙橀亾 ============!!");
                         // 杩炵画鍙橀亾锛屼笉鍚堟牸
                         AddExamFault(15, rtkTime);
                     }
@@ -378,16 +386,20 @@
 
                 // 妫�鏌ュ彉閬撳墠锛屾槸鍚︽彁鍓嶈浆鍚戠伅
                 if (inter == 1) {
+                    PlayTTS("宸�2", 5698);
                     // 鍚戝乏渚у彉閬�
                     DEBUG("鍚戝乏渚у彉閬�");
                     if (turnSignalStatusWhenCrashGreenLine != LEFT_TURN_LIGHT) {
+                        DEBUG("鍙樿皟鏈墦鐏�!!");
                         // 娌℃墦鐏紝涓嶅悎鏍�
                         AddExamFault(13, rtkTime);
                     }
                 } else {
+                    PlayTTS("鍙�2", 5698);
                     // 鍚戝彸渚у彉閬�
                     DEBUG("鍚戝彸渚у彉閬�");
                     if (turnSignalStatusWhenCrashGreenLine != RIGHT_TURN_LIGHT) {
+                        DEBUG("鍙樿皟鏈墦鐏�!!");
                         // 娌℃墦鐏紝涓嶅悎鏍�
                         AddExamFault(13, rtkTime);
                     }
@@ -402,10 +414,20 @@
     if (currExamMapIndex == -1) {
         currExamMapIndex = CrashTriggerLine(RoadMapList, car, CarModelList);
         if (currExamMapIndex != -1) {
+            DEBUG("纰版挒瑙﹀彂绾�");
+
+            MA_EnterMap(RoadMapList[currExamMapIndex].id, RoadMapList[currExamMapIndex].type, 1);
             StartThroughExam(currExamMapIndex, RoadMapList);
         }
     } else {
+        int prevIdx = currExamMapIndex;
 
+        currExamMapIndex = ExecuteThroughExam(currExamMapIndex, RoadMapList, car,
+        CarModelList, speed, moveDirect, rtkTime);
+
+        if (currExamMapIndex == -1) {
+            MA_EnterMap(RoadMapList[prevIdx].id, RoadMapList[prevIdx].type, 1);
+        }
     }
 }
 
@@ -436,6 +458,61 @@
     return ret;
 }
 
+bool CrashSonRedLine(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
+{
+    bool ret = false;
+
+    if (CarModelList.size() < 5 || index < 0 || index >= RoadMapList.size())
+        return ret;
+
+    Polygon trace;
+
+    trace.num = 5;          // 鏈�杩�5涓疆杞ㄨ抗
+    trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);
+
+    list<car_model *>::iterator iter = CarModelList.begin();
+
+    int pn = 0;
+    while (iter != CarModelList.end() && pn < trace.num) {
+        trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
+        ++iter;
+    }
+
+    // 姣忔潯绾块兘妫�娴�
+    for (int j = 0; j < RoadMapList[index].redLineNum; ++j) {
+        Line red_line;
+
+        int kp = 0;
+
+        // 瑙﹀彂绾夸竴鑸簲璇ュ彧鏈夐灏�2鐐癸紙id, p1, p2锛�
+        for (int k = 1; k < RoadMapList[index].redLine[j].num; ++k) {
+            MakeLine(&red_line, &RoadMapList[index].redLine[j].point[kp],
+                     &RoadMapList[index].redLine[j].point[k]);
+
+            int pp = 0;
+            for (int p = 1; p < pn; ++p) {
+                Line trace_line;
+                MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);
+
+                if (IntersectionOf(trace_line, red_line) == GM_Intersection) {
+                    // 纰板埌瑙﹀彂绾�
+                    ret = true;
+                    goto SEARCH_SON_RED_LINE_END;
+                }
+
+                pp = p;
+            }
+
+            kp = k;
+        }
+    }
+
+    SEARCH_SON_RED_LINE_END:
+    free(trace.point);
+
+    return ret;
+}
+
 static void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
 {
     tm.hour = rtkTime->hh;
@@ -446,18 +523,24 @@
 
 static char isTurn(int currYaw, int prevYaw)
 {
+//    DEBUG("currYaw %d prevYaw %d", currYaw, prevYaw);
+
+    int deltaAng = 0;
+
     if (ABS(currYaw - prevYaw) > 180) {
-        currYaw = 360 - ABS(currYaw-prevYaw);
+        deltaAng = 360 - ABS(currYaw-prevYaw);
     } else {
-        currYaw = ABS(currYaw - prevYaw);
+        deltaAng = ABS(currYaw - prevYaw);
     }
 
-    if (currYaw >= TURN_THRESHOLD) {
+//    DEBUG("瑙掑害宸�� %d", deltaAng);
+
+    if (deltaAng >= TURN_THRESHOLD) {
         if((( currYaw + 360 - prevYaw) % 360) < 180) {
-            DEBUG("鍙宠浆");
+//            DEBUG("鍙宠浆");
             return 'R';
         } else {
-            DEBUG("宸﹁浆");
+//            DEBUG("宸﹁浆");
             return 'L';
         }
     }
@@ -480,17 +563,22 @@
     char turn[TURN_CHECK_CNT] = {0};
     int checkCnt = 0;
 
-    while (iter != CarModelList.end()) {
+//    DEBUG("CheckCarTurn.........");
+
+    while (iter != CarModelList.end() && checkCnt < TURN_CHECK_CNT) {
         c2 = *iter;
 
         uint32_t tdiff = TimeGetDiff(c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);
 
         if (tdiff >= TURN_CHECK_INTERVAL) {
-            turn[checkCnt++] = isTurn((int)c1->yaw, (int)c2->yaw);
-            c1 = c2;
-
-            if (checkCnt == TURN_CHECK_CNT)
+            turn[checkCnt] = isTurn((int)c1->yaw, (int)c2->yaw);
+//            DEBUG("%c  瑙掑害姣旇緝 %02d:%02d:%02d.%03d  %02d:%02d:%02d.%03d", turn[checkCnt], c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);
+            if (turn[checkCnt] == 0) {
                 break;
+            }
+
+            c1 = c2;
+            checkCnt++;
         }
 
         ++iter;
@@ -502,8 +590,10 @@
             break;
     }
 
-    if (i == TURN_CHECK_CNT-1)
+    if (i == TURN_CHECK_CNT-1) {
+        DEBUG("宸﹀彸杞‘璁� %c", turn[0]);
         return turn[0];
+    }
 
     return 0;
 }
@@ -659,15 +749,18 @@
                 for (int k = 1; k < RoadMapList[i].triggerLine[j].line.num; ++k) {
                     MakeLine(&trigger_line, &RoadMapList[i].triggerLine[j].line.point[kp], &RoadMapList[i].triggerLine[j].line.point[k]);
 
-                    int pp = 1;
-                    for (int p = 2; p < pn; ++p) {
+                    int pp = 0;
+                    for (int p = 1; p < pn; ++p) {
                         Line trace_line;
                         MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);
 
                         if (IntersectionOf(trace_line, trigger_line) == GM_Intersection &&
-                            IntersectionOfLine(trace.point[pp], trace.point[p], car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
-                            DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], trace_line) > 0.1) {
+                            IntersectionOfLine(RoadMapList[i].triggerLine[j].line.point[kp],
+                                    RoadMapList[i].triggerLine[j].line.point[k],
+                                    car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
+                            DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], trigger_line) > 0.1) {
                             // 纰板埌瑙﹀彂绾�
+                            DEBUG("纰版挒瑙﹀彂绾� 寮曞彂鍦板浘 id = %d", RoadMapList[i].triggerLine[j].triggerMapId);
                             map_idx =  FindMapIndexById(RoadMapList[i].triggerLine[j].triggerMapId, RoadMapList);
                             goto SEARCH_TRIGGER_LINE_END;
                         }

--
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