From 76859aa4b23ea8ebd90bd7553fd70e144bdc96ba Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 15 五月 2020 15:53:20 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/test_items2/through_something.cpp | 62 ++++++++++++++++++++++++++----
1 files changed, 53 insertions(+), 9 deletions(-)
diff --git a/lib/src/main/cpp/test_items2/through_something.cpp b/lib/src/main/cpp/test_items2/through_something.cpp
index d9349e9..5a87311 100644
--- a/lib/src/main/cpp/test_items2/through_something.cpp
+++ b/lib/src/main/cpp/test_items2/through_something.cpp
@@ -18,6 +18,7 @@
using namespace std;
static const double LASTEST_BREAK_POINT = 30.0;
+static const double NEXT_ROAD_TIP = 100.0; // 鍒拌揪璺彛鍓嶆彁绀轰笅涓�涓�庝箞璧�
static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 5.0;
static const double PASS_SCHOOL_MAX_SPEED = 30.0; // kmh
@@ -155,17 +156,52 @@
return index;
}
+
+
void CheckBreakActive(road_exam_map &map, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
int BreakDone = ReadCarStatus(BREAK);
- for (int i = 0; i < map.specialAreas.size(); i++) {
- if (map.specialAreas[i].type == ZEBRA_CROSSING || map.specialAreas[i].type == BUS_STATION_AREA) {
- double yaw = YawOf(car->carXY[ car->axial[AXIAL_FRONT] ], car->carXY[ car->axial[AXIAL_REAR] ]);
- PointF extPoint = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], LASTEST_BREAK_POINT, yaw);
- Line extLine;
- MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);
+ // 璁＄畻杞﹀墠杩涜建杩瑰欢闀跨嚎
+ double yaw = YawOf(car->carXY[ car->axial[AXIAL_FRONT] ], car->carXY[ car->axial[AXIAL_REAR] ]);
+ PointF extPoint = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], LASTEST_BREAK_POINT, yaw);
+ PointF extPoint2 = PointExtend(car->carXY[ car->axial[AXIAL_FRONT] ], NEXT_ROAD_TIP, yaw);
+ Line extLine, extLine2;
+ MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);
+ MakeLine(&extLine2, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint2);
+ // 璺彛鍒硅溅鐐�
+ for (int i = 0; i < map.roads.size(); ++i) {
+ // 杞﹀ご鍜岃矾鍙ｈ窛绂讳笉瓒�30绫�
+ if (IntersectionOf(extLine, map.roads[i].stopLine) == GM_Intersection &&
+ IntersectionOfLine(car->carXY[ car->axial[AXIAL_FRONT] ], map.roads[i].stopLine) == 1 ) {
+ DEBUG("杩涘叆鍑忛�熷尯");
+ if (BreakDone == BREAK_ACTIVE) {
+ auto itx = breakRecord.find(map.roads[i].id);
+ if (itx != breakRecord.end()) {
+ itx->second = true;
+ }
+ }
+ }
+ // 璺ㄧ嚎鍚庯紝妫�鏌ュ埞杞﹀姩浣�
+ if (CrashTheLine(map.roads[i].stopLine, car, CarModelList)) {
+ auto itx = breakRecord.find(map.roads[i].id);
+ if (itx != breakRecord.end()) {
+ if (itx->second == false) {
+ // 涓嶆寜瑙勫畾鍑忛�燂紝涓嶅悎鏍�
+ DEBUG("涓嶆寜瑙勫畾鍑忛��");
+
+ }
+ itx->second = false;
+ }
+ }
+ }
+ // 浜鸿閬撱�佸叕浜ょ珯鍒硅溅鐐癸紱瀛︽牎闄愰�熷尯
+ for (int i = 0; i < map.specialAreas.size(); i++) {
+ if (map.specialAreas[i].type == GRID_AREA)
+ continue;
+
+ if (map.specialAreas[i].area.size() == 2 && map.specialAreas[i].leftPoints.size() != 2) {
// 璁＄畻鐐瑰埌宸︿晶璺竟绾跨殑鍨傜偣
int road = 0;
for (road = 0; road < map.roads.size(); ++road) {
@@ -174,11 +210,19 @@
}
PointF vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
+ DEBUG("璁＄畻鍨傜偣1 (%f, %f)", vPoint.X, vPoint.Y);
+
+ map.specialAreas[i].leftPoints.push_back(vPoint);
+
+ vPoint = GetSELine(map.roads[road].leftEdge, map.specialAreas[i].area[0]);
+ DEBUG("璁＄畻鍨傜偣2 (%f, %f)", vPoint.X, vPoint.Y);
+ map.specialAreas[i].leftPoints.push_back(vPoint);
+ }
+
+ if (map.specialAreas[i].type == ZEBRA_CROSSING || map.specialAreas[i].type == BUS_STATION_AREA) {
Line startLine;
- DEBUG("璁＄畻鍨傜偣 (%f, %f)", vPoint.X, vPoint.Y);
-
- MakeLine(&startLine, &map.specialAreas[i].area[0], &vPoint);
+ MakeLine(&startLine, &map.specialAreas[i].area[0], &map.specialAreas[i].leftPoints[0]);
// 杞﹀ご鍜屾枒椹嚎璺濈涓嶈冻30绫�
if (IntersectionOf(extLine, startLine) == GM_Intersection &&
--
Gitblit v1.8.0